2025-10-26T18:04:17.986Z,1761501857.986 [DataOverHttps](INFO): Received command: schedule clear;schedule resume;restart logs
2025-10-26T18:04:17.992Z,1761501857.992 [CommandExec](IMPORTANT): got command schedule clear
2025-10-26T18:04:17.992Z,1761501857.992 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-10-26T18:04:17.992Z,1761501857.992 [CommandExec](IMPORTANT): got command schedule resume
2025-10-26T18:04:17.993Z,1761501857.993 [CommandExec](IMPORTANT): got command restart logs
2025-10-26T18:04:18.179Z,1761501858.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830391,-0.554373,-0.055878],[0.556298,-0.819247,-0.139166],[0.031372,-0.146647,0.988691]]
2025-10-26T18:04:18.549Z,1761501858.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818048,-0.574992,-0.013468],[0.572823,-0.812411,-0.108915],[0.051684,-0.096812,0.993960]]
2025-10-26T18:04:18.953Z,1761501858.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810925,-0.583406,0.045147],[0.579390,-0.811349,-0.077589],[0.081896,-0.036761,0.995963]]
2025-10-26T18:04:18.988Z,1761501858.988 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T180416
2025-10-26T18:04:19.358Z,1761501859.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815132,-0.572952,0.085353],[0.570965,-0.819538,-0.048546],[0.097765,0.009162,0.995167]]
2025-10-26T18:04:19.761Z,1761501859.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814800,-0.571370,0.098173],[0.570977,-0.820226,-0.034847],[0.100435,0.027661,0.994559]]
2025-10-26T18:04:20.178Z,1761501860.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805717,-0.584794,0.094004],[0.580467,-0.811177,-0.071059],[0.117809,-0.002688,0.993033]]
2025-10-26T18:04:20.569Z,1761501860.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798733,-0.597595,0.070042],[0.587965,-0.799930,-0.120035],[0.127761,-0.054694,0.990296]]
2025-10-26T18:04:20.973Z,1761501860.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799192,-0.600738,0.020156],[0.591344,-0.791820,-0.152751],[0.107723,-0.110158,0.988059]]
2025-10-26T18:04:21.378Z,1761501861.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803664,-0.595025,0.008340],[0.587106,-0.795100,-0.152062],[0.097112,-0.117310,0.988336]]
2025-10-26T18:04:21.781Z,1761501861.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804650,-0.593156,0.026537],[0.584202,-0.798904,-0.143042],[0.106047,-0.099596,0.989361]]
2025-10-26T18:04:22.186Z,1761501862.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802192,-0.595950,0.036485],[0.586246,-0.797764,-0.141026],[0.113151,-0.091741,0.989333]]
2025-10-26T18:04:22.589Z,1761501862.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797694,-0.601791,0.039143],[0.592582,-0.794226,-0.134360],[0.111945,-0.083982,0.990159]]
2025-10-26T18:04:22.993Z,1761501862.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810205,-0.585643,0.024293],[0.580566,-0.807507,-0.104293],[0.080695,-0.070395,0.994250]]
2025-10-26T18:04:23.397Z,1761501863.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814691,-0.579848,0.007351],[0.577715,-0.812662,-0.076334],[0.050236,-0.057942,0.997055]]
2025-10-26T18:04:23.801Z,1761501863.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805637,-0.592405,-0.002007],[0.591646,-0.804424,-0.053441],[0.030044,-0.044242,0.998569]]
2025-10-26T18:04:24.206Z,1761501864.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804240,-0.593817,-0.024074],[0.594261,-0.803034,-0.044607],[0.007156,-0.050181,0.998715]]
2025-10-26T18:04:24.609Z,1761501864.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815907,-0.575273,-0.057945],[0.577682,-0.815269,-0.040254],[-0.024084,-0.066318,0.997508]]
2025-10-26T18:04:25.013Z,1761501865.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816451,-0.573404,-0.067937],[0.576953,-0.814836,-0.056283],[-0.023084,-0.085149,0.996101]]
2025-10-26T18:04:25.422Z,1761501865.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808264,-0.585469,-0.062734],[0.588820,-0.803545,-0.087214],[0.000651,-0.107432,0.994212]]
2025-10-26T18:04:25.825Z,1761501865.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809737,-0.584148,-0.055654],[0.586767,-0.805162,-0.086131],[0.005502,-0.102399,0.994728]]
2025-10-26T18:04:26.230Z,1761501866.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810079,-0.585964,-0.020441],[0.586260,-0.809004,-0.042557],[0.008401,-0.046458,0.998885]]
2025-10-26T18:04:27.037Z,1761501867.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805021,-0.591985,0.038659],[0.590442,-0.805842,-0.044684],[0.057606,-0.013145,0.998253]]
2025-10-26T18:04:27.442Z,1761501867.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825070,-0.564473,-0.025106],[0.564578,-0.821815,-0.076621],[0.022618,-0.077392,0.996744]]
2025-10-26T18:04:27.846Z,1761501867.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827514,-0.558658,-0.055872],[0.560562,-0.816532,-0.138007],[0.031477,-0.145522,0.988854]]
2025-10-26T18:04:28.249Z,1761501868.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820671,-0.567937,-0.062817],[0.569873,-0.805484,-0.162602],[0.041750,-0.169241,0.984690]]
2025-10-26T18:04:28.653Z,1761501868.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828847,-0.557361,-0.048597],[0.559048,-0.821685,-0.110899],[0.021879,-0.119086,0.992643]]
2025-10-26T18:04:28.898Z,1761501868.898 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 15 min;set transit.Latitude 36.775 degree;set transit.Longitude -121.865 degree;run
2025-10-26T18:04:29.064Z,1761501869.064 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-10-26T18:04:29.064Z,1761501869.064 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-10-26T18:04:29.064Z,1761501869.064 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-10-26T18:04:29.068Z,1761501869.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834471,-0.551047,0.002246],[0.550822,-0.834236,-0.025410],[0.015876,-0.019967,0.999675]]
2025-10-26T18:04:29.155Z,1761501869.155 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-10-26T18:04:29.462Z,1761501869.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842929,-0.535207,0.054986],[0.537185,-0.842914,0.030472],[0.030039,0.055223,0.998022]]
2025-10-26T18:04:29.846Z,1761501869.846 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-10-26T18:04:29.865Z,1761501869.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841051,-0.534704,0.082005],[0.538015,-0.842597,0.023884],[0.056327,0.064208,0.996346]]
2025-10-26T18:04:29.892Z,1761501869.892 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-10-26T18:04:29.903Z,1761501869.903 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-10-26T18:04:29.910Z,1761501869.910 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-10-26T18:04:29.913Z,1761501869.913 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-10-26T18:04:29.920Z,1761501869.920 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-10-26T18:04:29.951Z,1761501869.951 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-10-26T18:04:29.954Z,1761501869.954 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-10-26T18:04:29.965Z,1761501869.965 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-10-26T18:04:29.968Z,1761501869.968 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-10-26T18:04:29.979Z,1761501869.979 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-10-26T18:04:29.987Z,1761501869.987 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-10-26T18:04:29.989Z,1761501869.989 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-10-26T18:04:29.996Z,1761501869.996 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-10-26T18:04:29.997Z,1761501869.997 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-10-26T18:04:29.997Z,1761501869.997 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-10-26T18:04:30.005Z,1761501870.005 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-10-26T18:04:30.270Z,1761501870.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836329,-0.546374,0.045043],[0.545559,-0.837541,-0.029836],[0.054027,-0.000379,0.998539]]
2025-10-26T18:04:30.422Z,1761501870.422 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-10-26T18:04:30.428Z,1761501870.428 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-10-26T18:04:30.434Z,1761501870.434 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-10-26T18:04:30.437Z,1761501870.437 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-10-26T18:04:30.440Z,1761501870.440 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-10-26T18:04:30.443Z,1761501870.443 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-10-26T18:04:30.446Z,1761501870.446 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-10-26T18:04:30.449Z,1761501870.449 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-10-26T18:04:30.452Z,1761501870.452 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-10-26T18:04:30.459Z,1761501870.459 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-26T18:04:30.506Z,1761501870.506 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-26T18:04:30.506Z,1761501870.506 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-26T18:04:30.508Z,1761501870.508 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-26T18:04:30.633Z,1761501870.633 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-26T18:04:30.641Z,1761501870.641 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-26T18:04:30.648Z,1761501870.648 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-26T18:04:30.652Z,1761501870.652 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-26T18:04:30.673Z,1761501870.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834161,-0.551503,-0.004385],[0.549291,-0.830048,-0.096435],[0.049544,-0.082851,0.995330]]
2025-10-26T18:04:30.699Z,1761501870.699 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-26T18:04:30.700Z,1761501870.700 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-26T18:04:30.725Z,1761501870.725 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-26T18:04:30.755Z,1761501870.755 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-26T18:04:30.777Z,1761501870.777 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-26T18:04:30.777Z,1761501870.777 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-26T18:04:30.778Z,1761501870.778 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-26T18:04:30.834Z,1761501870.834 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-26T18:04:30.842Z,1761501870.842 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-10-26T18:04:30.849Z,1761501870.849 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-26T18:04:30.853Z,1761501870.853 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-26T18:04:30.853Z,1761501870.853 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-26T18:04:30.854Z,1761501870.854 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-26T18:04:30.903Z,1761501870.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:04:31.048Z,1761501871.048 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-26T18:04:31.057Z,1761501871.057 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-10-26T18:04:31.060Z,1761501871.060 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-10-26T18:04:31.077Z,1761501871.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839690,-0.540950,-0.047890],[0.542027,-0.829366,-0.135494],[0.033577,-0.139731,0.989620]]
2025-10-26T18:04:31.102Z,1761501871.102 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-10-26T18:04:31.105Z,1761501871.105 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-10-26T18:04:31.116Z,1761501871.116 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-26T18:04:31.136Z,1761501871.136 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-26T18:04:31.138Z,1761501871.138 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-26T18:04:31.158Z,1761501871.158 [transit:MassHold.Pitch](DEBUG): Construct.
2025-10-26T18:04:31.181Z,1761501871.181 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-10-26T18:04:31.193Z,1761501871.193 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-10-26T18:04:31.208Z,1761501871.208 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-10-26T18:04:31.283Z,1761501871.283 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" priorityHere=false refId="NeedComms"
  }
}


2025-10-26T18:04:31.285Z,1761501871.285 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-10-26T18:04:31.483Z,1761501871.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838928,-0.541176,-0.057691],[0.543981,-0.830514,-0.119714],[0.016873,-0.131814,0.991131]]
2025-10-26T18:04:31.892Z,1761501871.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844457,-0.535226,0.020618],[0.534321,-0.844463,-0.037194],[0.037318,-0.020392,0.999095]]
2025-10-26T18:04:32.295Z,1761501872.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841669,-0.539861,0.011974],[0.539454,-0.841612,-0.026044],[0.024138,-0.015461,0.999589]]
2025-10-26T18:04:31.354Z,1761501871.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849250,-0.526605,-0.038218],[0.527989,-0.846896,-0.063196],[0.000912,-0.073848,0.997269]]
2025-10-26T18:04:31.759Z,1761501871.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861404,-0.507225,-0.026573],[0.506587,-0.854178,-0.117260],[0.036779,-0.114470,0.992746]]
2025-10-26T18:04:32.161Z,1761501872.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859188,-0.511572,-0.009485],[0.507732,-0.850154,-0.139452],[0.063276,-0.124631,0.990183]]
2025-10-26T18:04:32.564Z,1761501872.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856318,-0.514963,-0.039152],[0.515937,-0.849630,-0.109263],[0.023002,-0.113764,0.993241]]
2025-10-26T18:04:32.966Z,1761501872.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855423,-0.516436,-0.039306],[0.517928,-0.852763,-0.067417],[0.001298,-0.078028,0.996950]]
2025-10-26T18:04:33.370Z,1761501873.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850073,-0.526450,-0.015029],[0.526652,-0.849907,-0.017191],[-0.003723,-0.022529,0.999739]]
2025-10-26T18:04:33.774Z,1761501873.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847867,-0.530208,0.000610],[0.530150,-0.847757,0.015794],[-0.007857,0.013714,0.999875]]
2025-10-26T18:04:34.180Z,1761501874.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847320,-0.530715,0.019769],[0.531057,-0.847057,0.021731],[0.005212,0.028911,0.999568]]
2025-10-26T18:04:34.582Z,1761501874.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845406,-0.533496,0.025898],[0.533359,-0.845797,-0.012491],[0.028568,0.003253,0.999587]]
2025-10-26T18:04:35.390Z,1761501875.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857910,-0.513124,-0.026347],[0.511270,-0.847479,-0.142767],[0.050929,-0.135951,0.989406]]
2025-10-26T18:04:35.797Z,1761501875.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847679,-0.530161,-0.019227],[0.524247,-0.831570,-0.183456],[0.081273,-0.165591,0.982840]]
2025-10-26T18:04:36.198Z,1761501876.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834076,-0.551626,0.005089],[0.542204,-0.821460,-0.176686],[0.101645,-0.144611,0.984254]]
2025-10-26T18:04:36.603Z,1761501876.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839308,-0.542587,0.034087],[0.534808,-0.835290,-0.127559],[0.097685,-0.088831,0.991245]]
2025-10-26T18:04:37.006Z,1761501877.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842800,-0.530381,0.091564],[0.525863,-0.847691,-0.069918],[0.114701,-0.010777,0.993342]]
2025-10-26T18:04:37.413Z,1761501877.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838110,-0.527634,0.138473],[0.528477,-0.848280,-0.033653],[0.135220,0.044975,0.989794]]
2025-10-26T18:04:37.814Z,1761501877.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840074,-0.524913,0.136904],[0.522391,-0.850820,-0.056680],[0.146233,0.023902,0.988961]]
2025-10-26T18:04:38.219Z,1761501878.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840434,-0.534874,0.087067],[0.527580,-0.844282,-0.094054],[0.123816,-0.033111,0.991753]]
2025-10-26T18:04:38.622Z,1761501878.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846071,-0.532493,0.024804],[0.526203,-0.841711,-0.120966],[0.085291,-0.089294,0.992347]]
2025-10-26T18:04:39.028Z,1761501879.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840801,-0.541272,0.008804],[0.537348,-0.836457,-0.107688],[0.065652,-0.085813,0.994146]]
2025-10-26T18:04:39.432Z,1761501879.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843284,-0.535259,0.048670],[0.530508,-0.843471,-0.084370],[0.086212,-0.045328,0.995245]]
2025-10-26T18:04:39.456Z,1761501879.456 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:A.Wait] Stopped
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-26T18:04:39.457Z,1761501879.457 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T18:04:39.458Z,1761501879.458 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T18:04:39.835Z,1761501879.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849839,-0.520713,0.081439],[0.518138,-0.853730,-0.051747],[0.096473,-0.001780,0.995334]]
2025-10-26T18:04:39.861Z,1761501879.861 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T18:04:39.861Z,1761501879.861 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T18:04:39.862Z,1761501879.862 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.137548 m.
2025-10-26T18:04:39.863Z,1761501879.863 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-26T18:04:39.863Z,1761501879.863 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T18:04:40.238Z,1761501880.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847714,-0.527273,0.058003],[0.526934,-0.849615,-0.022243],[0.061009,0.011708,0.998069]]
2025-10-26T18:04:40.269Z,1761501880.269 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-26T18:04:40.643Z,1761501880.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846690,-0.530937,0.034957],[0.529467,-0.847212,-0.043547],[0.052736,-0.018362,0.998440]]
2025-10-26T18:04:40.695Z,1761501880.695 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T18:04:40.818Z,1761501880.818 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T18:04:41.047Z,1761501881.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849209,-0.526959,0.034015],[0.521902,-0.847376,-0.097841],[0.080382,-0.065335,0.994621]]
2025-10-26T18:04:41.434Z,1761501881.434 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute
2025-10-26T18:04:41.435Z,1761501881.435 [CommandExec](IMPORTANT): got command set transit.Latitude 36.775 degree
2025-10-26T18:04:41.496Z,1761501881.496 [CommandExec](IMPORTANT): got command set transit.Longitude -121.865 degree
2025-10-26T18:04:41.496Z,1761501881.496 [CommandExec](IMPORTANT): got command run
2025-10-26T18:04:41.498Z,1761501881.498 [CommandExec](IMPORTANT): Running 
2025-10-26T18:04:41.562Z,1761501881.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851648,-0.524077,0.006280],[0.519532,-0.845722,-0.121822],[0.069155,-0.100487,0.992532]]
2025-10-26T18:04:41.668Z,1761501881.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:04:41.672Z,1761501881.672 [DefaultWithUndock] Stopped
2025-10-26T18:04:41.672Z,1761501881.672 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-26T18:04:41.672Z,1761501881.672 [DefaultWithUndock:LeaveDock] Stopped
2025-10-26T18:04:41.672Z,1761501881.672 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-26T18:04:41.672Z,1761501881.672 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-26T18:04:41.672Z,1761501881.672 [MissionManager](IMPORTANT): Started mission transit
2025-10-26T18:04:41.673Z,1761501881.673 [transit] Running Loop=1
2025-10-26T18:04:41.673Z,1761501881.673 [transit](DEBUG): Aggregate::initialize transit
2025-10-26T18:04:41.673Z,1761501881.673 [transit:StandardEnvelopes] Running Loop=1
2025-10-26T18:04:41.673Z,1761501881.673 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-10-26T18:04:41.673Z,1761501881.673 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T18:04:41.673Z,1761501881.673 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-26T18:04:41.673Z,1761501881.673 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T18:04:41.673Z,1761501881.673 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-26T18:04:41.674Z,1761501881.674 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T18:04:41.674Z,1761501881.674 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-26T18:04:41.674Z,1761501881.674 [transit:BackseatDriver] Running Loop=1
2025-10-26T18:04:41.674Z,1761501881.674 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-10-26T18:04:41.674Z,1761501881.674 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-26T18:04:41.674Z,1761501881.674 [transit:PowerOnly] Running Loop=1
2025-10-26T18:04:41.674Z,1761501881.674 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-10-26T18:04:41.674Z,1761501881.674 [transit:PowerOnly:A] Running Loop=1
2025-10-26T18:04:41.674Z,1761501881.674 [transit:PowerOnly:B] Running Loop=1
2025-10-26T18:04:41.675Z,1761501881.675 [transit:PowerOnly:C] Running Loop=1
2025-10-26T18:04:41.675Z,1761501881.675 [transit:PowerOnly:D] Running Loop=1
2025-10-26T18:04:41.675Z,1761501881.675 [transit:PowerOnly:E.Wait] Running Loop=1
2025-10-26T18:04:41.675Z,1761501881.675 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-26T18:04:41.675Z,1761501881.675 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-10-26T18:04:41.675Z,1761501881.675 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T18:04:41.676Z,1761501881.676 [transit:MassHold.Pitch] Running Loop=1
2025-10-26T18:04:41.677Z,1761501881.677 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-10-26T18:04:41.677Z,1761501881.677 [transit:B] Running Loop=1
2025-10-26T18:04:41.680Z,1761501881.680 [transit:MassHold.Pitch] Running Loop=1
2025-10-26T18:04:41.681Z,1761501881.681 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-10-26T18:04:41.681Z,1761501881.681 [transit:PowerOnly] Running Loop=1
2025-10-26T18:04:41.681Z,1761501881.681 [transit:PowerOnly:D] Stopped
2025-10-26T18:04:41.681Z,1761501881.681 [transit:PowerOnly:C] Stopped
2025-10-26T18:04:41.681Z,1761501881.681 [transit:PowerOnly:B] Stopped
2025-10-26T18:04:41.681Z,1761501881.681 [transit:PowerOnly:A] Stopped
2025-10-26T18:04:41.682Z,1761501881.682 [transit:BackseatDriver] Running Loop=1
2025-10-26T18:04:41.682Z,1761501881.682 [transit:StandardEnvelopes] Running Loop=1
2025-10-26T18:04:41.682Z,1761501881.682 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T18:04:41.732Z,1761501881.732 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T18:04:41.733Z,1761501881.733 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T18:04:41.734Z,1761501881.734 [transit:B] Stopped
2025-10-26T18:04:41.734Z,1761501881.734 [transit:C] Running Loop=1
2025-10-26T18:04:42.012Z,1761501882.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851035,-0.525000,-0.010734],[0.521928,-0.843455,-0.127178],[0.057715,-0.113835,0.991822]]
2025-10-26T18:04:42.040Z,1761501882.040 [transit:C] Stopped
2025-10-26T18:04:42.040Z,1761501882.040 [transit:E] Running Loop=1
2025-10-26T18:04:42.403Z,1761501882.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844799,-0.534957,-0.011640],[0.531107,-0.835677,-0.139890],[0.065108,-0.124361,0.990099]]
2025-10-26T18:04:42.461Z,1761501882.461 [transit:E] Stopped
2025-10-26T18:04:42.461Z,1761501882.461 [transit:F] Running Loop=1
2025-10-26T18:04:42.832Z,1761501882.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850869,-0.525215,-0.013096],[0.521915,-0.842140,-0.135664],[0.060224,-0.122268,0.990668]]
2025-10-26T18:04:42.873Z,1761501882.873 [transit:F] Stopped
2025-10-26T18:04:42.873Z,1761501882.873 [transit:G] Running Loop=1
2025-10-26T18:04:43.227Z,1761501883.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855677,-0.515810,-0.041915],[0.517479,-0.851926,-0.080234],[0.005677,-0.090345,0.995894]]
2025-10-26T18:04:43.243Z,1761501883.243 [transit:G] Stopped
2025-10-26T18:04:43.243Z,1761501883.243 [transit:Transit] Running Loop=1
2025-10-26T18:04:43.243Z,1761501883.243 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-10-26T18:04:43.243Z,1761501883.243 [transit:Transit:A.Pitch] Running Loop=1
2025-10-26T18:04:43.243Z,1761501883.243 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-10-26T18:04:43.244Z,1761501883.244 [transit:Transit:B.SetSpeed] Running Loop=1
2025-10-26T18:04:43.244Z,1761501883.244 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-10-26T18:04:43.244Z,1761501883.244 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-10-26T18:04:43.244Z,1761501883.244 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-26T18:04:43.246Z,1761501883.246 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.775002,-121.864998
2025-10-26T18:04:43.615Z,1761501883.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857248,-0.512830,-0.046166],[0.514440,-0.856832,-0.034498],[-0.021865,-0.053322,0.998338]]
2025-10-26T18:04:43.659Z,1761501883.659 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998
2025-10-26T18:04:43.660Z,1761501883.660 [transit:Transit:B.SetSpeed] Running Loop=1
2025-10-26T18:04:43.660Z,1761501883.660 [transit:Transit:A.Pitch] Running Loop=1
2025-10-26T18:04:43.669Z,1761501883.669 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-10-26T18:04:43.669Z,1761501883.669 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-10-26T18:04:43.669Z,1761501883.669 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-10-26T18:04:44.051Z,1761501884.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858809,-0.512229,0.008262],[0.511945,-0.858707,-0.023133],[0.018944,-0.015638,0.999698]]
2025-10-26T18:04:44.434Z,1761501884.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862837,-0.504688,0.028314],[0.504193,-0.863283,-0.023037],[0.036070,-0.005602,0.999334]]
2025-10-26T18:04:44.849Z,1761501884.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873287,-0.487203,-0.001893],[0.487193,-0.873227,-0.010801],[0.003609,-0.010355,0.999940]]
2025-10-26T18:04:45.443Z,1761501885.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870583,-0.491859,0.012653],[0.490566,-0.869696,-0.054543],[0.037831,-0.041277,0.998431]]
2025-10-26T18:04:45.842Z,1761501885.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856721,-0.515769,0.003232],[0.512272,-0.851609,-0.111084],[0.060047,-0.093512,0.993806]]
2025-10-26T18:04:46.247Z,1761501886.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857272,-0.514715,-0.012394],[0.512017,-0.849757,-0.125507],[0.054068,-0.113940,0.992015]]
2025-10-26T18:04:46.651Z,1761501886.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858113,-0.513455,0.002438],[0.509662,-0.852331,-0.117377],[0.062346,-0.099480,0.993084]]
2025-10-26T18:04:47.057Z,1761501887.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860203,-0.509822,0.011460],[0.507080,-0.857525,-0.086722],[0.054040,-0.068788,0.996167]]
2025-10-26T18:04:47.463Z,1761501887.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868717,-0.494285,0.031837],[0.492868,-0.869021,-0.043402],[0.049120,-0.022013,0.998550]]
2025-10-26T18:04:47.862Z,1761501887.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868989,-0.492917,0.043490],[0.492038,-0.870065,-0.029758],[0.052507,-0.004461,0.998611]]
2025-10-26T18:04:48.268Z,1761501888.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865629,-0.500213,0.021778],[0.499198,-0.865590,-0.039441],[0.038580,-0.023270,0.998985]]
2025-10-26T18:04:48.672Z,1761501888.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864667,-0.501633,-0.026741],[0.502238,-0.862158,-0.066636],[0.010372,-0.071048,0.997419]]
2025-10-26T18:04:49.074Z,1761501889.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857640,-0.508136,-0.079067],[0.513792,-0.853181,-0.090004],[-0.021724,-0.117815,0.992798]]
2025-10-26T18:04:49.478Z,1761501889.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851382,-0.516049,-0.094033],[0.524106,-0.844227,-0.112223],[-0.021472,-0.144828,0.989224]]
2025-10-26T18:04:49.883Z,1761501889.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847050,-0.526941,-0.069568],[0.531480,-0.841182,-0.099712],[-0.005978,-0.121435,0.992581]]
2025-10-26T18:04:50.316Z,1761501890.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846466,-0.531614,-0.029696],[0.532441,-0.845028,-0.049330],[0.001131,-0.057568,0.998341]]
2025-10-26T18:04:50.718Z,1761501890.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856737,-0.515741,-0.003637],[0.515750,-0.856681,-0.009943],[0.002012,-0.010394,0.999944]]
2025-10-26T18:04:50.801Z,1761501890.801 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:04:51.191Z,1761501891.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858765,-0.512355,0.003793],[0.512290,-0.858739,-0.011230],[0.009011,-0.007701,0.999930]]
2025-10-26T18:04:51.595Z,1761501891.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850583,-0.525669,-0.013450],[0.525647,-0.849298,-0.048873],[0.014268,-0.048640,0.998714]]
2025-10-26T18:04:51.000Z,1761501892.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844600,-0.532598,-0.054684],[0.534970,-0.835430,-0.125954],[0.021398,-0.135635,0.990528]]
2025-10-26T18:04:52.402Z,1761501892.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851783,-0.520294,-0.061315],[0.522238,-0.833952,-0.178302],[0.041636,-0.183896,0.982064]]
2025-10-26T18:04:52.850Z,1761501892.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849688,-0.523702,-0.061370],[0.525451,-0.831277,-0.181330],[0.043947,-0.186321,0.981506]]
2025-10-26T18:04:53.271Z,1761501893.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837402,-0.542014,-0.070563],[0.546373,-0.826453,-0.135837],[0.015308,-0.152304,0.988215]]
2025-10-26T18:04:53.676Z,1761501893.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836050,-0.545205,-0.061412],[0.548644,-0.830112,-0.099524],[0.003282,-0.116900,0.993138]]
2025-10-26T18:04:54.152Z,1761501894.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830695,-0.555884,-0.030639],[0.556192,-0.826223,-0.089477],[0.024424,-0.091369,0.995517]]
2025-10-26T18:04:54.627Z,1761501894.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825826,-0.563308,-0.026354],[0.561093,-0.816105,-0.138371],[0.056438,-0.129057,0.990030]]
2025-10-26T18:04:55.018Z,1761501895.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816034,-0.576881,-0.036017],[0.575133,-0.804197,-0.149966],[0.057548,-0.143092,0.988035]]
2025-10-26T18:04:55.514Z,1761501895.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810839,-0.582027,-0.061520],[0.583968,-0.797548,-0.151324],[0.039009,-0.158625,0.986568]]
2025-10-26T18:04:55.910Z,1761501895.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801376,-0.594408,-0.066898],[0.597076,-0.788174,-0.149272],[0.036002,-0.159566,0.986531]]
2025-10-26T18:04:56.351Z,1761501896.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787359,-0.613791,-0.057675],[0.614522,-0.773920,-0.153002],[0.049275,-0.155910,0.986541]]
2025-10-26T18:04:56.765Z,1761501896.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774126,-0.631212,-0.047970],[0.630326,-0.761601,-0.150508],[0.058468,-0.146749,0.987444]]
2025-10-26T18:04:57.256Z,1761501897.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771746,-0.634987,-0.034628],[0.631594,-0.758999,-0.158140],[0.074135,-0.143915,0.986809]]
2025-10-26T18:04:57.658Z,1761501897.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758697,-0.651168,-0.018926],[0.645531,-0.747589,-0.156206],[0.087567,-0.130730,0.987543]]
2025-10-26T18:04:58.063Z,1761501898.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740864,-0.669457,-0.054295],[0.670612,-0.732790,-0.115317],[0.037413,-0.121845,0.991844]]
2025-10-26T18:04:58.468Z,1761501898.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723241,-0.686506,-0.075047],[0.690566,-0.717928,-0.087735],[0.006352,-0.115279,0.993313]]
2025-10-26T18:04:58.897Z,1761501898.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691229,-0.720174,-0.059597],[0.722410,-0.686595,-0.081925],[0.018081,-0.099683,0.994855]]
2025-10-26T18:04:59.301Z,1761501899.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658397,-0.749433,-0.069739],[0.752418,-0.652939,-0.086822],[0.019531,-0.109636,0.993780]]
2025-10-26T18:05:00.112Z,1761501900.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640388,-0.766256,-0.052486],[0.766927,-0.634257,-0.097680],[0.041558,-0.102806,0.993833]]
2025-10-26T18:05:00.240Z,1761501900.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:05:00.515Z,1761501900.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613834,-0.789404,-0.007054],[0.786274,-0.610552,-0.094864],[0.070579,-0.063777,0.995465]]
2025-10-26T18:05:00.921Z,1761501900.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574802,-0.818150,-0.015283],[0.816696,-0.572414,-0.073141],[0.051092,-0.054523,0.997205]]
2025-10-26T18:05:01.322Z,1761501901.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544002,-0.837055,-0.058318],[0.838490,-0.539688,-0.075301],[0.031558,-0.089863,0.995454]]
2025-10-26T18:05:01.764Z,1761501901.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546692,-0.833622,-0.078753],[0.836204,-0.538651,-0.103044],[0.043479,-0.122187,0.991554]]
2025-10-26T18:05:02.168Z,1761501902.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512974,-0.855086,-0.075405],[0.857301,-0.505882,-0.095495],[0.043510,-0.113631,0.992570]]
2025-10-26T18:05:02.603Z,1761501902.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470129,-0.879080,-0.078718],[0.882102,-0.465005,-0.075268],[0.029563,-0.104823,0.994051]]
2025-10-26T18:05:03.065Z,1761501903.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431974,-0.899933,-0.059324],[0.901731,-0.429744,-0.046919],[0.016730,-0.073762,0.997136]]
2025-10-26T18:05:03.456Z,1761501903.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398416,-0.913746,-0.079587],[0.917195,-0.397320,-0.029845],[-0.004351,-0.084887,0.996381]]
2025-10-26T18:05:03.899Z,1761501903.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354258,-0.930196,-0.096107],[0.934932,-0.350095,-0.057754],[0.020076,-0.110313,0.993694]]
2025-10-26T18:05:04.294Z,1761501904.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310338,-0.944273,-0.109726],[0.950550,-0.306780,-0.048370],[0.012013,-0.119311,0.992784]]
2025-10-26T18:05:04.808Z,1761501904.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280258,-0.957175,-0.072606],[0.959457,-0.276959,-0.052304],[0.029955,-0.084321,0.995988]]
2025-10-26T18:05:05.820Z,1761501905.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116864,-0.992364,-0.039455],[0.990520,-0.113575,-0.077272],[0.072200,-0.048111,0.996229]]
2025-10-26T18:05:06.211Z,1761501906.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065408,-0.996446,-0.053076],[0.994246,-0.060557,-0.088366],[0.084838,-0.058550,0.994673]]
2025-10-26T18:05:06.615Z,1761501906.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022394,-0.996968,-0.074526],[0.997324,-0.017088,-0.071081],[0.069591,-0.075918,0.994683]]
2025-10-26T18:05:07.020Z,1761501907.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024704,-0.995303,-0.093601],[0.999211,0.027497,-0.028665],[0.031104,-0.092819,0.995197]]
2025-10-26T18:05:07.494Z,1761501907.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070566,-0.989382,-0.127059],[0.997472,0.068923,0.017286],[-0.008345,-0.127958,0.991745]]
2025-10-26T18:05:07.890Z,1761501907.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111704,-0.981640,-0.154612],[0.993616,0.107853,0.033104],[-0.015821,-0.157322,0.987420]]
2025-10-26T18:05:08.294Z,1761501908.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150517,-0.974489,-0.166479],[0.988146,0.143152,0.055460],[-0.030213,-0.172853,0.984484]]
2025-10-26T18:05:08.474Z,1761501908.474 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T180507
2025-10-26T18:05:08.699Z,1761501908.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186995,-0.967456,-0.170476],[0.980863,0.174298,0.086762],[-0.054224,-0.183438,0.981535]]
2025-10-26T18:05:09.106Z,1761501909.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224078,-0.955951,-0.189599],[0.971822,0.204573,0.117099],[-0.073154,-0.210495,0.974854]]
2025-10-26T18:05:09.551Z,1761501909.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255211,-0.945710,-0.201244],[0.963211,0.230545,0.138107],[-0.084213,-0.229087,0.969756]]
2025-10-26T18:05:09.954Z,1761501909.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279891,-0.940429,-0.193013],[0.957618,0.259239,0.125549],[-0.068034,-0.219972,0.973131]]
2025-10-26T18:05:10.403Z,1761501910.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279169,-0.942392,-0.184285],[0.959066,0.264151,0.102058],[-0.047499,-0.205233,0.977560]]
2025-10-26T18:05:10.833Z,1761501910.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293722,-0.940358,-0.171623],[0.955609,0.284504,0.076605],[-0.023209,-0.186505,0.982180]]
2025-10-26T18:05:11.206Z,1761501911.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334946,-0.925510,-0.176756],[0.942037,0.325062,0.083071],[-0.019426,-0.194335,0.980743]]
2025-10-26T18:05:11.611Z,1761501911.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373979,-0.907887,-0.189424],[0.927073,0.360230,0.103778],[-0.025982,-0.214420,0.976396]]
2025-10-26T18:05:12.015Z,1761501912.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405456,-0.898913,-0.166012],[0.912412,0.386893,0.133485],[-0.055762,-0.205593,0.977048]]
2025-10-26T18:05:12.418Z,1761501912.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423016,-0.896323,-0.132904],[0.903573,0.406269,0.136018],[-0.067921,-0.177627,0.981751]]
2025-10-26T18:05:12.842Z,1761501912.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439357,-0.890768,-0.116179],[0.895101,0.423184,0.140389],[-0.075889,-0.165673,0.983257]]
2025-10-26T18:05:13.303Z,1761501913.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451566,-0.879511,-0.150158],[0.890742,0.434638,0.132926],[-0.051645,-0.193777,0.979685]]
2025-10-26T18:05:13.707Z,1761501913.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454223,-0.871510,-0.184800],[0.890788,0.441186,0.108865],[-0.013346,-0.214067,0.976728]]
2025-10-26T18:05:14.111Z,1761501914.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484096,-0.853930,-0.190933],[0.874745,0.477706,0.081355],[0.021738,-0.206401,0.978226]]
2025-10-26T18:05:14.516Z,1761501914.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506514,-0.844681,-0.173083],[0.859538,0.510509,0.023984],[0.068101,-0.160920,0.984615]]
2025-10-26T18:05:14.918Z,1761501914.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528433,-0.842406,-0.105404],[0.847483,0.530780,0.006694],[0.050307,-0.092866,0.994407]]
2025-10-26T18:05:15.485Z,1761501915.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611358,-0.788270,-0.069796],[0.789144,0.613862,-0.020625],[0.059103,-0.042470,0.997348]]
2025-10-26T18:05:15.871Z,1761501915.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652944,-0.754454,-0.066811],[0.757053,0.652789,0.027156],[0.023125,-0.068311,0.997396]]
2025-10-26T18:05:16.320Z,1761501916.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668415,-0.740888,-0.065623],[0.743783,0.665466,0.062786],[-0.002848,-0.090776,0.995867]]
2025-10-26T18:05:16.714Z,1761501916.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693559,-0.716402,-0.075785],[0.720318,0.691212,0.058027],[0.010813,-0.094834,0.995434]]
2025-10-26T18:05:17.215Z,1761501917.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711842,-0.696936,-0.086953],[0.701597,0.711311,0.042409],[0.032294,-0.091194,0.995309]]
2025-10-26T18:05:17.614Z,1761501917.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710875,-0.699317,-0.074917],[0.703254,0.708211,0.062225],[0.009543,-0.096920,0.995246]]
2025-10-26T18:05:18.018Z,1761501918.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719550,-0.689797,-0.080173],[0.694431,0.714120,0.088302],[-0.003657,-0.119212,0.992862]]
2025-10-26T18:05:18.028Z,1761501918.028 [DataOverHttps](INFO): Received command: sched "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4ii8d 1 2
2025-10-26T18:05:18.113Z,1761501918.113 [CommandExec](IMPORTANT): got command schedule "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min" 4ii8d 1 2.000000
2025-10-26T18:05:18.113Z,1761501918.113 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4ii8d
2025-10-26T18:05:18.114Z,1761501918.114 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='4ii8d'): "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree;set marl.SpeedUpdateTimeout 15 min", AFTER MISSION
2025-10-26T18:05:18.424Z,1761501918.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718666,-0.685284,-0.117919],[0.695094,0.712636,0.094834],[0.019045,-0.150119,0.988484]]
2025-10-26T18:05:18.841Z,1761501918.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715128,-0.692635,-0.094068],[0.698976,0.707669,0.103136],[-0.004867,-0.139507,0.990209]]
2025-10-26T18:05:19.030Z,1761501919.030 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T180518
2025-10-26T18:05:19.230Z,1761501919.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725254,-0.685104,-0.068110],[0.688343,0.719570,0.091671],[-0.013795,-0.113368,0.993457]]
2025-10-26T18:05:19.634Z,1761501919.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741588,-0.667653,-0.065476],[0.670825,0.738957,0.062739],[0.006496,-0.090449,0.995880]]
2025-10-26T18:05:20.045Z,1761501920.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757877,-0.646407,-0.088209],[0.650650,0.758796,0.029714],[0.047725,-0.079913,0.995659]]
2025-10-26T18:05:20.459Z,1761501920.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775048,-0.621908,-0.111940],[0.627055,0.778838,0.014577],[0.078118,-0.081490,0.993608]]
2025-10-26T18:05:20.854Z,1761501920.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783212,-0.612263,-0.108227],[0.615995,0.787749,0.001333],[0.084439,-0.067711,0.994125]]
2025-10-26T18:05:21.250Z,1761501921.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786182,-0.610552,-0.095626],[0.615180,0.787927,0.026907],[0.058918,-0.079981,0.995054]]
2025-10-26T18:05:22.096Z,1761501922.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811477,-0.576864,-0.093451],[0.584314,0.803424,0.114397],[0.009089,-0.147435,0.989030]]
2025-10-26T18:05:22.491Z,1761501922.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820820,-0.555432,-0.133226],[0.568971,0.815609,0.105137],[0.050264,-0.162101,0.985493]]
2025-10-26T18:05:22.894Z,1761501922.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810509,-0.565943,-0.150944],[0.581573,0.808216,0.092517],[0.069636,-0.162771,0.984204]]
2025-10-26T18:05:23.299Z,1761501923.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813809,-0.566616,-0.129078],[0.579531,0.807772,0.107928],[0.043112,-0.162638,0.985743]]
2025-10-26T18:05:23.702Z,1761501923.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805799,-0.574045,-0.145468],[0.590070,0.799076,0.115299],[0.050053,-0.178744,0.982622]]
2025-10-26T18:05:24.107Z,1761501924.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793243,-0.596432,-0.122615],[0.608470,0.784047,0.122614],[0.023006,-0.171870,0.984851]]
2025-10-26T18:05:24.510Z,1761501924.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788117,-0.598378,-0.144273],[0.614257,0.779623,0.121972],[0.039493,-0.184749,0.981992]]
2025-10-26T18:05:24.953Z,1761501924.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777796,-0.603572,-0.175311],[0.626588,0.766466,0.141128],[0.049189,-0.219617,0.974345]]
2025-10-26T18:05:25.750Z,1761501925.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750977,-0.631899,-0.191670],[0.650949,0.757187,0.054165],[0.110903,-0.165444,0.979964]]
2025-10-26T18:05:26.154Z,1761501926.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750367,-0.642476,-0.155484],[0.654975,0.754385,0.043717],[0.089207,-0.134641,0.986871]]
2025-10-26T18:05:26.559Z,1761501926.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763385,-0.622327,-0.173068],[0.639133,0.766525,0.062840],[0.093554,-0.158585,0.982903]]
2025-10-26T18:05:26.963Z,1761501926.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765167,-0.608680,-0.209828],[0.630418,0.774498,0.052202],[0.130738,-0.172223,0.976344]]
2025-10-26T18:05:27.227Z,1761501927.227 [DataOverHttps](INFO): Received command: sched "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 30 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4ii8d 2 2
2025-10-26T18:05:27.301Z,1761501927.301 [CommandExec](IMPORTANT): got command schedule "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 30 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4ii8d 2 2.000000
2025-10-26T18:05:27.302Z,1761501927.302 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4ii8d
2025-10-26T18:05:27.303Z,1761501927.303 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='4ii8d'): "set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 30 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", AFTER MISSION
2025-10-26T18:05:27.367Z,1761501927.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756617,-0.614240,-0.224142],[0.636113,0.770804,0.034955],[0.151299,-0.169028,0.973929]]
2025-10-26T18:05:27.770Z,1761501927.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755989,-0.610620,-0.235847],[0.632397,0.774322,0.022343],[0.168978,-0.166040,0.971533]]
2025-10-26T18:05:28.174Z,1761501928.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748299,-0.625245,-0.221623],[0.638925,0.769164,-0.012675],[0.178389,-0.132116,0.975050]]
2025-10-26T18:05:28.582Z,1761501928.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749114,-0.633344,-0.194173],[0.637670,0.768835,-0.047635],[0.179456,-0.088134,0.979810]]
2025-10-26T18:05:28.982Z,1761501928.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755363,-0.627964,-0.187317],[0.627388,0.775553,-0.070013],[0.189240,-0.064636,0.979801]]
2025-10-26T18:05:29.232Z,1761501929.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:05:29.386Z,1761501929.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754637,-0.618908,-0.217888],[0.625047,0.779096,-0.048213],[0.199595,-0.099808,0.974782]]
2025-10-26T18:05:29.790Z,1761501929.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756989,-0.609355,-0.235911],[0.623469,0.781632,-0.018363],[0.195586,-0.133183,0.971601]]
2025-10-26T18:05:30.197Z,1761501930.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755699,-0.607170,-0.245487],[0.626387,0.779512,0.000259],[0.191203,-0.153965,0.969400]]
2025-10-26T18:05:30.599Z,1761501930.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738948,-0.619898,-0.263973],[0.644864,0.764225,0.010533],[0.195205,-0.178010,0.964472]]
2025-10-26T18:05:31.002Z,1761501931.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714911,-0.645425,-0.268940],[0.670002,0.742359,-0.000540],[0.199999,-0.179804,0.963157]]
2025-10-26T18:05:31.406Z,1761501931.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692708,-0.676543,-0.249892],[0.692482,0.720738,-0.031703],[0.201555,-0.151085,0.967755]]
2025-10-26T18:05:31.812Z,1761501931.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659071,-0.711028,-0.245079],[0.719637,0.690895,-0.069178],[0.218512,-0.130775,0.967032]]
2025-10-26T18:05:32.222Z,1761501932.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625271,-0.740655,-0.245900],[0.742635,0.661540,-0.104206],[0.239853,-0.117457,0.963678]]
2025-10-26T18:05:32.625Z,1761501932.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582397,-0.785335,-0.209911],[0.772535,0.615067,-0.157743],[0.252990,-0.070294,0.964912]]
2025-10-26T18:05:33.027Z,1761501933.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570350,-0.801071,-0.181622],[0.781626,0.597271,-0.179801],[0.252511,-0.039411,0.966791]]
2025-10-26T18:05:33.432Z,1761501933.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562871,-0.812669,-0.150816],[0.782973,0.582709,-0.217724],[0.264819,0.004466,0.964288]]
2025-10-26T18:05:33.850Z,1761501933.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557901,-0.819450,-0.131333],[0.784177,0.572322,-0.239823],[0.271687,0.030809,0.961892]]
2025-10-26T18:05:34.247Z,1761501934.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560011,-0.819537,-0.121432],[0.784541,0.571682,-0.240157],[0.266238,0.039222,0.963109]]
2025-10-26T18:05:34.691Z,1761501934.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561582,-0.816106,-0.136371],[0.785386,0.577626,-0.222525],[0.260376,0.017862,0.965342]]
2025-10-26T18:05:35.500Z,1761501935.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563446,-0.804730,-0.186918],[0.787381,0.591576,-0.173401],[0.250117,-0.049473,0.966951]]
2025-10-26T18:05:35.902Z,1761501935.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564840,-0.800232,-0.201456],[0.788494,0.595386,-0.154247],[0.243377,-0.071722,0.967276]]
2025-10-26T18:05:36.306Z,1761501936.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566094,-0.798943,-0.203045],[0.792448,0.595277,-0.132935],[0.227075,-0.085649,0.970104]]
2025-10-26T18:05:36.710Z,1761501936.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567067,-0.801165,-0.191234],[0.798250,0.591785,-0.112199],[0.203059,-0.089029,0.975111]]
2025-10-26T18:05:37.115Z,1761501937.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565375,-0.804362,-0.182629],[0.805476,0.586090,-0.087787],[0.177649,-0.097471,0.979255]]
2025-10-26T18:05:37.518Z,1761501937.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556409,-0.810261,-0.184083],[0.815765,0.574798,-0.064303],[0.157913,-0.114390,0.980805]]
2025-10-26T18:05:37.922Z,1761501937.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539937,-0.819572,-0.191752],[0.828642,0.557560,-0.049782],[0.147713,-0.132014,0.980180]]
2025-10-26T18:05:38.326Z,1761501938.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519519,-0.831819,-0.195390],[0.842101,0.537189,-0.047885],[0.144793,-0.139661,0.979556]]
2025-10-26T18:05:38.734Z,1761501938.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500082,-0.844352,-0.192322],[0.853261,0.518354,-0.057056],[0.147866,-0.135568,0.979672]]
2025-10-26T18:05:39.180Z,1761501939.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483039,-0.854866,-0.189411],[0.861360,0.502786,-0.072560],[0.157263,-0.128102,0.979213]]
2025-10-26T18:05:39.582Z,1761501939.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469168,-0.863126,-0.186804],[0.866777,0.490564,-0.089692],[0.169055,-0.119837,0.978294]]
2025-10-26T18:05:39.986Z,1761501939.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460766,-0.868555,-0.182503],[0.868797,0.483423,-0.107213],[0.181346,-0.109158,0.977342]]
2025-10-26T18:05:40.390Z,1761501940.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458499,-0.870563,-0.178602],[0.867585,0.482019,-0.122287],[0.192548,-0.098884,0.976293]]
2025-10-26T18:05:40.829Z,1761501940.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461652,-0.868829,-0.178923],[0.864341,0.485940,-0.129526],[0.199481,-0.094854,0.975300]]
2025-10-26T18:05:41.199Z,1761501941.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471303,-0.863494,-0.179589],[0.859135,0.495518,-0.127867],[0.199402,-0.094027,0.975396]]
2025-10-26T18:05:41.604Z,1761501941.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485615,-0.854882,-0.182636],[0.853134,0.509029,-0.114246],[0.190634,-0.100333,0.976520]]
2025-10-26T18:05:42.006Z,1761501942.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492697,-0.848408,-0.193528],[0.851289,0.516032,-0.094962],[0.180433,-0.117961,0.976488]]
2025-10-26T18:05:42.410Z,1761501942.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492329,-0.844242,-0.211818],[0.853237,0.516208,-0.074270],[0.172044,-0.144166,0.974483]]
2025-10-26T18:05:42.840Z,1761501942.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489216,-0.841625,-0.228769],[0.856496,0.513100,-0.056064],[0.164567,-0.168512,0.971865]]
2025-10-26T18:05:43.223Z,1761501943.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484396,-0.840981,-0.241064],[0.860115,0.508160,-0.044453],[0.159883,-0.185810,0.969491]]
2025-10-26T18:05:43.626Z,1761501943.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478938,-0.841629,-0.249558],[0.863427,0.502952,-0.039155],[0.158470,-0.196722,0.967568]]
2025-10-26T18:05:44.031Z,1761501944.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473453,-0.842994,-0.255348],[0.866407,0.497936,-0.037416],[0.158688,-0.203521,0.966125]]
2025-10-26T18:05:44.434Z,1761501944.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467220,-0.846254,-0.256047],[0.869593,0.492160,-0.039842],[0.159733,-0.204041,0.965843]]
2025-10-26T18:05:44.846Z,1761501944.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459984,-0.850884,-0.253792],[0.873111,0.485436,-0.045045],[0.161528,-0.200869,0.966209]]
2025-10-26T18:05:45.244Z,1761501945.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453614,-0.856282,-0.247012],[0.876338,0.478979,-0.051100],[0.162070,-0.193286,0.967664]]
2025-10-26T18:05:45.646Z,1761501945.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449060,-0.861288,-0.237755],[0.878969,0.473627,-0.055601],[0.160496,-0.184011,0.969733]]
2025-10-26T18:05:46.050Z,1761501946.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445876,-0.865144,-0.229610],[0.881243,0.469241,-0.056773],[0.156859,-0.177028,0.971626]]
2025-10-26T18:05:46.455Z,1761501946.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442968,-0.867965,-0.224537],[0.883518,0.465150,-0.055061],[0.152234,-0.173992,0.972909]]
2025-10-26T18:05:46.859Z,1761501946.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439860,-0.869835,-0.223406],[0.885736,0.461265,-0.052030],[0.148307,-0.174993,0.973336]]
2025-10-26T18:05:47.262Z,1761501947.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436329,-0.871413,-0.224182],[0.887705,0.457587,-0.050924],[0.146958,-0.176788,0.973216]]
2025-10-26T18:05:47.666Z,1761501947.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432326,-0.873192,-0.225013],[0.889396,0.454039,-0.053130],[0.148557,-0.177156,0.972906]]
2025-10-26T18:05:48.071Z,1761501948.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430055,-0.873681,-0.227451],[0.890280,0.452227,-0.053778],[0.149844,-0.179368,0.972303]]
2025-10-26T18:05:48.477Z,1761501948.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429022,-0.872950,-0.232160],[0.890930,0.451313,-0.050589],[0.148939,-0.185134,0.971361]]
2025-10-26T18:05:48.878Z,1761501948.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426773,-0.873513,-0.234180],[0.892410,0.448724,-0.047440],[0.146522,-0.188739,0.971035]]
2025-10-26T18:05:49.282Z,1761501949.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423342,-0.875809,-0.231816],[0.894495,0.444661,-0.046419],[0.143734,-0.187707,0.971651]]
2025-10-26T18:05:49.687Z,1761501949.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419550,-0.878145,-0.229869],[0.896580,0.440462,-0.046241],[0.141854,-0.186696,0.972122]]
2025-10-26T18:05:50.092Z,1761501950.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415095,-0.880466,-0.229076],[0.898742,0.435948,-0.047035],[0.141278,-0.186356,0.972272]]
2025-10-26T18:05:50.495Z,1761501950.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409212,-0.882492,-0.231848],[0.901364,0.430447,-0.047520],[0.141734,-0.189534,0.971591]]
2025-10-26T18:05:50.898Z,1761501950.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404837,-0.882650,-0.238820],[0.903330,0.426557,-0.045220],[0.141784,-0.197427,0.970010]]
2025-10-26T18:05:51.302Z,1761501951.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402972,-0.881387,-0.246519],[0.904233,0.425020,-0.041486],[0.141341,-0.206193,0.968250]]
2025-10-26T18:05:51.707Z,1761501951.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402222,-0.880042,-0.252477],[0.904546,0.424594,-0.038942],[0.141470,-0.212714,0.966819]]
2025-10-26T18:05:52.113Z,1761501952.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402410,-0.879556,-0.253867],[0.904343,0.425017,-0.039037],[0.142233,-0.213874,0.966451]]
2025-10-26T18:05:52.514Z,1761501952.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402871,-0.879540,-0.253188],[0.903973,0.425681,-0.040364],[0.143279,-0.212614,0.966575]]
2025-10-26T18:05:52.918Z,1761501952.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403758,-0.879077,-0.253385],[0.903453,0.426735,-0.040874],[0.144059,-0.212418,0.966502]]
2025-10-26T18:05:53.323Z,1761501953.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404490,-0.878559,-0.254014],[0.903160,0.427423,-0.040143],[0.143839,-0.213178,0.966367]]
2025-10-26T18:05:53.728Z,1761501953.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403958,-0.877826,-0.257369],[0.903580,0.426782,-0.037426],[0.142694,-0.217435,0.965588]]
2025-10-26T18:05:54.130Z,1761501954.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402602,-0.876343,-0.264451],[0.904451,0.425335,-0.032542],[0.140998,-0.226082,0.963850]]
2025-10-26T18:05:54.535Z,1761501954.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400914,-0.875697,-0.269115],[0.905560,0.423275,-0.028275],[0.138670,-0.232363,0.962693]]
2025-10-26T18:05:54.938Z,1761501954.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398952,-0.875295,-0.273307],[0.907005,0.420506,-0.022742],[0.134833,-0.238818,0.961658]]
2025-10-26T18:05:55.746Z,1761501955.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393655,-0.877123,-0.275118],[0.910796,0.412670,-0.012442],[0.124446,-0.245678,0.961330]]
2025-10-26T18:05:56.150Z,1761501956.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390805,-0.879173,-0.272629],[0.912439,0.409060,-0.011186],[0.121356,-0.244385,0.962054]]
2025-10-26T18:05:56.556Z,1761501956.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387762,-0.880427,-0.272925],[0.913488,0.406628,-0.013886],[0.123204,-0.243929,0.961935]]
2025-10-26T18:05:56.961Z,1761501956.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385387,-0.880209,-0.276962],[0.913439,0.406449,-0.020699],[0.130790,-0.245011,0.960658]]
2025-10-26T18:05:57.363Z,1761501957.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384475,-0.878793,-0.282670],[0.912067,0.408894,-0.030657],[0.142523,-0.246028,0.958727]]
2025-10-26T18:05:57.766Z,1761501957.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385870,-0.875971,-0.289446],[0.909308,0.414100,-0.040992],[0.155767,-0.247378,0.956316]]
2025-10-26T18:05:58.170Z,1761501958.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390135,-0.872270,-0.294855],[0.905284,0.421841,-0.050115],[0.168095,-0.247376,0.954227]]
2025-10-26T18:05:58.576Z,1761501958.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397474,-0.868118,-0.297296],[0.900311,0.431564,-0.056503],[0.177353,-0.245201,0.953112]]
2025-10-26T18:05:58.978Z,1761501958.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407022,-0.864237,-0.295681],[0.895161,0.441807,-0.059105],[0.181714,-0.240625,0.953457]]
2025-10-26T18:05:59.384Z,1761501959.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417393,-0.859368,-0.295415],[0.890556,0.451513,-0.055191],[0.180813,-0.240047,0.953774]]
2025-10-26T18:05:59.786Z,1761501959.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427933,-0.853783,-0.296528],[0.886796,0.459996,-0.044678],[0.174547,-0.243841,0.953979]]
2025-10-26T18:06:00.193Z,1761501960.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438544,-0.847405,-0.299305],[0.883519,0.467493,-0.029048],[0.164539,-0.251703,0.953715]]
2025-10-26T18:06:00.556Z,1761501960.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:06:00.597Z,1761501960.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448791,-0.841218,-0.301560],[0.880140,0.474513,-0.013829],[0.154728,-0.259208,0.953347]]
2025-10-26T18:06:00.998Z,1761501960.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458972,-0.834298,-0.305438],[0.876088,0.482152,-0.000518],[0.147699,-0.267352,0.952212]]
2025-10-26T18:06:01.403Z,1761501961.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469207,-0.827257,-0.309017],[0.871281,0.490697,0.009316],[0.143927,-0.273612,0.951011]]
2025-10-26T18:06:01.806Z,1761501961.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480298,-0.819760,-0.311942],[0.865458,0.500701,0.016745],[0.142463,-0.278015,0.949953]]
2025-10-26T18:06:02.212Z,1761501962.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491714,-0.812620,-0.312836],[0.859228,0.511078,0.022960],[0.141226,-0.280087,0.949530]]
2025-10-26T18:06:02.614Z,1761501962.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502051,-0.806446,-0.312392],[0.853737,0.519833,0.030098],[0.138119,-0.281811,0.949476]]
2025-10-26T18:06:03.018Z,1761501963.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510961,-0.802564,-0.307913],[0.849531,0.526142,0.038371],[0.131211,-0.281188,0.950640]]
2025-10-26T18:06:03.424Z,1761501963.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515518,-0.802846,-0.299465],[0.848249,0.527620,0.045713],[0.121303,-0.277587,0.953012]]
2025-10-26T18:06:03.828Z,1761501963.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515771,-0.806049,-0.290284],[0.849653,0.524706,0.052665],[0.109864,-0.273804,0.955490]]
2025-10-26T18:06:04.230Z,1761501964.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514630,-0.809907,-0.281436],[0.851976,0.519939,0.061648],[0.096400,-0.271503,0.957598]]
2025-10-26T18:06:04.634Z,1761501964.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512723,-0.813793,-0.273597],[0.854723,0.513895,0.073216],[0.081018,-0.271389,0.959054]]
2025-10-26T18:06:05.060Z,1761501965.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504723,-0.824537,-0.255721],[0.861735,0.498927,0.092106],[0.051641,-0.266852,0.962353]]
2025-10-26T18:06:05.846Z,1761501965.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498194,-0.830898,-0.247812],[0.866054,0.490659,0.095940],[0.041875,-0.262416,0.964046]]
2025-10-26T18:06:06.250Z,1761501966.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490497,-0.837539,-0.240712],[0.870629,0.482908,0.093835],[0.037651,-0.255596,0.966050]]
2025-10-26T18:06:06.661Z,1761501966.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473459,-0.850139,-0.230434],[0.879551,0.470326,0.071990],[0.047177,-0.236763,0.970421]]
2025-10-26T18:06:07.064Z,1761501967.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466130,-0.854861,-0.227893],[0.882725,0.466661,0.055000],[0.059331,-0.226804,0.972132]]
2025-10-26T18:06:07.469Z,1761501967.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461168,-0.857029,-0.229836],[0.884165,0.465648,0.037744],[0.074675,-0.220620,0.972497]]
2025-10-26T18:06:07.871Z,1761501967.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459900,-0.856547,-0.234135],[0.883322,0.468248,0.022051],[0.090745,-0.216958,0.971954]]
2025-10-26T18:06:08.273Z,1761501968.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462963,-0.852670,-0.242115],[0.880187,0.474473,0.012082],[0.104575,-0.218700,0.970172]]
2025-10-26T18:06:08.674Z,1761501968.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470962,-0.844932,-0.253545],[0.874734,0.484494,0.010261],[0.114171,-0.226617,0.967269]]
2025-10-26T18:06:09.080Z,1761501969.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482873,-0.834649,-0.264944],[0.867626,0.496969,0.015694],[0.118570,-0.237451,0.964136]]
2025-10-26T18:06:09.482Z,1761501969.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496937,-0.822615,-0.276329],[0.859727,0.509993,0.027873],[0.117997,-0.251418,0.960659]]
2025-10-26T18:06:09.886Z,1761501969.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511466,-0.810492,-0.285491],[0.851755,0.522116,0.043688],[0.113650,-0.265513,0.957385]]
2025-10-26T18:06:10.291Z,1761501970.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523798,-0.799211,-0.294782],[0.844865,0.531611,0.059940],[0.108804,-0.280448,0.953683]]
2025-10-26T18:06:10.697Z,1761501970.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530993,-0.791440,-0.302770],[0.840551,0.537205,0.069891],[0.107336,-0.291605,0.950498]]
2025-10-26T18:06:11.121Z,1761501971.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533906,-0.786906,-0.309393],[0.838396,0.540157,0.072954],[0.109714,-0.298344,0.948132]]
2025-10-26T18:06:11.502Z,1761501971.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536344,-0.782868,-0.315361],[0.836162,0.543680,0.072429],[0.114753,-0.302540,0.946204]]
2025-10-26T18:06:11.906Z,1761501971.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539712,-0.779651,-0.317576],[0.833216,0.548598,0.069217],[0.120256,-0.301966,0.945703]]
2025-10-26T18:06:12.311Z,1761501972.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543454,-0.778554,-0.313866],[0.830146,0.553938,0.063325],[0.124560,-0.294969,0.947353]]
2025-10-26T18:06:12.714Z,1761501972.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547353,-0.778955,-0.305995],[0.827239,0.558974,0.056785],[0.126810,-0.284212,0.950338]]
2025-10-26T18:06:13.118Z,1761501973.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550154,-0.781097,-0.295327],[0.825297,0.562512,0.049655],[0.127339,-0.271051,0.954105]]
2025-10-26T18:06:13.522Z,1761501973.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551174,-0.784462,-0.284299],[0.824651,0.564052,0.042381],[0.127113,-0.257807,0.957798]]
2025-10-26T18:06:13.940Z,1761501973.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550059,-0.788611,-0.274823],[0.825508,0.563239,0.036031],[0.126377,-0.246688,0.960819]]
2025-10-26T18:06:14.330Z,1761501974.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546875,-0.793956,-0.265634],[0.827835,0.560168,0.030020],[0.124965,-0.236318,0.963606]]
2025-10-26T18:06:14.734Z,1761501974.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541830,-0.800052,-0.257558],[0.831413,0.555104,0.024743],[0.123176,-0.227544,0.965946]]
2025-10-26T18:06:15.138Z,1761501975.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535249,-0.806903,-0.249830],[0.835941,0.548473,0.019500],[0.121290,-0.219280,0.968093]]
2025-10-26T18:06:15.544Z,1761501975.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527691,-0.814327,-0.241690],[0.841023,0.540816,0.014065],[0.119257,-0.210688,0.970252]]
2025-10-26T18:06:15.946Z,1761501975.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519586,-0.821838,-0.233694],[0.846388,0.532487,0.009214],[0.116867,-0.202583,0.972267]]
2025-10-26T18:06:16.350Z,1761501976.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512489,-0.828178,-0.226883],[0.851020,0.525104,0.005551],[0.114540,-0.195927,0.973906]]
2025-10-26T18:06:16.758Z,1761501976.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506006,-0.833905,-0.220362],[0.855257,0.518197,0.002897],[0.111775,-0.189932,0.975414]]
2025-10-26T18:06:17.160Z,1761501977.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499285,-0.839705,-0.213566],[0.859595,0.510975,0.000537],[0.108676,-0.183848,0.976929]]
2025-10-26T18:06:17.562Z,1761501977.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492794,-0.845263,-0.206605],[0.863761,0.503900,-0.001313],[0.105218,-0.177810,0.978424]]
2025-10-26T18:06:17.966Z,1761501977.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486426,-0.850365,-0.200673],[0.867827,0.496863,-0.001898],[0.101321,-0.173226,0.979656]]
2025-10-26T18:06:18.370Z,1761501978.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480613,-0.854117,-0.198734],[0.871553,0.490300,0.000532],[0.096985,-0.173463,0.980053]]
2025-10-26T18:06:18.804Z,1761501978.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475086,-0.856840,-0.200294],[0.875050,0.484007,0.005030],[0.092634,-0.177657,0.979723]]
2025-10-26T18:06:19.178Z,1761501979.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469977,-0.858148,-0.206648],[0.878183,0.478187,0.011468],[0.088975,-0.186864,0.978348]]
2025-10-26T18:06:19.582Z,1761501979.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464927,-0.859137,-0.213838],[0.881115,0.472598,0.016969],[0.086481,-0.196305,0.976722]]
2025-10-26T18:06:19.987Z,1761501979.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459890,-0.859295,-0.223861],[0.883811,0.467336,0.021781],[0.085902,-0.207868,0.974378]]
2025-10-26T18:06:20.392Z,1761501980.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454685,-0.859120,-0.234893],[0.886353,0.462352,0.024671],[0.087408,-0.219415,0.971708]]
2025-10-26T18:06:20.832Z,1761501980.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450333,-0.857672,-0.248193],[0.888276,0.458496,0.027320],[0.090364,-0.232767,0.968325]]
2025-10-26T18:06:21.198Z,1761501981.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448846,-0.854604,-0.261128],[0.888619,0.457696,0.029506],[0.094301,-0.245287,0.964853]]
2025-10-26T18:06:21.602Z,1761501981.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452034,-0.849028,-0.273526],[0.886582,0.461393,0.033010],[0.098176,-0.257425,0.961298]]
2025-10-26T18:06:22.008Z,1761501982.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458212,-0.841918,-0.284983],[0.882907,0.468115,0.036649],[0.102550,-0.268407,0.957832]]
2025-10-26T18:06:22.410Z,1761501982.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465802,-0.834608,-0.294035],[0.878346,0.476418,0.039156],[0.107404,-0.276504,0.954992]]
2025-10-26T18:06:22.841Z,1761501982.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474151,-0.827983,-0.299375],[0.873308,0.485488,0.040431],[0.111867,-0.280616,0.953279]]
2025-10-26T18:06:23.219Z,1761501983.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483343,-0.821690,-0.302003],[0.867798,0.495172,0.041608],[0.115355,-0.282189,0.952398]]
2025-10-26T18:06:23.624Z,1761501983.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493796,-0.815346,-0.302286],[0.861640,0.505637,0.043688],[0.117226,-0.282034,0.952216]]
2025-10-26T18:06:24.026Z,1761501984.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506026,-0.807801,-0.302316],[0.854541,0.517101,0.048641],[0.117035,-0.282955,0.951966]]
2025-10-26T18:06:24.430Z,1761501984.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519125,-0.799789,-0.301408],[0.846961,0.528722,0.055779],[0.114749,-0.284237,0.951862]]
2025-10-26T18:06:24.844Z,1761501984.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531227,-0.792624,-0.299243],[0.839913,0.539014,0.063324],[0.111104,-0.284977,0.952074]]
2025-10-26T18:06:25.240Z,1761501985.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540927,-0.786948,-0.296834],[0.834280,0.546786,0.070720],[0.106652,-0.285897,0.952307]]
2025-10-26T18:06:25.642Z,1761501985.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546590,-0.784569,-0.292728],[0.831051,0.551189,0.074464],[0.102926,-0.283974,0.953292]]
2025-10-26T18:06:26.047Z,1761501986.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548163,-0.784727,-0.289344],[0.830247,0.552338,0.074917],[0.101026,-0.281294,0.954289]]
2025-10-26T18:06:26.450Z,1761501986.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547945,-0.786808,-0.284058],[0.830457,0.552444,0.071738],[0.100482,-0.275206,0.956120]]
2025-10-26T18:06:26.857Z,1761501986.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547614,-0.789343,-0.277591],[0.830631,0.552820,0.066646],[0.100852,-0.267072,0.958385]]
2025-10-26T18:06:27.260Z,1761501987.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548390,-0.791146,-0.270844],[0.829987,0.554441,0.060967],[0.101933,-0.258231,0.960691]]
2025-10-26T18:06:27.662Z,1761501987.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551044,-0.791554,-0.264182],[0.828083,0.557809,0.055923],[0.103097,-0.249581,0.962850]]
2025-10-26T18:06:28.066Z,1761501988.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555062,-0.790826,-0.257877],[0.825331,0.562220,0.052320],[0.103608,-0.241875,0.964760]]
2025-10-26T18:06:28.470Z,1761501988.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560596,-0.788979,-0.251484],[0.821615,0.567844,0.050012],[0.103345,-0.234659,0.966569]]
2025-10-26T18:06:28.697Z,1761501988.697 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.467731
2025-10-26T18:06:28.879Z,1761501988.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566815,-0.786145,-0.246366],[0.817492,0.573774,0.049915],[0.102118,-0.229695,0.967891]]
2025-10-26T18:06:29.278Z,1761501989.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573208,-0.782484,-0.243212],[0.813305,0.579462,0.052518],[0.099838,-0.227909,0.968550]]
2025-10-26T18:06:29.682Z,1761501989.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579371,-0.778903,-0.240080],[0.809341,0.584623,0.056415],[0.096415,-0.226992,0.969112]]
2025-10-26T18:06:29.700Z,1761501989.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:06:30.087Z,1761501990.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584716,-0.775321,-0.238716],[0.806087,0.588388,0.063431],[0.091278,-0.229516,0.969015]]
2025-10-26T18:06:30.491Z,1761501990.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588159,-0.773039,-0.237655],[0.804346,0.589741,0.072336],[0.084237,-0.233702,0.968652]]
2025-10-26T18:06:30.895Z,1761501990.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588760,-0.773668,-0.234094],[0.804761,0.588155,0.080202],[0.075634,-0.235610,0.968900]]
2025-10-26T18:06:31.298Z,1761501991.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585885,-0.777629,-0.228104],[0.807697,0.583270,0.086148],[0.066054,-0.234712,0.969818]]
2025-10-26T18:06:31.702Z,1761501991.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580022,-0.784540,-0.219254],[0.812624,0.576003,0.088674],[0.056723,-0.229603,0.971630]]
2025-10-26T18:06:32.107Z,1761501992.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572098,-0.792959,-0.209572],[0.818726,0.567356,0.088286],[0.048895,-0.222091,0.973799]]
2025-10-26T18:06:32.510Z,1761501992.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562528,-0.801768,-0.201818],[0.825628,0.557627,0.085971],[0.043610,-0.214988,0.975643]]
2025-10-26T18:06:32.915Z,1761501992.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552211,-0.810724,-0.194395],[0.832693,0.547821,0.080712],[0.041059,-0.206441,0.977597]]
2025-10-26T18:06:33.332Z,1761501993.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541447,-0.819178,-0.189163],[0.839730,0.537933,0.074044],[0.041102,-0.198937,0.979150]]
2025-10-26T18:06:33.734Z,1761501993.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530646,-0.826986,-0.185768],[0.846463,0.528371,0.065766],[0.043767,-0.192144,0.980390]]
2025-10-26T18:06:34.138Z,1761501994.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520198,-0.834324,-0.182475],[0.852656,0.519544,0.055252],[0.048706,-0.184331,0.981657]]
2025-10-26T18:06:34.542Z,1761501994.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511455,-0.840100,-0.180682],[0.857540,0.512481,0.044596],[0.055131,-0.177751,0.982530]]
2025-10-26T18:06:34.946Z,1761501994.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504973,-0.843844,-0.181465],[0.860872,0.507608,0.035133],[0.062466,-0.173959,0.982770]]
2025-10-26T18:06:35.137Z,1761501995.137 [Radio_Surface](INFO): Powering down
2025-10-26T18:06:35.352Z,1761501995.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503128,-0.843849,-0.186497],[0.861512,0.506783,0.031111],[0.068260,-0.176322,0.981963]]
2025-10-26T18:06:35.754Z,1761501995.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509715,-0.838408,-0.193032],[0.857519,0.513254,0.035091],[0.069654,-0.183416,0.980565]]
2025-10-26T18:06:36.158Z,1761501996.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517807,-0.831129,-0.202733],[0.852674,0.520635,0.043433],[0.069451,-0.195355,0.978270]]
2025-10-26T18:06:36.562Z,1761501996.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525896,-0.822971,-0.214831],[0.847806,0.527471,0.054761],[0.068251,-0.210933,0.975115]]
2025-10-26T18:06:36.969Z,1761501996.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533590,-0.814764,-0.226805],[0.843157,0.533430,0.067372],[0.066093,-0.227181,0.971607]]
2025-10-26T18:06:37.370Z,1761501997.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539732,-0.807336,-0.238534],[0.839403,0.537646,0.079617],[0.063969,-0.243198,0.967865]]
2025-10-26T18:06:37.774Z,1761501997.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543523,-0.801759,-0.248524],[0.837031,0.539892,0.088857],[0.062934,-0.256318,0.964542]]
2025-10-26T18:06:38.178Z,1761501998.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545596,-0.797739,-0.256784],[0.835657,0.541003,0.094834],[0.063268,-0.266325,0.961805]]
2025-10-26T18:06:38.584Z,1761501998.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547492,-0.794503,-0.262712],[0.834345,0.542362,0.098543],[0.064192,-0.273144,0.959829]]
2025-10-26T18:06:38.986Z,1761501998.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549150,-0.792217,-0.266132],[0.833124,0.544043,0.099611],[0.065874,-0.276422,0.958776]]
2025-10-26T18:06:39.390Z,1761501999.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551142,-0.790647,-0.266682],[0.831655,0.546469,0.098605],[0.067772,-0.276132,0.958727]]
2025-10-26T18:06:39.794Z,1761501999.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553594,-0.789847,-0.263959],[0.829915,0.549538,0.096169],[0.069097,-0.272303,0.959728]]
2025-10-26T18:06:40.199Z,1761502000.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556061,-0.790057,-0.258083],[0.828201,0.552803,0.092157],[0.069860,-0.264989,0.961717]]
2025-10-26T18:06:40.604Z,1761502000.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558206,-0.790236,-0.252849],[0.826752,0.555441,0.089256],[0.069909,-0.258867,0.963380]]
2025-10-26T18:06:41.006Z,1761502001.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560121,-0.790545,-0.247595],[0.825493,0.557698,0.086801],[0.069464,-0.253007,0.964967]]
2025-10-26T18:06:41.410Z,1761502001.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561439,-0.790673,-0.244178],[0.824627,0.559210,0.085288],[0.069112,-0.249240,0.965973]]
2025-10-26T18:06:41.814Z,1761502001.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562347,-0.790989,-0.241044],[0.824022,0.560357,0.083593],[0.068949,-0.245633,0.966908]]
2025-10-26T18:06:42.220Z,1761502002.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562906,-0.790817,-0.240303],[0.823632,0.560996,0.083151],[0.069052,-0.244727,0.967130]]
2025-10-26T18:06:42.622Z,1761502002.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563825,-0.789874,-0.241249],[0.822997,0.561790,0.084077],[0.069121,-0.245951,0.966814]]
2025-10-26T18:06:43.027Z,1761502003.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564597,-0.789112,-0.241936],[0.822425,0.562598,0.084261],[0.069622,-0.246548,0.966627]]
2025-10-26T18:06:43.431Z,1761502003.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565401,-0.788286,-0.242747],[0.821828,0.563431,0.084521],[0.070144,-0.247285,0.966401]]
2025-10-26T18:06:43.835Z,1761502003.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566328,-0.787602,-0.242806],[0.821128,0.564520,0.084062],[0.070862,-0.246982,0.966426]]
2025-10-26T18:06:44.238Z,1761502004.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567800,-0.787162,-0.240788],[0.820052,0.566331,0.082359],[0.071536,-0.244222,0.967077]]
2025-10-26T18:06:44.642Z,1761502004.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570179,-0.786203,-0.238288],[0.818362,0.568979,0.080913],[0.071967,-0.241140,0.967818]]
2025-10-26T18:06:45.046Z,1761502005.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573719,-0.784654,-0.234871],[0.815845,0.572823,0.079186],[0.072406,-0.237049,0.968796]]
2025-10-26T18:06:45.452Z,1761502005.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577303,-0.783055,-0.231401],[0.813297,0.576637,0.077702],[0.072590,-0.233055,0.969750]]
2025-10-26T18:06:45.854Z,1761502005.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580105,-0.781829,-0.228520],[0.811302,0.579589,0.076583],[0.072573,-0.229825,0.970522]]
2025-10-26T18:06:46.258Z,1761502006.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582729,-0.780348,-0.226899],[0.809489,0.582032,0.077240],[0.071788,-0.228682,0.970851]]
2025-10-26T18:06:46.663Z,1761502006.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583957,-0.779703,-0.225959],[0.808724,0.582912,0.078606],[0.070425,-0.228641,0.970960]]
2025-10-26T18:06:47.069Z,1761502007.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583425,-0.779878,-0.226728],[0.809264,0.581808,0.081184],[0.068598,-0.230848,0.970569]]
2025-10-26T18:06:47.470Z,1761502007.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581022,-0.781476,-0.227398],[0.811170,0.578836,0.083384],[0.066464,-0.232906,0.970225]]
2025-10-26T18:06:47.874Z,1761502007.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576515,-0.784684,-0.227820],[0.814532,0.573950,0.084368],[0.064555,-0.234207,0.970041]]
2025-10-26T18:06:48.278Z,1761502008.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570757,-0.789355,-0.226175],[0.818706,0.568168,0.083102],[0.062909,-0.232602,0.970535]]
2025-10-26T18:06:48.683Z,1761502008.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564301,-0.794583,-0.224059],[0.823268,0.561859,0.080902],[0.061606,-0.230113,0.971212]]
2025-10-26T18:06:49.089Z,1761502009.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557525,-0.800489,-0.219962],[0.827862,0.555811,0.075621],[0.061724,-0.224259,0.972573]]
2025-10-26T18:06:49.490Z,1761502009.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550525,-0.806567,-0.215343],[0.832456,0.549782,0.068967],[0.062765,-0.217232,0.974100]]
2025-10-26T18:06:49.894Z,1761502009.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543380,-0.812182,-0.212364],[0.836972,0.543699,0.062209],[0.064937,-0.211545,0.975209]]
2025-10-26T18:06:50.298Z,1761502010.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537015,-0.817462,-0.208259],[0.840870,0.538472,0.054641],[0.067474,-0.204462,0.976546]]
2025-10-26T18:06:50.707Z,1761502010.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533167,-0.820631,-0.205666],[0.843187,0.535291,0.049996],[0.069063,-0.200071,0.977344]]
2025-10-26T18:06:51.112Z,1761502011.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533523,-0.820332,-0.205934],[0.842885,0.535839,0.049202],[0.069986,-0.199829,0.977328]]
2025-10-26T18:06:51.516Z,1761502011.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535811,-0.818209,-0.208421],[0.841431,0.537908,0.051468],[0.070000,-0.202949,0.976684]]
2025-10-26T18:06:51.920Z,1761502011.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538984,-0.814938,-0.213010],[0.839387,0.540724,0.055205],[0.070191,-0.208552,0.975489]]
2025-10-26T18:06:52.322Z,1761502012.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542525,-0.811259,-0.218005],[0.837096,0.543809,0.059519],[0.070268,-0.214781,0.974131]]
2025-10-26T18:06:52.724Z,1761502012.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545788,-0.807997,-0.221939],[0.834977,0.546638,0.063256],[0.070210,-0.219838,0.973007]]
2025-10-26T18:06:53.127Z,1761502013.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548226,-0.805377,-0.225423],[0.833374,0.548712,0.066354],[0.070252,-0.224239,0.971999]]
2025-10-26T18:06:53.531Z,1761502013.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549337,-0.804197,-0.226928],[0.832631,0.549690,0.067580],[0.070393,-0.226071,0.971564]]
2025-10-26T18:06:53.934Z,1761502013.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549573,-0.803777,-0.227840],[0.832447,0.549930,0.067893],[0.070726,-0.226977,0.971329]]
2025-10-26T18:06:54.338Z,1761502014.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549174,-0.804248,-0.227141],[0.832739,0.549513,0.067685],[0.070381,-0.226320,0.971507]]
2025-10-26T18:06:54.742Z,1761502014.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548190,-0.805196,-0.226158],[0.833405,0.548593,0.066943],[0.070167,-0.225179,0.971788]]
2025-10-26T18:06:55.149Z,1761502015.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546767,-0.806356,-0.225467],[0.834323,0.547336,0.065791],[0.070355,-0.224084,0.972027]]
2025-10-26T18:06:55.550Z,1761502015.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545196,-0.807320,-0.225824],[0.835330,0.545865,0.065229],[0.070609,-0.224201,0.971982]]
2025-10-26T18:06:55.954Z,1761502015.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543408,-0.808419,-0.226201],[0.836531,0.544000,0.065421],[0.070166,-0.224775,0.971881]]
2025-10-26T18:06:56.359Z,1761502016.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541597,-0.809862,-0.225379],[0.837726,0.542258,0.064585],[0.069909,-0.223785,0.972128]]
2025-10-26T18:06:56.772Z,1761502016.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540319,-0.810841,-0.224926],[0.838526,0.541145,0.063529],[0.070206,-0.222933,0.972302]]
2025-10-26T18:06:57.166Z,1761502017.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539713,-0.811207,-0.225065],[0.838861,0.540727,0.062660],[0.070869,-0.222617,0.972327]]
2025-10-26T18:06:57.570Z,1761502017.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539763,-0.811425,-0.224155],[0.838741,0.541117,0.060878],[0.071896,-0.220868,0.972650]]
2025-10-26T18:06:57.974Z,1761502017.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541271,-0.810483,-0.223925],[0.837683,0.542846,0.060046],[0.072890,-0.220079,0.972755]]
2025-10-26T18:06:58.381Z,1761502018.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543769,-0.809092,-0.222903],[0.835974,0.545592,0.058958],[0.073911,-0.218401,0.973056]]
2025-10-26T18:06:58.817Z,1761502018.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546900,-0.806969,-0.222939],[0.833882,0.548741,0.059360],[0.074434,-0.218369,0.973023]]
2025-10-26T18:06:59.186Z,1761502019.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550285,-0.804296,-0.224264],[0.831645,0.551920,0.061244],[0.074517,-0.220210,0.972602]]
2025-10-26T18:06:59.591Z,1761502019.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553072,-0.802193,-0.224941],[0.829853,0.554373,0.063367],[0.073868,-0.221714,0.972310]]
2025-10-26T18:06:59.840Z,1761502019.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:06:59.997Z,1761502019.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554414,-0.801432,-0.224349],[0.829039,0.555460,0.064487],[0.072935,-0.221746,0.972373]]
2025-10-26T18:07:00.399Z,1761502020.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554708,-0.801293,-0.224118],[0.828942,0.555454,0.065767],[0.071789,-0.222263,0.972340]]
2025-10-26T18:07:00.835Z,1761502020.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553197,-0.802268,-0.224364],[0.830031,0.553736,0.066523],[0.070869,-0.223029,0.972232]]
2025-10-26T18:07:00.844Z,1761502020.844 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T18:07:00.844Z,1761502020.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:07:01.207Z,1761502021.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550194,-0.804430,-0.224007],[0.832096,0.550656,0.066292],[0.070023,-0.222869,0.972330]]
2025-10-26T18:07:01.612Z,1761502021.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546020,-0.807238,-0.224119],[0.834885,0.546496,0.065642],[0.069491,-0.222955,0.972349]]
2025-10-26T18:07:02.014Z,1761502022.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540843,-0.810594,-0.224558],[0.838230,0.541546,0.064022],[0.069712,-0.222857,0.972355]]
2025-10-26T18:07:02.420Z,1761502022.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535413,-0.814299,-0.224166],[0.841659,0.536511,0.061365],[0.070298,-0.221527,0.972617]]
2025-10-26T18:07:02.841Z,1761502022.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529966,-0.818121,-0.223192],[0.845032,0.531550,0.058092],[0.071111,-0.219391,0.973042]]
2025-10-26T18:07:03.228Z,1761502023.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525152,-0.821823,-0.220956],[0.847983,0.527213,0.054508],[0.071695,-0.215992,0.973759]]
2025-10-26T18:07:03.630Z,1761502023.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521047,-0.824936,-0.219070],[0.850497,0.523415,0.051879],[0.071867,-0.213350,0.974329]]
2025-10-26T18:07:04.035Z,1761502024.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516654,-0.828179,-0.217231],[0.853206,0.519185,0.049873],[0.071479,-0.211110,0.974845]]
2025-10-26T18:07:04.440Z,1761502024.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512412,-0.831375,-0.215055],[0.855803,0.515081,0.047888],[0.070958,-0.208583,0.975427]]
2025-10-26T18:07:04.849Z,1761502024.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508660,-0.834423,-0.212140],[0.858108,0.511405,0.045996],[0.070109,-0.205436,0.976156]]
2025-10-26T18:07:05.246Z,1761502025.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505391,-0.836619,-0.211300],[0.860085,0.508143,0.045228],[0.069532,-0.204594,0.976374]]
2025-10-26T18:07:05.651Z,1761502025.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503145,-0.837548,-0.212973],[0.861399,0.505877,0.045603],[0.069543,-0.206399,0.975993]]
2025-10-26T18:07:06.054Z,1761502026.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501829,-0.837550,-0.216049],[0.862086,0.504674,0.045963],[0.070538,-0.209318,0.975300]]
2025-10-26T18:07:06.461Z,1761502026.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501917,-0.836520,-0.219805],[0.861919,0.504895,0.046666],[0.071941,-0.212876,0.974427]]
2025-10-26T18:07:06.862Z,1761502026.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503336,-0.834143,-0.225519],[0.860918,0.506452,0.048237],[0.073977,-0.218433,0.973044]]
2025-10-26T18:07:07.266Z,1761502027.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506122,-0.831050,-0.230642],[0.859084,0.509425,0.049618],[0.076260,-0.223253,0.971773]]
2025-10-26T18:07:07.670Z,1761502027.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510110,-0.827089,-0.236031],[0.856520,0.513525,0.051641],[0.078496,-0.228508,0.970372]]
2025-10-26T18:07:08.075Z,1761502028.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514331,-0.823185,-0.240481],[0.853763,0.517959,0.052980],[0.080947,-0.232563,0.969207]]
2025-10-26T18:07:08.481Z,1761502028.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518816,-0.819415,-0.243699],[0.850807,0.522731,0.053669],[0.083412,-0.235185,0.968365]]
2025-10-26T18:07:08.884Z,1761502028.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523706,-0.815343,-0.246875],[0.847627,0.527706,0.055272],[0.085212,-0.238204,0.967470]]
2025-10-26T18:07:09.287Z,1761502029.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529514,-0.810897,-0.249121],[0.843964,0.533238,0.058161],[0.085678,-0.241046,0.966724]]
2025-10-26T18:07:09.690Z,1761502029.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536044,-0.806655,-0.248924],[0.839964,0.539113,0.061785],[0.084359,-0.242207,0.966550]]
2025-10-26T18:07:10.109Z,1761502030.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542667,-0.802328,-0.248560],[0.835999,0.544585,0.067319],[0.081350,-0.244327,0.966274]]
2025-10-26T18:07:10.499Z,1761502030.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547605,-0.799437,-0.247043],[0.833113,0.548375,0.072157],[0.077787,-0.245328,0.966314]]
2025-10-26T18:07:10.903Z,1761502030.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549473,-0.798589,-0.245633],[0.832156,0.549404,0.075313],[0.074808,-0.245787,0.966433]]
2025-10-26T18:07:11.308Z,1761502031.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548176,-0.799862,-0.244386],[0.833213,0.547614,0.076649],[0.072521,-0.245642,0.966644]]
2025-10-26T18:07:11.710Z,1761502031.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545310,-0.802542,-0.241998],[0.835290,0.544436,0.076690],[0.070206,-0.243958,0.967241]]
2025-10-26T18:07:12.114Z,1761502032.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540991,-0.806345,-0.239032],[0.838285,0.539926,0.075879],[0.067875,-0.241426,0.968042]]
2025-10-26T18:07:12.520Z,1761502032.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535551,-0.811083,-0.235221],[0.841951,0.534439,0.074114],[0.065599,-0.237737,0.969112]]
2025-10-26T18:07:12.924Z,1761502032.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529007,-0.816478,-0.231333],[0.846190,0.528119,0.071083],[0.064134,-0.233355,0.970274]]
2025-10-26T18:07:13.326Z,1761502033.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521720,-0.822138,-0.227807],[0.850747,0.521266,0.067158],[0.063535,-0.228844,0.971387]]
2025-10-26T18:07:13.730Z,1761502033.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514458,-0.827544,-0.224731],[0.855138,0.514602,0.062641],[0.063809,-0.224402,0.972405]]
2025-10-26T18:07:14.134Z,1761502034.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508390,-0.832036,-0.221937],[0.858694,0.509186,0.058084],[0.064679,-0.220105,0.973329]]
2025-10-26T18:07:14.541Z,1761502034.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504654,-0.835174,-0.218653],[0.860809,0.506088,0.053688],[0.065819,-0.215312,0.974325]]
2025-10-26T18:07:14.942Z,1761502034.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503801,-0.836162,-0.216834],[0.861214,0.505681,0.050959],[0.067039,-0.212413,0.974878]]
2025-10-26T18:07:15.346Z,1761502035.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505710,-0.834984,-0.216928],[0.859959,0.507946,0.049614],[0.068761,-0.211640,0.974926]]
2025-10-26T18:07:15.752Z,1761502035.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510354,-0.831651,-0.218851],[0.857065,0.512767,0.050094],[0.070559,-0.213135,0.974472]]
2025-10-26T18:07:16.156Z,1761502036.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516908,-0.826563,-0.222711],[0.852982,0.519299,0.052442],[0.072308,-0.217076,0.973473]]
2025-10-26T18:07:16.559Z,1761502036.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524985,-0.819837,-0.228599],[0.847929,0.527007,0.057265],[0.073525,-0.223900,0.971835]]
2025-10-26T18:07:16.962Z,1761502036.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534169,-0.812452,-0.233636],[0.842132,0.535588,0.062924],[0.074010,-0.230364,0.970286]]
2025-10-26T18:07:17.367Z,1761502037.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544261,-0.804229,-0.238739],[0.835719,0.544591,0.070679],[0.073173,-0.237986,0.968508]]
2025-10-26T18:07:17.770Z,1761502037.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554460,-0.795570,-0.244218],[0.829118,0.553352,0.079779],[0.071669,-0.246720,0.966433]]
2025-10-26T18:07:18.174Z,1761502038.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563758,-0.787320,-0.249607],[0.822995,0.560980,0.089338],[0.069687,-0.255790,0.964217]]
2025-10-26T18:07:18.578Z,1761502038.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570757,-0.780972,-0.253613],[0.818313,0.566506,0.097129],[0.067819,-0.262972,0.962417]]
2025-10-26T18:07:18.983Z,1761502038.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574497,-0.777606,-0.255502],[0.815817,0.569283,0.101786],[0.066304,-0.266918,0.961435]]
2025-10-26T18:07:19.387Z,1761502039.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575255,-0.777004,-0.255630],[0.815368,0.569627,0.103440],[0.065240,-0.267937,0.961225]]
2025-10-26T18:07:19.790Z,1761502039.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573800,-0.778955,-0.252947],[0.816452,0.568374,0.101769],[0.064495,-0.264915,0.962113]]
2025-10-26T18:07:20.194Z,1761502040.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570925,-0.782012,-0.250004],[0.818515,0.565847,0.099245],[0.063853,-0.261294,0.963145]]
2025-10-26T18:07:20.600Z,1761502040.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567107,-0.786460,-0.244682],[0.821210,0.562725,0.094626],[0.063269,-0.254599,0.964975]]
2025-10-26T18:07:21.002Z,1761502041.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562843,-0.791647,-0.237702],[0.824208,0.559229,0.089135],[0.062367,-0.246085,0.967240]]
2025-10-26T18:07:21.406Z,1761502041.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558276,-0.796553,-0.232014],[0.827403,0.555139,0.085004],[0.061089,-0.239425,0.968991]]
2025-10-26T18:07:21.810Z,1761502041.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553658,-0.801454,-0.226128],[0.830602,0.550948,0.080970],[0.059691,-0.232652,0.970726]]
2025-10-26T18:07:22.216Z,1761502042.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548960,-0.806286,-0.220330],[0.833824,0.546598,0.077255],[0.058142,-0.226127,0.972361]]
2025-10-26T18:07:22.618Z,1761502042.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544595,-0.810627,-0.215174],[0.836764,0.542570,0.073780],[0.056939,-0.220230,0.973785]]
2025-10-26T18:07:23.033Z,1761502043.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540748,-0.814162,-0.211501],[0.839303,0.539014,0.070953],[0.056234,-0.215881,0.974799]]
2025-10-26T18:07:23.435Z,1761502043.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538483,-0.816204,-0.209395],[0.840772,0.536957,0.069128],[0.056013,-0.213278,0.975384]]
2025-10-26T18:07:23.840Z,1761502043.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537538,-0.817074,-0.208428],[0.841356,0.536205,0.067852],[0.056321,-0.211835,0.975681]]
2025-10-26T18:07:24.245Z,1761502044.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538703,-0.815991,-0.209661],[0.840580,0.537343,0.068471],[0.056788,-0.213122,0.975374]]
2025-10-26T18:07:24.646Z,1761502044.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542164,-0.813013,-0.212291],[0.838339,0.540499,0.071056],[0.056974,-0.216495,0.974620]]
2025-10-26T18:07:25.050Z,1761502045.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547333,-0.808889,-0.214767],[0.834986,0.545199,0.074545],[0.056792,-0.220128,0.973816]]
2025-10-26T18:07:25.454Z,1761502045.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553413,-0.804094,-0.217178],[0.831029,0.550562,0.079195],[0.055890,-0.224308,0.972914]]
2025-10-26T18:07:25.860Z,1761502045.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560155,-0.798809,-0.219387],[0.826625,0.556275,0.085150],[0.054021,-0.229048,0.971915]]
2025-10-26T18:07:26.264Z,1761502046.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566977,-0.793872,-0.219782],[0.822169,0.561824,0.091612],[0.050751,-0.232639,0.971238]]
2025-10-26T18:07:26.667Z,1761502046.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572882,-0.789862,-0.218917],[0.818335,0.566244,0.098462],[0.046189,-0.235554,0.970763]]
2025-10-26T18:07:27.070Z,1761502047.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576252,-0.787726,-0.217766],[0.816210,0.568275,0.104232],[0.041644,-0.237807,0.970419]]
2025-10-26T18:07:27.474Z,1761502047.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576868,-0.788064,-0.214893],[0.815990,0.567951,0.107665],[0.037202,-0.237459,0.970685]]
2025-10-26T18:07:27.881Z,1761502047.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575305,-0.790027,-0.211850],[0.817249,0.565839,0.109226],[0.033582,-0.235972,0.971179]]
2025-10-26T18:07:28.282Z,1761502048.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572592,-0.792627,-0.209480],[0.819274,0.562696,0.110282],[0.030461,-0.234768,0.971574]]
2025-10-26T18:07:28.686Z,1761502048.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569070,-0.795922,-0.206562],[0.821816,0.559024,0.110047],[0.027884,-0.232380,0.972225]]
2025-10-26T18:07:29.092Z,1761502049.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565227,-0.799630,-0.202758],[0.824529,0.555331,0.108440],[0.025886,-0.228473,0.973206]]
2025-10-26T18:07:29.494Z,1761502049.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561399,-0.802960,-0.200218],[0.827188,0.551596,0.107248],[0.024324,-0.225827,0.973864]]
2025-10-26T18:07:29.899Z,1761502049.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558422,-0.805805,-0.197087],[0.829243,0.548760,0.105917],[0.022805,-0.222579,0.974648]]
2025-10-26T18:07:30.302Z,1761502050.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556368,-0.807687,-0.195185],[0.830664,0.546632,0.105784],[0.021254,-0.220989,0.975045]]
2025-10-26T18:07:30.707Z,1761502050.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555536,-0.808431,-0.194471],[0.831261,0.545493,0.106971],[0.019604,-0.221083,0.975058]]
2025-10-26T18:07:30.972Z,1761502050.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:07:31.110Z,1761502051.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555875,-0.808471,-0.193335],[0.831071,0.545544,0.108181],[0.018011,-0.220810,0.975151]]
2025-10-26T18:07:31.514Z,1761502051.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556857,-0.807989,-0.192521],[0.830447,0.546159,0.109855],[0.016385,-0.221052,0.975124]]
2025-10-26T18:07:31.920Z,1761502051.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558887,-0.806863,-0.191358],[0.829108,0.547889,0.111344],[0.015004,-0.220885,0.975184]]
2025-10-26T18:07:31.976Z,1761502051.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:07:32.323Z,1761502052.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561668,-0.805165,-0.190365],[0.827244,0.550428,0.112680],[0.014056,-0.220767,0.975225]]
2025-10-26T18:07:32.728Z,1761502052.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565423,-0.802648,-0.189878],[0.824693,0.553899,0.114356],[0.013385,-0.221250,0.975125]]
2025-10-26T18:07:33.130Z,1761502053.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570090,-0.799715,-0.188291],[0.821471,0.558617,0.114597],[0.013538,-0.220006,0.975405]]
2025-10-26T18:07:33.534Z,1761502053.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575476,-0.795789,-0.188540],[0.817699,0.563837,0.116000],[0.013994,-0.220924,0.975191]]
2025-10-26T18:07:33.939Z,1761502053.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581479,-0.791212,-0.189381],[0.813436,0.569515,0.118216],[0.014322,-0.222790,0.974761]]
2025-10-26T18:07:34.343Z,1761502054.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588121,-0.786315,-0.189266],[0.808645,0.575861,0.120323],[0.014379,-0.223813,0.974526]]
2025-10-26T18:07:34.745Z,1761502054.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595028,-0.781139,-0.189112],[0.803588,0.582243,0.123444],[0.013683,-0.225421,0.974165]]
2025-10-26T18:07:35.151Z,1761502055.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601849,-0.776128,-0.188155],[0.798524,0.588290,0.127568],[0.011681,-0.227023,0.973819]]
2025-10-26T18:07:35.561Z,1761502055.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612093,-0.768954,-0.184532],[0.790776,0.596347,0.138001],[0.003928,-0.230393,0.973090]]
2025-10-26T18:07:35.965Z,1761502055.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613925,-0.768871,-0.178702],[0.789363,0.597504,0.141050],[-0.001675,-0.227655,0.973741]]
2025-10-26T18:07:36.367Z,1761502056.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613145,-0.771157,-0.171375],[0.789933,0.596397,0.142537],[-0.007711,-0.222771,0.974840]]
2025-10-26T18:07:36.786Z,1761502056.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609605,-0.775317,-0.165126],[0.792591,0.592602,0.143604],[-0.013485,-0.218419,0.975762]]
2025-10-26T18:07:37.173Z,1761502057.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604346,-0.780507,-0.159919],[0.796504,0.587189,0.144192],[-0.018640,-0.214518,0.976542]]
2025-10-26T18:07:37.576Z,1761502057.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598313,-0.786183,-0.154717],[0.800930,0.581246,0.143753],[-0.023087,-0.209927,0.977445]]
2025-10-26T18:07:37.979Z,1761502057.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591573,-0.792164,-0.150061],[0.805816,0.574807,0.142326],[-0.026489,-0.205118,0.978379]]
2025-10-26T18:07:38.383Z,1761502058.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584443,-0.798098,-0.146511],[0.810917,0.568024,0.140576],[-0.028972,-0.200967,0.979170]]
2025-10-26T18:07:38.814Z,1761502058.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577092,-0.804209,-0.142172],[0.816115,0.561417,0.136994],[-0.030354,-0.195087,0.980316]]
2025-10-26T18:07:39.192Z,1761502059.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569607,-0.810128,-0.138708],[0.821346,0.554757,0.132801],[-0.030637,-0.189572,0.981389]]
2025-10-26T18:07:39.594Z,1761502059.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562286,-0.815457,-0.137345],[0.826404,0.548119,0.128929],[-0.029854,-0.185997,0.982097]]
2025-10-26T18:07:39.998Z,1761502059.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555225,-0.820403,-0.136620],[0.831218,0.541774,0.124727],[-0.028310,-0.182812,0.982740]]
2025-10-26T18:07:40.403Z,1761502060.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550151,-0.823649,-0.137610],[0.834625,0.536999,0.122606],[-0.027088,-0.182305,0.982869]]
2025-10-26T18:07:40.836Z,1761502060.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548162,-0.824678,-0.139371],[0.835947,0.534912,0.122722],[-0.026654,-0.183779,0.982606]]
2025-10-26T18:07:41.614Z,1761502061.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549308,-0.822951,-0.144957],[0.835164,0.534952,0.127781],[-0.027612,-0.191254,0.981152]]
2025-10-26T18:07:42.019Z,1761502062.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550646,-0.821668,-0.147139],[0.834251,0.535681,0.130659],[-0.028539,-0.194698,0.980448]]
2025-10-26T18:07:42.424Z,1761502062.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552434,-0.820168,-0.148802],[0.833062,0.537089,0.132448],[-0.028709,-0.197129,0.979957]]
2025-10-26T18:07:42.842Z,1761502062.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554100,-0.818814,-0.150054],[0.831955,0.538488,0.133718],[-0.028688,-0.198931,0.979593]]
2025-10-26T18:07:43.230Z,1761502063.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555647,-0.817560,-0.151173],[0.830925,0.539792,0.134864],[-0.028658,-0.200550,0.979264]]
2025-10-26T18:07:43.240Z,1761502063.240 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T18:07:43.241Z,1761502063.241 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T18:07:43.242Z,1761502063.242 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-26T18:07:43.242Z,1761502063.242 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T18:07:43.243Z,1761502063.243 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T18:07:43.244Z,1761502063.244 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T18:07:43.245Z,1761502063.245 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-26T18:07:43.246Z,1761502063.246 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T18:07:43.246Z,1761502063.246 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T18:07:43.247Z,1761502063.247 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T18:07:43.248Z,1761502063.248 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1.
2025-10-26T18:07:43.251Z,1761502063.251 [BPC1](INFO): Received data from all battery sticks.
2025-10-26T18:07:43.636Z,1761502063.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557444,-0.816254,-0.151609],[0.829759,0.541716,0.134331],[-0.027519,-0.200681,0.979270]]
2025-10-26T18:07:44.044Z,1761502064.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559960,-0.814289,-0.152902],[0.828110,0.544268,0.134185],[-0.026046,-0.201757,0.979089]]
2025-10-26T18:07:44.442Z,1761502064.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563239,-0.811664,-0.154800],[0.825928,0.547447,0.134703],[-0.024589,-0.203723,0.978720]]
2025-10-26T18:07:44.849Z,1761502064.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567265,-0.808365,-0.157341],[0.823205,0.551185,0.136118],[-0.023309,-0.206739,0.978118]]
2025-10-26T18:07:45.251Z,1761502065.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571910,-0.804393,-0.160842],[0.820017,0.555312,0.138563],[-0.022142,-0.211139,0.977205]]
2025-10-26T18:07:45.656Z,1761502065.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577025,-0.800104,-0.163936],[0.816445,0.559823,0.141475],[-0.021419,-0.215479,0.976273]]
2025-10-26T18:07:46.060Z,1761502066.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582375,-0.795649,-0.166682],[0.812631,0.564327,0.145484],[-0.021691,-0.220177,0.975219]]
2025-10-26T18:07:46.463Z,1761502066.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587284,-0.791540,-0.169001],[0.809051,0.568145,0.150490],[-0.023101,-0.225111,0.974059]]
2025-10-26T18:07:46.869Z,1761502066.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591703,-0.788341,-0.168540],[0.805738,0.571599,0.155116],[-0.025947,-0.227582,0.973413]]
2025-10-26T18:07:47.270Z,1761502067.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594971,-0.786373,-0.166213],[0.803174,0.573886,0.159898],[-0.030353,-0.228633,0.973040]]
2025-10-26T18:07:47.674Z,1761502067.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596785,-0.785763,-0.162557],[0.801595,0.574741,0.164676],[-0.035968,-0.228581,0.972860]]
2025-10-26T18:07:48.079Z,1761502068.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596517,-0.787342,-0.155755],[0.801499,0.574212,0.166972],[-0.042028,-0.224439,0.973581]]
2025-10-26T18:07:48.484Z,1761502068.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593151,-0.791039,-0.149762],[0.803691,0.570817,0.168075],[-0.047467,-0.220056,0.974332]]
2025-10-26T18:07:48.886Z,1761502068.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587060,-0.796684,-0.143720],[0.807921,0.565343,0.166287],[-0.051227,-0.213734,0.975548]]
2025-10-26T18:07:49.290Z,1761502069.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579373,-0.802933,-0.140095],[0.813300,0.558217,0.164128],[-0.053581,-0.209030,0.976440]]
2025-10-26T18:07:49.694Z,1761502069.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571367,-0.809182,-0.136985],[0.818855,0.550920,0.161132],[-0.054917,-0.204236,0.977380]]
2025-10-26T18:07:50.111Z,1761502070.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563345,-0.815280,-0.134017],[0.824357,0.543738,0.157433],[-0.055481,-0.199167,0.978394]]
2025-10-26T18:07:50.503Z,1761502070.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555919,-0.820734,-0.131715],[0.829387,0.537111,0.153717],[-0.055415,-0.194697,0.979297]]
2025-10-26T18:07:50.906Z,1761502070.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548720,-0.825992,-0.129015],[0.834202,0.530840,0.149386],[-0.054905,-0.189596,0.980326]]
2025-10-26T18:07:51.310Z,1761502071.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541424,-0.831046,-0.127368],[0.839044,0.524443,0.144793],[-0.053532,-0.185261,0.981230]]
2025-10-26T18:07:51.720Z,1761502071.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534073,-0.835891,-0.126697],[0.843862,0.517907,0.140249],[-0.051615,-0.181817,0.981977]]
2025-10-26T18:07:52.119Z,1761502072.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527328,-0.840035,-0.127541],[0.848229,0.511761,0.136409],[-0.049317,-0.180116,0.982408]]
2025-10-26T18:07:52.522Z,1761502072.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523121,-0.842100,-0.131193],[0.850968,0.507636,0.134757],[-0.046881,-0.182135,0.982155]]
2025-10-26T18:07:52.926Z,1761502072.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522844,-0.841369,-0.136865],[0.851234,0.506841,0.136060],[-0.045108,-0.187642,0.981201]]
2025-10-26T18:07:53.333Z,1761502073.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525687,-0.838391,-0.144058],[0.849546,0.508672,0.139732],[-0.043872,-0.195840,0.979654]]
2025-10-26T18:07:53.735Z,1761502073.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530117,-0.834005,-0.153007],[0.846871,0.511774,0.144562],[-0.042260,-0.206212,0.977594]]
2025-10-26T18:07:54.139Z,1761502074.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535525,-0.828851,-0.161922],[0.843553,0.515818,0.149499],[-0.040390,-0.216650,0.975413]]
2025-10-26T18:07:54.542Z,1761502074.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541478,-0.823457,-0.169472],[0.839830,0.520557,0.153968],[-0.038567,-0.225698,0.973434]]
2025-10-26T18:07:54.947Z,1761502074.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547906,-0.817964,-0.175310],[0.835717,0.525915,0.158086],[-0.037110,-0.233126,0.971738]]
2025-10-26T18:07:55.350Z,1761502075.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554890,-0.812053,-0.180741],[0.831139,0.531691,0.162826],[-0.036125,-0.240572,0.969959]]
2025-10-26T18:07:55.754Z,1761502075.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562067,-0.806321,-0.184192],[0.826319,0.537816,0.167188],[-0.035746,-0.246172,0.968567]]
2025-10-26T18:07:56.160Z,1761502076.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569424,-0.801162,-0.184105],[0.821238,0.544497,0.170563],[-0.036403,-0.248317,0.967995]]
2025-10-26T18:07:56.564Z,1761502076.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575904,-0.796792,-0.182915],[0.816624,0.550233,0.174264],[-0.038206,-0.249732,0.967561]]
2025-10-26T18:07:56.966Z,1761502076.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580143,-0.793827,-0.182410],[0.813550,0.553843,0.177185],[-0.039628,-0.251192,0.967126]]
2025-10-26T18:07:57.370Z,1761502077.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581587,-0.793329,-0.179958],[0.812463,0.555389,0.177332],[-0.040736,-0.249343,0.967558]]
2025-10-26T18:07:57.775Z,1761502077.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580567,-0.794461,-0.178252],[0.813171,0.554687,0.176284],[-0.041177,-0.247293,0.968065]]
2025-10-26T18:07:58.180Z,1761502078.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578276,-0.796823,-0.175126],[0.814786,0.553154,0.173619],[-0.041472,-0.243090,0.969117]]
2025-10-26T18:07:58.582Z,1761502078.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575145,-0.799510,-0.173180],[0.817026,0.550807,0.170528],[-0.040950,-0.239571,0.970015]]
2025-10-26T18:07:58.986Z,1761502078.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571747,-0.802769,-0.169316],[0.819434,0.548596,0.166041],[-0.040407,-0.233676,0.971474]]
2025-10-26T18:07:59.390Z,1761502079.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568977,-0.805219,-0.166996],[0.821400,0.546698,0.162554],[-0.039595,-0.229660,0.972465]]
2025-10-26T18:07:59.796Z,1761502079.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567661,-0.806116,-0.167150],[0.822347,0.545647,0.161292],[-0.038816,-0.229014,0.972649]]
2025-10-26T18:08:00.198Z,1761502080.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567700,-0.806336,-0.165951],[0.822358,0.546147,0.159532],[-0.038002,-0.227038,0.973144]]
2025-10-26T18:08:00.602Z,1761502080.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568273,-0.806203,-0.164625],[0.821992,0.547127,0.158056],[-0.037354,-0.225139,0.973610]]
2025-10-26T18:08:01.007Z,1761502081.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569202,-0.806005,-0.162376],[0.821372,0.548581,0.156229],[-0.036845,-0.222297,0.974283]]
2025-10-26T18:08:01.412Z,1761502081.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570287,-0.805711,-0.160008],[0.820624,0.550089,0.154851],[-0.036746,-0.219615,0.974894]]
2025-10-26T18:08:01.815Z,1761502081.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571330,-0.805619,-0.156715],[0.819873,0.551562,0.153586],[-0.037294,-0.216235,0.975629]]
2025-10-26T18:08:02.096Z,1761502082.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:08:02.218Z,1761502082.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571527,-0.806187,-0.153034],[0.819682,0.552145,0.152508],[-0.038452,-0.212602,0.976382]]
2025-10-26T18:08:02.622Z,1761502082.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570152,-0.807976,-0.148668],[0.820567,0.551276,0.150877],[-0.039948,-0.208015,0.977310]]
2025-10-26T18:08:03.028Z,1761502083.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567765,-0.809901,-0.147320],[0.822129,0.548791,0.151435],[-0.041800,-0.207095,0.977427]]
2025-10-26T18:08:03.100Z,1761502083.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:08:03.430Z,1761502083.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564449,-0.812331,-0.146684],[0.824304,0.545248,0.152408],[-0.043827,-0.206939,0.977372]]
2025-10-26T18:08:03.834Z,1761502083.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560061,-0.815485,-0.146000],[0.827181,0.540694,0.153040],[-0.045861,-0.206480,0.977375]]
2025-10-26T18:08:04.239Z,1761502084.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554658,-0.819034,-0.146760],[0.830740,0.535083,0.153484],[-0.047180,-0.207051,0.977192]]
2025-10-26T18:08:04.642Z,1761502084.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548191,-0.822905,-0.149379],[0.835051,0.528574,0.152641],[-0.046651,-0.208416,0.976927]]
2025-10-26T18:08:05.049Z,1761502085.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541120,-0.827002,-0.152498],[0.839803,0.521980,0.149221],[-0.043805,-0.208815,0.976973]]
2025-10-26T18:08:05.450Z,1761502085.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534881,-0.830169,-0.157231],[0.844005,0.516270,0.145332],[-0.039477,-0.210439,0.976810]]
2025-10-26T18:08:05.854Z,1761502085.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531236,-0.831638,-0.161759],[0.846514,0.513216,0.141503],[-0.034662,-0.212102,0.976633]]
2025-10-26T18:08:06.258Z,1761502086.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531001,-0.831062,-0.165450],[0.846843,0.513563,0.138241],[-0.029918,-0.213517,0.976481]]
2025-10-26T18:08:06.662Z,1761502086.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532447,-0.829189,-0.170133],[0.846088,0.515363,0.136147],[-0.025212,-0.216439,0.975971]]
2025-10-26T18:08:07.470Z,1761502087.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539324,-0.822979,-0.178424],[0.841916,0.522557,0.134576],[-0.017516,-0.222798,0.974707]]
2025-10-26T18:08:07.876Z,1761502087.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544016,-0.819125,-0.181879],[0.838937,0.527072,0.135571],[-0.015186,-0.226337,0.973931]]
2025-10-26T18:08:08.278Z,1761502088.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549683,-0.815013,-0.183310],[0.835258,0.532562,0.136829],[-0.013894,-0.228324,0.973486]]
2025-10-26T18:08:08.682Z,1761502088.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556121,-0.810221,-0.185124],[0.830996,0.538533,0.139385],[-0.013238,-0.231352,0.972780]]
2025-10-26T18:08:09.086Z,1761502089.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562430,-0.805808,-0.185330],[0.826754,0.544734,0.140507],[-0.012266,-0.232247,0.972579]]
2025-10-26T18:08:09.491Z,1761502089.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566434,-0.802515,-0.187411],[0.824041,0.548664,0.141155],[-0.010454,-0.234389,0.972087]]
2025-10-26T18:08:09.895Z,1761502089.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569020,-0.799985,-0.190371],[0.822284,0.551256,0.141299],[-0.008094,-0.236941,0.971490]]
2025-10-26T18:08:10.298Z,1761502090.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570810,-0.798103,-0.192889],[0.821064,0.553263,0.140551],[-0.005456,-0.238603,0.971102]]
2025-10-26T18:08:10.702Z,1761502090.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572160,-0.796510,-0.195458],[0.820135,0.554702,0.140299],[-0.003329,-0.240576,0.970625]]
2025-10-26T18:08:11.106Z,1761502091.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572824,-0.795569,-0.197338],[0.819677,0.555553,0.139609],[-0.001437,-0.241725,0.970344]]
2025-10-26T18:08:11.513Z,1761502091.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573137,-0.794798,-0.199524],[0.819459,0.555824,0.139807],[-0.000218,-0.243630,0.969868]]
2025-10-26T18:08:11.914Z,1761502091.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572720,-0.794547,-0.201709],[0.819751,0.555277,0.140272],[0.000551,-0.245688,0.969349]]
2025-10-26T18:08:12.318Z,1761502092.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571405,-0.795174,-0.202964],[0.820667,0.553966,0.140094],[0.001036,-0.246616,0.969113]]
2025-10-26T18:08:12.733Z,1761502092.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569214,-0.796012,-0.205815],[0.822188,0.551571,0.140629],[0.001579,-0.249266,0.968434]]
2025-10-26T18:08:13.128Z,1761502093.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566096,-0.797994,-0.206737],[0.824333,0.548998,0.138119],[0.003280,-0.248608,0.968599]]
2025-10-26T18:08:13.531Z,1761502093.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562069,-0.801013,-0.206051],[0.827072,0.545982,0.133625],[0.005465,-0.245525,0.969375]]
2025-10-26T18:08:13.935Z,1761502093.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557335,-0.804918,-0.203676],[0.830245,0.542771,0.126860],[0.008437,-0.239804,0.970785]]
2025-10-26T18:08:14.338Z,1761502094.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552536,-0.808771,-0.201480],[0.833399,0.539652,0.119258],[0.012277,-0.233807,0.972205]]
2025-10-26T18:08:14.743Z,1761502094.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548535,-0.812457,-0.197542],[0.835968,0.537527,0.110557],[0.016362,-0.225783,0.974040]]
2025-10-26T18:08:15.550Z,1761502095.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545175,-0.816456,-0.190219],[0.837993,0.537108,0.096349],[0.023504,-0.211929,0.977002]]
2025-10-26T18:08:15.954Z,1761502095.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545868,-0.816526,-0.187917],[0.837478,0.538584,0.092511],[0.025672,-0.207875,0.977818]]
2025-10-26T18:08:16.361Z,1761502096.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548143,-0.814868,-0.188493],[0.835955,0.540986,0.092263],[0.026790,-0.208145,0.977731]]
2025-10-26T18:08:16.772Z,1761502096.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550874,-0.812480,-0.190827],[0.834155,0.543368,0.094533],[0.026883,-0.211255,0.977061]]
2025-10-26T18:08:17.167Z,1761502097.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553271,-0.809860,-0.194983],[0.832589,0.545000,0.098848],[0.026213,-0.217031,0.975813]]
2025-10-26T18:08:17.572Z,1761502097.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554456,-0.808012,-0.199236],[0.831833,0.545324,0.103325],[0.025161,-0.223020,0.974489]]
2025-10-26T18:08:17.974Z,1761502097.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554542,-0.806884,-0.203523],[0.831793,0.544684,0.106955],[0.024556,-0.228600,0.973211]]
2025-10-26T18:08:18.379Z,1761502098.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553425,-0.806666,-0.207391],[0.832517,0.543284,0.108429],[0.025206,-0.232664,0.972230]]
2025-10-26T18:08:18.824Z,1761502098.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550224,-0.806433,-0.216607],[0.834488,0.540283,0.108276],[0.029712,-0.240331,0.970236]]
2025-10-26T18:08:19.592Z,1761502099.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549681,-0.805727,-0.220576],[0.834706,0.540311,0.106442],[0.033417,-0.242625,0.969544]]
2025-10-26T18:08:19.997Z,1761502099.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550195,-0.804752,-0.222845],[0.834183,0.541761,0.103123],[0.037741,-0.242631,0.969384]]
2025-10-26T18:08:20.398Z,1761502100.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551631,-0.803411,-0.224128],[0.833019,0.544259,0.099299],[0.042205,-0.241479,0.969488]]
2025-10-26T18:08:20.837Z,1761502100.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558591,-0.798172,-0.225604],[0.827951,0.552873,0.093964],[0.049731,-0.239277,0.969677]]
2025-10-26T18:08:21.211Z,1761502101.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564412,-0.794245,-0.224975],[0.823890,0.558968,0.093592],[0.051418,-0.238179,0.969859]]
2025-10-26T18:08:21.617Z,1761502101.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570966,-0.789690,-0.224470],[0.819325,0.565424,0.094879],[0.051995,-0.238086,0.969851]]
2025-10-26T18:08:22.020Z,1761502102.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577077,-0.785284,-0.224301],[0.815035,0.571235,0.096996],[0.051959,-0.238787,0.969681]]
2025-10-26T18:08:22.422Z,1761502102.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582148,-0.781397,-0.224771],[0.811461,0.575799,0.099933],[0.051336,-0.240568,0.969274]]
2025-10-26T18:08:22.840Z,1761502102.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586203,-0.778274,-0.225069],[0.808652,0.579045,0.103872],[0.049484,-0.242893,0.968790]]
2025-10-26T18:08:23.227Z,1761502103.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589077,-0.775937,-0.225632],[0.806755,0.580689,0.109306],[0.046207,-0.246419,0.968061]]
2025-10-26T18:08:23.634Z,1761502103.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589638,-0.775904,-0.224278],[0.806600,0.579972,0.114140],[0.041514,-0.248204,0.967818]]
2025-10-26T18:08:24.035Z,1761502104.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587643,-0.778323,-0.221109],[0.808304,0.576976,0.117229],[0.036332,-0.247612,0.968178]]
2025-10-26T18:08:24.438Z,1761502104.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583475,-0.782695,-0.216667],[0.811528,0.572189,0.118416],[0.031290,-0.244924,0.969037]]
2025-10-26T18:08:24.848Z,1761502104.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577992,-0.788292,-0.211003],[0.815608,0.566477,0.117846],[0.026632,-0.240210,0.970356]]
2025-10-26T18:08:25.247Z,1761502105.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572038,-0.794273,-0.204701],[0.819907,0.560691,0.115662],[0.022907,-0.233999,0.971967]]
2025-10-26T18:08:25.650Z,1761502105.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565700,-0.800219,-0.199080],[0.824354,0.554827,0.112284],[0.020604,-0.227631,0.973529]]
2025-10-26T18:08:26.054Z,1761502106.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559320,-0.805880,-0.194212],[0.828708,0.549276,0.107420],[0.020108,-0.221027,0.975060]]
2025-10-26T18:08:26.459Z,1761502106.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553454,-0.810868,-0.190213],[0.832593,0.544634,0.100813],[0.021850,-0.214165,0.976553]]
2025-10-26T18:08:26.864Z,1761502106.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549156,-0.814366,-0.187714],[0.835348,0.541586,0.094222],[0.024932,-0.208549,0.977694]]
2025-10-26T18:08:27.267Z,1761502107.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547604,-0.815832,-0.185869],[0.836270,0.541047,0.088995],[0.027959,-0.204170,0.978536]]
2025-10-26T18:08:27.670Z,1761502107.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549419,-0.814614,-0.185858],[0.835011,0.543273,0.087235],[0.029909,-0.203122,0.978697]]
2025-10-26T18:08:28.074Z,1761502108.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553288,-0.811739,-0.186952],[0.832408,0.547186,0.087663],[0.031138,-0.204123,0.978450]]
2025-10-26T18:08:28.480Z,1761502108.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558278,-0.807810,-0.189124],[0.829053,0.551863,0.090108],[0.031580,-0.207099,0.977810]]
2025-10-26T18:08:28.884Z,1761502108.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564465,-0.803284,-0.190035],[0.824884,0.557496,0.093619],[0.030742,-0.209602,0.977304]]
2025-10-26T18:08:29.286Z,1761502109.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571617,-0.797721,-0.192082],[0.820020,0.563566,0.099801],[0.028638,-0.214559,0.976291]]
2025-10-26T18:08:29.690Z,1761502109.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579478,-0.791528,-0.194136],[0.814590,0.569969,0.107608],[0.025476,-0.220497,0.975055]]
2025-10-26T18:08:30.096Z,1761502110.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587126,-0.785550,-0.195435],[0.809210,0.575969,0.115926],[0.021499,-0.226211,0.973841]]
2025-10-26T18:08:30.498Z,1761502110.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594667,-0.779566,-0.196591],[0.803794,0.581637,0.124956],[0.016933,-0.232326,0.972491]]
2025-10-26T18:08:30.903Z,1761502110.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601469,-0.774260,-0.196868],[0.798810,0.586474,0.133978],[0.011724,-0.237844,0.971233]]
2025-10-26T18:08:31.306Z,1761502111.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606848,-0.770305,-0.195871],[0.794792,0.590107,0.141704],[0.006429,-0.241669,0.970337]]
2025-10-26T18:08:31.710Z,1761502111.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609559,-0.768597,-0.194159],[0.792739,0.591481,0.147357],[0.001583,-0.243740,0.969839]]
2025-10-26T18:08:32.116Z,1761502112.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608400,-0.769937,-0.192477],[0.793628,0.589557,0.150259],[-0.002213,-0.244173,0.969729]]
2025-10-26T18:08:32.518Z,1761502112.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605347,-0.773333,-0.188443],[0.795941,0.586430,0.150257],[-0.005690,-0.240948,0.970521]]
2025-10-26T18:08:32.922Z,1761502112.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601375,-0.777788,-0.182740],[0.798911,0.582673,0.149110],[-0.009498,-0.235664,0.971788]]
2025-10-26T18:08:33.220Z,1761502113.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:08:33.326Z,1761502113.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596385,-0.783055,-0.176491],[0.802588,0.578060,0.147307],[-0.013327,-0.229501,0.973217]]
2025-10-26T18:08:33.732Z,1761502113.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590534,-0.788871,-0.170151],[0.806843,0.572816,0.144519],[-0.016542,-0.222629,0.974763]]
2025-10-26T18:08:34.134Z,1761502114.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583916,-0.794803,-0.165320],[0.811592,0.566762,0.141768],[-0.018980,-0.216953,0.975998]]
2025-10-26T18:08:34.224Z,1761502114.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:08:34.538Z,1761502114.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577019,-0.800563,-0.161701],[0.816479,0.560512,0.138521],[-0.020259,-0.211954,0.977070]]
2025-10-26T18:08:34.944Z,1761502114.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569910,-0.806213,-0.158817],[0.821454,0.554198,0.134455],[-0.020383,-0.207088,0.978110]]
2025-10-26T18:08:35.346Z,1761502115.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563356,-0.811107,-0.157274],[0.825989,0.548467,0.130097],[-0.019263,-0.203197,0.978948]]
2025-10-26T18:08:35.750Z,1761502115.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558454,-0.814938,-0.154940],[0.829351,0.544561,0.125022],[-0.017511,-0.198318,0.979981]]
2025-10-26T18:08:36.154Z,1761502116.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556190,-0.816351,-0.155640],[0.830915,0.542820,0.122174],[-0.015253,-0.197275,0.980229]]
2025-10-26T18:08:36.560Z,1761502116.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556117,-0.815949,-0.157993],[0.831006,0.542979,0.120845],[-0.012816,-0.198497,0.980018]]
2025-10-26T18:08:36.963Z,1761502116.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558119,-0.813899,-0.161466],[0.829696,0.544986,0.120808],[-0.010328,-0.201393,0.979456]]
2025-10-26T18:08:37.367Z,1761502117.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561543,-0.810892,-0.164694],[0.827409,0.548361,0.121222],[-0.007986,-0.204341,0.978867]]
2025-10-26T18:08:37.770Z,1761502117.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566255,-0.806930,-0.167988],[0.824206,0.552796,0.122883],[-0.006295,-0.208040,0.978100]]
2025-10-26T18:08:38.174Z,1761502118.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571860,-0.802575,-0.169850],[0.820331,0.557991,0.125315],[-0.005800,-0.210995,0.977470]]
2025-10-26T18:08:38.578Z,1761502118.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578247,-0.797530,-0.171979],[0.815836,0.563540,0.129750],[-0.006562,-0.215334,0.976518]]
2025-10-26T18:08:38.982Z,1761502118.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585031,-0.792390,-0.172792],[0.810965,0.569304,0.135014],[-0.008613,-0.219116,0.975661]]
2025-10-26T18:08:39.388Z,1761502119.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591976,-0.787146,-0.173104],[0.805869,0.574946,0.141466],[-0.011829,-0.223243,0.974691]]
2025-10-26T18:08:39.790Z,1761502119.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598555,-0.782155,-0.173105],[0.800934,0.580160,0.148049],[-0.015369,-0.227262,0.973712]]
2025-10-26T18:08:40.194Z,1761502120.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604241,-0.777918,-0.172442],[0.796575,0.584587,0.154036],[-0.019020,-0.230437,0.972901]]
2025-10-26T18:08:40.598Z,1761502120.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607851,-0.775044,-0.172696],[0.793745,0.587032,0.159256],[-0.022052,-0.233881,0.972015]]
2025-10-26T18:08:41.003Z,1761502121.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609668,-0.773278,-0.174204],[0.792292,0.587814,0.163548],[-0.024069,-0.237730,0.971033]]
2025-10-26T18:08:41.406Z,1761502121.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608434,-0.774524,-0.172975],[0.793212,0.586656,0.163246],[-0.024961,-0.236530,0.971303]]
2025-10-26T18:08:41.810Z,1761502121.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605310,-0.777328,-0.171353],[0.795587,0.583974,0.161290],[-0.025310,-0.233957,0.971917]]
2025-10-26T18:08:42.214Z,1761502122.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601298,-0.781299,-0.167369],[0.798627,0.581058,0.156735],[-0.025206,-0.227910,0.973356]]
2025-10-26T18:08:42.619Z,1761502122.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596715,-0.785859,-0.162348],[0.802069,0.577835,0.150971],[-0.024832,-0.220302,0.975116]]
2025-10-26T18:08:43.022Z,1761502123.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592429,-0.790091,-0.157433],[0.805251,0.574806,0.145491],[-0.024458,-0.212966,0.976753]]
2025-10-26T18:08:43.426Z,1761502123.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588874,-0.793696,-0.152562],[0.807858,0.572334,0.140709],[-0.024364,-0.206109,0.978226]]
2025-10-26T18:08:43.830Z,1761502123.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586046,-0.796472,-0.148938],[0.809918,0.570327,0.136971],[-0.024150,-0.200899,0.979314]]
2025-10-26T18:08:44.236Z,1761502124.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584448,-0.798136,-0.146287],[0.811071,0.569245,0.134627],[-0.024177,-0.197332,0.980039]]
2025-10-26T18:08:44.638Z,1761502124.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583947,-0.798803,-0.144637],[0.811425,0.568991,0.133560],[-0.024391,-0.195354,0.980429]]
2025-10-26T18:08:45.043Z,1761502125.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584118,-0.798799,-0.143966],[0.811272,0.569031,0.134316],[-0.025370,-0.195252,0.980425]]
2025-10-26T18:08:45.446Z,1761502125.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584711,-0.798371,-0.143933],[0.810816,0.569389,0.135545],[-0.026261,-0.195958,0.980261]]
2025-10-26T18:08:45.852Z,1761502125.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584617,-0.798542,-0.143368],[0.810836,0.569044,0.136871],[-0.027714,-0.196265,0.980159]]
2025-10-26T18:08:46.254Z,1761502126.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584077,-0.799105,-0.142427],[0.811141,0.568120,0.138886],[-0.030069,-0.196649,0.980013]]
2025-10-26T18:08:46.658Z,1761502126.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582007,-0.800771,-0.141540],[0.812514,0.565586,0.141189],[-0.033007,-0.197176,0.979812]]
2025-10-26T18:08:47.063Z,1761502127.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577868,-0.803920,-0.140646],[0.815343,0.561111,0.142722],[-0.035819,-0.197149,0.979719]]
2025-10-26T18:08:47.466Z,1761502127.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572050,-0.808458,-0.138403],[0.819327,0.555368,0.142370],[-0.038235,-0.194840,0.980089]]
2025-10-26T18:08:47.872Z,1761502127.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565057,-0.813283,-0.138857],[0.824090,0.548224,0.142571],[-0.039825,-0.194992,0.979996]]
2025-10-26T18:08:48.274Z,1761502128.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557313,-0.818305,-0.140638],[0.829335,0.540445,0.141851],[-0.040071,-0.195692,0.979846]]
2025-10-26T18:08:48.678Z,1761502128.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549889,-0.823085,-0.141961],[0.834342,0.533437,0.138991],[-0.038674,-0.194874,0.980066]]
2025-10-26T18:08:49.084Z,1761502129.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543488,-0.826970,-0.144022],[0.838660,0.527659,0.135004],[-0.035650,-0.194158,0.980322]]
2025-10-26T18:08:49.507Z,1761502129.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538580,-0.829693,-0.146768],[0.842012,0.523628,0.129730],[-0.030784,-0.193451,0.980627]]
2025-10-26T18:08:49.911Z,1761502129.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536152,-0.830354,-0.151831],[0.843755,0.521877,0.125387],[-0.024878,-0.195334,0.980421]]
2025-10-26T18:08:50.315Z,1761502130.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536297,-0.829023,-0.158448],[0.843823,0.522484,0.122362],[-0.018654,-0.199325,0.979756]]
2025-10-26T18:08:50.722Z,1761502130.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539019,-0.826044,-0.164652],[0.842193,0.525535,0.120515],[-0.013020,-0.203629,0.978962]]
2025-10-26T18:08:51.122Z,1761502131.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543896,-0.821578,-0.170842],[0.839107,0.530355,0.120925],[-0.008743,-0.209125,0.977850]]
2025-10-26T18:08:51.527Z,1761502131.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550137,-0.815993,-0.177493],[0.835052,0.535987,0.124123],[-0.006150,-0.216500,0.976263]]
2025-10-26T18:08:51.930Z,1761502131.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557300,-0.810107,-0.182051],[0.830292,0.542233,0.128835],[-0.005656,-0.222955,0.974812]]
2025-10-26T18:08:52.334Z,1761502132.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564708,-0.804429,-0.184387],[0.825260,0.548463,0.134666],[-0.007200,-0.228214,0.973584]]
2025-10-26T18:08:52.738Z,1761502132.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572008,-0.799056,-0.185247],[0.820187,0.554445,0.141008],[-0.009964,-0.232595,0.972523]]
2025-10-26T18:08:53.144Z,1761502133.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578531,-0.794419,-0.184934],[0.815557,0.559772,0.146708],[-0.013027,-0.235699,0.971739]]
2025-10-26T18:08:53.546Z,1761502133.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583896,-0.790542,-0.184688],[0.811679,0.564118,0.151484],[-0.015569,-0.238358,0.971052]]
2025-10-26T18:08:53.950Z,1761502133.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587260,-0.788022,-0.184792],[0.809232,0.567001,0.153795],[-0.016417,-0.239858,0.970669]]
2025-10-26T18:08:54.354Z,1761502134.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587409,-0.787854,-0.185029],[0.809136,0.567287,0.153246],[-0.015770,-0.239732,0.970711]]
2025-10-26T18:08:54.763Z,1761502134.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585436,-0.789264,-0.185277],[0.810584,0.565684,0.151507],[-0.014771,-0.238880,0.970937]]
2025-10-26T18:08:55.188Z,1761502135.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582771,-0.791668,-0.183412],[0.812539,0.564162,0.146637],[-0.012613,-0.234485,0.972038]]
2025-10-26T18:08:55.566Z,1761502135.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579875,-0.794371,-0.180885],[0.814640,0.562536,0.141120],[-0.010347,-0.229188,0.973327]]
2025-10-26T18:08:55.970Z,1761502135.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577430,-0.796764,-0.178163],[0.816400,0.561304,0.135753],[-0.008159,-0.223840,0.974592]]
2025-10-26T18:08:56.375Z,1761502136.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575837,-0.798196,-0.176901],[0.817541,0.560531,0.132030],[-0.006228,-0.220651,0.975333]]
2025-10-26T18:08:56.807Z,1761502136.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575136,-0.799261,-0.174358],[0.818045,0.560702,0.128124],[-0.004642,-0.216322,0.976311]]
2025-10-26T18:08:57.183Z,1761502137.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574671,-0.799910,-0.172910],[0.818377,0.560779,0.125640],[-0.003536,-0.213707,0.976891]]
2025-10-26T18:08:57.586Z,1761502137.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574124,-0.800453,-0.172210],[0.818763,0.560506,0.124343],[-0.003007,-0.212387,0.977181]]
2025-10-26T18:08:57.992Z,1761502137.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572656,-0.801689,-0.171347],[0.819791,0.559289,0.123038],[-0.002806,-0.210927,0.977498]]
2025-10-26T18:08:58.394Z,1761502138.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570281,-0.803377,-0.171363],[0.821446,0.557074,0.122050],[-0.002591,-0.210368,0.977619]]
2025-10-26T18:08:58.833Z,1761502138.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566779,-0.806122,-0.170087],[0.823866,0.553946,0.119948],[-0.002474,-0.208113,0.978102]]
2025-10-26T18:08:59.202Z,1761502139.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562675,-0.809324,-0.168499],[0.826675,0.550289,0.117435],[-0.002319,-0.205372,0.978681]]
2025-10-26T18:08:59.607Z,1761502139.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558065,-0.812574,-0.168186],[0.829795,0.545986,0.115500],[-0.002025,-0.204016,0.978966]]
2025-10-26T18:09:00.012Z,1761502140.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553164,-0.815822,-0.168652],[0.833071,0.541334,0.113798],[-0.001541,-0.203448,0.979084]]
2025-10-26T18:09:00.415Z,1761502140.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548140,-0.819272,-0.168331],[0.836386,0.536737,0.111231],[-0.000779,-0.201760,0.979435]]
2025-10-26T18:09:00.838Z,1761502140.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542867,-0.822364,-0.170334],[0.839819,0.531698,0.109551],[0.000476,-0.202521,0.979278]]
2025-10-26T18:09:01.223Z,1761502141.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537915,-0.825066,-0.172955],[0.842996,0.527034,0.107671],[0.002317,-0.203718,0.979027]]
2025-10-26T18:09:01.627Z,1761502141.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533481,-0.827171,-0.176593],[0.845797,0.522940,0.105643],[0.004963,-0.205721,0.978598]]
2025-10-26T18:09:02.030Z,1761502142.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530100,-0.827991,-0.182825],[0.847899,0.519605,0.105253],[0.007848,-0.210812,0.977495]]
2025-10-26T18:09:02.434Z,1761502142.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528019,-0.827960,-0.188887],[0.849162,0.517617,0.104866],[0.010947,-0.215767,0.976384]]
2025-10-26T18:09:02.844Z,1761502142.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528041,-0.826661,-0.194434],[0.849102,0.517747,0.104713],[0.014105,-0.220387,0.975311]]
2025-10-26T18:09:03.244Z,1761502143.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529603,-0.824501,-0.199297],[0.848078,0.519346,0.105085],[0.016862,-0.224673,0.974288]]
2025-10-26T18:09:03.646Z,1761502143.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532134,-0.821651,-0.204264],[0.846433,0.521870,0.105848],[0.019629,-0.229221,0.973176]]
2025-10-26T18:09:04.057Z,1761502144.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540558,-0.815020,-0.208662],[0.840962,0.530555,0.106278],[0.024088,-0.232926,0.972196]]
2025-10-26T18:09:04.344Z,1761502144.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:09:04.459Z,1761502144.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546595,-0.810544,-0.210364],[0.836998,0.536569,0.107368],[0.025848,-0.234761,0.971709]]
2025-10-26T18:09:04.864Z,1761502144.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553678,-0.804956,-0.213276],[0.832290,0.543265,0.110262],[0.027109,-0.238557,0.970750]]
2025-10-26T18:09:05.268Z,1761502145.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561379,-0.799102,-0.215150],[0.827076,0.550641,0.112871],[0.028276,-0.241309,0.970036]]
2025-10-26T18:09:05.348Z,1761502145.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:09:05.670Z,1761502145.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568345,-0.793669,-0.216966],[0.822266,0.557292,0.115344],[0.029369,-0.243958,0.969341]]
2025-10-26T18:09:06.071Z,1761502146.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573390,-0.790101,-0.216715],[0.818720,0.562391,0.115820],[0.030370,-0.243839,0.969340]]
2025-10-26T18:09:06.475Z,1761502146.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576696,-0.787852,-0.216128],[0.816363,0.565849,0.115615],[0.031208,-0.243113,0.969496]]
2025-10-26T18:09:06.878Z,1761502146.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579113,-0.786281,-0.215383],[0.814631,0.568385,0.115392],[0.031690,-0.242283,0.969688]]
2025-10-26T18:09:07.283Z,1761502147.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581095,-0.784914,-0.215031],[0.813219,0.570301,0.115892],[0.031667,-0.242212,0.969707]]
2025-10-26T18:09:07.686Z,1761502147.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582533,-0.783784,-0.215263],[0.812203,0.571523,0.116995],[0.031329,-0.242990,0.969523]]
2025-10-26T18:09:08.091Z,1761502148.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583477,-0.783259,-0.214614],[0.811569,0.572162,0.118263],[0.030164,-0.243178,0.969513]]
2025-10-26T18:09:08.494Z,1761502148.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583084,-0.783963,-0.213108],[0.811913,0.571513,0.119039],[0.028472,-0.242435,0.969750]]
2025-10-26T18:09:08.898Z,1761502148.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581219,-0.785750,-0.211615],[0.813308,0.569459,0.119358],[0.026720,-0.241481,0.970037]]
2025-10-26T18:09:09.302Z,1761502149.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578153,-0.788646,-0.209227],[0.815536,0.566501,0.118226],[0.025289,-0.238985,0.970694]]
2025-10-26T18:09:09.709Z,1761502149.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574279,-0.792359,-0.205840],[0.818304,0.563002,0.115790],[0.024141,-0.234936,0.971711]]
2025-10-26T18:09:10.110Z,1761502150.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570045,-0.796004,-0.203534],[0.821272,0.559188,0.113227],[0.023685,-0.231701,0.972499]]
2025-10-26T18:09:10.514Z,1761502150.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565545,-0.800221,-0.199512],[0.824376,0.555484,0.108822],[0.023744,-0.226017,0.973834]]
2025-10-26T18:09:10.918Z,1761502150.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561140,-0.803847,-0.197359],[0.827350,0.551842,0.104700],[0.024748,-0.222036,0.974724]]
2025-10-26T18:09:11.323Z,1761502151.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557699,-0.806601,-0.195876],[0.829630,0.549123,0.100883],[0.026188,-0.218767,0.975426]]
2025-10-26T18:09:11.727Z,1761502151.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555771,-0.808297,-0.194357],[0.830878,0.547830,0.097593],[0.027591,-0.215726,0.976064]]
2025-10-26T18:09:12.130Z,1761502152.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555073,-0.809079,-0.193094],[0.831314,0.547538,0.095492],[0.028466,-0.213527,0.976522]]
2025-10-26T18:09:12.535Z,1761502152.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555802,-0.808775,-0.192268],[0.830826,0.548344,0.095118],[0.028499,-0.212608,0.976722]]
2025-10-26T18:09:12.939Z,1761502152.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555867,-0.808840,-0.191806],[0.830789,0.548415,0.095032],[0.028324,-0.212176,0.976821]]
2025-10-26T18:09:13.345Z,1761502153.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556630,-0.808034,-0.192986],[0.830299,0.548846,0.096809],[0.027694,-0.214123,0.976414]]
2025-10-26T18:09:13.747Z,1761502153.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557493,-0.806850,-0.195433],[0.829748,0.549147,0.099778],[0.026816,-0.217785,0.975628]]
2025-10-26T18:09:14.150Z,1761502154.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557728,-0.805932,-0.198529],[0.829596,0.548935,0.102177],[0.026632,-0.221686,0.974754]]
2025-10-26T18:09:14.555Z,1761502154.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557762,-0.804815,-0.202916],[0.829558,0.548531,0.104629],[0.027099,-0.226689,0.973590]]
2025-10-26T18:09:14.959Z,1761502154.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558304,-0.803456,-0.206773],[0.829170,0.548737,0.106602],[0.027814,-0.230966,0.972564]]
2025-10-26T18:09:15.362Z,1761502155.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559395,-0.801909,-0.209806],[0.828387,0.549760,0.107423],[0.029200,-0.233892,0.971824]]
2025-10-26T18:09:15.767Z,1761502155.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561664,-0.799558,-0.212700],[0.826811,0.551834,0.108917],[0.030289,-0.237037,0.971028]]
2025-10-26T18:09:16.170Z,1761502156.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565211,-0.796469,-0.214880],[0.824372,0.555043,0.111081],[0.030795,-0.239925,0.970303]]
2025-10-26T18:09:16.575Z,1761502156.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569285,-0.793237,-0.216078],[0.821566,0.558712,0.113447],[0.030735,-0.242106,0.969763]]
2025-10-26T18:09:16.978Z,1761502156.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573174,-0.790403,-0.216182],[0.818881,0.562184,0.115688],[0.030094,-0.243337,0.969475]]
2025-10-26T18:09:17.383Z,1761502157.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576295,-0.788139,-0.216152],[0.816719,0.564877,0.117834],[0.029230,-0.244442,0.969223]]
2025-10-26T18:09:17.789Z,1761502157.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577936,-0.786937,-0.216147],[0.815594,0.566118,0.119649],[0.028209,-0.245438,0.969002]]
2025-10-26T18:09:18.191Z,1761502158.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578293,-0.787026,-0.214864],[0.815371,0.566388,0.119895],[0.027336,-0.244528,0.969257]]
2025-10-26T18:09:18.596Z,1761502158.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577667,-0.787990,-0.213006],[0.815812,0.566098,0.118251],[0.027402,-0.242083,0.969869]]
2025-10-26T18:09:18.998Z,1761502158.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576611,-0.789143,-0.211598],[0.816531,0.565552,0.115880],[0.028224,-0.239594,0.970463]]
2025-10-26T18:09:19.405Z,1761502159.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576056,-0.789975,-0.209997],[0.816880,0.565612,0.113092],[0.029437,-0.236690,0.971139]]
2025-10-26T18:09:19.806Z,1761502159.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576905,-0.790115,-0.207121],[0.816220,0.567294,0.109376],[0.031079,-0.232156,0.972182]]
2025-10-26T18:09:20.210Z,1761502160.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579517,-0.788838,-0.204683],[0.814306,0.570551,0.106662],[0.032643,-0.228487,0.973000]]
2025-10-26T18:09:20.614Z,1761502160.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583720,-0.786543,-0.201546],[0.811235,0.575397,0.103996],[0.034172,-0.224206,0.973943]]
2025-10-26T18:09:21.020Z,1761502161.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588735,-0.783332,-0.199454],[0.807568,0.580679,0.103177],[0.034998,-0.221817,0.974460]]
2025-10-26T18:09:21.422Z,1761502161.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593887,-0.779658,-0.198574],[0.803779,0.585758,0.104055],[0.035189,-0.221407,0.974546]]
2025-10-26T18:09:21.826Z,1761502161.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598164,-0.776566,-0.197850],[0.800623,0.589787,0.105613],[0.034674,-0.221578,0.974526]]
2025-10-26T18:09:22.230Z,1761502162.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601560,-0.774223,-0.196734],[0.798154,0.592649,0.108245],[0.032788,-0.222140,0.974463]]
2025-10-26T18:09:22.637Z,1761502162.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603135,-0.773256,-0.195711],[0.797094,0.593369,0.112048],[0.029487,-0.223581,0.974239]]
2025-10-26T18:09:23.039Z,1761502163.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602827,-0.773616,-0.195236],[0.797480,0.591881,0.117056],[0.025000,-0.226261,0.973746]]
2025-10-26T18:09:23.442Z,1761502163.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600569,-0.775740,-0.193762],[0.799319,0.588584,0.121070],[0.020126,-0.227589,0.973549]]
2025-10-26T18:09:23.846Z,1761502163.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596697,-0.779214,-0.191779],[0.802320,0.583873,0.123996],[0.015356,-0.227856,0.973574]]
2025-10-26T18:09:24.252Z,1761502164.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591216,-0.783862,-0.189800],[0.806441,0.577708,0.126117],[0.010791,-0.227625,0.973689]]
2025-10-26T18:09:24.654Z,1761502164.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584192,-0.789907,-0.186457],[0.811584,0.570549,0.125718],[0.007077,-0.224769,0.974386]]
2025-10-26T18:09:25.058Z,1761502165.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576097,-0.796539,-0.183406],[0.817367,0.562717,0.123534],[0.004806,-0.221078,0.975244]]
2025-10-26T18:09:25.462Z,1761502165.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567678,-0.803477,-0.179352],[0.823241,0.555107,0.118873],[0.004048,-0.215131,0.976577]]
2025-10-26T18:09:25.867Z,1761502165.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560493,-0.809223,-0.176084],[0.828148,0.548766,0.114131],[0.004271,-0.209794,0.977736]]
2025-10-26T18:09:26.272Z,1761502166.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555748,-0.813364,-0.171997],[0.831338,0.544890,0.109417],[0.004724,-0.203796,0.979002]]
2025-10-26T18:09:26.674Z,1761502166.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554054,-0.815208,-0.168699],[0.832466,0.543764,0.106407],[0.004989,-0.199391,0.979907]]
2025-10-26T18:09:27.078Z,1761502167.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554857,-0.814981,-0.167151],[0.831928,0.544847,0.105059],[0.005450,-0.197351,0.980318]]
2025-10-26T18:09:27.482Z,1761502167.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558312,-0.812964,-0.165459],[0.829609,0.548542,0.104164],[0.006080,-0.195422,0.980700]]
2025-10-26T18:09:27.888Z,1761502167.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563694,-0.808887,-0.167184],[0.825956,0.553671,0.106041],[0.006790,-0.197861,0.980207]]
2025-10-26T18:09:28.290Z,1761502168.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570514,-0.803811,-0.168528],[0.821255,0.560184,0.108323],[0.007335,-0.200204,0.979727]]
2025-10-26T18:09:28.694Z,1761502168.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577899,-0.797820,-0.171803],[0.816072,0.566913,0.112414],[0.007711,-0.205168,0.978696]]
2025-10-26T18:09:29.098Z,1761502169.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585818,-0.791451,-0.174420],[0.810413,0.573922,0.117665],[0.006978,-0.210282,0.977616]]
2025-10-26T18:09:29.504Z,1761502169.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593818,-0.784721,-0.177746],[0.804586,0.580432,0.125460],[0.004718,-0.217512,0.976046]]
2025-10-26T18:09:29.906Z,1761502169.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601312,-0.778629,-0.179334],[0.799014,0.586181,0.134043],[0.000752,-0.223892,0.974614]]
2025-10-26T18:09:30.310Z,1761502170.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607322,-0.773846,-0.179785],[0.794443,0.590275,0.142954],[-0.004502,-0.229648,0.973263]]
2025-10-26T18:09:30.714Z,1761502170.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610377,-0.771692,-0.178696],[0.792046,0.591690,0.150220],[-0.010191,-0.233227,0.972369]]
2025-10-26T18:09:31.119Z,1761502171.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610483,-0.772172,-0.176244],[0.791870,0.590590,0.155390],[-0.015900,-0.234425,0.972004]]
2025-10-26T18:09:31.522Z,1761502171.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607651,-0.774942,-0.173856],[0.793925,0.586900,0.158845],[-0.021060,-0.234551,0.971876]]
2025-10-26T18:09:31.926Z,1761502171.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602817,-0.779590,-0.169855],[0.797471,0.581888,0.159517],[-0.025521,-0.231614,0.972473]]
2025-10-26T18:09:32.330Z,1761502172.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596304,-0.785713,-0.164553],[0.802225,0.575776,0.157850],[-0.029279,-0.226135,0.973656]]
2025-10-26T18:09:32.735Z,1761502172.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588436,-0.792625,-0.159655],[0.807914,0.568604,0.154807],[-0.031923,-0.220082,0.974959]]
2025-10-26T18:09:33.138Z,1761502173.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579890,-0.799780,-0.155178],[0.814018,0.561034,0.150388],[-0.033217,-0.213526,0.976373]]
2025-10-26T18:09:33.542Z,1761502173.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571040,-0.806965,-0.150732],[0.820249,0.553437,0.144563],[-0.033237,-0.206189,0.977948]]
2025-10-26T18:09:33.946Z,1761502173.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563742,-0.812695,-0.147384],[0.825298,0.547165,0.139616],[-0.032822,-0.200343,0.979176]]
2025-10-26T18:09:34.351Z,1761502174.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559255,-0.816159,-0.145320],[0.828354,0.543271,0.136700],[-0.032621,-0.196827,0.979895]]
2025-10-26T18:09:34.758Z,1761502174.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556843,-0.818172,-0.143245],[0.829977,0.541306,0.134635],[-0.032615,-0.193861,0.980487]]
2025-10-26T18:09:35.158Z,1761502175.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555822,-0.819119,-0.141800],[0.830667,0.540594,0.133231],[-0.032476,-0.191841,0.980889]]
2025-10-26T18:09:35.469Z,1761502175.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:09:35.562Z,1761502175.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555964,-0.819159,-0.141008],[0.830586,0.540944,0.132309],[-0.032104,-0.190678,0.981127]]
2025-10-26T18:09:35.968Z,1761502175.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557313,-0.818259,-0.140906],[0.829691,0.542313,0.132323],[-0.031860,-0.190654,0.981140]]
2025-10-26T18:09:36.371Z,1761502176.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559500,-0.816358,-0.143244],[0.828237,0.544147,0.133896],[-0.031361,-0.193554,0.980588]]
2025-10-26T18:09:36.472Z,1761502176.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:09:36.806Z,1761502176.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561661,-0.814134,-0.147385],[0.826780,0.545571,0.137070],[-0.031184,-0.198841,0.979535]]
2025-10-26T18:09:37.178Z,1761502177.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564027,-0.811850,-0.150911],[0.825179,0.547301,0.139791],[-0.030896,-0.203374,0.978614]]
2025-10-26T18:09:37.583Z,1761502177.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565839,-0.809975,-0.154163],[0.823930,0.548420,0.142744],[-0.031073,-0.207790,0.977680]]
2025-10-26T18:09:37.986Z,1761502177.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567231,-0.808462,-0.156966],[0.822964,0.549189,0.145332],[-0.031291,-0.211614,0.976852]]
2025-10-26T18:09:38.390Z,1761502178.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568206,-0.807471,-0.158534],[0.822281,0.549760,0.147032],[-0.031568,-0.213903,0.976345]]
2025-10-26T18:09:38.832Z,1761502178.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568711,-0.806799,-0.160136],[0.821924,0.549899,0.148497],[-0.031748,-0.216071,0.975861]]
2025-10-26T18:09:39.199Z,1761502179.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569361,-0.805802,-0.162821],[0.821466,0.549956,0.150807],[-0.031977,-0.219616,0.975062]]
2025-10-26T18:09:39.604Z,1761502179.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569858,-0.805019,-0.164944],[0.821119,0.550019,0.152452],[-0.032005,-0.222315,0.974450]]
2025-10-26T18:09:40.006Z,1761502180.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570792,-0.803968,-0.166829],[0.820468,0.550524,0.154127],[-0.032070,-0.224852,0.973865]]
2025-10-26T18:09:40.410Z,1761502180.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572359,-0.802448,-0.168768],[0.819361,0.551521,0.156437],[-0.032453,-0.227820,0.973162]]
2025-10-26T18:09:40.835Z,1761502180.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574782,-0.800312,-0.170663],[0.817651,0.553343,0.158932],[-0.032760,-0.230894,0.972427]]
2025-10-26T18:09:41.230Z,1761502181.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577564,-0.797884,-0.172629],[0.815682,0.555519,0.161433],[-0.032907,-0.234048,0.971668]]
2025-10-26T18:09:41.622Z,1761502181.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580804,-0.795236,-0.173973],[0.813353,0.558101,0.164258],[-0.033530,-0.236903,0.970955]]
2025-10-26T18:09:42.027Z,1761502182.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584295,-0.792255,-0.175872],[0.810820,0.560772,0.167647],[-0.034195,-0.240556,0.970033]]
2025-10-26T18:09:42.431Z,1761502182.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587438,-0.790030,-0.175409],[0.808511,0.563558,0.169448],[-0.035016,-0.241360,0.969804]]
2025-10-26T18:09:42.843Z,1761502182.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589734,-0.788456,-0.174789],[0.806806,0.565611,0.170731],[-0.035751,-0.241706,0.969691]]
2025-10-26T18:09:43.238Z,1761502183.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590280,-0.788318,-0.173564],[0.806388,0.566263,0.170540],[-0.036157,-0.240626,0.969944]]
2025-10-26T18:09:43.642Z,1761502183.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590180,-0.788684,-0.172236],[0.806456,0.566419,0.169699],[-0.036281,-0.239054,0.970328]]
2025-10-26T18:09:44.049Z,1761502184.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588566,-0.790324,-0.170232],[0.807660,0.565508,0.166988],[-0.035707,-0.235773,0.971152]]
2025-10-26T18:09:44.450Z,1761502184.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586515,-0.792192,-0.168620],[0.809184,0.564145,0.164198],[-0.034950,-0.232749,0.971909]]
2025-10-26T18:09:44.854Z,1761502184.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583882,-0.794640,-0.166220],[0.811131,0.562466,0.160308],[-0.033894,-0.228427,0.972971]]
2025-10-26T18:09:45.258Z,1761502185.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581678,-0.796833,-0.163426],[0.812755,0.561234,0.156349],[-0.032864,-0.223770,0.974088]]
2025-10-26T18:09:45.663Z,1761502185.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579745,-0.798759,-0.160875],[0.814164,0.560104,0.153037],[-0.032133,-0.219701,0.975038]]
2025-10-26T18:09:46.067Z,1761502186.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578830,-0.799959,-0.158183],[0.814821,0.559794,0.150654],[-0.031967,-0.216094,0.975849]]
2025-10-26T18:09:46.470Z,1761502186.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578371,-0.801073,-0.154171],[0.815108,0.559848,0.148896],[-0.032964,-0.211783,0.976761]]
2025-10-26T18:09:46.874Z,1761502186.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577935,-0.801965,-0.151142],[0.815364,0.559663,0.148185],[-0.034251,-0.208877,0.977342]]
2025-10-26T18:09:47.279Z,1761502187.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577169,-0.802879,-0.149199],[0.815850,0.558957,0.148177],[-0.035572,-0.207248,0.977642]]
2025-10-26T18:09:47.682Z,1761502187.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575517,-0.804170,-0.148630],[0.816958,0.557164,0.148823],[-0.036868,-0.207074,0.977630]]
2025-10-26T18:09:48.087Z,1761502188.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572574,-0.806327,-0.148308],[0.818962,0.554085,0.149303],[-0.038212,-0.206946,0.977606]]
2025-10-26T18:09:48.490Z,1761502188.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567890,-0.809374,-0.149714],[0.822182,0.549181,0.149727],[-0.038965,-0.208120,0.977327]]
2025-10-26T18:09:48.896Z,1761502188.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561711,-0.813158,-0.152495],[0.826418,0.542804,0.149659],[-0.038922,-0.210090,0.976907]]
2025-10-26T18:09:49.298Z,1761502189.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555112,-0.817348,-0.154247],[0.830908,0.536448,0.147697],[-0.037974,-0.210154,0.976931]]
2025-10-26T18:09:49.708Z,1761502189.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542329,-0.824877,-0.159556],[0.839547,0.524773,0.140625],[-0.032267,-0.210219,0.977122]]
2025-10-26T18:09:50.125Z,1761502190.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537182,-0.827621,-0.162725],[0.843009,0.520453,0.135886],[-0.027771,-0.210174,0.977269]]
2025-10-26T18:09:50.527Z,1761502190.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533654,-0.829394,-0.165287],[0.845417,0.518102,0.129771],[-0.021996,-0.208989,0.977671]]
2025-10-26T18:09:50.931Z,1761502190.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532914,-0.829217,-0.168527],[0.846025,0.518461,0.124263],[-0.015666,-0.208799,0.977833]]
2025-10-26T18:09:51.334Z,1761502191.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535317,-0.826856,-0.172465],[0.844599,0.521742,0.120157],[-0.009370,-0.209986,0.977660]]
2025-10-26T18:09:51.738Z,1761502191.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540027,-0.822761,-0.177300],[0.841640,0.527025,0.117842],[-0.003514,-0.212861,0.977076]]
2025-10-26T18:09:52.142Z,1761502192.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546034,-0.817671,-0.182376],[0.837761,0.533343,0.117053],[0.001558,-0.216703,0.976236]]
2025-10-26T18:09:52.548Z,1761502192.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553042,-0.812219,-0.185595],[0.833137,0.540549,0.117002],[0.005292,-0.219333,0.975636]]
2025-10-26T18:09:52.952Z,1761502192.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560622,-0.806022,-0.189818],[0.828039,0.547696,0.119916],[0.007308,-0.224404,0.974469]]
2025-10-26T18:09:53.353Z,1761502193.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568280,-0.799965,-0.192648],[0.822801,0.554603,0.124154],[0.007524,-0.229065,0.973382]]
2025-10-26T18:09:53.758Z,1761502193.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575399,-0.794087,-0.195809],[0.817848,0.560508,0.130214],[0.006351,-0.235067,0.971958]]
2025-10-26T18:09:54.162Z,1761502194.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581621,-0.789211,-0.197136],[0.813448,0.565595,0.135667],[0.004430,-0.239267,0.970944]]
2025-10-26T18:09:54.568Z,1761502194.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586650,-0.785435,-0.197314],[0.809838,0.569588,0.140471],[0.002057,-0.242200,0.970224]]
2025-10-26T18:09:54.970Z,1761502194.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589720,-0.782764,-0.198773],[0.807608,0.571605,0.145043],[0.000085,-0.246065,0.969253]]
2025-10-26T18:09:55.374Z,1761502195.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590243,-0.781955,-0.200396],[0.807225,0.571639,0.147024],[-0.000412,-0.248545,0.968620]]
2025-10-26T18:09:55.778Z,1761502195.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589067,-0.782530,-0.201613],[0.808084,0.570649,0.146150],[0.000684,-0.249012,0.968500]]
2025-10-26T18:09:56.184Z,1761502196.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586935,-0.784005,-0.202097],[0.809630,0.569115,0.143550],[0.002472,-0.247879,0.968788]]
2025-10-26T18:09:56.586Z,1761502196.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585313,-0.785106,-0.202525],[0.810793,0.568209,0.140545],[0.004733,-0.246469,0.969139]]
2025-10-26T18:09:56.990Z,1761502196.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583910,-0.785899,-0.203499],[0.811785,0.567510,0.137614],[0.007337,-0.245551,0.969356]]
2025-10-26T18:09:57.394Z,1761502197.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583023,-0.786238,-0.204729],[0.812397,0.567210,0.135219],[0.009810,-0.245157,0.969434]]
2025-10-26T18:09:57.799Z,1761502197.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581892,-0.787494,-0.203112],[0.813186,0.566900,0.131731],[0.011407,-0.241821,0.970254]]
2025-10-26T18:09:58.202Z,1761502198.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579789,-0.789174,-0.202605],[0.814672,0.565311,0.129360],[0.012447,-0.240058,0.970679]]
2025-10-26T18:09:58.606Z,1761502198.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577546,-0.790986,-0.201946],[0.816249,0.563566,0.127009],[0.013348,-0.238192,0.971126]]
2025-10-26T18:09:59.010Z,1761502199.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574764,-0.793611,-0.199569],[0.818208,0.561357,0.124156],[0.013498,-0.234650,0.971986]]
2025-10-26T18:09:59.414Z,1761502199.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571660,-0.796111,-0.198525],[0.820371,0.558726,0.121728],[0.014012,-0.232451,0.972507]]
2025-10-26T18:09:59.820Z,1761502199.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567803,-0.798937,-0.198238],[0.823035,0.555269,0.119538],[0.014572,-0.231031,0.972837]]
2025-10-26T18:10:00.246Z,1761502200.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563501,-0.801938,-0.198400],[0.825967,0.551461,0.116917],[0.015650,-0.229755,0.973123]]
2025-10-26T18:10:00.626Z,1761502200.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559045,-0.805048,-0.198409],[0.828958,0.547665,0.113541],[0.017256,-0.227947,0.973521]]
2025-10-26T18:10:01.032Z,1761502201.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555312,-0.807678,-0.198204],[0.831420,0.544680,0.109842],[0.019241,-0.225787,0.973987]]
2025-10-26T18:10:01.434Z,1761502201.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553369,-0.808917,-0.198583],[0.832648,0.543495,0.106350],[0.021901,-0.224200,0.974297]]
2025-10-26T18:10:01.838Z,1761502201.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553814,-0.808069,-0.200787],[0.832270,0.544420,0.104562],[0.024819,-0.225017,0.974039]]
2025-10-26T18:10:02.244Z,1761502202.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556476,-0.804980,-0.205774],[0.830391,0.547189,0.105049],[0.028035,-0.229330,0.972945]]
2025-10-26T18:10:02.646Z,1761502202.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560828,-0.800823,-0.210130],[0.827329,0.551760,0.105302],[0.031614,-0.232903,0.971986]]
2025-10-26T18:10:03.051Z,1761502203.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566360,-0.795784,-0.214392],[0.823399,0.557523,0.105750],[0.035374,-0.236422,0.971006]]
2025-10-26T18:10:03.457Z,1761502203.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572913,-0.789847,-0.218887],[0.818693,0.564156,0.107099],[0.038895,-0.240560,0.969855]]
2025-10-26T18:10:03.858Z,1761502203.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580438,-0.783183,-0.222972],[0.813231,0.571576,0.109347],[0.041807,-0.244797,0.968673]]
2025-10-26T18:10:04.262Z,1761502204.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589131,-0.776055,-0.225084],[0.806855,0.580050,0.111924],[0.043701,-0.247548,0.967890]]
2025-10-26T18:10:04.666Z,1761502204.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597970,-0.768646,-0.227190],[0.800287,0.588270,0.116096],[0.044412,-0.251239,0.966906]]
2025-10-26T18:10:05.072Z,1761502205.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605841,-0.762013,-0.228677],[0.794346,0.595410,0.120421],[0.044394,-0.254605,0.966026]]
2025-10-26T18:10:05.475Z,1761502205.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612221,-0.756485,-0.230034],[0.789476,0.600936,0.124918],[0.043737,-0.258084,0.965132]]
2025-10-26T18:10:05.878Z,1761502205.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616737,-0.752252,-0.231845],[0.786016,0.604452,0.129676],[0.042590,-0.262210,0.964071]]
2025-10-26T18:10:06.282Z,1761502206.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619200,-0.749875,-0.232976],[0.784138,0.606161,0.133031],[0.041464,-0.265058,0.963340]]
2025-10-26T18:10:06.592Z,1761502206.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:10:06.688Z,1761502206.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620266,-0.748863,-0.233396],[0.783353,0.606695,0.135205],[0.040350,-0.266694,0.962936]]
2025-10-26T18:10:07.090Z,1761502207.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619981,-0.748923,-0.233960],[0.783605,0.606148,0.136188],[0.039820,-0.267767,0.962661]]
2025-10-26T18:10:07.495Z,1761502207.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619040,-0.750229,-0.232263],[0.784348,0.605594,0.134370],[0.039849,-0.265355,0.963327]]
2025-10-26T18:10:07.596Z,1761502207.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:10:07.898Z,1761502207.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618085,-0.751822,-0.229641],[0.785066,0.605395,0.131025],[0.040516,-0.261268,0.964416]]
2025-10-26T18:10:08.303Z,1761502208.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617259,-0.753414,-0.226623],[0.785648,0.605569,0.126660],[0.041809,-0.256228,0.965712]]
2025-10-26T18:10:08.708Z,1761502208.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617050,-0.754805,-0.222530],[0.785744,0.606461,0.121706],[0.043091,-0.249951,0.967299]]
2025-10-26T18:10:09.110Z,1761502209.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617463,-0.755610,-0.218618],[0.785367,0.607761,0.117578],[0.044024,-0.244296,0.968701]]
2025-10-26T18:10:09.515Z,1761502209.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618443,-0.755934,-0.214692],[0.784555,0.609502,0.113928],[0.044733,-0.238896,0.970014]]
2025-10-26T18:10:09.919Z,1761502209.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619507,-0.756020,-0.211294],[0.783706,0.611064,0.111383],[0.044906,-0.234595,0.971055]]
2025-10-26T18:10:10.324Z,1761502210.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620629,-0.755714,-0.209081],[0.782815,0.612457,0.109983],[0.044937,-0.231930,0.971694]]
2025-10-26T18:10:10.745Z,1761502210.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621738,-0.755124,-0.207917],[0.781940,0.613647,0.109573],[0.044846,-0.230704,0.971990]]
2025-10-26T18:10:11.130Z,1761502211.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622322,-0.754747,-0.207541],[0.781475,0.614256,0.109478],[0.044855,-0.230319,0.972081]]
2025-10-26T18:10:11.537Z,1761502211.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622721,-0.754221,-0.208252],[0.781183,0.614394,0.110780],[0.044396,-0.231668,0.971781]]
2025-10-26T18:10:11.938Z,1761502211.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622766,-0.753838,-0.209504],[0.781174,0.614113,0.112395],[0.043931,-0.233655,0.971327]]
2025-10-26T18:10:12.342Z,1761502212.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622288,-0.754240,-0.209474],[0.781618,0.613325,0.113606],[0.042789,-0.234425,0.971192]]
2025-10-26T18:10:12.746Z,1761502212.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621280,-0.754987,-0.209775],[0.782505,0.611850,0.115436],[0.041198,-0.235868,0.970911]]
2025-10-26T18:10:13.152Z,1761502213.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619675,-0.756597,-0.208718],[0.783859,0.610020,0.115940],[0.039602,-0.235450,0.971079]]
2025-10-26T18:10:13.555Z,1761502213.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617703,-0.758610,-0.207256],[0.785501,0.607856,0.116189],[0.037839,-0.234570,0.971363]]
2025-10-26T18:10:13.958Z,1761502213.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615151,-0.760869,-0.206561],[0.787575,0.605082,0.116622],[0.036253,-0.234423,0.971459]]
2025-10-26T18:10:14.362Z,1761502214.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612786,-0.763291,-0.204649],[0.789455,0.602890,0.115253],[0.035409,-0.232187,0.972027]]
2025-10-26T18:10:14.783Z,1761502214.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611348,-0.764387,-0.204856],[0.790595,0.601327,0.115609],[0.034815,-0.232635,0.971941]]
2025-10-26T18:10:15.170Z,1761502215.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611406,-0.764470,-0.204372],[0.790547,0.601476,0.115158],[0.034890,-0.231974,0.972096]]
2025-10-26T18:10:15.574Z,1761502215.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612793,-0.763668,-0.203214],[0.789478,0.602928,0.114901],[0.034777,-0.230843,0.972369]]
2025-10-26T18:10:15.978Z,1761502215.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615761,-0.761382,-0.202820],[0.787193,0.605605,0.116488],[0.034137,-0.231387,0.972263]]
2025-10-26T18:10:16.382Z,1761502216.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619814,-0.758235,-0.202264],[0.784009,0.609493,0.117675],[0.034054,-0.231513,0.972236]]
2025-10-26T18:10:16.830Z,1761502216.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625077,-0.754250,-0.200960],[0.779851,0.614446,0.119533],[0.033321,-0.231436,0.972279]]
2025-10-26T18:10:17.191Z,1761502217.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631020,-0.749732,-0.199290],[0.775129,0.619759,0.122779],[0.031461,-0.231951,0.972219]]
2025-10-26T18:10:17.594Z,1761502217.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637329,-0.745157,-0.196351],[0.770060,0.625337,0.126340],[0.028643,-0.231722,0.972360]]
2025-10-26T18:10:17.998Z,1761502217.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642630,-0.741440,-0.193115],[0.765771,0.629755,0.130398],[0.024933,-0.231680,0.972473]]
2025-10-26T18:10:18.402Z,1761502218.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645594,-0.739836,-0.189346],[0.763390,0.632043,0.133258],[0.021086,-0.230575,0.972826]]
2025-10-26T18:10:18.836Z,1761502218.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645709,-0.740660,-0.185694],[0.763374,0.631846,0.134279],[0.017875,-0.228459,0.973390]]
2025-10-26T18:10:19.210Z,1761502219.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643865,-0.743217,-0.181839],[0.764993,0.629941,0.134017],[0.014944,-0.225394,0.974153]]
2025-10-26T18:10:19.614Z,1761502219.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640289,-0.747392,-0.177298],[0.768025,0.626805,0.131355],[0.012957,-0.220275,0.975352]]
2025-10-26T18:10:20.018Z,1761502220.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636088,-0.751655,-0.174377],[0.771526,0.623035,0.128746],[0.011870,-0.216430,0.976226]]
2025-10-26T18:10:20.422Z,1761502220.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631905,-0.756089,-0.170370],[0.774960,0.619650,0.124382],[0.011526,-0.210628,0.977498]]
2025-10-26T18:10:20.841Z,1761502220.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628900,-0.759418,-0.166644],[0.777402,0.617372,0.120404],[0.011445,-0.205271,0.978638]]
2025-10-26T18:10:21.230Z,1761502221.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627413,-0.761544,-0.162490],[0.778607,0.616531,0.116884],[0.011168,-0.199850,0.979763]]
2025-10-26T18:10:21.634Z,1761502221.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626230,-0.763329,-0.158636],[0.779564,0.615891,0.113834],[0.010809,-0.194953,0.980753]]
2025-10-26T18:10:22.039Z,1761502222.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625944,-0.764167,-0.155700],[0.779804,0.615839,0.112459],[0.009948,-0.191809,0.981382]]
2025-10-26T18:10:22.444Z,1761502222.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626520,-0.764288,-0.152765],[0.779360,0.616446,0.112215],[0.008407,-0.189364,0.981871]]
2025-10-26T18:10:22.846Z,1761502222.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627324,-0.763922,-0.151287],[0.778734,0.616901,0.114047],[0.006206,-0.189357,0.981889]]
2025-10-26T18:10:23.250Z,1761502223.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628397,-0.763233,-0.150313],[0.777886,0.617400,0.117098],[0.003430,-0.190510,0.981679]]
2025-10-26T18:10:23.654Z,1761502223.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629533,-0.762171,-0.150945],[0.776974,0.617503,0.122481],[-0.000143,-0.194386,0.980925]]
2025-10-26T18:10:24.059Z,1761502224.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631236,-0.760841,-0.150540],[0.775580,0.618177,0.127802],[-0.004177,-0.197429,0.980308]]
2025-10-26T18:10:24.462Z,1761502224.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632345,-0.760075,-0.149751],[0.774640,0.618269,0.132953],[-0.008468,-0.200075,0.979744]]
2025-10-26T18:10:24.865Z,1761502224.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632536,-0.760022,-0.149214],[0.774435,0.617566,0.137343],[-0.012235,-0.202431,0.979220]]
2025-10-26T18:10:25.270Z,1761502225.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630625,-0.762022,-0.147085],[0.775937,0.615340,0.138848],[-0.015298,-0.201690,0.979330]]
2025-10-26T18:10:25.676Z,1761502225.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627014,-0.765228,-0.145876],[0.778800,0.611426,0.140106],[-0.018021,-0.201456,0.979332]]
2025-10-26T18:10:26.077Z,1761502226.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622241,-0.769661,-0.142960],[0.782552,0.606734,0.139593],[-0.020701,-0.198734,0.979835]]
2025-10-26T18:10:26.482Z,1761502226.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616440,-0.774684,-0.140950],[0.787054,0.600895,0.139539],[-0.023403,-0.196953,0.980134]]
2025-10-26T18:10:26.886Z,1761502226.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610167,-0.780182,-0.137889],[0.791840,0.594774,0.138680],[-0.026183,-0.193804,0.980691]]
2025-10-26T18:10:27.291Z,1761502227.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603687,-0.785443,-0.136529],[0.796698,0.588174,0.139009],[-0.028881,-0.192690,0.980834]]
2025-10-26T18:10:27.694Z,1761502227.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596806,-0.790948,-0.134999],[0.801774,0.581279,0.138828],[-0.031334,-0.191092,0.981072]]
2025-10-26T18:10:28.098Z,1761502228.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589494,-0.796340,-0.135425],[0.807088,0.573754,0.139341],[-0.033262,-0.191441,0.980940]]
2025-10-26T18:10:28.502Z,1761502228.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582161,-0.801816,-0.134829],[0.812351,0.566603,0.138007],[-0.034261,-0.189871,0.981211]]
2025-10-26T18:10:28.908Z,1761502228.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574989,-0.806836,-0.135655],[0.817457,0.559666,0.136157],[-0.033935,-0.189181,0.981356]]
2025-10-26T18:10:29.310Z,1761502229.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568179,-0.811390,-0.137182],[0.822290,0.553366,0.132760],[-0.031808,-0.188235,0.981609]]
2025-10-26T18:10:29.717Z,1761502229.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563490,-0.814215,-0.139759],[0.825628,0.549179,0.129388],[-0.028597,-0.188298,0.981696]]
2025-10-26T18:10:30.118Z,1761502230.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562611,-0.814025,-0.144333],[0.826342,0.548425,0.128022],[-0.025057,-0.191295,0.981213]]
2025-10-26T18:10:30.524Z,1761502230.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565795,-0.810857,-0.149622],[0.824248,0.551324,0.129060],[-0.022159,-0.196347,0.980284]]
2025-10-26T18:10:30.926Z,1761502230.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571191,-0.806438,-0.152969],[0.820575,0.556490,0.130290],[-0.019945,-0.199943,0.979604]]
2025-10-26T18:10:31.330Z,1761502231.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577423,-0.801367,-0.156187],[0.816245,0.562383,0.132173],[-0.018083,-0.203807,0.978844]]
2025-10-26T18:10:31.734Z,1761502231.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584186,-0.796187,-0.157522],[0.811443,0.568900,0.133840],[-0.016947,-0.206007,0.978404]]
2025-10-26T18:10:32.140Z,1761502232.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590994,-0.790656,-0.159966],[0.806501,0.575006,0.137567],[-0.016787,-0.210314,0.977490]]
2025-10-26T18:10:32.542Z,1761502232.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597512,-0.785520,-0.161055],[0.801662,0.580718,0.141794],[-0.017854,-0.213835,0.976707]]
2025-10-26T18:10:32.952Z,1761502232.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603082,-0.781269,-0.160968],[0.797418,0.585321,0.146709],[-0.020402,-0.216836,0.975995]]
2025-10-26T18:10:33.357Z,1761502233.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607911,-0.777687,-0.160148],[0.793541,0.588175,0.156021],[-0.027140,-0.221931,0.974685]]
2025-10-26T18:10:33.760Z,1761502233.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607032,-0.778398,-0.160028],[0.794103,0.586511,0.159393],[-0.030213,-0.223835,0.974159]]
2025-10-26T18:10:34.165Z,1761502234.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604163,-0.781219,-0.157112],[0.796196,0.583757,0.159058],[-0.032544,-0.221189,0.974688]]
2025-10-26T18:10:34.567Z,1761502234.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599937,-0.784883,-0.155029],[0.799329,0.579827,0.157715],[-0.033898,-0.218538,0.975239]]
2025-10-26T18:10:34.970Z,1761502234.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594990,-0.788978,-0.153299],[0.802990,0.575325,0.155589],[-0.034560,-0.215671,0.975854]]
2025-10-26T18:10:35.370Z,1761502235.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590095,-0.793089,-0.150992],[0.806596,0.571158,0.152254],[-0.034510,-0.211634,0.976740]]
2025-10-26T18:10:35.776Z,1761502235.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586306,-0.796366,-0.148482],[0.809367,0.568122,0.148867],[-0.034197,-0.207458,0.977646]]
2025-10-26T18:10:36.178Z,1761502236.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583998,-0.798361,-0.146856],[0.811067,0.566427,0.146052],[-0.033418,-0.204404,0.978316]]
2025-10-26T18:10:36.582Z,1761502236.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582833,-0.799465,-0.145468],[0.811937,0.565773,0.143732],[-0.032607,-0.201882,0.978867]]
2025-10-26T18:10:36.987Z,1761502236.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583001,-0.799352,-0.145418],[0.811817,0.565945,0.143733],[-0.032594,-0.201849,0.978874]]
2025-10-26T18:10:37.391Z,1761502237.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583583,-0.799101,-0.144456],[0.811382,0.566572,0.143716],[-0.032999,-0.201079,0.979019]]
2025-10-26T18:10:37.716Z,1761502237.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:10:37.794Z,1761502237.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583813,-0.799124,-0.143399],[0.811172,0.566710,0.144360],[-0.034096,-0.200601,0.979080]]
2025-10-26T18:10:38.198Z,1761502238.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583595,-0.799704,-0.141035],[0.811283,0.566661,0.143929],[-0.035182,-0.198416,0.979486]]
2025-10-26T18:10:38.602Z,1761502238.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582736,-0.800384,-0.140727],[0.811868,0.565723,0.144314],[-0.035894,-0.198349,0.979474]]
2025-10-26T18:10:38.720Z,1761502238.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:10:39.009Z,1761502239.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581862,-0.800889,-0.141467],[0.812468,0.564609,0.145300],[-0.036496,-0.199482,0.979222]]
2025-10-26T18:10:39.410Z,1761502239.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581089,-0.801413,-0.141679],[0.812987,0.563649,0.146120],[-0.037245,-0.200092,0.979069]]
2025-10-26T18:10:39.814Z,1761502239.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579242,-0.802767,-0.141575],[0.814280,0.561775,0.146141],[-0.037784,-0.199932,0.979081]]
2025-10-26T18:10:40.219Z,1761502240.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577035,-0.804403,-0.141300],[0.815804,0.559510,0.146326],[-0.038647,-0.199708,0.979093]]
2025-10-26T18:10:40.624Z,1761502240.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573480,-0.807005,-0.140937],[0.818248,0.555887,0.146491],[-0.039874,-0.199331,0.979121]]
2025-10-26T18:10:41.031Z,1761502241.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568678,-0.810509,-0.140288],[0.821517,0.551049,0.146472],[-0.041412,-0.198545,0.979217]]
2025-10-26T18:10:41.430Z,1761502241.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562901,-0.814778,-0.138853],[0.825405,0.545408,0.145730],[-0.043006,-0.196642,0.979532]]
2025-10-26T18:10:41.834Z,1761502241.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556414,-0.819309,-0.138330],[0.829728,0.539015,0.144960],[-0.044205,-0.195434,0.979720]]
2025-10-26T18:10:42.240Z,1761502242.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549500,-0.823700,-0.139885],[0.834311,0.532070,0.144316],[-0.044444,-0.196009,0.979594]]
2025-10-26T18:10:42.642Z,1761502242.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542904,-0.827563,-0.142815],[0.838693,0.525586,0.142665],[-0.043003,-0.197231,0.979413]]
2025-10-26T18:10:43.047Z,1761502243.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537183,-0.830473,-0.147474],[0.842521,0.520042,0.140410],[-0.039914,-0.199676,0.979049]]
2025-10-26T18:10:43.452Z,1761502243.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533103,-0.832271,-0.152077],[0.845319,0.516491,0.136653],[-0.035186,-0.201403,0.978876]]
2025-10-26T18:10:43.854Z,1761502243.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531404,-0.832087,-0.158873],[0.846624,0.515262,0.133166],[-0.028944,-0.205271,0.978277]]
2025-10-26T18:10:44.258Z,1761502244.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532343,-0.830092,-0.166009],[0.846249,0.516791,0.129574],[-0.021767,-0.209463,0.977574]]
2025-10-26T18:10:44.662Z,1761502244.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535894,-0.826346,-0.173117],[0.844160,0.520899,0.126720],[-0.014539,-0.214047,0.976715]]
2025-10-26T18:10:45.068Z,1761502245.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541895,-0.821064,-0.179455],[0.840408,0.527341,0.125005],[-0.008003,-0.218555,0.975792]]
2025-10-26T18:10:45.470Z,1761502245.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549728,-0.814411,-0.185832],[0.835340,0.535287,0.125200],[-0.002491,-0.224059,0.974572]]
2025-10-26T18:10:45.874Z,1761502245.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558766,-0.807190,-0.190328],[0.829324,0.544265,0.126478],[0.001497,-0.228516,0.973539]]
2025-10-26T18:10:46.279Z,1761502246.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568426,-0.799659,-0.193487],[0.822728,0.553412,0.129824],[0.003263,-0.232982,0.972476]]
2025-10-26T18:10:46.683Z,1761502246.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578495,-0.792254,-0.194104],[0.815682,0.562574,0.134809],[0.002395,-0.236313,0.971674]]
2025-10-26T18:10:47.086Z,1761502247.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588506,-0.784656,-0.194873],[0.808493,0.570982,0.142543],[-0.000579,-0.241441,0.970415]]
2025-10-26T18:10:47.490Z,1761502247.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597999,-0.777529,-0.194539],[0.801479,0.578500,0.151553],[-0.005296,-0.246548,0.969116]]
2025-10-26T18:10:47.894Z,1761502247.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606330,-0.770956,-0.194915],[0.795134,0.584317,0.162280],[-0.011219,-0.253379,0.967302]]
2025-10-26T18:10:48.300Z,1761502248.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612230,-0.766626,-0.193544],[0.790479,0.587944,0.171654],[-0.017802,-0.258084,0.965958]]
2025-10-26T18:10:48.702Z,1761502248.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614006,-0.765965,-0.190512],[0.788936,0.588232,0.177659],[-0.024015,-0.259386,0.965475]]
2025-10-26T18:10:49.106Z,1761502249.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610105,-0.770254,-0.185688],[0.791804,0.584268,0.177979],[-0.028598,-0.255615,0.966356]]
2025-10-26T18:10:49.510Z,1761502249.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600921,-0.778831,-0.179767],[0.798739,0.576620,0.171832],[-0.030171,-0.246844,0.968585]]
2025-10-26T18:10:49.915Z,1761502249.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591478,-0.787161,-0.174730],[0.805773,0.569040,0.164087],[-0.029734,-0.237846,0.970848]]
2025-10-26T18:10:50.317Z,1761502250.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583244,-0.794896,-0.167231],[0.811800,0.563203,0.154218],[-0.028402,-0.225705,0.973782]]
2025-10-26T18:10:50.722Z,1761502250.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576168,-0.801531,-0.159932],[0.816900,0.558377,0.144531],[-0.026544,-0.213923,0.976490]]
2025-10-26T18:10:51.126Z,1761502251.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570235,-0.807159,-0.152732],[0.821133,0.554636,0.134613],[-0.023943,-0.202174,0.979057]]
2025-10-26T18:10:51.532Z,1761502251.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566666,-0.810796,-0.146631],[0.823676,0.552867,0.126081],[-0.021158,-0.192222,0.981123]]
2025-10-26T18:10:51.930Z,1761502251.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566568,-0.812013,-0.140123],[0.823791,0.554206,0.119264],[-0.019187,-0.183003,0.982925]]
2025-10-26T18:10:52.334Z,1761502252.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568964,-0.811077,-0.135773],[0.822172,0.557470,0.115154],[-0.017709,-0.177147,0.984025]]
2025-10-26T18:10:52.739Z,1761502252.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572381,-0.808841,-0.134745],[0.819831,0.561275,0.113350],[-0.016053,-0.175348,0.984376]]
2025-10-26T18:10:53.145Z,1761502253.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576188,-0.805962,-0.135767],[0.817188,0.565143,0.113211],[-0.014516,-0.176178,0.984251]]
2025-10-26T18:10:53.546Z,1761502253.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580197,-0.802394,-0.139766],[0.814363,0.568653,0.115960],[-0.013568,-0.181100,0.983371]]
2025-10-26T18:10:53.950Z,1761502253.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584367,-0.798425,-0.145028],[0.811375,0.571871,0.120975],[-0.013652,-0.188366,0.982004]]
2025-10-26T18:10:54.354Z,1761502254.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587934,-0.794648,-0.151225],[0.808766,0.573951,0.128367],[-0.015210,-0.197777,0.980129]]
2025-10-26T18:10:54.770Z,1761502254.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589050,-0.792857,-0.156199],[0.807902,0.573570,0.135319],[-0.017697,-0.205903,0.978412]]
2025-10-26T18:10:55.163Z,1761502255.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585788,-0.794415,-0.160490],[0.810229,0.569249,0.139588],[-0.019532,-0.211802,0.977117]]
2025-10-26T18:10:55.566Z,1761502255.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580236,-0.797803,-0.163815],[0.814183,0.563057,0.141682],[-0.020797,-0.215585,0.976264]]
2025-10-26T18:10:55.971Z,1761502255.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573927,-0.801636,-0.167296],[0.818626,0.556281,0.142837],[-0.021440,-0.218931,0.975505]]
2025-10-26T18:10:56.374Z,1761502256.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566959,-0.805982,-0.170151],[0.823485,0.549353,0.141716],[-0.020747,-0.220464,0.975174]]
2025-10-26T18:10:56.810Z,1761502256.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559916,-0.810479,-0.172099],[0.828350,0.543018,0.137723],[-0.018169,-0.219672,0.975405]]
2025-10-26T18:10:57.182Z,1761502257.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552731,-0.814918,-0.174347],[0.833250,0.537036,0.131478],[-0.013514,-0.217947,0.975867]]
2025-10-26T18:10:57.588Z,1761502257.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546095,-0.819091,-0.175697],[0.837691,0.532075,0.123170],[-0.007404,-0.214442,0.976709]]
2025-10-26T18:10:57.990Z,1761502257.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541749,-0.821684,-0.177039],[0.840540,0.529312,0.115420],[-0.001129,-0.211337,0.977413]]
2025-10-26T18:10:58.394Z,1761502258.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541388,-0.821527,-0.178862],[0.840765,0.529922,0.110892],[0.003682,-0.210416,0.977605]]
2025-10-26T18:10:58.832Z,1761502258.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543203,-0.820133,-0.179755],[0.839572,0.532378,0.108132],[0.007016,-0.209655,0.977750]]
2025-10-26T18:10:59.202Z,1761502259.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545618,-0.818105,-0.181672],[0.837978,0.535109,0.107010],[0.009669,-0.210623,0.977520]]
2025-10-26T18:10:59.606Z,1761502259.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548622,-0.815213,-0.185585],[0.835991,0.537947,0.108316],[0.011534,-0.214572,0.976640]]
2025-10-26T18:11:00.009Z,1761502260.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551898,-0.812151,-0.189260],[0.833812,0.540941,0.110180],[0.012896,-0.218615,0.975726]]
2025-10-26T18:11:00.417Z,1761502260.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555372,-0.808939,-0.192822],[0.831484,0.544067,0.112363],[0.014013,-0.222732,0.974779]]
2025-10-26T18:11:00.837Z,1761502260.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559007,-0.805880,-0.195112],[0.829016,0.547647,0.113204],[0.015624,-0.225033,0.974226]]
2025-10-26T18:11:01.222Z,1761502261.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562654,-0.802760,-0.197478],[0.826493,0.551479,0.113050],[0.018153,-0.226822,0.973767]]
2025-10-26T18:11:01.626Z,1761502261.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566005,-0.800007,-0.199068],[0.824115,0.555431,0.111040],[0.021736,-0.226904,0.973674]]
2025-10-26T18:11:02.032Z,1761502262.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569680,-0.796805,-0.201409],[0.821469,0.559663,0.109391],[0.025558,-0.227769,0.973380]]
2025-10-26T18:11:02.435Z,1761502262.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573363,-0.793077,-0.205629],[0.818775,0.563645,0.109136],[0.029349,-0.230938,0.972526]]
2025-10-26T18:11:02.845Z,1761502262.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577494,-0.789318,-0.208511],[0.815753,0.568030,0.109041],[0.032372,-0.233064,0.971923]]
2025-10-26T18:11:03.242Z,1761502263.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581289,-0.785791,-0.211269],[0.812966,0.571853,0.109865],[0.034484,-0.235618,0.971234]]
2025-10-26T18:11:03.647Z,1761502263.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584843,-0.782439,-0.213888],[0.810399,0.574945,0.112660],[0.034824,-0.239223,0.970340]]
2025-10-26T18:11:04.050Z,1761502264.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587784,-0.780090,-0.214405],[0.808326,0.577239,0.115778],[0.033446,-0.241362,0.969859]]
2025-10-26T18:11:04.455Z,1761502264.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589762,-0.778585,-0.214445],[0.806994,0.578264,0.119878],[0.030670,-0.243755,0.969352]]
2025-10-26T18:11:04.858Z,1761502264.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590155,-0.778518,-0.213603],[0.806817,0.577846,0.123049],[0.027634,-0.244957,0.969140]]
2025-10-26T18:11:05.287Z,1761502265.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587110,-0.781377,-0.211545],[0.809088,0.574826,0.122281],[0.026054,-0.242951,0.969689]]
2025-10-26T18:11:05.668Z,1761502265.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582660,-0.785046,-0.210262],[0.812320,0.570620,0.120533],[0.025356,-0.241030,0.970186]]
2025-10-26T18:11:06.070Z,1761502266.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577375,-0.789889,-0.206675],[0.816093,0.566097,0.116306],[0.025129,-0.235817,0.971472]]
2025-10-26T18:11:06.476Z,1761502266.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571500,-0.795105,-0.202968],[0.820202,0.561198,0.111021],[0.025632,-0.229923,0.972871]]
2025-10-26T18:11:06.878Z,1761502266.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564941,-0.800912,-0.198449],[0.824683,0.555982,0.103831],[0.027174,-0.222316,0.974596]]
2025-10-26T18:11:07.284Z,1761502267.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558407,-0.806765,-0.193163],[0.829046,0.550966,0.095492],[0.029387,-0.213464,0.976509]]
2025-10-26T18:11:07.686Z,1761502267.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552843,-0.811514,-0.189232],[0.832698,0.546543,0.088908],[0.031273,-0.206726,0.977899]]
2025-10-26T18:11:08.090Z,1761502268.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549065,-0.815057,-0.184958],[0.835142,0.543684,0.083337],[0.032634,-0.200224,0.979207]]
2025-10-26T18:11:08.495Z,1761502268.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546387,-0.817307,-0.182951],[0.836873,0.541440,0.080534],[0.033236,-0.197109,0.979818]]
2025-10-26T18:11:08.848Z,1761502268.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:11:08.904Z,1761502268.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544172,-0.818994,-0.182006],[0.838313,0.539402,0.079225],[0.033289,-0.195690,0.980101]]
2025-10-26T18:11:09.303Z,1761502269.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541798,-0.820097,-0.184108],[0.839832,0.537004,0.079433],[0.033724,-0.197656,0.979691]]
2025-10-26T18:11:09.707Z,1761502269.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539554,-0.820643,-0.188218],[0.841263,0.534502,0.081141],[0.034015,-0.202121,0.978770]]
2025-10-26T18:11:09.852Z,1761502269.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:11:10.110Z,1761502270.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536989,-0.821187,-0.193121],[0.842905,0.531527,0.083615],[0.033986,-0.207683,0.977606]]
2025-10-26T18:11:10.515Z,1761502270.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533892,-0.822079,-0.197851],[0.844863,0.528094,0.085576],[0.034133,-0.212845,0.976490]]
2025-10-26T18:11:10.918Z,1761502270.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530321,-0.823005,-0.203525],[0.847093,0.524168,0.087645],[0.034549,-0.218884,0.975139]]
2025-10-26T18:11:11.322Z,1761502271.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526659,-0.824073,-0.208649],[0.849332,0.520370,0.088597],[0.035564,-0.223873,0.973969]]
2025-10-26T18:11:11.726Z,1761502271.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523782,-0.824864,-0.212723],[0.851036,0.517630,0.088297],[0.037279,-0.227283,0.973115]]
2025-10-26T18:11:12.130Z,1761502272.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522279,-0.824625,-0.217297],[0.851866,0.516264,0.088298],[0.039370,-0.231224,0.972104]]
2025-10-26T18:11:12.535Z,1761502272.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522853,-0.823343,-0.220754],[0.851383,0.517191,0.087527],[0.042107,-0.233710,0.971394]]
2025-10-26T18:11:12.939Z,1761502272.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525184,-0.820784,-0.224709],[0.849772,0.519931,0.086936],[0.045477,-0.236610,0.970540]]
2025-10-26T18:11:13.342Z,1761502273.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529293,-0.817226,-0.228014],[0.846992,0.524640,0.085776],[0.049527,-0.238526,0.969872]]
2025-10-26T18:11:13.746Z,1761502273.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534928,-0.812568,-0.231485],[0.843172,0.530911,0.084820],[0.053975,-0.240554,0.969134]]
2025-10-26T18:11:14.150Z,1761502274.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541920,-0.807108,-0.234306],[0.838394,0.538568,0.083905],[0.058469,-0.241910,0.968535]]
2025-10-26T18:11:14.555Z,1761502274.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549886,-0.800510,-0.238348],[0.832881,0.546966,0.084487],[0.062736,-0.244974,0.967498]]
2025-10-26T18:11:14.960Z,1761502274.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558654,-0.793183,-0.242419],[0.826690,0.556124,0.085495],[0.067002,-0.248167,0.966397]]
2025-10-26T18:11:15.362Z,1761502275.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567800,-0.785243,-0.246974],[0.820109,0.565464,0.087587],[0.070878,-0.252277,0.965056]]
2025-10-26T18:11:15.767Z,1761502275.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577187,-0.777243,-0.250497],[0.813239,0.574944,0.089898],[0.074149,-0.255602,0.963934]]
2025-10-26T18:11:16.171Z,1761502276.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587022,-0.768663,-0.254093],[0.805940,0.584553,0.093590],[0.076591,-0.259723,0.962641]]
2025-10-26T18:11:16.576Z,1761502276.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597107,-0.760166,-0.256147],[0.798376,0.594163,0.097808],[0.077842,-0.262904,0.961677]]
2025-10-26T18:11:16.978Z,1761502276.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607459,-0.751540,-0.257255],[0.790535,0.603667,0.103158],[0.077769,-0.266033,0.960822]]
2025-10-26T18:11:17.409Z,1761502277.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625734,-0.738471,-0.251231],[0.776844,0.619075,0.115148],[0.070497,-0.267220,0.961053]]
2025-10-26T18:11:17.807Z,1761502277.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632801,-0.734477,-0.245167],[0.771659,0.624386,0.121180],[0.064076,-0.265868,0.961878]]
2025-10-26T18:11:18.211Z,1761502278.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637208,-0.733743,-0.235769],[0.768596,0.627556,0.124232],[0.056804,-0.260373,0.963836]]
2025-10-26T18:11:18.616Z,1761502278.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638427,-0.736036,-0.225081],[0.768122,0.627890,0.125469],[0.048976,-0.252993,0.966228]]
2025-10-26T18:11:19.020Z,1761502279.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636264,-0.741536,-0.212819],[0.770363,0.625480,0.123758],[0.041343,-0.242690,0.969223]]
2025-10-26T18:11:19.419Z,1761502279.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631446,-0.749240,-0.199791],[0.774670,0.620868,0.120041],[0.034104,-0.230572,0.972457]]
2025-10-26T18:11:19.822Z,1761502279.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624898,-0.757613,-0.188481],[0.780209,0.614639,0.116159],[0.027844,-0.219642,0.975183]]
2025-10-26T18:11:20.226Z,1761502280.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616710,-0.766804,-0.177989],[0.786857,0.607063,0.111044],[0.022901,-0.208534,0.977747]]
2025-10-26T18:11:20.630Z,1761502280.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607844,-0.775659,-0.169937],[0.793828,0.598727,0.106603],[0.019058,-0.199698,0.979672]]
2025-10-26T18:11:21.034Z,1761502281.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598523,-0.784448,-0.162516],[0.800944,0.590034,0.101729],[0.016089,-0.191054,0.981448]]
2025-10-26T18:11:21.438Z,1761502281.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589290,-0.792167,-0.158771],[0.807802,0.581090,0.098943],[0.013880,-0.186562,0.982345]]
2025-10-26T18:11:21.843Z,1761502281.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580674,-0.799286,-0.154785],[0.814043,0.572888,0.095569],[0.012288,-0.181496,0.983315]]
2025-10-26T18:11:22.248Z,1761502282.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572981,-0.805184,-0.152876],[0.819493,0.565407,0.093516],[0.011140,-0.178864,0.983811]]
2025-10-26T18:11:22.650Z,1761502282.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566426,-0.809682,-0.153547],[0.824043,0.558891,0.092710],[0.010750,-0.179043,0.983783]]
2025-10-26T18:11:23.055Z,1761502283.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561385,-0.812634,-0.156439],[0.827481,0.553745,0.092964],[0.011081,-0.181639,0.983303]]
2025-10-26T18:11:23.459Z,1761502283.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558681,-0.813490,-0.161585],[0.829298,0.550708,0.094794],[0.011872,-0.186961,0.982296]]
2025-10-26T18:11:23.863Z,1761502283.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557483,-0.813041,-0.167861],[0.830088,0.549038,0.097524],[0.012871,-0.193707,0.980975]]
2025-10-26T18:11:24.266Z,1761502284.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559044,-0.810260,-0.175925],[0.829031,0.549657,0.102882],[0.013337,-0.203363,0.979013]]
2025-10-26T18:11:24.670Z,1761502284.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562658,-0.805855,-0.184428],[0.826582,0.552006,0.109777],[0.013341,-0.214211,0.976696]]
2025-10-26T18:11:25.076Z,1761502285.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567246,-0.800768,-0.192360],[0.823448,0.555130,0.117321],[0.012838,-0.224949,0.974286]]
2025-10-26T18:11:25.478Z,1761502285.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572975,-0.794617,-0.200708],[0.819480,0.559150,0.125714],[0.012332,-0.236507,0.971551]]
2025-10-26T18:11:25.883Z,1761502285.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579354,-0.788228,-0.207474],[0.814981,0.564077,0.132747],[0.012396,-0.245995,0.969192]]
2025-10-26T18:11:26.286Z,1761502286.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586384,-0.781437,-0.213331],[0.809928,0.569850,0.138880],[0.013041,-0.254220,0.967058]]
2025-10-26T18:11:26.692Z,1761502286.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593704,-0.774451,-0.218497],[0.804555,0.576159,0.143983],[0.014381,-0.261276,0.965157]]
2025-10-26T18:11:27.094Z,1761502287.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601233,-0.767726,-0.221620],[0.798911,0.583121,0.147346],[0.016110,-0.265644,0.963936]]
2025-10-26T18:11:27.498Z,1761502287.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609105,-0.760987,-0.223360],[0.792891,0.590605,0.150031],[0.017746,-0.268485,0.963120]]
2025-10-26T18:11:27.903Z,1761502287.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617091,-0.754861,-0.222225],[0.786669,0.598523,0.151397],[0.018723,-0.268244,0.963169]]
2025-10-26T18:11:28.307Z,1761502288.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624998,-0.749533,-0.218125],[0.780414,0.606452,0.152214],[0.018193,-0.265361,0.963977]]
2025-10-26T18:11:28.712Z,1761502288.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632763,-0.744881,-0.211574],[0.774176,0.614267,0.152732],[0.016196,-0.260439,0.965355]]
2025-10-26T18:11:29.114Z,1761502289.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639655,-0.741281,-0.203332],[0.768560,0.621097,0.153472],[0.012523,-0.254442,0.967007]]
2025-10-26T18:11:29.518Z,1761502289.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644978,-0.739248,-0.193691],[0.764164,0.626383,0.153940],[0.007525,-0.247300,0.968910]]
2025-10-26T18:11:29.924Z,1761502289.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647658,-0.739448,-0.183727],[0.761930,0.628947,0.154558],[0.001267,-0.240088,0.970750]]
2025-10-26T18:11:30.332Z,1761502290.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647208,-0.742418,-0.173027],[0.762294,0.628682,0.153840],[-0.005435,-0.231463,0.972828]]
2025-10-26T18:11:30.730Z,1761502290.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643116,-0.748127,-0.163423],[0.765677,0.624930,0.152318],[-0.011825,-0.223088,0.974727]]
2025-10-26T18:11:31.134Z,1761502291.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636621,-0.755764,-0.153411],[0.770973,0.619157,0.149148],[-0.017735,-0.213226,0.976842]]
2025-10-26T18:11:31.538Z,1761502291.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628718,-0.763939,-0.145295],[0.777301,0.611923,0.146127],[-0.022723,-0.204810,0.978538]]
2025-10-26T18:11:31.945Z,1761502291.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619570,-0.772617,-0.138549],[0.784498,0.603565,0.142382],[-0.026383,-0.196907,0.980067]]
2025-10-26T18:11:32.346Z,1761502292.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609513,-0.781571,-0.132818],[0.792252,0.594410,0.137889],[-0.028822,-0.189270,0.981502]]
2025-10-26T18:11:32.754Z,1761502292.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598738,-0.790631,-0.128123],[0.800386,0.584636,0.132604],[-0.029936,-0.181943,0.982853]]
2025-10-26T18:11:33.201Z,1761502293.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587513,-0.799519,-0.124893],[0.808664,0.574389,0.127041],[-0.029835,-0.175635,0.984003]]
2025-10-26T18:11:33.604Z,1761502293.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576804,-0.807382,-0.124219],[0.816371,0.564358,0.122635],[-0.028909,-0.172145,0.984647]]
2025-10-26T18:11:34.006Z,1761502294.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568514,-0.813626,-0.121678],[0.822178,0.556790,0.118352],[-0.028545,-0.167326,0.985488]]
2025-10-26T18:11:34.410Z,1761502294.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562589,-0.817871,-0.120752],[0.826232,0.551111,0.116696],[-0.028895,-0.165421,0.985800]]
2025-10-26T18:11:34.835Z,1761502294.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558059,-0.820800,-0.121888],[0.829265,0.546370,0.117470],[-0.029823,-0.166633,0.985568]]
2025-10-26T18:11:35.220Z,1761502295.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554141,-0.823233,-0.123348],[0.831864,0.542224,0.118306],[-0.030511,-0.168167,0.985286]]
2025-10-26T18:11:35.622Z,1761502295.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550620,-0.824960,-0.127510],[0.834199,0.538217,0.120146],[-0.030487,-0.172524,0.984533]]
2025-10-26T18:11:36.026Z,1761502296.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548288,-0.825380,-0.134642],[0.835776,0.535157,0.122825],[-0.029323,-0.179874,0.983253]]
2025-10-26T18:11:36.430Z,1761502296.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546691,-0.825225,-0.141892],[0.836892,0.532991,0.124632],[-0.027222,-0.186883,0.982005]]
2025-10-26T18:11:36.842Z,1761502296.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545733,-0.824425,-0.149996],[0.837607,0.531510,0.126139],[-0.024268,-0.194476,0.980607]]
2025-10-26T18:11:37.238Z,1761502297.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546675,-0.822170,-0.158691],[0.837084,0.531871,0.128078],[-0.020898,-0.202855,0.978986]]
2025-10-26T18:11:37.642Z,1761502297.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549628,-0.818646,-0.166518],[0.835228,0.534324,0.129968],[-0.017423,-0.210515,0.977435]]
2025-10-26T18:11:38.046Z,1761502298.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554233,-0.814064,-0.173566],[0.832238,0.538385,0.132366],[-0.014309,-0.217810,0.975886]]
2025-10-26T18:11:38.452Z,1761502298.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559870,-0.808867,-0.179667],[0.828499,0.543456,0.135074],[-0.011615,-0.224478,0.974410]]
2025-10-26T18:11:38.854Z,1761502298.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565704,-0.803827,-0.183961],[0.824552,0.548809,0.137557],[-0.009612,-0.229502,0.973261]]
2025-10-26T18:11:39.258Z,1761502299.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571459,-0.798869,-0.187734],[0.820586,0.553886,0.140884],[-0.008565,-0.234561,0.972064]]
2025-10-26T18:11:39.663Z,1761502299.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577139,-0.794192,-0.190182],[0.816598,0.558702,0.144981],[-0.008888,-0.238977,0.970985]]
2025-10-26T18:11:39.972Z,1761502299.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:11:40.066Z,1761502300.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582496,-0.789840,-0.191965],[0.812767,0.562944,0.150014],[-0.010421,-0.243405,0.969869]]
2025-10-26T18:11:40.470Z,1761502300.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587279,-0.786314,-0.191871],[0.809280,0.566643,0.154861],[-0.013047,-0.246224,0.969125]]
2025-10-26T18:11:40.874Z,1761502300.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591139,-0.784101,-0.189051],[0.806401,0.569769,0.158366],[-0.016460,-0.246068,0.969113]]
2025-10-26T18:11:40.976Z,1761502300.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:11:41.279Z,1761502301.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593923,-0.782517,-0.186875],[0.804268,0.571667,0.162326],[-0.020193,-0.246707,0.968880]]
2025-10-26T18:11:41.684Z,1761502301.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594239,-0.782901,-0.184245],[0.803945,0.571495,0.164517],[-0.023506,-0.245886,0.969014]]
2025-10-26T18:11:42.086Z,1761502302.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590906,-0.786141,-0.181142],[0.806332,0.568386,0.163602],[-0.025655,-0.242734,0.969754]]
2025-10-26T18:11:42.490Z,1761502302.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585187,-0.791223,-0.177542],[0.810451,0.563409,0.160434],[-0.026911,-0.237773,0.970948]]
2025-10-26T18:11:42.894Z,1761502302.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578887,-0.796431,-0.174895],[0.814936,0.557792,0.157314],[-0.027735,-0.233596,0.971938]]
2025-10-26T18:11:43.299Z,1761502303.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572540,-0.801638,-0.171973],[0.819382,0.552182,0.153975],[-0.028471,-0.229068,0.972994]]
2025-10-26T18:11:43.702Z,1761502303.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566037,-0.806941,-0.168667],[0.823867,0.546503,0.150259],[-0.029073,-0.224011,0.974153]]
2025-10-26T18:11:44.106Z,1761502304.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559360,-0.811975,-0.166769],[0.828404,0.540448,0.147183],[-0.029379,-0.220481,0.974949]]
2025-10-26T18:11:44.510Z,1761502304.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552817,-0.816881,-0.164617],[0.832788,0.534646,0.143587],[-0.029281,-0.216469,0.975850]]
2025-10-26T18:11:44.917Z,1761502304.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546760,-0.821002,-0.164345],[0.836792,0.529037,0.141066],[-0.028871,-0.214652,0.976264]]
2025-10-26T18:11:45.334Z,1761502305.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541642,-0.824335,-0.164607],[0.840148,0.524380,0.138480],[-0.027837,-0.213301,0.976590]]
2025-10-26T18:11:45.722Z,1761502305.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537755,-0.826970,-0.164134],[0.842696,0.521183,0.135022],[-0.026115,-0.210924,0.977154]]
2025-10-26T18:11:46.126Z,1761502306.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535910,-0.827844,-0.165755],[0.843938,0.519722,0.132882],[-0.023859,-0.211099,0.977173]]
2025-10-26T18:11:46.532Z,1761502306.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536382,-0.826829,-0.169258],[0.843712,0.520306,0.132034],[-0.021104,-0.213625,0.976688]]
2025-10-26T18:11:46.934Z,1761502306.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539052,-0.824162,-0.173725],[0.842082,0.522951,0.131987],[-0.017929,-0.217438,0.975909]]
2025-10-26T18:11:47.338Z,1761502307.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543363,-0.820411,-0.177994],[0.839373,0.527278,0.132025],[-0.014463,-0.221141,0.975135]]
2025-10-26T18:11:47.743Z,1761502307.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548352,-0.816055,-0.182656],[0.836184,0.532382,0.131780],[-0.010297,-0.224996,0.974305]]
2025-10-26T18:11:48.146Z,1761502308.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553949,-0.811278,-0.186998],[0.832530,0.538199,0.131285],[-0.005866,-0.228407,0.973548]]
2025-10-26T18:11:48.551Z,1761502308.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560033,-0.805930,-0.191939],[0.828470,0.544450,0.131195],[-0.001233,-0.232489,0.972598]]
2025-10-26T18:11:48.954Z,1761502308.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566931,-0.799474,-0.198571],[0.823760,0.551072,0.133187],[0.002947,-0.239082,0.970995]]
2025-10-26T18:11:49.358Z,1761502309.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574326,-0.792675,-0.204488],[0.818603,0.557981,0.136183],[0.006151,-0.245608,0.969350]]
2025-10-26T18:11:49.762Z,1761502309.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582011,-0.785261,-0.211255],[0.813145,0.564469,0.142024],[0.007722,-0.254440,0.967058]]
2025-10-26T18:11:50.166Z,1761502310.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589784,-0.778240,-0.215634],[0.807527,0.570820,0.148542],[0.007487,-0.261738,0.965110]]
2025-10-26T18:11:50.570Z,1761502310.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596958,-0.771908,-0.218631],[0.802253,0.576269,0.155900],[0.005650,-0.268464,0.963273]]
2025-10-26T18:11:50.976Z,1761502310.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602402,-0.766897,-0.221316],[0.798189,0.579675,0.163925],[0.002578,-0.275400,0.961326]]
2025-10-26T18:11:51.378Z,1761502311.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605568,-0.764430,-0.221211],[0.795792,0.581318,0.169658],[-0.001098,-0.278778,0.960355]]
2025-10-26T18:11:51.783Z,1761502311.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606418,-0.763612,-0.221705],[0.795129,0.580542,0.175331],[-0.005176,-0.282608,0.959221]]
2025-10-26T18:11:52.187Z,1761502312.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605120,-0.764894,-0.220834],[0.796078,0.578015,0.179330],[-0.009523,-0.284318,0.958683]]
2025-10-26T18:11:52.590Z,1761502312.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601827,-0.768246,-0.218180],[0.798507,0.574116,0.181046],[-0.013827,-0.283177,0.958968]]
2025-10-26T18:11:52.994Z,1761502312.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597054,-0.772593,-0.215932],[0.802001,0.568866,0.182172],[-0.017909,-0.281944,0.959264]]
2025-10-26T18:11:53.398Z,1761502313.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590989,-0.777985,-0.213240],[0.806406,0.562891,0.181283],[-0.021004,-0.279094,0.960034]]
2025-10-26T18:11:53.804Z,1761502313.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584208,-0.784213,-0.209073],[0.811290,0.557109,0.177309],[-0.022572,-0.273204,0.961691]]
2025-10-26T18:11:54.206Z,1761502314.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576733,-0.790405,-0.206491],[0.816637,0.551004,0.171754],[-0.021978,-0.267684,0.963256]]
2025-10-26T18:11:54.610Z,1761502314.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569094,-0.796668,-0.203599],[0.822062,0.545636,0.162773],[-0.018585,-0.260004,0.965429]]
2025-10-26T18:11:55.054Z,1761502315.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556919,-0.806169,-0.199832],[0.830559,0.539526,0.138144],[-0.003553,-0.242907,0.970043]]
2025-10-26T18:11:55.451Z,1761502315.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554131,-0.807301,-0.202987],[0.832398,0.539499,0.126705],[0.007222,-0.239177,0.970949]]
2025-10-26T18:11:55.855Z,1761502315.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554986,-0.805398,-0.208144],[0.831651,0.542795,0.117174],[0.018607,-0.238133,0.971054]]
2025-10-26T18:11:56.260Z,1761502316.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559679,-0.800143,-0.215708],[0.828187,0.549287,0.111311],[0.029421,-0.240945,0.970093]]
2025-10-26T18:11:56.660Z,1761502316.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567846,-0.792172,-0.223641],[0.822227,0.558638,0.108928],[0.038645,-0.245738,0.968566]]
2025-10-26T18:11:57.063Z,1761502317.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578847,-0.781962,-0.231237],[0.814153,0.570115,0.110109],[0.045730,-0.251998,0.966647]]
2025-10-26T18:11:57.466Z,1761502317.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591367,-0.770915,-0.236590],[0.804843,0.582490,0.113728],[0.050137,-0.257673,0.964931]]
2025-10-26T18:11:57.872Z,1761502317.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604160,-0.759289,-0.241810],[0.795149,0.594325,0.120477],[0.052236,-0.265062,0.962815]]
2025-10-26T18:11:58.274Z,1761502318.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616372,-0.747908,-0.246411],[0.785732,0.604824,0.129662],[0.052060,-0.273533,0.960453]]
2025-10-26T18:11:58.678Z,1761502318.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627195,-0.738181,-0.248425],[0.777284,0.613523,0.139348],[0.049551,-0.280496,0.958575]]
2025-10-26T18:11:59.083Z,1761502319.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635802,-0.730624,-0.248887],[0.770532,0.619663,0.149326],[0.045125,-0.286717,0.956952]]
2025-10-26T18:11:59.487Z,1761502319.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641590,-0.726414,-0.246343],[0.766032,0.623325,0.157041],[0.039475,-0.289462,0.956375]]
2025-10-26T18:11:59.891Z,1761502319.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643171,-0.726507,-0.241906],[0.764986,0.623497,0.161394],[0.033574,-0.288859,0.956783]]
2025-10-26T18:12:00.294Z,1761502320.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639723,-0.731584,-0.235668],[0.768068,0.619951,0.160415],[0.028745,-0.283630,0.958503]]
2025-10-26T18:12:00.698Z,1761502320.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632500,-0.740724,-0.226431],[0.774144,0.614129,0.153451],[0.025393,-0.272348,0.961864]]
2025-10-26T18:12:01.102Z,1761502321.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623916,-0.751000,-0.216168],[0.781151,0.607475,0.144141],[0.023067,-0.258791,0.965658]]
2025-10-26T18:12:01.508Z,1761502321.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614846,-0.761345,-0.205713],[0.788338,0.600635,0.133273],[0.022092,-0.244113,0.969495]]
2025-10-26T18:12:01.910Z,1761502321.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605638,-0.771113,-0.196437],[0.795424,0.593620,0.122127],[0.022436,-0.230216,0.972881]]
2025-10-26T18:12:02.314Z,1761502322.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596560,-0.779713,-0.190168],[0.802198,0.586502,0.111774],[0.024382,-0.219232,0.975368]]
2025-10-26T18:12:02.719Z,1761502322.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587502,-0.788019,-0.184032],[0.808767,0.579415,0.100864],[0.027148,-0.208097,0.977731]]
2025-10-26T18:12:03.123Z,1761502323.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579989,-0.794581,-0.179592],[0.814088,0.573341,0.092412],[0.029539,-0.199802,0.979391]]
2025-10-26T18:12:03.526Z,1761502323.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576040,-0.798216,-0.176152],[0.816848,0.570181,0.087479],[0.030612,-0.194281,0.980468]]
2025-10-26T18:12:03.930Z,1761502323.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574677,-0.799278,-0.175786],[0.817809,0.568896,0.086863],[0.030576,-0.193678,0.980589]]
2025-10-26T18:12:04.334Z,1761502324.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574965,-0.798530,-0.178229],[0.817643,0.568670,0.089862],[0.029596,-0.197396,0.979877]]
2025-10-26T18:12:04.740Z,1761502324.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576182,-0.796539,-0.183139],[0.816828,0.568978,0.095162],[0.028402,-0.204424,0.978470]]
2025-10-26T18:12:05.144Z,1761502325.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576992,-0.794534,-0.189198],[0.816279,0.568837,0.100563],[0.027722,-0.212462,0.976776]]
2025-10-26T18:12:05.546Z,1761502325.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577380,-0.792714,-0.195542],[0.816027,0.568206,0.106029],[0.027057,-0.220787,0.974947]]
2025-10-26T18:12:05.951Z,1761502325.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577882,-0.790914,-0.201265],[0.815682,0.567812,0.110686],[0.026737,-0.228132,0.973263]]
2025-10-26T18:12:06.355Z,1761502326.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578456,-0.788931,-0.207308],[0.815268,0.567557,0.114967],[0.026958,-0.235515,0.971497]]
2025-10-26T18:12:06.767Z,1761502326.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579483,-0.787268,-0.210733],[0.814509,0.568280,0.116760],[0.027834,-0.239304,0.970546]]
2025-10-26T18:12:07.162Z,1761502327.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581289,-0.785157,-0.213615],[0.813187,0.569842,0.118348],[0.028805,-0.242503,0.969723]]
2025-10-26T18:12:07.566Z,1761502327.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584116,-0.782620,-0.215209],[0.811105,0.572709,0.118797],[0.030279,-0.243949,0.969315]]
2025-10-26T18:12:07.971Z,1761502327.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587458,-0.779599,-0.217068],[0.808627,0.576052,0.119523],[0.031862,-0.245742,0.968811]]
2025-10-26T18:12:08.376Z,1761502328.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591375,-0.776408,-0.217867],[0.805712,0.580031,0.119971],[0.033223,-0.246485,0.968577]]
2025-10-26T18:12:08.809Z,1761502328.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595410,-0.773554,-0.217026],[0.802709,0.584145,0.120137],[0.033842,-0.245740,0.968745]]
2025-10-26T18:12:09.183Z,1761502329.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598861,-0.771037,-0.216487],[0.800134,0.587501,0.120949],[0.033931,-0.245650,0.968764]]
2025-10-26T18:12:09.586Z,1761502329.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602479,-0.768501,-0.215466],[0.797420,0.591015,0.121750],[0.033778,-0.245169,0.968892]]
2025-10-26T18:12:09.993Z,1761502329.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605622,-0.765983,-0.215622],[0.795053,0.593811,0.123609],[0.033356,-0.246291,0.968622]]
2025-10-26T18:12:10.394Z,1761502330.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608696,-0.763303,-0.216468],[0.792725,0.596388,0.126132],[0.032822,-0.248375,0.968108]]
2025-10-26T18:12:10.833Z,1761502330.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611331,-0.761270,-0.216201],[0.790731,0.598619,0.128064],[0.031931,-0.249247,0.967913]]
2025-10-26T18:12:11.116Z,1761502331.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:12:11.219Z,1761502331.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613747,-0.759575,-0.215315],[0.788924,0.600483,0.130452],[0.030205,-0.249932,0.967792]]
2025-10-26T18:12:11.622Z,1761502331.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614507,-0.759652,-0.212859],[0.788401,0.601038,0.131065],[0.028372,-0.248359,0.968253]]
2025-10-26T18:12:12.029Z,1761502332.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614154,-0.760818,-0.209692],[0.788752,0.600566,0.131112],[0.026182,-0.245917,0.968937]]
2025-10-26T18:12:12.120Z,1761502332.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:12:12.432Z,1761502332.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612783,-0.762989,-0.205781],[0.789894,0.599204,0.130466],[0.023761,-0.242492,0.969862]]
2025-10-26T18:12:12.841Z,1761502332.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610094,-0.766146,-0.202006],[0.792046,0.596539,0.129634],[0.021186,-0.239087,0.970767]]
2025-10-26T18:12:13.239Z,1761502333.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606499,-0.770023,-0.198049],[0.794871,0.592993,0.128602],[0.018416,-0.235420,0.971719]]
2025-10-26T18:12:13.642Z,1761502333.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602071,-0.774423,-0.194372],[0.798296,0.588527,0.127905],[0.015340,-0.232174,0.972553]]
2025-10-26T18:12:14.050Z,1761502334.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596963,-0.779274,-0.190701],[0.802173,0.583466,0.126834],[0.012429,-0.228690,0.973420]]
2025-10-26T18:12:14.450Z,1761502334.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591616,-0.784483,-0.185950],[0.806162,0.578405,0.124705],[0.009725,-0.223683,0.974613]]
2025-10-26T18:12:14.854Z,1761502334.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585933,-0.789654,-0.182012],[0.810324,0.573027,0.122533],[0.007539,-0.219285,0.975632]]
2025-10-26T18:12:15.258Z,1761502335.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580454,-0.794455,-0.178647],[0.814272,0.567884,0.120287],[0.005888,-0.215289,0.976533]]
2025-10-26T18:12:15.664Z,1761502335.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575070,-0.799012,-0.175711],[0.818091,0.562894,0.117804],[0.004780,-0.211494,0.977368]]
2025-10-26T18:12:16.067Z,1761502336.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570316,-0.802957,-0.173202],[0.821414,0.558615,0.115018],[0.004399,-0.207867,0.978147]]
2025-10-26T18:12:16.470Z,1761502336.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567555,-0.804872,-0.173383],[0.823324,0.555906,0.114481],[0.004242,-0.207724,0.978178]]
2025-10-26T18:12:16.875Z,1761502336.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566826,-0.804705,-0.176518],[0.823826,0.554768,0.116370],[0.004283,-0.211382,0.977394]]
2025-10-26T18:12:17.280Z,1761502337.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568272,-0.802956,-0.179804],[0.822829,0.555711,0.118901],[0.004447,-0.215516,0.976490]]
2025-10-26T18:12:17.682Z,1761502337.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571244,-0.799878,-0.184052],[0.820766,0.558006,0.122363],[0.004827,-0.220963,0.975270]]
2025-10-26T18:12:18.087Z,1761502338.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575539,-0.796148,-0.186824],[0.817758,0.561754,0.125317],[0.005178,-0.224902,0.974368]]
2025-10-26T18:12:18.490Z,1761502338.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580906,-0.791467,-0.190074],[0.813953,0.566397,0.129135],[0.005451,-0.229727,0.973240]]
2025-10-26T18:12:18.897Z,1761502338.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587236,-0.785826,-0.193988],[0.809396,0.571801,0.133872],[0.005723,-0.235628,0.971826]]
2025-10-26T18:12:19.298Z,1761502339.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594514,-0.779807,-0.196097],[0.804066,0.578234,0.138288],[0.005552,-0.239889,0.970784]]
2025-10-26T18:12:19.702Z,1761502339.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602047,-0.773413,-0.198422],[0.798448,0.584523,0.144268],[0.004404,-0.245286,0.969441]]
2025-10-26T18:12:20.107Z,1761502340.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610138,-0.767014,-0.198549],[0.792293,0.591347,0.150272],[0.002151,-0.248995,0.968502]]
2025-10-26T18:12:20.511Z,1761502340.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617981,-0.761058,-0.197204],[0.786192,0.597804,0.156632],[-0.001317,-0.251836,0.967769]]
2025-10-26T18:12:20.914Z,1761502340.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624544,-0.756398,-0.194440],[0.780969,0.603082,0.162414],[-0.005586,-0.253287,0.967375]]
2025-10-26T18:12:21.319Z,1761502341.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628178,-0.754490,-0.190099],[0.778004,0.605912,0.166074],[-0.010118,-0.252222,0.967616]]
2025-10-26T18:12:21.722Z,1761502341.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628338,-0.755529,-0.185383],[0.777810,0.605778,0.167464],[-0.014223,-0.249417,0.968292]]
2025-10-26T18:12:22.128Z,1761502342.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626284,-0.758310,-0.180928],[0.779386,0.603640,0.167857],[-0.018073,-0.246139,0.969066]]
2025-10-26T18:12:22.530Z,1761502342.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622995,-0.762103,-0.176282],[0.781931,0.600551,0.167099],[-0.021481,-0.241942,0.970053]]
2025-10-26T18:12:22.935Z,1761502342.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618796,-0.766256,-0.173041],[0.785187,0.596606,0.165959],[-0.023930,-0.238564,0.970832]]
2025-10-26T18:12:23.338Z,1761502343.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613770,-0.771161,-0.169108],[0.789076,0.592320,0.162838],[-0.025408,-0.233384,0.972053]]
2025-10-26T18:12:23.743Z,1761502343.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608333,-0.776022,-0.166495],[0.793261,0.587651,0.159383],[-0.025844,-0.229032,0.973076]]
2025-10-26T18:12:24.148Z,1761502344.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603127,-0.780610,-0.163966],[0.797228,0.583293,0.155552],[-0.025786,-0.224536,0.974125]]
2025-10-26T18:12:24.550Z,1761502344.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598777,-0.784280,-0.162390],[0.800495,0.579464,0.153068],[-0.025949,-0.221646,0.974782]]
2025-10-26T18:12:24.954Z,1761502344.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595677,-0.787114,-0.160064],[0.802789,0.576855,0.150894],[-0.026437,-0.218381,0.975505]]
2025-10-26T18:12:25.361Z,1761502345.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593756,-0.788975,-0.158024],[0.804193,0.575283,0.149412],[-0.026974,-0.215795,0.976066]]
2025-10-26T18:12:25.764Z,1761502345.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592660,-0.789988,-0.157079],[0.804992,0.574348,0.148701],[-0.027254,-0.214576,0.976327]]
2025-10-26T18:12:26.166Z,1761502346.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592499,-0.790072,-0.157258],[0.805110,0.574164,0.148775],[-0.027251,-0.214759,0.976287]]
2025-10-26T18:12:26.571Z,1761502346.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593333,-0.789372,-0.157634],[0.804474,0.574712,0.150091],[-0.027883,-0.215866,0.976025]]
2025-10-26T18:12:26.974Z,1761502346.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593008,-0.789645,-0.157489],[0.804690,0.574255,0.150680],[-0.028545,-0.216084,0.975958]]
2025-10-26T18:12:27.380Z,1761502347.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592382,-0.790155,-0.157287],[0.805130,0.573546,0.151029],[-0.029125,-0.216103,0.975936]]
2025-10-26T18:12:27.782Z,1761502347.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590950,-0.791289,-0.156972],[0.806162,0.572107,0.150983],[-0.029666,-0.215768,0.975994]]
2025-10-26T18:12:28.187Z,1761502348.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589732,-0.792127,-0.157328],[0.807035,0.570746,0.151473],[-0.030192,-0.216297,0.975861]]
2025-10-26T18:12:28.590Z,1761502348.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588558,-0.792966,-0.157493],[0.807877,0.569506,0.151649],[-0.030559,-0.216490,0.975807]]
2025-10-26T18:12:28.996Z,1761502348.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588427,-0.792974,-0.157944],[0.807950,0.569134,0.152654],[-0.031159,-0.217436,0.975577]]
2025-10-26T18:12:29.398Z,1761502349.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590212,-0.791213,-0.160102],[0.806625,0.570249,0.155472],[-0.031714,-0.220903,0.974780]]
2025-10-26T18:12:29.803Z,1761502349.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593255,-0.788356,-0.162921],[0.804351,0.572288,0.159705],[-0.032666,-0.225792,0.973628]]
2025-10-26T18:12:30.207Z,1761502350.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596795,-0.784881,-0.166729],[0.801689,0.574546,0.164902],[-0.033635,-0.232077,0.972116]]
2025-10-26T18:12:30.610Z,1761502350.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600851,-0.781200,-0.169427],[0.798599,0.577388,0.169890],[-0.034893,-0.237383,0.970789]]
2025-10-26T18:12:31.016Z,1761502351.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604691,-0.777568,-0.172447],[0.795639,0.579903,0.175134],[-0.036176,-0.243107,0.969325]]
2025-10-26T18:12:31.418Z,1761502351.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608349,-0.774274,-0.174387],[0.792809,0.582611,0.178938],[-0.036947,-0.247113,0.968282]]
2025-10-26T18:12:31.823Z,1761502351.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611671,-0.771281,-0.176025],[0.790214,0.585059,0.182394],[-0.037693,-0.250663,0.967340]]
2025-10-26T18:12:32.227Z,1761502352.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614658,-0.768742,-0.176725],[0.787894,0.587648,0.184103],[-0.037676,-0.252400,0.966889]]
2025-10-26T18:12:32.634Z,1761502352.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618260,-0.765815,-0.176870],[0.785111,0.591197,0.184628],[-0.036826,-0.253011,0.966762]]
2025-10-26T18:12:33.034Z,1761502353.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622446,-0.762400,-0.176940],[0.781857,0.595453,0.184758],[-0.035500,-0.253343,0.966725]]
2025-10-26T18:12:33.438Z,1761502353.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627176,-0.758703,-0.176122],[0.778121,0.600378,0.184592],[-0.034311,-0.252817,0.966906]]
2025-10-26T18:12:33.842Z,1761502353.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631776,-0.755455,-0.173631],[0.774410,0.605336,0.184006],[-0.033903,-0.250712,0.967468]]
2025-10-26T18:12:34.247Z,1761502354.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635838,-0.753051,-0.169184],[0.771047,0.609927,0.182962],[-0.034590,-0.246784,0.968453]]
2025-10-26T18:12:34.650Z,1761502354.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638695,-0.751843,-0.163709],[0.768598,0.613310,0.181957],[-0.036399,-0.242041,0.969583]]
2025-10-26T18:12:35.054Z,1761502355.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638994,-0.752916,-0.157493],[0.768236,0.614350,0.179967],[-0.038745,-0.235990,0.970983]]
2025-10-26T18:12:35.458Z,1761502355.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637546,-0.755229,-0.152199],[0.769297,0.613447,0.178507],[-0.041447,-0.230893,0.972096]]
2025-10-26T18:12:35.864Z,1761502355.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634441,-0.758465,-0.149049],[0.771714,0.610531,0.178069],[-0.044060,-0.227998,0.972664]]
2025-10-26T18:12:36.266Z,1761502356.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630040,-0.762597,-0.146613],[0.775189,0.606388,0.177132],[-0.046176,-0.225252,0.973206]]
2025-10-26T18:12:36.670Z,1761502356.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624379,-0.767996,-0.142593],[0.779644,0.601504,0.174207],[-0.048020,-0.219943,0.974330]]
2025-10-26T18:12:37.074Z,1761502357.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617467,-0.774188,-0.139165],[0.785041,0.595402,0.170901],[-0.049451,-0.214776,0.975411]]
2025-10-26T18:12:37.479Z,1761502357.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609713,-0.780980,-0.135352],[0.791039,0.588769,0.166157],[-0.050074,-0.208376,0.976766]]
2025-10-26T18:12:37.882Z,1761502357.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601558,-0.787814,-0.132200],[0.797257,0.581718,0.161199],[-0.050092,-0.202368,0.978028]]
2025-10-26T18:12:38.288Z,1761502358.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594188,-0.793849,-0.129397],[0.802783,0.575366,0.156502],[-0.049788,-0.196869,0.979165]]
2025-10-26T18:12:38.696Z,1761502358.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582038,-0.803240,-0.126635],[0.811714,0.564626,0.149393],[-0.048497,-0.189744,0.980635]]
2025-10-26T18:12:39.101Z,1761502359.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577603,-0.806555,-0.125872],[0.814945,0.560795,0.146197],[-0.047328,-0.187023,0.981215]]
2025-10-26T18:12:39.505Z,1761502359.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573967,-0.808979,-0.126941],[0.817602,0.557494,0.143969],[-0.045699,-0.186421,0.981407]]
2025-10-26T18:12:39.907Z,1761502359.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571779,-0.810257,-0.128655],[0.819232,0.555501,0.142402],[-0.043914,-0.186821,0.981412]]
2025-10-26T18:12:40.309Z,1761502360.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570932,-0.810585,-0.130338],[0.819909,0.554773,0.141337],[-0.042257,-0.187559,0.981344]]
2025-10-26T18:12:40.710Z,1761502360.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571083,-0.809819,-0.134374],[0.819887,0.554592,0.142173],[-0.040611,-0.191364,0.980679]]
2025-10-26T18:12:41.116Z,1761502361.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571824,-0.808362,-0.139886],[0.819466,0.554794,0.143805],[-0.038639,-0.196863,0.979669]]
2025-10-26T18:12:41.518Z,1761502361.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572906,-0.806630,-0.145352],[0.818794,0.555289,0.145707],[-0.036819,-0.202490,0.978592]]
2025-10-26T18:12:41.922Z,1761502361.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573530,-0.805096,-0.151273],[0.818429,0.555223,0.147991],[-0.035156,-0.208684,0.977351]]
2025-10-26T18:12:42.240Z,1761502362.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:12:42.326Z,1761502362.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573916,-0.803997,-0.155593],[0.818224,0.555190,0.149243],[-0.033607,-0.212963,0.976482]]
2025-10-26T18:12:42.732Z,1761502362.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573625,-0.803347,-0.159961],[0.818497,0.554554,0.150107],[-0.031881,-0.217033,0.975644]]
2025-10-26T18:12:43.134Z,1761502363.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573093,-0.802918,-0.163973],[0.818945,0.553832,0.150332],[-0.029890,-0.220439,0.974943]]
2025-10-26T18:12:43.244Z,1761502363.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:12:43.538Z,1761502363.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573115,-0.802270,-0.167039],[0.819000,0.553815,0.150097],[-0.027910,-0.222828,0.974458]]
2025-10-26T18:12:43.942Z,1761502363.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574454,-0.800842,-0.169277],[0.818127,0.555206,0.149716],[-0.025915,-0.224495,0.974131]]
2025-10-26T18:12:44.346Z,1761502364.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576635,-0.798873,-0.171153],[0.816648,0.557431,0.149522],[-0.024043,-0.225991,0.973833]]
2025-10-26T18:12:44.754Z,1761502364.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579361,-0.796480,-0.173093],[0.814768,0.560146,0.149628],[-0.022218,-0.227719,0.973473]]
2025-10-26T18:12:45.155Z,1761502365.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582484,-0.793822,-0.174811],[0.812580,0.563210,0.150024],[-0.020637,-0.229434,0.973105]]
2025-10-26T18:12:45.558Z,1761502365.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585684,-0.791183,-0.176079],[0.810302,0.566269,0.150831],[-0.019627,-0.231016,0.972752]]
2025-10-26T18:12:45.962Z,1761502365.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588289,-0.788928,-0.177505],[0.808418,0.568508,0.152509],[-0.019406,-0.233218,0.972231]]
2025-10-26T18:12:46.366Z,1761502366.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589123,-0.788148,-0.178202],[0.807795,0.568974,0.154068],[-0.020036,-0.234716,0.971857]]
2025-10-26T18:12:46.791Z,1761502366.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587483,-0.789344,-0.178325],[0.808976,0.567265,0.154169],[-0.020535,-0.234833,0.971819]]
2025-10-26T18:12:47.175Z,1761502367.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583193,-0.792710,-0.177473],[0.812060,0.563245,0.152688],[-0.021076,-0.233165,0.972209]]
2025-10-26T18:12:47.578Z,1761502367.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576677,-0.797458,-0.177494],[0.816712,0.557239,0.149891],[-0.020625,-0.231400,0.972640]]
2025-10-26T18:12:47.982Z,1761502367.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569058,-0.803083,-0.176722],[0.822062,0.550456,0.145646],[-0.019688,-0.228157,0.973425]]
2025-10-26T18:12:48.388Z,1761502368.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561184,-0.809016,-0.174833],[0.827499,0.543842,0.139572],[-0.017835,-0.223000,0.974655]]
2025-10-26T18:12:48.829Z,1761502368.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553405,-0.814541,-0.173968],[0.832779,0.537382,0.133038],[-0.014878,-0.218501,0.975723]]
2025-10-26T18:12:49.260Z,1761502369.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546031,-0.819791,-0.172607],[0.837697,0.531653,0.124933],[-0.010652,-0.212809,0.977036]]
2025-10-26T18:12:49.662Z,1761502369.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539543,-0.824014,-0.172901],[0.841940,0.526687,0.117209],[-0.005517,-0.208812,0.977940]]
2025-10-26T18:12:50.066Z,1761502370.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535720,-0.826338,-0.173693],[0.844396,0.524225,0.110383],[-0.000160,-0.205800,0.978594]]
2025-10-26T18:12:50.472Z,1761502370.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535839,-0.826145,-0.174243],[0.844311,0.525256,0.106041],[0.003917,-0.203936,0.978976]]
2025-10-26T18:12:50.875Z,1761502370.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538036,-0.824088,-0.177189],[0.842891,0.527778,0.104805],[0.007148,-0.205740,0.978581]]
2025-10-26T18:12:51.278Z,1761502371.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541264,-0.821078,-0.181281],[0.840789,0.531147,0.104678],[0.010338,-0.209078,0.977844]]
2025-10-26T18:12:51.682Z,1761502371.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545422,-0.817289,-0.185886],[0.838066,0.535119,0.106266],[0.012621,-0.213745,0.976808]]
2025-10-26T18:12:52.088Z,1761502372.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550456,-0.812846,-0.190474],[0.834753,0.539589,0.109686],[0.013620,-0.219376,0.975545]]
2025-10-26T18:12:52.490Z,1761502372.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556116,-0.807920,-0.194936],[0.830994,0.544348,0.114602],[0.013524,-0.225722,0.974098]]
2025-10-26T18:12:52.895Z,1761502372.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562485,-0.802561,-0.198762],[0.826712,0.549582,0.120442],[0.012574,-0.232066,0.972619]]
2025-10-26T18:12:53.298Z,1761502373.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567811,-0.797862,-0.202502],[0.823079,0.553738,0.126159],[0.011476,-0.238310,0.971121]]
2025-10-26T18:12:53.703Z,1761502373.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569361,-0.795703,-0.206603],[0.822004,0.554618,0.129261],[0.011733,-0.243425,0.969849]]
2025-10-26T18:12:54.106Z,1761502374.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568224,-0.795829,-0.209232],[0.822775,0.553421,0.129485],[0.012746,-0.245727,0.969255]]
2025-10-26T18:12:54.510Z,1761502374.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565025,-0.797798,-0.210394],[0.824960,0.550507,0.127997],[0.013707,-0.245888,0.969201]]
2025-10-26T18:12:54.914Z,1761502374.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560788,-0.800629,-0.210975],[0.827827,0.546748,0.125574],[0.014812,-0.245071,0.969392]]
2025-10-26T18:12:55.320Z,1761502375.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556359,-0.803871,-0.210374],[0.830791,0.542966,0.122369],[0.015857,-0.242858,0.969932]]
2025-10-26T18:12:55.722Z,1761502375.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550989,-0.807761,-0.209602],[0.834335,0.538395,0.118390],[0.017217,-0.240110,0.970593]]
2025-10-26T18:12:56.127Z,1761502376.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546058,-0.811561,-0.207820],[0.837547,0.534294,0.114218],[0.018342,-0.236429,0.971476]]
2025-10-26T18:12:56.530Z,1761502376.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541639,-0.815277,-0.204820],[0.840394,0.530722,0.109875],[0.019125,-0.231642,0.972613]]
2025-10-26T18:12:56.937Z,1761502376.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537614,-0.818306,-0.203338],[0.842955,0.527313,0.106622],[0.019974,-0.228726,0.973286]]
2025-10-26T18:12:57.338Z,1761502377.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534150,-0.821096,-0.201211],[0.845139,0.524443,0.103438],[0.020591,-0.225302,0.974071]]
2025-10-26T18:12:57.742Z,1761502377.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530886,-0.823741,-0.199027],[0.847179,0.521740,0.100372],[0.021160,-0.221898,0.974840]]
2025-10-26T18:12:58.146Z,1761502378.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528535,-0.825389,-0.198452],[0.848638,0.519663,0.098814],[0.021568,-0.220641,0.975117]]
2025-10-26T18:12:58.552Z,1761502378.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527063,-0.826097,-0.199418],[0.849524,0.518422,0.097712],[0.022663,-0.220911,0.975031]]
2025-10-26T18:12:58.954Z,1761502378.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525377,-0.826773,-0.201061],[0.850531,0.516965,0.096667],[0.024020,-0.221795,0.974797]]
2025-10-26T18:12:59.358Z,1761502379.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524294,-0.826909,-0.203318],[0.851162,0.515993,0.096304],[0.025276,-0.223548,0.974365]]
2025-10-26T18:12:59.763Z,1761502379.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523500,-0.826899,-0.205391],[0.851614,0.515308,0.095975],[0.026478,-0.225157,0.973963]]
2025-10-26T18:13:00.167Z,1761502380.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522824,-0.826739,-0.207746],[0.851980,0.514801,0.095451],[0.028035,-0.226899,0.973515]]
2025-10-26T18:13:00.570Z,1761502380.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522431,-0.826496,-0.209690],[0.852160,0.514678,0.094501],[0.029818,-0.228060,0.973190]]
2025-10-26T18:13:00.974Z,1761502380.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522858,-0.825430,-0.212801],[0.851820,0.515310,0.094117],[0.031972,-0.230478,0.972552]]
2025-10-26T18:13:01.378Z,1761502381.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524678,-0.823307,-0.216516],[0.850614,0.517226,0.094509],[0.034178,-0.233758,0.971694]]
2025-10-26T18:13:01.784Z,1761502381.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527115,-0.820414,-0.221520],[0.849006,0.519646,0.095697],[0.036601,-0.238515,0.970449]]
2025-10-26T18:13:02.186Z,1761502382.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530292,-0.816694,-0.227599],[0.846896,0.522769,0.097366],[0.039464,-0.244385,0.968875]]
2025-10-26T18:13:02.590Z,1761502382.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534491,-0.812369,-0.233189],[0.844113,0.526924,0.099122],[0.042349,-0.249818,0.967366]]
2025-10-26T18:13:02.994Z,1761502382.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539413,-0.807979,-0.237074],[0.840838,0.531898,0.100375],[0.044998,-0.253484,0.966292]]
2025-10-26T18:13:03.399Z,1761502383.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544993,-0.803493,-0.239544],[0.837122,0.537475,0.101726],[0.047013,-0.255967,0.965542]]
2025-10-26T18:13:03.802Z,1761502383.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550909,-0.798807,-0.241676],[0.833172,0.543151,0.103978],[0.048208,-0.258640,0.964770]]
2025-10-26T18:13:04.206Z,1761502384.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556847,-0.794421,-0.242523],[0.829191,0.548762,0.106317],[0.048627,-0.260300,0.964303]]
2025-10-26T18:13:04.610Z,1761502384.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561881,-0.790777,-0.242819],[0.825798,0.553401,0.108653],[0.048456,-0.261570,0.963968]]
2025-10-26T18:13:05.016Z,1761502385.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565525,-0.788406,-0.242067],[0.823360,0.556635,0.110617],[0.047532,-0.261865,0.963933]]
2025-10-26T18:13:05.418Z,1761502385.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567412,-0.787466,-0.240707],[0.822114,0.558301,0.111480],[0.046600,-0.261144,0.964174]]
2025-10-26T18:13:05.822Z,1761502385.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567127,-0.787974,-0.239716],[0.822356,0.557921,0.111603],[0.045802,-0.260425,0.964407]]
2025-10-26T18:13:06.226Z,1761502386.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565053,-0.789463,-0.239715],[0.823776,0.556007,0.110675],[0.045909,-0.260008,0.964514]]
2025-10-26T18:13:06.631Z,1761502386.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561633,-0.792066,-0.239165],[0.826076,0.553071,0.108222],[0.046557,-0.258349,0.964929]]
2025-10-26T18:13:07.036Z,1761502387.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557976,-0.794628,-0.239226],[0.828478,0.550011,0.105410],[0.047815,-0.257009,0.965225]]
2025-10-26T18:13:07.438Z,1761502387.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554309,-0.797334,-0.238748],[0.830848,0.547082,0.101949],[0.049327,-0.254874,0.965715]]
2025-10-26T18:13:07.842Z,1761502387.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551083,-0.800240,-0.236480],[0.832892,0.544814,0.097306],[0.050970,-0.250586,0.966752]]
2025-10-26T18:13:08.246Z,1761502388.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548259,-0.802992,-0.233699],[0.834651,0.542959,0.092486],[0.052623,-0.245763,0.967900]]
2025-10-26T18:13:08.651Z,1761502388.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546879,-0.805120,-0.229574],[0.835495,0.542387,0.088112],[0.053577,-0.239995,0.969294]]
2025-10-26T18:13:09.054Z,1761502389.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546826,-0.806625,-0.224359],[0.835524,0.542924,0.084459],[0.053683,-0.233642,0.970840]]
2025-10-26T18:13:09.458Z,1761502389.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547675,-0.807366,-0.219573],[0.834980,0.544176,0.081741],[0.053492,-0.228106,0.972166]]
2025-10-26T18:13:09.862Z,1761502389.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549163,-0.807527,-0.215222],[0.834049,0.545839,0.080144],[0.052759,-0.223518,0.973271]]
2025-10-26T18:13:10.267Z,1761502390.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551280,-0.807174,-0.211094],[0.832735,0.547918,0.079608],[0.051405,-0.219671,0.974219]]
2025-10-26T18:13:10.670Z,1761502390.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554022,-0.805746,-0.209361],[0.831010,0.550307,0.081154],[0.049823,-0.218942,0.974465]]
2025-10-26T18:13:11.074Z,1761502391.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557436,-0.803461,-0.209083],[0.828817,0.553192,0.083910],[0.048245,-0.220066,0.974291]]
2025-10-26T18:13:11.478Z,1761502391.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561065,-0.800703,-0.209954],[0.826470,0.556085,0.087849],[0.046411,-0.222809,0.973757]]
2025-10-26T18:13:11.883Z,1761502391.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564006,-0.798480,-0.210539],[0.824595,0.558189,0.092022],[0.044043,-0.225510,0.973245]]
2025-10-26T18:13:12.286Z,1761502392.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565521,-0.796986,-0.212128],[0.823687,0.558756,0.096599],[0.041540,-0.229356,0.972456]]
2025-10-26T18:13:12.690Z,1761502392.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565398,-0.796941,-0.212625],[0.823945,0.557568,0.101157],[0.037937,-0.232385,0.971884]]
2025-10-26T18:13:13.095Z,1761502393.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563469,-0.798618,-0.211452],[0.825447,0.554703,0.104603],[0.033755,-0.233483,0.971775]]
2025-10-26T18:13:13.368Z,1761502393.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:13:13.501Z,1761502393.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560259,-0.801576,-0.208772],[0.827826,0.550531,0.107796],[0.028528,-0.233220,0.972005]]
2025-10-26T18:13:13.902Z,1761502393.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556049,-0.804996,-0.206859],[0.830839,0.545159,0.111843],[0.022738,-0.234057,0.971957]]
2025-10-26T18:13:14.306Z,1761502394.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551032,-0.808800,-0.205441],[0.834306,0.539053,0.115570],[0.017271,-0.235083,0.971822]]
2025-10-26T18:13:14.382Z,1761502394.382 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:13:14.710Z,1761502394.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545121,-0.812785,-0.205483],[0.838258,0.532207,0.118657],[0.012917,-0.236931,0.971441]]
2025-10-26T18:13:15.114Z,1761502395.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538639,-0.817155,-0.205243],[0.842470,0.525440,0.118987],[0.010613,-0.237002,0.971451]]
2025-10-26T18:13:15.518Z,1761502395.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531787,-0.822090,-0.203396],[0.846806,0.519307,0.115065],[0.011031,-0.233427,0.972312]]
2025-10-26T18:13:15.923Z,1761502395.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525523,-0.826016,-0.203773],[0.850664,0.514096,0.109887],[0.013991,-0.231091,0.972832]]
2025-10-26T18:13:16.333Z,1761502396.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520573,-0.829075,-0.204054],[0.853606,0.510677,0.102787],[0.018988,-0.227689,0.973549]]
2025-10-26T18:13:16.735Z,1761502396.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518210,-0.830784,-0.203117],[0.854880,0.510186,0.094291],[0.025292,-0.222503,0.974604]]
2025-10-26T18:13:17.140Z,1761502397.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522449,-0.827884,-0.204094],[0.851814,0.517476,0.081431],[0.038198,-0.216394,0.975559]]
2025-10-26T18:13:17.544Z,1761502397.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528194,-0.823825,-0.205725],[0.848041,0.524036,0.078823],[0.042871,-0.216098,0.975430]]
2025-10-26T18:13:17.947Z,1761502397.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535603,-0.818362,-0.208360],[0.843248,0.531563,0.079836],[0.045422,-0.218459,0.974788]]
2025-10-26T18:13:18.351Z,1761502398.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544270,-0.811840,-0.211390],[0.837690,0.539528,0.084767],[0.045233,-0.223216,0.973719]]
2025-10-26T18:13:18.756Z,1761502398.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553840,-0.804868,-0.213186],[0.831530,0.547791,0.092104],[0.042650,-0.228281,0.972661]]
2025-10-26T18:13:19.156Z,1761502399.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564254,-0.797510,-0.213533],[0.824723,0.556406,0.101220],[0.038087,-0.233219,0.971678]]
2025-10-26T18:13:19.558Z,1761502399.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575146,-0.789771,-0.213234],[0.817431,0.564986,0.112236],[0.031833,-0.238857,0.970533]]
2025-10-26T18:13:19.962Z,1761502399.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586069,-0.781325,-0.214602],[0.809887,0.572934,0.125821],[0.024646,-0.247543,0.968563]]
2025-10-26T18:13:20.367Z,1761502400.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596661,-0.772906,-0.215897],[0.802311,0.580266,0.139957],[0.017104,-0.256723,0.966334]]
2025-10-26T18:13:20.793Z,1761502400.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604720,-0.766726,-0.215509],[0.796377,0.585469,0.151691],[0.009868,-0.263357,0.964648]]
2025-10-26T18:13:21.174Z,1761502401.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608794,-0.764447,-0.212109],[0.793320,0.587809,0.158503],[0.003513,-0.264767,0.964306]]
2025-10-26T18:13:21.578Z,1761502401.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607966,-0.766465,-0.207147],[0.793962,0.586377,0.160584],[-0.001615,-0.262096,0.965040]]
2025-10-26T18:13:21.982Z,1761502401.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604861,-0.770367,-0.201689],[0.796303,0.582991,0.161316],[-0.006690,-0.258179,0.966074]]
2025-10-26T18:13:22.388Z,1761502402.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599973,-0.776302,-0.193358],[0.799930,0.578494,0.159551],[-0.012004,-0.250399,0.968068]]
2025-10-26T18:13:22.826Z,1761502402.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593876,-0.783070,-0.184697],[0.804375,0.573010,0.156969],[-0.017085,-0.241786,0.970179]]
2025-10-26T18:13:23.194Z,1761502403.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587265,-0.790121,-0.175579],[0.809112,0.567348,0.153146],[-0.021389,-0.232000,0.972481]]
2025-10-26T18:13:23.598Z,1761502403.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580533,-0.796805,-0.167582],[0.813863,0.561603,0.149097],[-0.024687,-0.222944,0.974519]]
2025-10-26T18:13:24.002Z,1761502404.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574466,-0.802626,-0.160564],[0.818106,0.556709,0.144144],[-0.026306,-0.214164,0.976443]]
2025-10-26T18:13:24.412Z,1761502404.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569774,-0.807005,-0.155245],[0.821356,0.552995,0.139894],[-0.027045,-0.207219,0.977921]]
2025-10-26T18:13:24.834Z,1761502404.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568206,-0.808935,-0.150884],[0.822408,0.551998,0.137635],[-0.028050,-0.202293,0.978923]]
2025-10-26T18:13:25.214Z,1761502405.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568509,-0.809491,-0.146705],[0.822159,0.552711,0.136256],[-0.029212,-0.198078,0.979751]]
2025-10-26T18:13:25.619Z,1761502405.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570688,-0.808183,-0.145452],[0.820581,0.554575,0.138178],[-0.031009,-0.198212,0.979669]]
2025-10-26T18:13:26.024Z,1761502406.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573848,-0.805651,-0.147055],[0.818279,0.556719,0.143121],[-0.033437,-0.202461,0.978719]]
2025-10-26T18:13:26.427Z,1761502406.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575767,-0.803759,-0.149878],[0.816799,0.557261,0.149333],[-0.036506,-0.208401,0.977362]]
2025-10-26T18:13:26.838Z,1761502406.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575855,-0.803080,-0.153147],[0.816576,0.555838,0.155715],[-0.039927,-0.214726,0.975858]]
2025-10-26T18:13:27.234Z,1761502407.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574197,-0.803527,-0.156981],[0.817576,0.552637,0.161746],[-0.043214,-0.221218,0.974267]]
2025-10-26T18:13:27.639Z,1761502407.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571167,-0.805190,-0.159491],[0.819543,0.548506,0.165803],[-0.046021,-0.225411,0.973176]]
2025-10-26T18:13:28.045Z,1761502408.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567409,-0.807029,-0.163559],[0.822031,0.543557,0.169734],[-0.048077,-0.230760,0.971822]]
2025-10-26T18:13:28.447Z,1761502408.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563897,-0.808683,-0.167488],[0.824364,0.539046,0.172784],[-0.049444,-0.235503,0.970615]]
2025-10-26T18:13:28.851Z,1761502408.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561203,-0.810043,-0.169947],[0.826186,0.535930,0.173769],[-0.049681,-0.237927,0.970012]]
2025-10-26T18:13:29.254Z,1761502409.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559820,-0.810651,-0.171601],[0.827179,0.534548,0.173303],[-0.048760,-0.238963,0.969804]]
2025-10-26T18:13:29.661Z,1761502409.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559740,-0.810703,-0.171614],[0.827358,0.535097,0.170737],[-0.046587,-0.237554,0.970257]]
2025-10-26T18:13:30.063Z,1761502410.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561052,-0.810050,-0.170411],[0.826656,0.537564,0.166326],[-0.043125,-0.234189,0.971234]]
2025-10-26T18:13:30.467Z,1761502410.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563940,-0.808177,-0.169772],[0.824912,0.541672,0.161591],[-0.038633,-0.231175,0.972145]]
2025-10-26T18:13:30.871Z,1761502410.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568471,-0.805111,-0.169224],[0.822018,0.547454,0.156782],[-0.033584,-0.228231,0.973028]]
2025-10-26T18:13:31.276Z,1761502411.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574384,-0.800829,-0.169573],[0.818088,0.554360,0.153024],[-0.028542,-0.226621,0.973565]]
2025-10-26T18:13:31.678Z,1761502411.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581770,-0.795066,-0.171505],[0.812992,0.562152,0.151751],[-0.024240,-0.227716,0.973426]]
2025-10-26T18:13:32.082Z,1761502412.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590368,-0.788364,-0.173057],[0.806841,0.570654,0.152841],[-0.021738,-0.229862,0.972980]]
2025-10-26T18:13:32.487Z,1761502412.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599963,-0.780616,-0.175166],[0.799744,0.579366,0.157306],[-0.021310,-0.234466,0.971891]]
2025-10-26T18:13:32.892Z,1761502412.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610038,-0.772401,-0.176777],[0.792039,0.587938,0.164329],[-0.022993,-0.240261,0.970436]]
2025-10-26T18:13:33.294Z,1761502413.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620011,-0.764304,-0.177273],[0.784152,0.596062,0.172672],[-0.026309,-0.246068,0.968895]]
2025-10-26T18:13:33.698Z,1761502413.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628832,-0.757235,-0.176537],[0.776910,0.602765,0.181893],[-0.031326,-0.251534,0.967341]]
2025-10-26T18:13:34.103Z,1761502414.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635620,-0.751904,-0.175007],[0.771092,0.607339,0.191197],[-0.037473,-0.256475,0.965824]]
2025-10-26T18:13:34.508Z,1761502414.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639612,-0.749440,-0.170984],[0.767438,0.609836,0.197835],[-0.043994,-0.257757,0.965208]]
2025-10-26T18:13:34.910Z,1761502414.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640421,-0.749804,-0.166300],[0.766376,0.609709,0.202292],[-0.050284,-0.257000,0.965102]]
2025-10-26T18:13:35.314Z,1761502415.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637653,-0.753445,-0.160374],[0.768343,0.607158,0.202503],[-0.055202,-0.252349,0.966060]]
2025-10-26T18:13:35.719Z,1761502415.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631276,-0.759767,-0.155708],[0.773410,0.601772,0.199268],[-0.057696,-0.246219,0.967495]]
2025-10-26T18:13:36.124Z,1761502416.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622551,-0.767976,-0.150473],[0.780424,0.594993,0.192149],[-0.058036,-0.237055,0.969761]]
2025-10-26T18:13:36.526Z,1761502416.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613988,-0.775502,-0.147025],[0.787247,0.588182,0.185161],[-0.057115,-0.229431,0.971648]]
2025-10-26T18:13:36.930Z,1761502416.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606410,-0.782192,-0.142976],[0.793177,0.582378,0.178065],[-0.056015,-0.221386,0.973576]]
2025-10-26T18:13:37.334Z,1761502417.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600135,-0.787663,-0.139373],[0.798000,0.577552,0.172133],[-0.055087,-0.214523,0.975164]]
2025-10-26T18:13:37.741Z,1761502417.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594663,-0.792402,-0.135924],[0.802157,0.573412,0.166561],[-0.054043,-0.208080,0.976618]]
2025-10-26T18:13:38.142Z,1761502418.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589226,-0.797049,-0.132383],[0.806241,0.569314,0.160801],[-0.052799,-0.201480,0.978068]]
2025-10-26T18:13:38.546Z,1761502418.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584213,-0.801060,-0.130377],[0.809974,0.565304,0.156123],[-0.051361,-0.196811,0.979095]]
2025-10-26T18:13:38.950Z,1761502418.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579654,-0.804441,-0.129903],[0.813376,0.561572,0.151842],[-0.049198,-0.193676,0.979831]]
2025-10-26T18:13:39.355Z,1761502419.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575724,-0.806791,-0.132781],[0.816351,0.558055,0.148811],[-0.045960,-0.194071,0.979910]]
2025-10-26T18:13:39.760Z,1761502419.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573469,-0.807677,-0.137084],[0.818167,0.556142,0.145974],[-0.041662,-0.195869,0.979745]]
2025-10-26T18:13:40.162Z,1761502420.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572870,-0.806694,-0.145139],[0.818850,0.555464,0.144721],[-0.036126,-0.201754,0.978770]]
2025-10-26T18:13:40.566Z,1761502420.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574647,-0.803637,-0.154755],[0.817857,0.557005,0.144415],[-0.029859,-0.209555,0.977341]]
2025-10-26T18:13:40.971Z,1761502420.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578231,-0.799188,-0.164157],[0.815545,0.560474,0.144067],[-0.023131,-0.217182,0.975857]]
2025-10-26T18:13:41.377Z,1761502421.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583487,-0.793205,-0.174265],[0.811952,0.565373,0.145216],[-0.016662,-0.226226,0.973932]]
2025-10-26T18:13:41.778Z,1761502421.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589747,-0.786481,-0.183428],[0.807512,0.571151,0.147349],[-0.011122,-0.235019,0.971927]]
2025-10-26T18:13:42.182Z,1761502422.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596783,-0.779398,-0.190760],[0.802369,0.577460,0.150813],[-0.007387,-0.243063,0.969983]]
2025-10-26T18:13:42.586Z,1761502422.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604227,-0.772387,-0.195776],[0.796789,0.583815,0.155843],[-0.006074,-0.250157,0.968186]]
2025-10-26T18:13:42.990Z,1761502422.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612133,-0.765163,-0.199548],[0.790722,0.589992,0.163303],[-0.007221,-0.257750,0.966185]]
2025-10-26T18:13:43.394Z,1761502423.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619713,-0.758499,-0.201581],[0.784766,0.595633,0.171359],[-0.009908,-0.264388,0.964366]]
2025-10-26T18:13:43.798Z,1761502423.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625768,-0.753022,-0.203402],[0.779913,0.599955,0.178296],[-0.012228,-0.270208,0.962724]]
2025-10-26T18:13:44.204Z,1761502424.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629029,-0.749835,-0.205107],[0.777285,0.602514,0.181119],[-0.012229,-0.273356,0.961835]]
2025-10-26T18:13:44.500Z,1761502424.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:13:44.606Z,1761502424.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629810,-0.748851,-0.206304],[0.776680,0.603588,0.180139],[-0.010375,-0.273686,0.961763]]
2025-10-26T18:13:45.011Z,1761502425.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629842,-0.748491,-0.207510],[0.776688,0.604380,0.177428],[-0.007388,-0.272922,0.962008]]
2025-10-26T18:13:45.426Z,1761502425.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630222,-0.748291,-0.207078],[0.776406,0.606085,0.172787],[-0.003788,-0.269670,0.962945]]
2025-10-26T18:13:45.504Z,1761502425.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:13:45.820Z,1761502425.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630688,-0.748228,-0.205883],[0.776037,0.608121,0.167200],[0.000098,-0.265223,0.964187]]
2025-10-26T18:13:46.222Z,1761502426.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632264,-0.747760,-0.202725],[0.774746,0.611330,0.161381],[0.003257,-0.259096,0.965846]]
2025-10-26T18:13:46.626Z,1761502426.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634474,-0.747151,-0.198011],[0.772922,0.615219,0.155233],[0.005837,-0.251539,0.967830]]
2025-10-26T18:13:47.030Z,1761502427.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636338,-0.746868,-0.193033],[0.771373,0.618520,0.149720],[0.007574,-0.244173,0.969702]]
2025-10-26T18:13:47.436Z,1761502427.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637583,-0.746988,-0.188405],[0.770333,0.620933,0.145015],[0.008662,-0.237594,0.971326]]
2025-10-26T18:13:47.839Z,1761502427.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637496,-0.747997,-0.184662],[0.770399,0.621726,0.141216],[0.009180,-0.232289,0.972604]]
2025-10-26T18:13:48.243Z,1761502428.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636195,-0.749442,-0.183286],[0.771478,0.620658,0.140020],[0.008821,-0.230481,0.973037]]
2025-10-26T18:13:48.646Z,1761502428.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634060,-0.751525,-0.182149],[0.773236,0.618800,0.138539],[0.008598,-0.228686,0.973462]]
2025-10-26T18:13:49.052Z,1761502429.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630056,-0.755088,-0.181306],[0.776508,0.615044,0.136955],[0.008099,-0.227075,0.973844]]
2025-10-26T18:13:49.454Z,1761502429.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624456,-0.760036,-0.179999],[0.781020,0.609949,0.134051],[0.007906,-0.224292,0.974490]]
2025-10-26T18:13:49.859Z,1761502429.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617586,-0.765793,-0.179299],[0.786459,0.603716,0.130423],[0.008369,-0.221558,0.975111]]
2025-10-26T18:13:50.262Z,1761502430.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609743,-0.772146,-0.178899],[0.792541,0.596710,0.125762],[0.009644,-0.218468,0.975797]]
2025-10-26T18:13:50.667Z,1761502430.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601892,-0.778251,-0.179028],[0.798496,0.589711,0.121013],[0.011396,-0.215790,0.976373]]
2025-10-26T18:13:51.071Z,1761502431.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594668,-0.783575,-0.179945],[0.803853,0.583334,0.116368],[0.013785,-0.213850,0.976769]]
2025-10-26T18:13:51.475Z,1761502431.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588332,-0.788247,-0.180364],[0.808457,0.577857,0.111706],[0.016173,-0.211537,0.977236]]
2025-10-26T18:13:51.880Z,1761502431.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582831,-0.792102,-0.181335],[0.812379,0.573106,0.107654],[0.018651,-0.210056,0.977511]]
2025-10-26T18:13:52.282Z,1761502432.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578189,-0.795151,-0.182845],[0.815619,0.569196,0.103834],[0.021511,-0.209167,0.977643]]
2025-10-26T18:13:52.687Z,1761502432.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574180,-0.796878,-0.187890],[0.818337,0.565685,0.101609],[0.025317,-0.212099,0.976920]]
2025-10-26T18:13:53.090Z,1761502433.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570967,-0.797831,-0.193550],[0.820424,0.563123,0.098983],[0.030020,-0.215309,0.976084]]
2025-10-26T18:13:53.494Z,1761502433.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569273,-0.797173,-0.201106],[0.821387,0.561994,0.097397],[0.035378,-0.220632,0.974715]]
2025-10-26T18:13:53.899Z,1761502433.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570459,-0.794189,-0.209381],[0.820332,0.563482,0.097691],[0.040397,-0.227490,0.972942]]
2025-10-26T18:13:54.304Z,1761502434.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574992,-0.788759,-0.217357],[0.816954,0.567927,0.100225],[0.044389,-0.235199,0.970933]]
2025-10-26T18:13:54.706Z,1761502434.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580916,-0.782552,-0.223942],[0.812557,0.573699,0.103056],[0.047829,-0.241833,0.969138]]
2025-10-26T18:13:55.111Z,1761502435.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587051,-0.776630,-0.228510],[0.807978,0.579668,0.105627],[0.050426,-0.246640,0.967794]]
2025-10-26T18:13:55.514Z,1761502435.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593024,-0.770933,-0.232349],[0.803485,0.585340,0.108576],[0.052298,-0.251077,0.966553]]
2025-10-26T18:13:55.921Z,1761502435.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599209,-0.765788,-0.233490],[0.798815,0.591314,0.110648],[0.053333,-0.252816,0.966043]]
2025-10-26T18:13:56.322Z,1761502436.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605788,-0.760725,-0.233062],[0.793806,0.597693,0.112410],[0.053787,-0.253102,0.965943]]
2025-10-26T18:13:56.726Z,1761502436.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612435,-0.755195,-0.233675],[0.788657,0.603975,0.115040],[0.054256,-0.254744,0.965485]]
2025-10-26T18:13:57.129Z,1761502437.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619308,-0.749751,-0.233089],[0.783219,0.610731,0.116514],[0.054999,-0.254718,0.965450]]
2025-10-26T18:13:57.536Z,1761502437.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626069,-0.744306,-0.232479],[0.777766,0.617411,0.117827],[0.055836,-0.254582,0.965438]]
2025-10-26T18:13:57.938Z,1761502437.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632535,-0.739157,-0.231401],[0.772456,0.623886,0.118653],[0.056665,-0.253799,0.965596]]
2025-10-26T18:13:58.342Z,1761502438.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637405,-0.735858,-0.228536],[0.768415,0.629008,0.117844],[0.057034,-0.250724,0.966377]]
2025-10-26T18:13:58.751Z,1761502438.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640625,-0.734050,-0.225322],[0.765764,0.632390,0.116994],[0.056612,-0.247493,0.967234]]
2025-10-26T18:13:59.215Z,1761502439.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641845,-0.735658,-0.216430],[0.765052,0.633551,0.115360],[0.052254,-0.239623,0.969459]]
2025-10-26T18:13:59.614Z,1761502439.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639757,-0.739534,-0.209288],[0.767095,0.631299,0.114135],[0.047717,-0.233563,0.971170]]
2025-10-26T18:14:00.018Z,1761502440.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635705,-0.745360,-0.200791],[0.770839,0.626788,0.113770],[0.041054,-0.227102,0.973005]]
2025-10-26T18:14:00.441Z,1761502440.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629683,-0.752948,-0.191230],[0.776172,0.620069,0.114329],[0.032492,-0.220418,0.974864]]
2025-10-26T18:14:00.840Z,1761502440.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621940,-0.761785,-0.181313],[0.782725,0.611597,0.115286],[0.023068,-0.213619,0.976645]]
2025-10-26T18:14:01.230Z,1761502441.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612728,-0.771402,-0.171765],[0.790170,0.601828,0.115904],[0.013965,-0.206741,0.978296]]
2025-10-26T18:14:01.634Z,1761502441.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602432,-0.781202,-0.163705],[0.798145,0.591233,0.115795],[0.006328,-0.200419,0.979690]]
2025-10-26T18:14:02.038Z,1761502442.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591703,-0.790797,-0.156611],[0.806155,0.580694,0.113613],[0.001098,-0.193478,0.981104]]
2025-10-26T18:14:02.444Z,1761502442.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581461,-0.799289,-0.151791],[0.813574,0.571046,0.109564],[-0.000893,-0.187200,0.982321]]
2025-10-26T18:14:02.846Z,1761502442.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572436,-0.806052,-0.150327],[0.819949,0.562896,0.104073],[0.000730,-0.182835,0.983143]]
2025-10-26T18:14:03.250Z,1761502443.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565167,-0.810993,-0.151250],[0.824957,0.556836,0.096849],[0.005678,-0.179511,0.983740]]
2025-10-26T18:14:03.654Z,1761502443.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560542,-0.813450,-0.155214],[0.828019,0.553552,0.089249],[0.013319,-0.178548,0.983841]]
2025-10-26T18:14:04.060Z,1761502444.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558700,-0.813380,-0.162069],[0.829071,0.552978,0.082808],[0.022266,-0.180631,0.983299]]
2025-10-26T18:14:04.463Z,1761502444.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560902,-0.810081,-0.170759],[0.827307,0.556149,0.079132],[0.030864,-0.185655,0.982130]]
2025-10-26T18:14:04.866Z,1761502444.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568563,-0.802645,-0.180270],[0.821822,0.563964,0.080958],[0.036685,-0.194179,0.980280]]
2025-10-26T18:14:05.269Z,1761502445.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580981,-0.791765,-0.188601],[0.813021,0.575417,0.088835],[0.038188,-0.204948,0.978028]]
2025-10-26T18:14:05.674Z,1761502445.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592452,-0.781549,-0.195400],[0.804746,0.585347,0.098752],[0.037197,-0.215753,0.975739]]
2025-10-26T18:14:06.080Z,1761502446.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600594,-0.773681,-0.201753],[0.798766,0.591790,0.108437],[0.035500,-0.226280,0.973415]]
2025-10-26T18:14:06.482Z,1761502446.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606541,-0.767354,-0.208026],[0.794388,0.595610,0.119147],[0.032474,-0.237521,0.970839]]
2025-10-26T18:14:06.886Z,1761502446.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610350,-0.763145,-0.212327],[0.791622,0.597255,0.128925],[0.028425,-0.246772,0.968657]]
2025-10-26T18:14:07.290Z,1761502447.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611353,-0.761534,-0.215203],[0.790986,0.596370,0.136688],[0.024249,-0.253787,0.966956]]
2025-10-26T18:14:07.695Z,1761502447.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609364,-0.762653,-0.216878],[0.792626,0.592990,0.141799],[0.020463,-0.258310,0.965845]]
2025-10-26T18:14:08.098Z,1761502448.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604645,-0.766392,-0.216906],[0.796307,0.587570,0.143721],[0.017301,-0.259624,0.965555]]
2025-10-26T18:14:08.502Z,1761502448.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598979,-0.771664,-0.213912],[0.800624,0.582124,0.141893],[0.015030,-0.256254,0.966493]]
2025-10-26T18:14:08.906Z,1761502448.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593583,-0.777086,-0.209278],[0.804658,0.577476,0.138013],[0.013605,-0.250320,0.968068]]
2025-10-26T18:14:09.311Z,1761502449.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588691,-0.782513,-0.202772],[0.808256,0.573791,0.132234],[0.012874,-0.241737,0.970256]]
2025-10-26T18:14:09.720Z,1761502449.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584918,-0.786925,-0.196518],[0.810989,0.571292,0.126185],[0.012971,-0.233181,0.972347]]
2025-10-26T18:14:10.118Z,1761502450.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583048,-0.789879,-0.190120],[0.812328,0.570637,0.120406],[0.013383,-0.224643,0.974349]]
2025-10-26T18:14:10.524Z,1761502450.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583139,-0.791035,-0.184965],[0.812266,0.571429,0.117014],[0.013133,-0.218476,0.975754]]
2025-10-26T18:14:10.927Z,1761502450.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584741,-0.790784,-0.180940],[0.811126,0.573345,0.115544],[0.012370,-0.214329,0.976683]]
2025-10-26T18:14:11.338Z,1761502451.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587250,-0.789661,-0.177687],[0.809333,0.575816,0.115825],[0.010852,-0.211826,0.977247]]
2025-10-26T18:14:11.734Z,1761502451.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590262,-0.788050,-0.174840],[0.807162,0.578616,0.117015],[0.008952,-0.210194,0.977619]]
2025-10-26T18:14:12.138Z,1761502452.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593191,-0.786569,-0.171563],[0.805035,0.581280,0.118458],[0.006550,-0.208383,0.978025]]
2025-10-26T18:14:12.543Z,1761502452.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595173,-0.785440,-0.169862],[0.803589,0.582679,0.121367],[0.003648,-0.208734,0.977966]]
2025-10-26T18:14:12.947Z,1761502452.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596590,-0.784618,-0.168686],[0.802546,0.583407,0.124725],[0.000551,-0.209788,0.977747]]
2025-10-26T18:14:13.350Z,1761502453.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596748,-0.784768,-0.167425],[0.802424,0.582883,0.127921],[-0.002799,-0.210682,0.977551]]
2025-10-26T18:14:13.754Z,1761502453.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595820,-0.785739,-0.166171],[0.803091,0.581216,0.131270],[-0.006563,-0.211664,0.977320]]
2025-10-26T18:14:14.158Z,1761502454.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593672,-0.787614,-0.164978],[0.804638,0.578318,0.134559],[-0.010571,-0.212631,0.977075]]
2025-10-26T18:14:14.564Z,1761502454.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589916,-0.790486,-0.164713],[0.807336,0.573781,0.137785],[-0.014408,-0.214261,0.976670]]
2025-10-26T18:14:14.966Z,1761502454.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584520,-0.794623,-0.164044],[0.811186,0.567903,0.139511],[-0.017697,-0.214617,0.976538]]
2025-10-26T18:14:15.370Z,1761502455.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577877,-0.799580,-0.163494],[0.815883,0.561134,0.139509],[-0.019806,-0.214011,0.976630]]
2025-10-26T18:14:15.636Z,1761502455.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:14:15.774Z,1761502455.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571092,-0.804649,-0.162462],[0.820629,0.554663,0.137543],[-0.020563,-0.211870,0.977081]]
2025-10-26T18:14:16.180Z,1761502456.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564973,-0.809023,-0.162131],[0.824859,0.548953,0.135121],[-0.020313,-0.210075,0.977474]]
2025-10-26T18:14:16.584Z,1761502456.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560186,-0.812467,-0.161521],[0.828149,0.544813,0.131715],[-0.019016,-0.207549,0.978040]]
2025-10-26T18:14:16.653Z,1761502456.653 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:14:16.986Z,1761502456.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557190,-0.814572,-0.161280],[0.830217,0.542559,0.127948],[-0.016719,-0.205188,0.978580]]
2025-10-26T18:14:17.391Z,1761502457.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556760,-0.814768,-0.161775],[0.830552,0.542688,0.125193],[-0.014210,-0.204064,0.978854]]
2025-10-26T18:14:17.796Z,1761502457.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558752,-0.813426,-0.161662],[0.829249,0.545184,0.122962],[-0.011885,-0.202763,0.979156]]
2025-10-26T18:14:18.198Z,1761502458.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563531,-0.810052,-0.162013],[0.826023,0.549956,0.123427],[-0.010882,-0.203382,0.979039]]
2025-10-26T18:14:18.603Z,1761502458.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570442,-0.805110,-0.162458],[0.821261,0.556413,0.126233],[-0.011238,-0.205430,0.978607]]
2025-10-26T18:14:19.006Z,1761502459.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577487,-0.799645,-0.164549],[0.816306,0.562505,0.131274],[-0.012412,-0.210131,0.977594]]
2025-10-26T18:14:19.411Z,1761502459.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583868,-0.794696,-0.166003],[0.811720,0.567800,0.136801],[-0.014459,-0.214622,0.976590]]
2025-10-26T18:14:19.816Z,1761502459.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589344,-0.790367,-0.167316],[0.807687,0.571870,0.143551],[-0.017775,-0.219740,0.975397]]
2025-10-26T18:14:20.218Z,1761502460.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592918,-0.787312,-0.169079],[0.804966,0.573787,0.150992],[-0.021862,-0.225629,0.973968]]
2025-10-26T18:14:20.622Z,1761502460.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593423,-0.786711,-0.170101],[0.804470,0.572880,0.156961],[-0.026035,-0.229986,0.972846]]
2025-10-26T18:14:21.027Z,1761502461.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590864,-0.788399,-0.171192],[0.806245,0.569366,0.160600],[-0.029146,-0.232915,0.972060]]
2025-10-26T18:14:21.431Z,1761502461.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585826,-0.791981,-0.171968],[0.809858,0.564057,0.161152],[-0.030629,-0.233677,0.971832]]
2025-10-26T18:14:21.834Z,1761502461.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579059,-0.796597,-0.173560],[0.814712,0.557409,0.159811],[-0.030561,-0.233941,0.971770]]
2025-10-26T18:14:22.238Z,1761502462.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571617,-0.801896,-0.173828],[0.820014,0.550857,0.155349],[-0.028819,-0.231341,0.972446]]
2025-10-26T18:14:22.642Z,1761502462.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564078,-0.807207,-0.173876],[0.825312,0.544527,0.149500],[-0.025997,-0.227832,0.973353]]
2025-10-26T18:14:23.048Z,1761502463.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557267,-0.812086,-0.173120],[0.830034,0.539227,0.142400],[-0.022290,-0.223050,0.974552]]
2025-10-26T18:14:23.450Z,1761502463.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551702,-0.815995,-0.172562],[0.833831,0.534989,0.136060],[-0.018705,-0.218952,0.975556]]
2025-10-26T18:14:23.854Z,1761502463.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548346,-0.818675,-0.170552],[0.836097,0.532809,0.130596],[-0.016044,-0.214210,0.976656]]
2025-10-26T18:14:24.259Z,1761502464.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546613,-0.820186,-0.168846],[0.837256,0.531762,0.127403],[-0.014709,-0.211008,0.977374]]
2025-10-26T18:14:24.663Z,1761502464.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546816,-0.820336,-0.167458],[0.837128,0.532236,0.126257],[-0.014446,-0.209223,0.977761]]
2025-10-26T18:14:25.470Z,1761502465.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549876,-0.818029,-0.168715],[0.835098,0.534641,0.129500],[-0.015733,-0.212103,0.977121]]
2025-10-26T18:14:25.874Z,1761502465.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551762,-0.816278,-0.171025],[0.833849,0.536015,0.131847],[-0.015952,-0.215357,0.976405]]
2025-10-26T18:14:26.277Z,1761502466.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553505,-0.814447,-0.174090],[0.832701,0.537292,0.133887],[-0.015507,-0.219072,0.975585]]
2025-10-26T18:14:26.682Z,1761502466.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555723,-0.812452,-0.176335],[0.831237,0.539236,0.135167],[-0.014731,-0.221692,0.975006]]
2025-10-26T18:14:27.087Z,1761502467.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558176,-0.810363,-0.178188],[0.829628,0.541848,0.134600],[-0.012524,-0.222960,0.974747]]
2025-10-26T18:14:27.491Z,1761502467.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561732,-0.807534,-0.179851],[0.827263,0.545742,0.133421],[-0.009590,-0.223731,0.974604]]
2025-10-26T18:14:27.896Z,1761502467.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566441,-0.803878,-0.181455],[0.824080,0.550887,0.131969],[-0.006126,-0.224286,0.974504]]
2025-10-26T18:14:28.298Z,1761502468.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572193,-0.799589,-0.182354],[0.820113,0.557042,0.130838],[-0.003038,-0.224416,0.974489]]
2025-10-26T18:14:28.702Z,1761502468.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578953,-0.794805,-0.181930],[0.815360,0.564058,0.130488],[-0.001093,-0.223884,0.974615]]
2025-10-26T18:14:29.106Z,1761502469.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586353,-0.789237,-0.182469],[0.810055,0.570914,0.133676],[-0.001328,-0.226191,0.974082]]
2025-10-26T18:14:29.512Z,1761502469.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593605,-0.783722,-0.182793],[0.804745,0.576867,0.140036],[-0.004302,-0.230228,0.973127]]
2025-10-26T18:14:29.914Z,1761502469.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599244,-0.779666,-0.181736],[0.800509,0.580838,0.147691],[-0.009590,-0.233984,0.972193]]
2025-10-26T18:14:30.318Z,1761502470.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601002,-0.779261,-0.177619],[0.799081,0.581315,0.153438],[-0.016316,-0.234148,0.972064]]
2025-10-26T18:14:30.729Z,1761502470.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598342,-0.782426,-0.172615],[0.800906,0.577826,0.157052],[-0.023140,-0.232220,0.972388]]
2025-10-26T18:14:31.127Z,1761502471.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592481,-0.788064,-0.167095],[0.805056,0.571709,0.158220],[-0.029158,-0.228263,0.973163]]
2025-10-26T18:14:31.530Z,1761502471.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584665,-0.795103,-0.161177],[0.810587,0.564346,0.156401],[-0.033395,-0.222090,0.974454]]
2025-10-26T18:14:31.934Z,1761502471.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575656,-0.802413,-0.157334],[0.816927,0.556048,0.153105],[-0.035368,-0.216666,0.975605]]
2025-10-26T18:14:32.338Z,1761502472.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566289,-0.809621,-0.154371],[0.823468,0.547843,0.147539],[-0.034880,-0.210669,0.976935]]
2025-10-26T18:14:32.744Z,1761502472.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557310,-0.816136,-0.152736],[0.829679,0.540248,0.140590],[-0.032225,-0.205074,0.978216]]
2025-10-26T18:14:33.146Z,1761502473.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549230,-0.821816,-0.151545],[0.835197,0.533706,0.132679],[-0.028157,-0.199442,0.979505]]
2025-10-26T18:14:33.550Z,1761502473.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542022,-0.826827,-0.150232],[0.840043,0.528148,0.124045],[-0.023219,-0.193437,0.980838]]
2025-10-26T18:14:33.955Z,1761502473.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534981,-0.831099,-0.151888],[0.844686,0.522464,0.116349],[-0.017341,-0.190542,0.981526]]
2025-10-26T18:14:34.359Z,1761502474.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528679,-0.834632,-0.154558],[0.848747,0.517368,0.109358],[-0.011310,-0.188996,0.981913]]
2025-10-26T18:14:34.781Z,1761502474.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525266,-0.836375,-0.156753],[0.850907,0.514695,0.105099],[-0.007222,-0.188588,0.982030]]
2025-10-26T18:14:35.166Z,1761502475.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525081,-0.836021,-0.159242],[0.851037,0.514660,0.104219],[-0.005174,-0.190245,0.981723]]
2025-10-26T18:14:35.570Z,1761502475.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526625,-0.833961,-0.164852],[0.850090,0.515804,0.106266],[-0.003591,-0.196101,0.980577]]
2025-10-26T18:14:35.975Z,1761502475.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529493,-0.830404,-0.173395],[0.848311,0.517766,0.110841],[-0.002265,-0.205783,0.978595]]
2025-10-26T18:14:36.380Z,1761502476.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533253,-0.825971,-0.182789],[0.845955,0.520406,0.116350],[-0.000977,-0.216675,0.976243]]
2025-10-26T18:14:36.813Z,1761502476.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537248,-0.821128,-0.192650],[0.843425,0.523097,0.122494],[0.000191,-0.228295,0.973592]]
2025-10-26T18:14:37.186Z,1761502477.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541209,-0.816617,-0.200572],[0.840886,0.526074,0.127106],[0.001719,-0.237450,0.971398]]
2025-10-26T18:14:37.591Z,1761502477.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544983,-0.812748,-0.205997],[0.838441,0.529221,0.130162],[0.003229,-0.243653,0.969857]]
2025-10-26T18:14:37.995Z,1761502477.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548329,-0.809485,-0.209925],[0.836248,0.532267,0.131839],[0.005014,-0.247840,0.968788]]
2025-10-26T18:14:38.398Z,1761502478.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551361,-0.806848,-0.212125],[0.834240,0.535254,0.132463],[0.006663,-0.249998,0.968223]]
2025-10-26T18:14:38.833Z,1761502478.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553851,-0.804630,-0.214055],[0.832549,0.538453,0.130118],[0.010562,-0.250277,0.968117]]
2025-10-26T18:14:39.612Z,1761502479.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553009,-0.805589,-0.212621],[0.833083,0.538441,0.126706],[0.012411,-0.247200,0.968885]]
2025-10-26T18:14:40.014Z,1761502480.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550836,-0.807340,-0.211619],[0.834489,0.537148,0.122885],[0.014461,-0.244283,0.969596]]
2025-10-26T18:14:40.418Z,1761502480.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547910,-0.809266,-0.211855],[0.836385,0.534779,0.120297],[0.015943,-0.243104,0.969869]]
2025-10-26T18:14:40.838Z,1761502480.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542290,-0.812544,-0.213763],[0.839926,0.530677,0.113609],[0.021126,-0.241154,0.970257]]
2025-10-26T18:14:41.233Z,1761502481.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541338,-0.812772,-0.215299],[0.840459,0.530415,0.110849],[0.024103,-0.240957,0.970236]]
2025-10-26T18:14:41.634Z,1761502481.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542155,-0.811624,-0.217565],[0.839848,0.531690,0.109372],[0.026908,-0.242018,0.969898]]
2025-10-26T18:14:42.039Z,1761502482.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544990,-0.809018,-0.220173],[0.837936,0.534678,0.109471],[0.029157,-0.244151,0.969299]]
2025-10-26T18:14:42.442Z,1761502482.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549126,-0.805609,-0.222386],[0.835164,0.538835,0.110260],[0.031003,-0.246276,0.968704]]
2025-10-26T18:14:42.845Z,1761502482.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554121,-0.801541,-0.224685],[0.831801,0.543695,0.111820],[0.032532,-0.248854,0.967994]]
2025-10-26T18:14:43.246Z,1761502483.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559712,-0.797552,-0.225020],[0.828000,0.549296,0.112652],[0.033757,-0.249369,0.967820]]
2025-10-26T18:14:43.650Z,1761502483.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565372,-0.793216,-0.226193],[0.824108,0.554739,0.114502],[0.034653,-0.251143,0.967329]]
2025-10-26T18:14:44.054Z,1761502484.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570747,-0.789301,-0.226388],[0.820370,0.559950,0.115972],[0.035229,-0.251913,0.967109]]
2025-10-26T18:14:44.460Z,1761502484.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575189,-0.786328,-0.225491],[0.817265,0.564242,0.117085],[0.035165,-0.251632,0.967184]]
2025-10-26T18:14:44.863Z,1761502484.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577843,-0.784407,-0.225395],[0.815396,0.566711,0.118186],[0.035028,-0.252079,0.967072]]
2025-10-26T18:14:45.266Z,1761502485.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578609,-0.784111,-0.224458],[0.814868,0.567460,0.118236],[0.034661,-0.251316,0.967284]]
2025-10-26T18:14:45.670Z,1761502485.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577132,-0.785496,-0.223414],[0.815948,0.565985,0.117857],[0.033872,-0.250313,0.967572]]
2025-10-26T18:14:46.075Z,1761502486.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573950,-0.788306,-0.221710],[0.818228,0.562954,0.116558],[0.032929,-0.248308,0.968121]]
2025-10-26T18:14:46.479Z,1761502486.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569713,-0.792056,-0.219260],[0.821223,0.559018,0.114420],[0.031944,-0.245248,0.968934]]
2025-10-26T18:14:46.791Z,1761502486.791 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:14:46.881Z,1761502486.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564727,-0.796201,-0.217136],[0.824683,0.554421,0.111868],[0.031315,-0.242243,0.969710]]
2025-10-26T18:14:47.286Z,1761502487.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559028,-0.800877,-0.214671],[0.828561,0.549327,0.108287],[0.031200,-0.238403,0.970665]]
2025-10-26T18:14:47.691Z,1761502487.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552500,-0.806106,-0.211986],[0.832919,0.543556,0.103892],[0.031478,-0.233967,0.971735]]
2025-10-26T18:14:47.792Z,1761502487.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:14:48.095Z,1761502488.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545596,-0.811572,-0.208989],[0.837430,0.537546,0.098768],[0.032184,-0.228901,0.972917]]
2025-10-26T18:14:48.498Z,1761502488.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538382,-0.817261,-0.205498],[0.842034,0.531416,0.092609],[0.033520,-0.222895,0.974266]]
2025-10-26T18:14:48.902Z,1761502488.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531823,-0.822262,-0.202607],[0.846117,0.525918,0.086580],[0.035363,-0.217475,0.975425]]
2025-10-26T18:14:49.306Z,1761502489.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527835,-0.825311,-0.200628],[0.848531,0.522756,0.081982],[0.037219,-0.213512,0.976231]]
2025-10-26T18:14:49.712Z,1761502489.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526052,-0.826683,-0.199659],[0.849549,0.521624,0.078580],[0.039187,-0.210957,0.976710]]
2025-10-26T18:14:50.115Z,1761502490.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527079,-0.825743,-0.200840],[0.848834,0.522916,0.077715],[0.040850,-0.211442,0.976537]]
2025-10-26T18:14:50.518Z,1761502490.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530121,-0.823080,-0.203742],[0.846878,0.525876,0.079070],[0.042062,-0.214461,0.975826]]
2025-10-26T18:14:50.923Z,1761502490.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534319,-0.819744,-0.206211],[0.844188,0.529917,0.080837],[0.043009,-0.217273,0.975163]]
2025-10-26T18:14:51.328Z,1761502491.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539432,-0.815271,-0.210587],[0.840917,0.534447,0.084995],[0.043253,-0.222935,0.973873]]
2025-10-26T18:14:51.730Z,1761502491.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545053,-0.810338,-0.215104],[0.837282,0.539359,0.089724],[0.043311,-0.229007,0.972461]]
2025-10-26T18:14:52.135Z,1761502492.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550529,-0.805642,-0.218765],[0.833724,0.543994,0.094735],[0.042684,-0.234544,0.971168]]
2025-10-26T18:14:52.538Z,1761502492.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555420,-0.801118,-0.222975],[0.830524,0.547851,0.100445],[0.041689,-0.240976,0.969635]]
2025-10-26T18:14:52.943Z,1761502492.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559679,-0.796996,-0.227058],[0.827717,0.551024,0.106104],[0.040550,-0.247324,0.968084]]
2025-10-26T18:14:53.346Z,1761502493.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562843,-0.793526,-0.231355],[0.825616,0.553126,0.111398],[0.039572,-0.253710,0.966471]]
2025-10-26T18:14:53.750Z,1761502493.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564870,-0.791061,-0.234828],[0.824274,0.554252,0.115660],[0.038660,-0.258896,0.965131]]
2025-10-26T18:14:54.156Z,1761502494.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566187,-0.789806,-0.235879],[0.823420,0.554990,0.118178],[0.037573,-0.261138,0.964570]]
2025-10-26T18:14:54.560Z,1761502494.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566194,-0.789957,-0.235357],[0.823469,0.554692,0.119229],[0.036365,-0.261316,0.964568]]
2025-10-26T18:14:54.962Z,1761502494.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565252,-0.791056,-0.233925],[0.824179,0.553570,0.119541],[0.034930,-0.260367,0.964878]]
2025-10-26T18:14:55.365Z,1761502495.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564204,-0.792627,-0.231120],[0.824965,0.552491,0.119111],[0.033281,-0.257868,0.965607]]
2025-10-26T18:14:55.770Z,1761502495.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562959,-0.794533,-0.227585],[0.825882,0.551313,0.118204],[0.031553,-0.254502,0.966557]]
2025-10-26T18:14:56.176Z,1761502496.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561918,-0.795984,-0.225073],[0.826635,0.550342,0.117466],[0.030366,-0.252059,0.967235]]
2025-10-26T18:14:56.579Z,1761502496.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560966,-0.797581,-0.221770],[0.827292,0.549837,0.115182],[0.030070,-0.248082,0.968272]]
2025-10-26T18:14:56.982Z,1761502496.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560383,-0.798311,-0.220615],[0.827654,0.549726,0.113098],[0.030991,-0.245971,0.968782]]
2025-10-26T18:14:57.386Z,1761502497.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561809,-0.797325,-0.220555],[0.826621,0.551587,0.111579],[0.032691,-0.245002,0.968971]]
2025-10-26T18:14:57.790Z,1761502497.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565808,-0.794647,-0.219994],[0.823831,0.555869,0.110959],[0.034115,-0.244019,0.969170]]
2025-10-26T18:14:58.197Z,1761502498.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571601,-0.790261,-0.220815],[0.819768,0.561606,0.112152],[0.035382,-0.245124,0.968846]]
2025-10-26T18:14:58.598Z,1761502498.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578286,-0.785190,-0.221497],[0.815006,0.568231,0.113486],[0.036753,-0.246149,0.968535]]
2025-10-26T18:14:59.002Z,1761502499.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585581,-0.779570,-0.222182],[0.809755,0.575170,0.116083],[0.037298,-0.247889,0.968070]]
2025-10-26T18:14:59.406Z,1761502499.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593567,-0.773529,-0.222106],[0.803969,0.582359,0.120383],[0.036226,-0.250022,0.967562]]
2025-10-26T18:14:59.813Z,1761502499.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601517,-0.767996,-0.219906],[0.798203,0.588965,0.126461],[0.032395,-0.251598,0.967290]]
2025-10-26T18:15:00.215Z,1761502500.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608748,-0.763652,-0.215084],[0.792929,0.594596,0.133112],[0.026237,-0.251578,0.967481]]
2025-10-26T18:15:00.618Z,1761502500.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613739,-0.761715,-0.207640],[0.789285,0.598236,0.138361],[0.018826,-0.248805,0.968371]]
2025-10-26T18:15:01.023Z,1761502501.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615104,-0.762683,-0.199906],[0.788368,0.598516,0.142318],[0.011104,-0.245140,0.969424]]
2025-10-26T18:15:01.427Z,1761502501.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614150,-0.765393,-0.192335],[0.789182,0.596698,0.145408],[0.003472,-0.241089,0.970497]]
2025-10-26T18:15:01.831Z,1761502501.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611781,-0.768841,-0.186030],[0.791016,0.593351,0.149095],[-0.004250,-0.238366,0.971166]]
2025-10-26T18:15:02.235Z,1761502502.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608437,-0.773224,-0.178687],[0.793518,0.589486,0.151114],[-0.011512,-0.233734,0.972232]]
2025-10-26T18:15:02.638Z,1761502502.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603959,-0.778181,-0.172240],[0.796819,0.584754,0.152125],[-0.017663,-0.229122,0.973238]]
2025-10-26T18:15:03.043Z,1761502503.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598568,-0.783679,-0.166022],[0.800757,0.579533,0.151423],[-0.022452,-0.223580,0.974427]]
2025-10-26T18:15:03.448Z,1761502503.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592434,-0.789372,-0.160976],[0.805206,0.573791,0.149689],[-0.025794,-0.218299,0.975541]]
2025-10-26T18:15:03.850Z,1761502503.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585667,-0.794954,-0.158249],[0.810084,0.567432,0.147599],[-0.027539,-0.214639,0.976305]]
2025-10-26T18:15:04.254Z,1761502504.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578631,-0.800830,-0.154461],[0.815094,0.561212,0.143743],[-0.028428,-0.209074,0.977487]]
2025-10-26T18:15:04.659Z,1761502504.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571491,-0.806443,-0.151812],[0.820105,0.554805,0.140069],[-0.028732,-0.204550,0.978434]]
2025-10-26T18:15:05.065Z,1761502505.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565105,-0.811316,-0.149742],[0.824520,0.549072,0.136698],[-0.028687,-0.200714,0.979230]]
2025-10-26T18:15:05.492Z,1761502505.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560343,-0.814779,-0.148830],[0.827771,0.544723,0.134428],[-0.028458,-0.198523,0.979683]]
2025-10-26T18:15:05.870Z,1761502505.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558435,-0.815891,-0.149906],[0.829064,0.542749,0.134444],[-0.028330,-0.199360,0.979517]]
2025-10-26T18:15:06.274Z,1761502506.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559194,-0.815136,-0.151176],[0.828533,0.543132,0.136160],[-0.028881,-0.201394,0.979084]]
2025-10-26T18:15:06.678Z,1761502506.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561806,-0.812905,-0.153494],[0.826727,0.544975,0.139727],[-0.029934,-0.205397,0.978221]]
2025-10-26T18:15:07.082Z,1761502507.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565732,-0.809772,-0.155618],[0.823969,0.547828,0.144776],[-0.031984,-0.210128,0.977150]]
2025-10-26T18:15:07.486Z,1761502507.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569855,-0.806531,-0.157392],[0.821028,0.550816,0.150052],[-0.034327,-0.214731,0.976070]]
2025-10-26T18:15:07.893Z,1761502507.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573626,-0.803645,-0.158454],[0.818285,0.553501,0.155070],[-0.036917,-0.218613,0.975113]]
2025-10-26T18:15:08.294Z,1761502508.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576793,-0.801474,-0.157952],[0.815908,0.555748,0.159493],[-0.040048,-0.220868,0.974481]]
2025-10-26T18:15:08.698Z,1761502508.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579339,-0.799589,-0.158187],[0.813936,0.557214,0.164380],[-0.043292,-0.223986,0.973630]]
2025-10-26T18:15:09.103Z,1761502509.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581344,-0.798185,-0.157923],[0.812329,0.558268,0.168697],[-0.046488,-0.226356,0.972935]]
2025-10-26T18:15:09.507Z,1761502509.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581967,-0.797796,-0.157596],[0.811710,0.558107,0.172170],[-0.049402,-0.228120,0.972379]]
2025-10-26T18:15:09.910Z,1761502509.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581926,-0.797739,-0.158033],[0.811598,0.557331,0.175186],[-0.051676,-0.230205,0.971769]]
2025-10-26T18:15:10.314Z,1761502510.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581567,-0.798241,-0.156813],[0.811742,0.556765,0.176318],[-0.053436,-0.229833,0.971762]]
2025-10-26T18:15:11.123Z,1761502511.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582776,-0.797952,-0.153769],[0.810798,0.558246,0.175979],[-0.054581,-0.227232,0.972310]]
2025-10-26T18:15:11.528Z,1761502511.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585363,-0.796429,-0.151824],[0.808917,0.561034,0.175768],[-0.054808,-0.225701,0.972654]]
2025-10-26T18:15:11.930Z,1761502511.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589395,-0.793826,-0.149848],[0.805955,0.565132,0.176247],[-0.055225,-0.224650,0.972873]]
2025-10-26T18:15:12.333Z,1761502512.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594463,-0.790625,-0.146713],[0.802135,0.570222,0.177273],[-0.056497,-0.223066,0.973165]]
2025-10-26T18:15:12.738Z,1761502512.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600075,-0.786793,-0.144457],[0.797766,0.575284,0.180607],[-0.058997,-0.223620,0.972889]]
2025-10-26T18:15:13.142Z,1761502513.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605112,-0.783590,-0.140802],[0.793651,0.579737,0.184456],[-0.062910,-0.223364,0.972703]]
2025-10-26T18:15:13.546Z,1761502513.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608695,-0.781305,-0.138032],[0.790500,0.582347,0.189689],[-0.067823,-0.224577,0.972093]]
2025-10-26T18:15:13.950Z,1761502513.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609731,-0.780881,-0.135840],[0.789240,0.582373,0.194787],[-0.072996,-0.225978,0.971393]]
2025-10-26T18:15:14.358Z,1761502514.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608534,-0.782324,-0.132870],[0.789643,0.580458,0.198827],[-0.078421,-0.225913,0.970986]]
2025-10-26T18:15:14.771Z,1761502514.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604805,-0.785814,-0.129256],[0.791996,0.576509,0.200947],[-0.083390,-0.223904,0.971037]]
2025-10-26T18:15:14.845Z,1761502514.845 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-26T18:15:14.845Z,1761502514.845 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-26T18:15:14.845Z,1761502514.845 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-26T18:15:15.116Z,1761502515.116 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-26T18:15:15.163Z,1761502515.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599366,-0.790606,-0.125307],[0.795722,0.571429,0.200738],[-0.087101,-0.220025,0.971598]]
2025-10-26T18:15:15.240Z,1761502515.240 [RDI_Pathfinder](INFO): Powering down
2025-10-26T18:15:15.566Z,1761502515.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592783,-0.795739,-0.124127],[0.800469,0.565178,0.199558],[-0.088643,-0.217654,0.971992]]
2025-10-26T18:15:15.971Z,1761502515.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585339,-0.801257,-0.123959],[0.806040,0.558547,0.195768],[-0.087624,-0.214506,0.972784]]
2025-10-26T18:15:16.195Z,1761502516.195 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-26T18:15:16.195Z,1761502516.195 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-26T18:15:16.375Z,1761502516.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577325,-0.806966,-0.124509],[0.812157,0.551794,0.189538],[-0.084248,-0.210546,0.973947]]
2025-10-26T18:15:16.378Z,1761502516.378 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-26T18:15:16.778Z,1761502516.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569227,-0.812599,-0.125155],[0.818312,0.545197,0.182002],[-0.079660,-0.206016,0.975301]]
2025-10-26T18:15:17.182Z,1761502517.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561432,-0.817616,-0.127666],[0.824142,0.538514,0.175475],[-0.074721,-0.203732,0.976171]]
2025-10-26T18:15:17.588Z,1761502517.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555536,-0.821476,-0.128674],[0.828552,0.533902,0.168669],[-0.069858,-0.200315,0.977238]]
2025-10-26T18:15:17.916Z,1761502517.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:15:17.990Z,1761502517.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553017,-0.822941,-0.130154],[0.830521,0.532044,0.164816],[-0.066386,-0.199242,0.977699]]
2025-10-26T18:15:18.394Z,1761502518.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552592,-0.823027,-0.131408],[0.830966,0.531886,0.163070],[-0.064317,-0.199306,0.977824]]
2025-10-26T18:15:18.798Z,1761502518.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552411,-0.823037,-0.132108],[0.831216,0.531980,0.161484],[-0.062629,-0.199016,0.977993]]
2025-10-26T18:15:18.920Z,1761502518.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:15:19.203Z,1761502519.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551793,-0.823332,-0.132850],[0.831741,0.531614,0.159982],[-0.061093,-0.198774,0.978139]]
2025-10-26T18:15:19.606Z,1761502519.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549726,-0.824493,-0.134209],[0.833244,0.529834,0.158050],[-0.059203,-0.198714,0.978268]]
2025-10-26T18:15:20.010Z,1761502520.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546253,-0.826647,-0.135137],[0.835701,0.526948,0.154689],[-0.056663,-0.197433,0.978677]]
2025-10-26T18:15:20.414Z,1761502520.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542095,-0.828991,-0.137503],[0.838606,0.523263,0.151447],[-0.053598,-0.197409,0.978855]]
2025-10-26T18:15:21.222Z,1761502521.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533825,-0.833231,-0.144072],[0.844345,0.515983,0.144371],[-0.045956,-0.198715,0.978979]]
2025-10-26T18:15:21.628Z,1761502521.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531406,-0.833595,-0.150754],[0.846080,0.513476,0.143149],[-0.041920,-0.203620,0.978152]]
2025-10-26T18:15:22.030Z,1761502522.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530581,-0.832867,-0.157535],[0.846778,0.512457,0.142671],[-0.038096,-0.209095,0.977153]]
2025-10-26T18:15:22.435Z,1761502522.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531270,-0.831221,-0.163780],[0.846485,0.512853,0.142985],[-0.034857,-0.214601,0.976080]]
2025-10-26T18:15:22.838Z,1761502522.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532874,-0.828781,-0.170783],[0.845593,0.513929,0.144394],[-0.031901,-0.221357,0.974671]]
2025-10-26T18:15:23.244Z,1761502523.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534444,-0.826828,-0.175286],[0.844684,0.515230,0.145078],[-0.029642,-0.225597,0.973770]]
2025-10-26T18:15:23.646Z,1761502523.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536629,-0.824498,-0.179532],[0.843372,0.517144,0.145896],[-0.027447,-0.229705,0.972873]]
2025-10-26T18:15:24.051Z,1761502524.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539431,-0.821931,-0.182877],[0.841648,0.519771,0.146519],[-0.025374,-0.232955,0.972156]]
2025-10-26T18:15:24.456Z,1761502524.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542700,-0.818931,-0.186624],[0.839605,0.522780,0.147526],[-0.023250,-0.236752,0.971292]]
2025-10-26T18:15:24.859Z,1761502524.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546230,-0.815566,-0.191012],[0.837382,0.526066,0.148481],[-0.020612,-0.241055,0.970293]]
2025-10-26T18:15:25.265Z,1761502525.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550241,-0.811812,-0.195436],[0.834824,0.529959,0.149038],[-0.017417,-0.245162,0.969326]]
2025-10-26T18:15:25.665Z,1761502525.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555162,-0.807534,-0.199208],[0.831621,0.534843,0.149497],[-0.014178,-0.248661,0.968487]]
2025-10-26T18:15:26.070Z,1761502526.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560591,-0.802996,-0.202326],[0.828020,0.540319,0.149793],[-0.010962,-0.251503,0.967794]]
2025-10-26T18:15:26.481Z,1761502526.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571405,-0.794477,-0.205675],[0.820641,0.551106,0.151098],[-0.006695,-0.255124,0.966885]]
2025-10-26T18:15:26.886Z,1761502526.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575463,-0.791291,-0.206641],[0.817807,0.554950,0.152388],[-0.005908,-0.256686,0.966477]]
2025-10-26T18:15:27.286Z,1761502527.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577718,-0.789787,-0.206100],[0.816213,0.557099,0.153089],[-0.006089,-0.256664,0.966482]]
2025-10-26T18:15:27.690Z,1761502527.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578151,-0.789647,-0.205423],[0.815898,0.557280,0.154108],[-0.007213,-0.256702,0.966464]]
2025-10-26T18:15:28.093Z,1761502528.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577096,-0.790452,-0.205294],[0.816622,0.555620,0.156251],[-0.009444,-0.257819,0.966147]]
2025-10-26T18:15:28.498Z,1761502528.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574509,-0.792377,-0.205128],[0.818408,0.552409,0.158279],[-0.012102,-0.258811,0.965852]]
2025-10-26T18:15:29.302Z,1761502529.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565348,-0.798587,-0.206495],[0.824709,0.542577,0.159577],[-0.015397,-0.260515,0.965347]]
2025-10-26T18:15:29.706Z,1761502529.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559052,-0.802650,-0.207878],[0.829012,0.536845,0.156643],[-0.014131,-0.259905,0.965531]]
2025-10-26T18:15:30.112Z,1761502530.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552200,-0.806747,-0.210323],[0.833649,0.531202,0.151172],[-0.010233,-0.258812,0.965873]]
2025-10-26T18:15:30.919Z,1761502530.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538704,-0.815320,-0.212253],[0.842486,0.522534,0.131057],[0.004056,-0.249421,0.968387]]
2025-10-26T18:15:31.323Z,1761502531.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533792,-0.818437,-0.212665],[0.845525,0.520277,0.120001],[0.012431,-0.243869,0.969728]]
2025-10-26T18:15:31.727Z,1761502531.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531518,-0.819931,-0.212607],[0.846813,0.520263,0.110611],[0.019918,-0.238830,0.970857]]
2025-10-26T18:15:32.131Z,1761502532.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534026,-0.818205,-0.212974],[0.845100,0.524017,0.105891],[0.024961,-0.236533,0.971303]]
2025-10-26T18:15:32.535Z,1761502532.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539599,-0.814282,-0.213956],[0.841467,0.529954,0.105271],[0.027666,-0.236841,0.971155]]
2025-10-26T18:15:32.938Z,1761502532.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545581,-0.809604,-0.216525],[0.837564,0.535618,0.107703],[0.028778,-0.240114,0.970318]]
2025-10-26T18:15:33.342Z,1761502533.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550783,-0.804850,-0.221032],[0.834135,0.540079,0.111953],[0.029270,-0.246032,0.968820]]
2025-10-26T18:15:33.749Z,1761502533.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555835,-0.800030,-0.225831],[0.830775,0.544183,0.116951],[0.029329,-0.252620,0.967121]]
2025-10-26T18:15:34.150Z,1761502534.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560299,-0.795706,-0.230039],[0.827765,0.547806,0.121298],[0.029499,-0.258382,0.965592]]
2025-10-26T18:15:34.553Z,1761502534.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563803,-0.791969,-0.234332],[0.825354,0.550673,0.124699],[0.030282,-0.263712,0.964126]]
2025-10-26T18:15:35.360Z,1761502535.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567975,-0.786608,-0.242182],[0.822383,0.554198,0.128646],[0.033023,-0.272234,0.961664]]
2025-10-26T18:15:35.762Z,1761502535.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568386,-0.785563,-0.244598],[0.822053,0.554555,0.129216],[0.034136,-0.274518,0.960976]]
2025-10-26T18:15:36.166Z,1761502536.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567917,-0.785922,-0.244534],[0.822353,0.554325,0.128292],[0.034723,-0.273953,0.961116]]
2025-10-26T18:15:36.571Z,1761502536.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566185,-0.787323,-0.244044],[0.823523,0.552977,0.126596],[0.035279,-0.272653,0.961465]]
2025-10-26T18:15:36.976Z,1761502536.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563595,-0.789434,-0.243218],[0.825261,0.550975,0.123980],[0.036133,-0.270592,0.962016]]
2025-10-26T18:15:37.378Z,1761502537.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559889,-0.792227,-0.242693],[0.827711,0.548092,0.120370],[0.037658,-0.268274,0.962606]]
2025-10-26T18:15:37.782Z,1761502537.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556477,-0.794679,-0.242524],[0.829929,0.545481,0.116913],[0.039384,-0.266337,0.963075]]
2025-10-26T18:15:38.186Z,1761502538.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554453,-0.796047,-0.242674],[0.831190,0.544175,0.114006],[0.041303,-0.264919,0.963386]]
2025-10-26T18:15:38.592Z,1761502538.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553868,-0.796459,-0.242659],[0.831453,0.544410,0.110920],[0.043763,-0.263195,0.963750]]
2025-10-26T18:15:38.996Z,1761502538.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554672,-0.795814,-0.242939],[0.830760,0.546039,0.108069],[0.046651,-0.261767,0.964003]]
2025-10-26T18:15:39.398Z,1761502539.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557137,-0.794324,-0.242172],[0.828941,0.549373,0.105103],[0.049557,-0.259303,0.964524]]
2025-10-26T18:15:39.802Z,1761502539.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561350,-0.791830,-0.240607],[0.825902,0.554509,0.102007],[0.052646,-0.255979,0.965248]]
2025-10-26T18:15:40.206Z,1761502540.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567192,-0.787786,-0.240180],[0.821712,0.560964,0.100543],[0.055526,-0.254386,0.965507]]
2025-10-26T18:15:41.015Z,1761502541.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582645,-0.776570,-0.239717],[0.810566,0.576740,0.101755],[0.059235,-0.253593,0.965496]]
2025-10-26T18:15:41.419Z,1761502541.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591424,-0.769976,-0.239486],[0.804130,0.585253,0.104186],[0.059940,-0.254196,0.965294]]
2025-10-26T18:15:41.825Z,1761502541.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600039,-0.763064,-0.240180],[0.797731,0.593203,0.108324],[0.059817,-0.256598,0.964665]]
2025-10-26T18:15:42.228Z,1761502542.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607932,-0.756695,-0.240480],[0.791802,0.600246,0.112935],[0.058889,-0.259069,0.964062]]
2025-10-26T18:15:42.630Z,1761502542.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613881,-0.751964,-0.240210],[0.787370,0.605070,0.118063],[0.056564,-0.261611,0.963515]]
2025-10-26T18:15:43.035Z,1761502543.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617014,-0.749463,-0.239997],[0.785162,0.606843,0.123539],[0.053052,-0.264662,0.962881]]
2025-10-26T18:15:43.438Z,1761502543.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616919,-0.750723,-0.236277],[0.785506,0.605976,0.125589],[0.048896,-0.263075,0.963535]]
2025-10-26T18:15:43.843Z,1761502543.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614275,-0.754470,-0.231175],[0.787870,0.602713,0.126485],[0.043903,-0.259833,0.964655]]
2025-10-26T18:15:44.246Z,1761502544.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609821,-0.760512,-0.223024],[0.791615,0.598082,0.125074],[0.038267,-0.252822,0.966756]]
2025-10-26T18:15:44.650Z,1761502544.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604148,-0.767489,-0.214395],[0.796209,0.592359,0.123135],[0.032494,-0.245095,0.968954]]
2025-10-26T18:15:45.055Z,1761502545.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597591,-0.775029,-0.205465],[0.801342,0.585978,0.120337],[0.027133,-0.236560,0.971238]]
2025-10-26T18:15:45.460Z,1761502545.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590399,-0.782791,-0.196641],[0.806786,0.579292,0.116259],[0.022906,-0.227286,0.973558]]
2025-10-26T18:15:45.862Z,1761502545.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582557,-0.790612,-0.188574],[0.812541,0.572223,0.111073],[0.020091,-0.217930,0.975758]]
2025-10-26T18:15:46.266Z,1761502546.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574420,-0.798133,-0.181728],[0.818332,0.565182,0.104415],[0.019372,-0.208692,0.977790]]
2025-10-26T18:15:46.670Z,1761502546.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566369,-0.804758,-0.177736],[0.823894,0.558257,0.097710],[0.020590,-0.201776,0.979215]]
2025-10-26T18:15:47.074Z,1761502547.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559901,-0.809897,-0.174863],[0.828254,0.552820,0.091576],[0.022500,-0.196104,0.980325]]
2025-10-26T18:15:47.478Z,1761502547.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558071,-0.811429,-0.173610],[0.829458,0.551449,0.088904],[0.023597,-0.193617,0.980793]]
2025-10-26T18:15:47.882Z,1761502547.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560238,-0.809523,-0.175519],[0.827995,0.553336,0.090793],[0.023622,-0.196194,0.980280]]
2025-10-26T18:15:48.287Z,1761502548.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564370,-0.805958,-0.178655],[0.825201,0.556813,0.094878],[0.023010,-0.200973,0.979327]]
2025-10-26T18:15:48.692Z,1761502548.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569998,-0.801191,-0.182194],[0.821363,0.561440,0.100740],[0.021579,-0.207069,0.978088]]
2025-10-26T18:15:49.040Z,1761502549.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:15:49.094Z,1761502549.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576470,-0.795607,-0.186259],[0.816894,0.566487,0.108522],[0.019172,-0.214713,0.976489]]
2025-10-26T18:15:49.498Z,1761502549.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583223,-0.789815,-0.189850],[0.812166,0.571404,0.117832],[0.015416,-0.222912,0.974717]]
2025-10-26T18:15:49.902Z,1761502549.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588661,-0.785148,-0.192406],[0.808302,0.574986,0.126643],[0.011197,-0.230072,0.973109]]
2025-10-26T18:15:50.044Z,1761502550.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:15:50.307Z,1761502550.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590906,-0.783006,-0.194246],[0.806703,0.575798,0.132990],[0.007715,-0.235283,0.971896]]
2025-10-26T18:15:50.710Z,1761502550.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590778,-0.783226,-0.193749],[0.806820,0.574879,0.136218],[0.004693,-0.236796,0.971548]]
2025-10-26T18:15:51.114Z,1761502551.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589158,-0.784685,-0.192778],[0.808014,0.572877,0.137569],[0.002489,-0.236817,0.971551]]
2025-10-26T18:15:51.518Z,1761502551.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586845,-0.786731,-0.191487],[0.809698,0.570566,0.137269],[0.001262,-0.235602,0.971849]]
2025-10-26T18:15:51.924Z,1761502551.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584696,-0.788287,-0.191662],[0.811252,0.568536,0.136520],[0.001349,-0.235309,0.971920]]
2025-10-26T18:15:52.326Z,1761502552.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583203,-0.789329,-0.191924],[0.812324,0.567338,0.135125],[0.002228,-0.234709,0.972063]]
2025-10-26T18:15:52.730Z,1761502552.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584925,-0.787798,-0.192969],[0.811082,0.568959,0.135761],[0.002839,-0.235923,0.971767]]
2025-10-26T18:15:53.134Z,1761502553.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588851,-0.784457,-0.194633],[0.808235,0.572473,0.137954],[0.003203,-0.238543,0.971127]]
2025-10-26T18:15:53.540Z,1761502553.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593747,-0.780600,-0.195263],[0.804642,0.577151,0.139454],[0.003838,-0.239917,0.970786]]
2025-10-26T18:15:53.942Z,1761502553.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599012,-0.776439,-0.195772],[0.800730,0.582087,0.141446],[0.004132,-0.241489,0.970395]]
2025-10-26T18:15:54.346Z,1761502554.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604834,-0.771736,-0.196467],[0.796343,0.587279,0.144712],[0.003701,-0.243983,0.969773]]
2025-10-26T18:15:54.750Z,1761502554.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611073,-0.766972,-0.195817],[0.791572,0.592687,0.148783],[0.001946,-0.245920,0.969288]]
2025-10-26T18:15:55.156Z,1761502555.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617400,-0.762037,-0.195234],[0.786648,0.597618,0.155042],[-0.001473,-0.249304,0.968424]]
2025-10-26T18:15:55.558Z,1761502555.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623275,-0.758259,-0.191235],[0.781974,0.602232,0.160729],[-0.006707,-0.249719,0.968295]]
2025-10-26T18:15:55.962Z,1761502555.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627570,-0.756355,-0.184615],[0.778444,0.605492,0.165543],[-0.013426,-0.247602,0.968769]]
2025-10-26T18:15:56.366Z,1761502556.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626833,-0.758453,-0.178409],[0.778923,0.604418,0.167207],[-0.018985,-0.243778,0.969645]]
2025-10-26T18:15:56.771Z,1761502556.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623059,-0.762912,-0.172519],[0.781807,0.600660,0.167290],[-0.024002,-0.239108,0.970696]]
2025-10-26T18:15:57.174Z,1761502557.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618241,-0.768083,-0.166813],[0.785425,0.595688,0.168116],[-0.029758,-0.234955,0.971551]]
2025-10-26T18:15:57.591Z,1761502557.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613025,-0.773462,-0.161112],[0.789262,0.590350,0.168972],[-0.035581,-0.230744,0.972364]]
2025-10-26T18:15:57.995Z,1761502557.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607180,-0.778974,-0.156626],[0.793514,0.584352,0.169905],[-0.040827,-0.227448,0.972934]]
2025-10-26T18:15:58.398Z,1761502558.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600690,-0.784855,-0.152229],[0.798245,0.578200,0.168791],[-0.044458,-0.222907,0.973825]]
2025-10-26T18:15:58.804Z,1761502558.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593689,-0.790671,-0.149577],[0.803382,0.571776,0.166284],[-0.045952,-0.218888,0.974667]]
2025-10-26T18:15:59.206Z,1761502559.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586508,-0.796196,-0.148595],[0.808701,0.565514,0.161852],[-0.044833,-0.215097,0.975563]]
2025-10-26T18:15:59.610Z,1761502559.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579344,-0.801521,-0.148074],[0.814033,0.559752,0.155006],[-0.041356,-0.210339,0.976753]]
2025-10-26T18:16:00.015Z,1761502560.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572540,-0.806278,-0.148703],[0.819095,0.554593,0.146661],[-0.035780,-0.205772,0.977946]]
2025-10-26T18:16:00.419Z,1761502560.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566959,-0.809905,-0.150372],[0.823244,0.550724,0.137738],[-0.028741,-0.201885,0.978987]]
2025-10-26T18:16:00.826Z,1761502560.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564822,-0.810907,-0.152991],[0.824926,0.549955,0.130559],[-0.021733,-0.199949,0.979565]]
2025-10-26T18:16:01.226Z,1761502561.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569095,-0.806834,-0.158588],[0.822102,0.554369,0.129705],[-0.016734,-0.204191,0.978788]]
2025-10-26T18:16:01.631Z,1761502561.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576394,-0.800541,-0.164022],[0.817060,0.561277,0.131835],[-0.013478,-0.210005,0.977607]]
2025-10-26T18:16:02.038Z,1761502562.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584115,-0.793583,-0.170399],[0.811598,0.568234,0.135717],[-0.010876,-0.217570,0.975984]]
2025-10-26T18:16:02.438Z,1761502562.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591994,-0.786459,-0.176143],[0.805893,0.575220,0.140211],[-0.008949,-0.224956,0.974328]]
2025-10-26T18:16:02.882Z,1761502562.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600010,-0.779089,-0.181681],[0.799950,0.581956,0.146313],[-0.008261,-0.233125,0.972412]]
2025-10-26T18:16:03.247Z,1761502563.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607883,-0.772126,-0.185202],[0.793975,0.588401,0.152935],[-0.009112,-0.240012,0.970727]]
2025-10-26T18:16:03.652Z,1761502563.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615313,-0.765775,-0.187023],[0.788200,0.594252,0.160013],[-0.011395,-0.245870,0.969236]]
2025-10-26T18:16:04.054Z,1761502564.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621948,-0.760141,-0.188059],[0.782912,0.598989,0.168109],[-0.015142,-0.251788,0.967664]]
2025-10-26T18:16:04.458Z,1761502564.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626619,-0.756841,-0.185849],[0.779059,0.602096,0.174779],[-0.020381,-0.254308,0.966909]]
2025-10-26T18:16:04.899Z,1761502564.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626203,-0.758135,-0.181936],[0.779250,0.601030,0.177572],[-0.025275,-0.252970,0.967144]]
2025-10-26T18:16:05.268Z,1761502565.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620642,-0.764098,-0.175945],[0.783553,0.596068,0.175348],[-0.029108,-0.246691,0.968657]]
2025-10-26T18:16:05.670Z,1761502565.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613349,-0.771616,-0.168555],[0.789117,0.589743,0.171750],[-0.033121,-0.238352,0.970614]]
2025-10-26T18:16:06.074Z,1761502566.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605651,-0.779330,-0.160721],[0.794877,0.583181,0.167541],[-0.036840,-0.229225,0.972676]]
2025-10-26T18:16:06.478Z,1761502566.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597760,-0.787046,-0.152454],[0.800705,0.576787,0.161829],[-0.039433,-0.218806,0.974971]]
2025-10-26T18:16:06.903Z,1761502566.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589572,-0.794432,-0.145885],[0.806711,0.570148,0.155400],[-0.040279,-0.209307,0.977020]]
2025-10-26T18:16:07.288Z,1761502567.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581118,-0.801688,-0.139993],[0.812874,0.563506,0.147298],[-0.039201,-0.199394,0.979135]]
2025-10-26T18:16:07.690Z,1761502567.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572113,-0.808610,-0.137250],[0.819373,0.556092,0.139248],[-0.036274,-0.192125,0.980700]]
2025-10-26T18:16:08.094Z,1761502568.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562606,-0.815711,-0.134501],[0.826129,0.548531,0.128939],[-0.031399,-0.183657,0.982489]]
2025-10-26T18:16:08.499Z,1761502568.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553871,-0.821814,-0.133598],[0.832179,0.541301,0.120294],[-0.026542,-0.177804,0.983708]]
2025-10-26T18:16:08.911Z,1761502568.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550209,-0.824239,-0.133791],[0.834693,0.538355,0.116020],[-0.023601,-0.175510,0.984195]]
2025-10-26T18:16:09.306Z,1761502569.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549067,-0.824401,-0.137435],[0.835506,0.537217,0.115448],[-0.021343,-0.178216,0.983760]]
2025-10-26T18:16:09.710Z,1761502569.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549452,-0.822905,-0.144673],[0.835311,0.537093,0.117419],[-0.018921,-0.185363,0.982488]]
2025-10-26T18:16:10.114Z,1761502570.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550314,-0.820663,-0.153838],[0.834802,0.537234,0.120355],[-0.016124,-0.194658,0.980739]]
2025-10-26T18:16:10.547Z,1761502570.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553282,-0.814169,-0.176092],[0.832950,0.538583,0.126971],[-0.008536,-0.216926,0.976151]]
2025-10-26T18:16:11.332Z,1761502571.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560114,-0.805289,-0.194377],[0.828415,0.544623,0.130821],[0.000514,-0.234299,0.972164]]
2025-10-26T18:16:11.735Z,1761502571.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565279,-0.800034,-0.201013],[0.824888,0.549548,0.132501],[0.004461,-0.240713,0.970586]]
2025-10-26T18:16:12.141Z,1761502572.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571153,-0.794875,-0.204835],[0.820811,0.555274,0.133937],[0.007277,-0.244629,0.969589]]
2025-10-26T18:16:12.542Z,1761502572.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577135,-0.790084,-0.206595],[0.816604,0.560983,0.135854],[0.008560,-0.247113,0.968949]]
2025-10-26T18:16:12.943Z,1761502572.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583052,-0.785461,-0.207610],[0.812396,0.566182,0.139468],[0.007999,-0.249978,0.968218]]
2025-10-26T18:16:13.346Z,1761502573.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588068,-0.781930,-0.206789],[0.808789,0.570406,0.143169],[0.006005,-0.251442,0.967854]]
2025-10-26T18:16:13.752Z,1761502573.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591404,-0.779706,-0.205669],[0.806368,0.572960,0.146585],[0.003546,-0.252536,0.967581]]
2025-10-26T18:16:14.155Z,1761502574.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592692,-0.779100,-0.204252],[0.805428,0.573768,0.148583],[0.001432,-0.252574,0.967577]]
2025-10-26T18:16:14.558Z,1761502574.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591779,-0.780432,-0.201801],[0.806100,0.572931,0.148163],[-0.000014,-0.250351,0.968155]]
2025-10-26T18:16:14.963Z,1761502574.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588786,-0.783651,-0.198043],[0.808289,0.570747,0.144628],[-0.000306,-0.245231,0.969465]]
2025-10-26T18:16:15.368Z,1761502575.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584173,-0.787821,-0.195139],[0.811629,0.567328,0.139275],[0.000984,-0.239741,0.970836]]
2025-10-26T18:16:15.770Z,1761502575.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578344,-0.792731,-0.192600],[0.815785,0.563059,0.132135],[0.003697,-0.233540,0.972340]]
2025-10-26T18:16:16.174Z,1761502576.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572098,-0.797971,-0.189596],[0.820153,0.558653,0.123517],[0.007356,-0.226161,0.974062]]
2025-10-26T18:16:16.578Z,1761502576.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566230,-0.802836,-0.186648],[0.824174,0.554495,0.115211],[0.011000,-0.219066,0.975648]]
2025-10-26T18:16:16.983Z,1761502576.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561257,-0.806647,-0.185235],[0.827520,0.550775,0.108893],[0.014184,-0.214403,0.976642]]
2025-10-26T18:16:17.388Z,1761502577.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557040,-0.809624,-0.184975],[0.830313,0.547483,0.104131],[0.016964,-0.211592,0.977211]]
2025-10-26T18:16:17.790Z,1761502577.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553253,-0.811811,-0.186745],[0.832799,0.544114,0.101907],[0.018882,-0.211902,0.977109]]
2025-10-26T18:16:18.194Z,1761502578.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549403,-0.813954,-0.188773],[0.835310,0.540540,0.100367],[0.020345,-0.212825,0.976878]]
2025-10-26T18:16:18.598Z,1761502578.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545382,-0.815983,-0.191653],[0.837918,0.536559,0.099988],[0.021245,-0.215121,0.976356]]
2025-10-26T18:16:19.005Z,1761502579.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541399,-0.817200,-0.197665],[0.840476,0.532211,0.101739],[0.022059,-0.221214,0.974976]]
2025-10-26T18:16:19.406Z,1761502579.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537569,-0.818586,-0.202326],[0.842900,0.528270,0.102227],[0.023201,-0.225495,0.973968]]
2025-10-26T18:16:19.810Z,1761502579.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534756,-0.819123,-0.207539],[0.844652,0.525272,0.103212],[0.024471,-0.230491,0.972767]]
2025-10-26T18:16:20.172Z,1761502580.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:16:20.215Z,1761502580.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532499,-0.819799,-0.210652],[0.846017,0.523267,0.102206],[0.026439,-0.232639,0.972204]]
2025-10-26T18:16:20.620Z,1761502580.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531110,-0.820332,-0.212080],[0.846799,0.522531,0.099463],[0.029226,-0.232415,0.972177]]
2025-10-26T18:16:21.022Z,1761502581.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531220,-0.820111,-0.212660],[0.846592,0.523592,0.095566],[0.032973,-0.230803,0.972442]]
2025-10-26T18:16:21.176Z,1761502581.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:16:21.427Z,1761502581.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533861,-0.818155,-0.213575],[0.844753,0.527168,0.092123],[0.037219,-0.229598,0.972574]]
2025-10-26T18:16:21.830Z,1761502581.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539052,-0.814103,-0.216007],[0.841256,0.532990,0.090608],[0.041365,-0.230559,0.972179]]
2025-10-26T18:16:22.235Z,1761502582.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545856,-0.808704,-0.219177],[0.836668,0.540144,0.090719],[0.045022,-0.232898,0.971458]]
2025-10-26T18:16:22.640Z,1761502582.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553286,-0.802916,-0.221811],[0.831598,0.547811,0.091363],[0.048154,-0.235008,0.970800]]
2025-10-26T18:16:23.043Z,1761502583.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560579,-0.796696,-0.225891],[0.826558,0.554957,0.093936],[0.050522,-0.239371,0.969613]]
2025-10-26T18:16:23.447Z,1761502583.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567790,-0.790509,-0.229588],[0.821541,0.561736,0.097591],[0.051821,-0.244027,0.968383]]
2025-10-26T18:16:23.850Z,1761502583.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574386,-0.784624,-0.233337],[0.816947,0.567478,0.102796],[0.051757,-0.249668,0.966947]]
2025-10-26T18:16:24.256Z,1761502584.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579861,-0.779937,-0.235499],[0.813119,0.572106,0.107385],[0.050977,-0.253757,0.965924]]
2025-10-26T18:16:24.658Z,1761502584.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582483,-0.777875,-0.235846],[0.811270,0.574391,0.109166],[0.050550,-0.254922,0.965639]]
2025-10-26T18:16:25.062Z,1761502585.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583031,-0.776951,-0.237532],[0.810866,0.574714,0.110453],[0.050696,-0.257005,0.965080]]
2025-10-26T18:16:25.468Z,1761502585.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581714,-0.778136,-0.236882],[0.811793,0.573662,0.109101],[0.050995,-0.255765,0.965393]]
2025-10-26T18:16:25.871Z,1761502585.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580136,-0.779721,-0.235537],[0.812900,0.572476,0.107078],[0.051349,-0.253588,0.965949]]
2025-10-26T18:16:26.274Z,1761502586.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578201,-0.781965,-0.232839],[0.814286,0.570971,0.104547],[0.051193,-0.250047,0.966879]]
2025-10-26T18:16:26.678Z,1761502586.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576135,-0.784501,-0.229403],[0.815762,0.569410,0.101506],[0.050993,-0.245620,0.968024]]
2025-10-26T18:16:27.082Z,1761502587.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573513,-0.787315,-0.226315],[0.817638,0.567180,0.098874],[0.050517,-0.241749,0.969023]]
2025-10-26T18:16:27.488Z,1761502587.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570216,-0.790886,-0.222156],[0.820026,0.564155,0.096368],[0.049114,-0.237124,0.970237]]
2025-10-26T18:16:27.890Z,1761502587.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566266,-0.794620,-0.218913],[0.822858,0.560301,0.094695],[0.047411,-0.233756,0.971139]]
2025-10-26T18:16:28.294Z,1761502588.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561810,-0.798599,-0.215892],[0.826020,0.555847,0.093413],[0.045403,-0.230811,0.971939]]
2025-10-26T18:16:28.698Z,1761502588.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556826,-0.802765,-0.213337],[0.829478,0.550919,0.091953],[0.043715,-0.228160,0.972642]]
2025-10-26T18:16:29.102Z,1761502589.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551345,-0.807177,-0.210912],[0.833225,0.545458,0.090622],[0.041895,-0.225701,0.973295]]
2025-10-26T18:16:29.507Z,1761502589.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546194,-0.810881,-0.210103],[0.836690,0.540183,0.090294],[0.040277,-0.225109,0.973501]]
2025-10-26T18:16:29.910Z,1761502589.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541681,-0.814015,-0.209668],[0.839680,0.535559,0.090074],[0.038968,-0.224846,0.973615]]
2025-10-26T18:16:30.314Z,1761502590.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538222,-0.816216,-0.210021],[0.841937,0.531999,0.090101],[0.038190,-0.225319,0.973536]]
2025-10-26T18:16:30.725Z,1761502590.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536011,-0.817639,-0.210141],[0.843361,0.529785,0.089836],[0.037876,-0.225378,0.973535]]
2025-10-26T18:16:31.124Z,1761502591.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535039,-0.818238,-0.210283],[0.843951,0.528996,0.088936],[0.038468,-0.225053,0.973587]]
2025-10-26T18:16:31.526Z,1761502591.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536054,-0.817341,-0.211186],[0.843261,0.530137,0.088695],[0.039464,-0.225630,0.973413]]
2025-10-26T18:16:31.930Z,1761502591.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539198,-0.815096,-0.211860],[0.841190,0.533432,0.088596],[0.040798,-0.225986,0.973276]]
2025-10-26T18:16:32.335Z,1761502592.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544635,-0.811016,-0.213600],[0.837645,0.538637,0.090672],[0.041516,-0.228304,0.972704]]
2025-10-26T18:16:32.739Z,1761502592.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551284,-0.805791,-0.216303],[0.833253,0.544848,0.093964],[0.042137,-0.232036,0.971794]]
2025-10-26T18:16:33.142Z,1761502593.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558360,-0.800058,-0.219409],[0.828532,0.551190,0.098609],[0.042043,-0.236847,0.970637]]
2025-10-26T18:16:33.546Z,1761502593.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565892,-0.793761,-0.222955],[0.823473,0.557498,0.105299],[0.040714,-0.243186,0.969125]]
2025-10-26T18:16:33.950Z,1761502593.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573490,-0.787975,-0.224065],[0.818328,0.563731,0.112011],[0.038050,-0.247596,0.968116]]
2025-10-26T18:16:34.356Z,1761502594.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580388,-0.782585,-0.225190],[0.813614,0.568934,0.119777],[0.034383,-0.252734,0.966925]]
2025-10-26T18:16:34.758Z,1761502594.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584826,-0.779244,-0.225294],[0.810563,0.572050,0.125488],[0.031094,-0.256004,0.966176]]
2025-10-26T18:16:35.162Z,1761502595.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586416,-0.778067,-0.225227],[0.809484,0.572938,0.128364],[0.029165,-0.257593,0.965813]]
2025-10-26T18:16:35.567Z,1761502595.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586233,-0.778389,-0.224593],[0.809664,0.572452,0.129395],[0.027849,-0.257701,0.965823]]
2025-10-26T18:16:35.972Z,1761502595.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585215,-0.779640,-0.222903],[0.810421,0.571581,0.128501],[0.027222,-0.255846,0.966334]]
2025-10-26T18:16:36.374Z,1761502596.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584230,-0.781638,-0.218442],[0.811124,0.571451,0.124587],[0.027447,-0.249970,0.967864]]
2025-10-26T18:16:36.778Z,1761502596.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583711,-0.782865,-0.215416],[0.811472,0.571667,0.121288],[0.028195,-0.245601,0.968961]]
2025-10-26T18:16:37.182Z,1761502597.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584824,-0.783054,-0.211679],[0.810656,0.573406,0.118499],[0.028587,-0.240899,0.970129]]
2025-10-26T18:16:37.587Z,1761502597.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587193,-0.782149,-0.208439],[0.808942,0.576131,0.116989],[0.028585,-0.237310,0.971013]]
2025-10-26T18:16:37.992Z,1761502597.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590604,-0.780067,-0.206599],[0.806460,0.579593,0.117022],[0.028458,-0.235728,0.971402]]
2025-10-26T18:16:38.394Z,1761502598.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594385,-0.777927,-0.203807],[0.803709,0.583319,0.117433],[0.027530,-0.233602,0.971943]]
2025-10-26T18:16:38.798Z,1761502598.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598152,-0.775623,-0.201552],[0.800976,0.586644,0.119524],[0.025534,-0.232931,0.972158]]
2025-10-26T18:16:39.203Z,1761502599.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601544,-0.773718,-0.198759],[0.798518,0.589447,0.122148],[0.022649,-0.232190,0.972407]]
2025-10-26T18:16:39.609Z,1761502599.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604443,-0.771869,-0.197149],[0.796432,0.591252,0.126956],[0.018571,-0.233753,0.972119]]
2025-10-26T18:16:40.010Z,1761502600.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605278,-0.771883,-0.194514],[0.795893,0.591106,0.130951],[0.013900,-0.234074,0.972120]]
2025-10-26T18:16:40.414Z,1761502600.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603956,-0.773663,-0.191530],[0.796963,0.589044,0.133706],[0.009376,-0.233395,0.972337]]
2025-10-26T18:16:40.822Z,1761502600.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601039,-0.776994,-0.187171],[0.799206,0.585709,0.134962],[0.004763,-0.230706,0.973012]]
2025-10-26T18:16:41.222Z,1761502601.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597497,-0.780504,-0.183878],[0.801871,0.581568,0.137046],[-0.000027,-0.229331,0.973349]]
2025-10-26T18:16:41.626Z,1761502601.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593360,-0.784542,-0.180048],[0.804922,0.576964,0.138611],[-0.004865,-0.227171,0.973843]]
2025-10-26T18:16:42.031Z,1761502602.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588591,-0.789046,-0.175973],[0.808377,0.571933,0.139353],[-0.009311,-0.224274,0.974482]]
2025-10-26T18:16:42.435Z,1761502602.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583258,-0.793879,-0.171950],[0.812184,0.566586,0.139062],[-0.012974,-0.220764,0.975241]]
2025-10-26T18:16:42.864Z,1761502602.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577347,-0.798880,-0.168702],[0.816355,0.560909,0.137644],[-0.015334,-0.217189,0.976009]]
2025-10-26T18:16:43.242Z,1761502603.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570897,-0.803686,-0.167827],[0.820869,0.554803,0.135525],[-0.015809,-0.215135,0.976456]]
2025-10-26T18:16:43.646Z,1761502603.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564098,-0.808943,-0.165544],[0.825581,0.549047,0.130242],[-0.014467,-0.210139,0.977565]]
2025-10-26T18:16:44.052Z,1761502604.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557294,-0.813681,-0.165366],[0.830234,0.543294,0.124672],[-0.011601,-0.206771,0.978321]]
2025-10-26T18:16:44.454Z,1761502604.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551265,-0.817855,-0.164985],[0.834299,0.538654,0.117457],[-0.007193,-0.202396,0.979277]]
2025-10-26T18:16:44.894Z,1761502604.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547303,-0.819929,-0.167857],[0.836932,0.535725,0.111998],[-0.001905,-0.201782,0.979429]]
2025-10-26T18:16:45.262Z,1761502605.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547060,-0.818957,-0.173304],[0.837088,0.535956,0.109707],[0.003038,-0.205087,0.978739]]
2025-10-26T18:16:45.667Z,1761502605.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551068,-0.815406,-0.177304],[0.834435,0.540120,0.109493],[0.006484,-0.208287,0.978046]]
2025-10-26T18:16:46.072Z,1761502606.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557777,-0.809650,-0.182623],[0.829944,0.546410,0.112377],[0.008801,-0.214248,0.976740]]
2025-10-26T18:16:46.474Z,1761502606.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565219,-0.803176,-0.188246],[0.824876,0.553137,0.116704],[0.010393,-0.221243,0.975163]]
2025-10-26T18:16:46.904Z,1761502606.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573135,-0.796483,-0.192694],[0.819384,0.560224,0.121483],[0.011193,-0.227516,0.973710]]
2025-10-26T18:16:47.283Z,1761502607.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581198,-0.789670,-0.196547],[0.813691,0.567131,0.127547],[0.010748,-0.234059,0.972163]]
2025-10-26T18:16:47.688Z,1761502607.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589339,-0.783142,-0.198413],[0.807835,0.573987,0.133945],[0.008989,-0.239224,0.970923]]
2025-10-26T18:16:48.090Z,1761502608.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597610,-0.776626,-0.199284],[0.801765,0.580673,0.141391],[0.005911,-0.244276,0.969688]]
2025-10-26T18:16:48.494Z,1761502608.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605375,-0.771011,-0.197644],[0.795939,0.586939,0.148269],[0.001688,-0.247071,0.968996]]
2025-10-26T18:16:48.909Z,1761502608.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611666,-0.766660,-0.195182],[0.791108,0.591637,0.155286],[-0.003575,-0.249393,0.968396]]
2025-10-26T18:16:49.303Z,1761502609.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614433,-0.765591,-0.190638],[0.788917,0.593433,0.159520],[-0.008997,-0.248412,0.968613]]
2025-10-26T18:16:49.706Z,1761502609.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613543,-0.767378,-0.186269],[0.789536,0.591922,0.162054],[-0.014100,-0.246493,0.969042]]
2025-10-26T18:16:50.110Z,1761502610.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610584,-0.771249,-0.179894],[0.791709,0.588815,0.162769],[-0.019611,-0.241808,0.970126]]
2025-10-26T18:16:50.514Z,1761502610.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606319,-0.776383,-0.172065],[0.794806,0.584649,0.162692],[-0.025714,-0.235402,0.971558]]
2025-10-26T18:16:50.920Z,1761502610.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601180,-0.782135,-0.163849],[0.798478,0.579761,0.162205],[-0.031873,-0.228345,0.973058]]
2025-10-26T18:16:51.300Z,1761502611.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:16:51.328Z,1761502611.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595311,-0.788193,-0.156066],[0.802609,0.574207,0.161569],[-0.037733,-0.221444,0.974443]]
2025-10-26T18:16:51.749Z,1761502611.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588797,-0.794156,-0.150447],[0.807146,0.567837,0.161481],[-0.042812,-0.216513,0.975341]]
2025-10-26T18:16:52.130Z,1761502612.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581801,-0.800285,-0.145093],[0.811992,0.561292,0.160062],[-0.046656,-0.210939,0.976385]]
2025-10-26T18:16:52.304Z,1761502612.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:16:52.534Z,1761502612.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574440,-0.806362,-0.140709],[0.817079,0.554587,0.157526],[-0.048988,-0.205460,0.977439]]
2025-10-26T18:16:52.942Z,1761502612.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566769,-0.812294,-0.137661],[0.822395,0.547781,0.153632],[-0.049386,-0.200285,0.978492]]
2025-10-26T18:16:53.342Z,1761502613.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559295,-0.817830,-0.135435],[0.827598,0.541476,0.147938],[-0.047653,-0.194827,0.979679]]
2025-10-26T18:16:53.746Z,1761502613.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552697,-0.822233,-0.135864],[0.832191,0.535808,0.142717],[-0.044550,-0.191944,0.980394]]
2025-10-26T18:16:54.150Z,1761502614.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549239,-0.824415,-0.136663],[0.834619,0.532985,0.139060],[-0.041803,-0.190439,0.980809]]
2025-10-26T18:16:54.555Z,1761502614.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549294,-0.824126,-0.138180],[0.834668,0.533177,0.138028],[-0.040078,-0.191152,0.980742]]
2025-10-26T18:16:54.959Z,1761502614.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552122,-0.821945,-0.139884],[0.832854,0.535868,0.138564],[-0.038932,-0.193007,0.980425]]
2025-10-26T18:16:55.362Z,1761502615.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556807,-0.818400,-0.142083],[0.829749,0.540084,0.140803],[-0.038497,-0.196293,0.979789]]
2025-10-26T18:16:55.766Z,1761502615.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562458,-0.813792,-0.146231],[0.825924,0.544730,0.145323],[-0.038607,-0.202514,0.978518]]
2025-10-26T18:16:56.176Z,1761502616.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568860,-0.808330,-0.151660],[0.821485,0.549604,0.151979],[-0.039496,-0.211041,0.976679]]
2025-10-26T18:16:56.583Z,1761502616.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582760,-0.797349,-0.156923],[0.811411,0.560290,0.166396],[-0.044753,-0.224298,0.973492]]
2025-10-26T18:16:56.983Z,1761502616.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589710,-0.792296,-0.156553],[0.806099,0.565566,0.174181],[-0.049462,-0.228913,0.972189]]
2025-10-26T18:16:57.387Z,1761502617.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596177,-0.787789,-0.154795],[0.800954,0.570352,0.182132],[-0.055194,-0.232566,0.971013]]
2025-10-26T18:16:57.791Z,1761502617.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601016,-0.784642,-0.152041],[0.796862,0.573635,0.189613],[-0.061562,-0.235117,0.970016]]
2025-10-26T18:16:58.194Z,1761502618.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603610,-0.783182,-0.149267],[0.794382,0.574835,0.196268],[-0.067910,-0.237044,0.969123]]
2025-10-26T18:16:58.595Z,1761502618.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603192,-0.784113,-0.146032],[0.794191,0.573566,0.200703],[-0.073615,-0.237040,0.968707]]
2025-10-26T18:16:58.998Z,1761502618.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599800,-0.787353,-0.142531],[0.796289,0.569884,0.202867],[-0.078502,-0.235176,0.968777]]
2025-10-26T18:16:59.428Z,1761502619.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594527,-0.791862,-0.139612],[0.799815,0.564542,0.203933],[-0.082670,-0.232908,0.968979]]
2025-10-26T18:16:59.830Z,1761502619.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588081,-0.797104,-0.137064],[0.804247,0.558351,0.203547],[-0.085718,-0.229936,0.969424]]
2025-10-26T18:17:00.245Z,1761502620.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580813,-0.803007,-0.133552],[0.809300,0.551934,0.201004],[-0.087696,-0.224829,0.970444]]
2025-10-26T18:17:00.646Z,1761502620.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572958,-0.809202,-0.130041],[0.814801,0.545279,0.196904],[-0.088426,-0.218775,0.971760]]
2025-10-26T18:17:01.052Z,1761502621.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564831,-0.815044,-0.129106],[0.820540,0.538106,0.192762],[-0.087637,-0.214814,0.972715]]
2025-10-26T18:17:01.454Z,1761502621.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556848,-0.820623,-0.128445],[0.826213,0.531335,0.187230],[-0.085397,-0.210382,0.973882]]
2025-10-26T18:17:01.858Z,1761502621.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549093,-0.825768,-0.128856],[0.831741,0.524813,0.181045],[-0.081876,-0.206585,0.974997]]
2025-10-26T18:17:02.263Z,1761502622.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542216,-0.829895,-0.131435],[0.836675,0.518878,0.175329],[-0.077305,-0.205035,0.975697]]
2025-10-26T18:17:02.668Z,1761502622.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536735,-0.832849,-0.135197],[0.840683,0.514221,0.169791],[-0.071889,-0.204791,0.976162]]
2025-10-26T18:17:03.071Z,1761502623.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534022,-0.833503,-0.141748],[0.842871,0.511708,0.166503],[-0.066247,-0.208392,0.975799]]
2025-10-26T18:17:03.474Z,1761502623.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535421,-0.831443,-0.148417],[0.842397,0.513084,0.164655],[-0.060751,-0.213185,0.975121]]
2025-10-26T18:17:03.881Z,1761502623.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539806,-0.827644,-0.153671],[0.839962,0.517561,0.163080],[-0.055438,-0.217109,0.974572]]
2025-10-26T18:17:04.284Z,1761502624.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545799,-0.822742,-0.158739],[0.836383,0.523482,0.162572],[-0.050658,-0.221498,0.973844]]
2025-10-26T18:17:04.687Z,1761502624.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552794,-0.817119,-0.163512],[0.832033,0.530317,0.162744],[-0.046268,-0.226011,0.973025]]
2025-10-26T18:17:05.090Z,1761502625.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560390,-0.811096,-0.167589],[0.827137,0.537686,0.163519],[-0.042520,-0.230254,0.972201]]
2025-10-26T18:17:05.494Z,1761502625.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568623,-0.804769,-0.170338],[0.821637,0.545643,0.164883],[-0.039749,-0.233713,0.971493]]
2025-10-26T18:17:05.900Z,1761502625.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577260,-0.797922,-0.173467],[0.815677,0.553596,0.167935],[-0.037969,-0.238436,0.970416]]
2025-10-26T18:17:06.302Z,1761502626.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585446,-0.791569,-0.175133],[0.809851,0.561065,0.171312],[-0.037344,-0.242126,0.969526]]
2025-10-26T18:17:06.707Z,1761502626.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592335,-0.786303,-0.175692],[0.804811,0.567249,0.174669],[-0.037681,-0.244861,0.968826]]
2025-10-26T18:17:07.110Z,1761502627.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596026,-0.783421,-0.176082],[0.802029,0.570253,0.177655],[-0.038767,-0.247110,0.968212]]
2025-10-26T18:17:07.516Z,1761502627.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596541,-0.783318,-0.174792],[0.801596,0.570714,0.178125],[-0.039772,-0.246371,0.968359]]
2025-10-26T18:17:07.918Z,1761502627.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593549,-0.786244,-0.171811],[0.803751,0.568226,0.176365],[-0.041039,-0.242775,0.969214]]
2025-10-26T18:17:08.322Z,1761502628.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588397,-0.791049,-0.167420],[0.807480,0.564110,0.172503],[-0.042015,-0.236688,0.970677]]
2025-10-26T18:17:08.726Z,1761502628.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581498,-0.797008,-0.163215],[0.812448,0.558477,0.167425],[-0.042287,-0.229961,0.972281]]
2025-10-26T18:17:09.132Z,1761502629.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573260,-0.803629,-0.159853],[0.818325,0.551660,0.161293],[-0.041436,-0.223274,0.973875]]
2025-10-26T18:17:09.534Z,1761502629.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563900,-0.810888,-0.156452],[0.824907,0.544048,0.153425],[-0.039293,-0.215575,0.975696]]
2025-10-26T18:17:09.939Z,1761502629.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553798,-0.818404,-0.153373],[0.831883,0.535911,0.144118],[-0.035753,-0.207401,0.977603]]
2025-10-26T18:17:10.342Z,1761502630.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543348,-0.825552,-0.152438],[0.838937,0.527256,0.134859],[-0.030959,-0.201161,0.979069]]
2025-10-26T18:17:10.747Z,1761502630.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534035,-0.831802,-0.151364],[0.845065,0.519671,0.125730],[-0.025923,-0.195057,0.980449]]
2025-10-26T18:17:11.150Z,1761502631.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527051,-0.836317,-0.150964],[0.849564,0.514036,0.118354],[-0.021381,-0.190632,0.981429]]
2025-10-26T18:17:11.554Z,1761502631.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522543,-0.838910,-0.152247],[0.852426,0.510297,0.113869],[-0.017835,-0.189280,0.981761]]
2025-10-26T18:17:11.960Z,1761502631.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519633,-0.840233,-0.154884],[0.854264,0.507841,0.111046],[-0.014648,-0.190015,0.981672]]
2025-10-26T18:17:12.362Z,1761502632.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517315,-0.840677,-0.160149],[0.855722,0.505687,0.109640],[-0.011186,-0.193761,0.980985]]
2025-10-26T18:17:12.766Z,1761502632.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516669,-0.839507,-0.168173],[0.856151,0.504822,0.110275],[-0.007679,-0.200957,0.979570]]
2025-10-26T18:17:13.170Z,1761502633.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516637,-0.837508,-0.177950],[0.856196,0.504394,0.111875],[-0.003940,-0.210159,0.977659]]
2025-10-26T18:17:13.574Z,1761502633.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517114,-0.835046,-0.187859],[0.855916,0.504600,0.113073],[0.000372,-0.219263,0.975666]]
2025-10-26T18:17:13.979Z,1761502633.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518562,-0.832151,-0.196514],[0.855027,0.505965,0.113704],[0.004810,-0.226988,0.973886]]
2025-10-26T18:17:14.382Z,1761502634.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520829,-0.828999,-0.203708],[0.853611,0.508332,0.113781],[0.009227,-0.233148,0.972397]]
2025-10-26T18:17:14.787Z,1761502634.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524311,-0.825655,-0.208307],[0.851426,0.512085,0.113323],[0.013105,-0.236775,0.971476]]
2025-10-26T18:17:15.192Z,1761502635.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529171,-0.821623,-0.211930],[0.848355,0.517158,0.113321],[0.016494,-0.239758,0.970693]]
2025-10-26T18:17:15.609Z,1761502635.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534882,-0.816682,-0.216639],[0.844703,0.522768,0.114850],[0.019456,-0.244427,0.969473]]
2025-10-26T18:17:16.006Z,1761502636.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541021,-0.811488,-0.220872],[0.840721,0.528725,0.116783],[0.022013,-0.248873,0.968286]]
2025-10-26T18:17:16.411Z,1761502636.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546836,-0.806728,-0.223965],[0.836910,0.534209,0.119177],[0.023501,-0.252609,0.967283]]
2025-10-26T18:17:16.819Z,1761502636.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551895,-0.802379,-0.227159],[0.833570,0.538630,0.122635],[0.023955,-0.257034,0.966105]]
2025-10-26T18:17:17.219Z,1761502637.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555867,-0.798996,-0.229384],[0.830935,0.541914,0.126000],[0.023633,-0.260642,0.965146]]
2025-10-26T18:17:17.622Z,1761502637.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557680,-0.797509,-0.230159],[0.829735,0.543322,0.127835],[0.023101,-0.262262,0.964720]]
2025-10-26T18:17:18.026Z,1761502638.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557454,-0.797156,-0.231920],[0.829894,0.542733,0.129293],[0.022804,-0.264544,0.964104]]
2025-10-26T18:17:18.430Z,1761502638.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555558,-0.798367,-0.232304],[0.831164,0.540914,0.128759],[0.022860,-0.264615,0.964083]]
2025-10-26T18:17:18.850Z,1761502638.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552502,-0.800763,-0.231344],[0.833181,0.538398,0.126243],[0.023464,-0.262501,0.964646]]
2025-10-26T18:17:19.240Z,1761502639.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549011,-0.803286,-0.230907],[0.835433,0.535755,0.122547],[0.025269,-0.260187,0.965228]]
2025-10-26T18:17:19.643Z,1761502639.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545681,-0.805812,-0.229998],[0.837538,0.533482,0.118011],[0.027605,-0.257029,0.966009]]
2025-10-26T18:17:20.047Z,1761502640.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542608,-0.808268,-0.228646],[0.839411,0.531831,0.112002],[0.031073,-0.252702,0.967045]]
2025-10-26T18:17:20.451Z,1761502640.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540542,-0.809750,-0.228297],[0.840576,0.531190,0.106159],[0.035307,-0.249285,0.967786]]
2025-10-26T18:17:21.258Z,1761502641.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542038,-0.808845,-0.227957],[0.839247,0.534948,0.097444],[0.043128,-0.244130,0.968783]]
2025-10-26T18:17:21.663Z,1761502641.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546049,-0.805837,-0.229034],[0.836491,0.539457,0.096274],[0.045973,-0.244156,0.968646]]
2025-10-26T18:17:22.066Z,1761502642.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550773,-0.802567,-0.229207],[0.833263,0.544570,0.095479],[0.048191,-0.243577,0.968684]]
2025-10-26T18:17:22.424Z,1761502642.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:17:22.477Z,1761502642.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555891,-0.799139,-0.228829],[0.829785,0.549832,0.095608],[0.049414,-0.243026,0.968760]]
2025-10-26T18:17:22.901Z,1761502642.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561311,-0.795403,-0.228616],[0.826150,0.554896,0.097809],[0.049061,-0.243772,0.968591]]
2025-10-26T18:17:23.278Z,1761502643.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566748,-0.791495,-0.228761],[0.822540,0.559463,0.102119],[0.047157,-0.246041,0.968112]]
2025-10-26T18:17:23.428Z,1761502643.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:17:23.684Z,1761502643.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572043,-0.788027,-0.227550],[0.819076,0.563490,0.107676],[0.043371,-0.247976,0.967795]]
2025-10-26T18:17:24.088Z,1761502644.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575999,-0.785465,-0.226430],[0.816530,0.565982,0.113772],[0.038791,-0.250419,0.967360]]
2025-10-26T18:17:24.490Z,1761502644.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576931,-0.785038,-0.225536],[0.816045,0.565808,0.118032],[0.034950,-0.252144,0.967058]]
2025-10-26T18:17:24.905Z,1761502644.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574612,-0.786742,-0.225518],[0.817769,0.562963,0.119696],[0.032788,-0.253201,0.966858]]
2025-10-26T18:17:25.298Z,1761502645.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571306,-0.789305,-0.224960],[0.820132,0.559543,0.119560],[0.031505,-0.252802,0.967005]]
2025-10-26T18:17:25.705Z,1761502645.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567389,-0.792965,-0.221983],[0.822867,0.556138,0.116622],[0.030977,-0.248833,0.968051]]
2025-10-26T18:17:26.106Z,1761502646.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563042,-0.796882,-0.219004],[0.825830,0.552604,0.112402],[0.031452,-0.244147,0.969228]]
2025-10-26T18:17:26.510Z,1761502646.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559548,-0.800378,-0.215177],[0.828166,0.550084,0.107461],[0.032356,-0.238332,0.970645]]
2025-10-26T18:17:26.915Z,1761502646.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557826,-0.802634,-0.211206],[0.829322,0.549007,0.104003],[0.032477,-0.233174,0.971893]]
2025-10-26T18:17:27.319Z,1761502647.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558411,-0.803184,-0.207539],[0.828965,0.549768,0.102820],[0.031515,-0.229458,0.972808]]
2025-10-26T18:17:27.724Z,1761502647.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560312,-0.802732,-0.204138],[0.827750,0.551507,0.103293],[0.029667,-0.226851,0.973477]]
2025-10-26T18:17:28.126Z,1761502648.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563256,-0.801268,-0.201772],[0.825833,0.553957,0.105502],[0.027238,-0.226055,0.973734]]
2025-10-26T18:17:28.530Z,1761502648.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566001,-0.799642,-0.200539],[0.824035,0.556034,0.108593],[0.024671,-0.226714,0.973649]]
2025-10-26T18:17:28.936Z,1761502648.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568390,-0.798155,-0.199702],[0.822490,0.557416,0.113126],[0.021025,-0.228553,0.973304]]
2025-10-26T18:17:29.338Z,1761502649.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569746,-0.797852,-0.197035],[0.821637,0.558080,0.116012],[0.017400,-0.227988,0.973508]]
2025-10-26T18:17:29.742Z,1761502649.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570029,-0.798072,-0.195316],[0.821502,0.557716,0.118690],[0.014208,-0.228110,0.973532]]
2025-10-26T18:17:30.147Z,1761502650.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569083,-0.799203,-0.193442],[0.822201,0.556319,0.120390],[0.011400,-0.227560,0.973697]]
2025-10-26T18:17:30.552Z,1761502650.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567154,-0.800749,-0.192709],[0.823563,0.553918,0.122143],[0.008939,-0.227983,0.973624]]
2025-10-26T18:17:30.954Z,1761502650.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564357,-0.803261,-0.190452],[0.825503,0.550995,0.122265],[0.006728,-0.226220,0.974053]]
2025-10-26T18:17:31.358Z,1761502651.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560977,-0.806038,-0.188702],[0.827820,0.547431,0.122614],[0.004470,-0.224995,0.974350]]
2025-10-26T18:17:31.781Z,1761502651.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557494,-0.808674,-0.187740],[0.830176,0.543775,0.122948],[0.002664,-0.224400,0.974493]]
2025-10-26T18:17:32.167Z,1761502652.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554164,-0.811193,-0.186729],[0.832406,0.540405,0.122727],[0.001354,-0.223446,0.974715]]
2025-10-26T18:17:32.572Z,1761502652.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550884,-0.813338,-0.187105],[0.834581,0.537027,0.122784],[0.000616,-0.223794,0.974636]]
2025-10-26T18:17:32.974Z,1761502652.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548718,-0.814783,-0.187181],[0.836007,0.535019,0.121846],[0.000867,-0.223344,0.974739]]
2025-10-26T18:17:33.378Z,1761502653.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547983,-0.815073,-0.188072],[0.836489,0.534210,0.122089],[0.000958,-0.224223,0.974537]]
2025-10-26T18:17:33.783Z,1761502653.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548486,-0.814539,-0.188916],[0.836158,0.534688,0.122260],[0.001425,-0.225022,0.974353]]
2025-10-26T18:17:34.188Z,1761502654.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550519,-0.812828,-0.190366],[0.834820,0.536575,0.123137],[0.002056,-0.226711,0.973960]]
2025-10-26T18:17:34.590Z,1761502654.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553573,-0.810772,-0.190277],[0.832796,0.539706,0.123163],[0.002837,-0.226641,0.973974]]
2025-10-26T18:17:34.994Z,1761502654.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557291,-0.808093,-0.190824],[0.830310,0.543362,0.123868],[0.003590,-0.227473,0.973778]]
2025-10-26T18:17:35.398Z,1761502655.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561602,-0.804918,-0.191598],[0.827397,0.547493,0.125162],[0.004154,-0.228819,0.973460]]
2025-10-26T18:17:35.428Z,1761502655.428 [transit:NeedComms] Running Loop=1
2025-10-26T18:17:35.429Z,1761502655.429 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-10-26T18:17:35.429Z,1761502655.429 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T18:17:35.429Z,1761502655.429 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T18:17:35.429Z,1761502655.429 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T18:17:35.430Z,1761502655.430 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T18:17:35.430Z,1761502655.430 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T18:17:35.430Z,1761502655.430 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T18:17:35.431Z,1761502655.431 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T18:17:35.431Z,1761502655.431 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T18:17:35.448Z,1761502655.448 [transit:NeedComms:A] Running Loop=1
2025-10-26T18:17:35.450Z,1761502655.450 [transit:NeedComms:A](INFO): last time_fix was:  1761501749.000000 second since 1970/01/01T00:00:00Z 
2025-10-26T18:17:35.451Z,1761502655.451 [transit:NeedComms:A] Stopped
2025-10-26T18:17:35.804Z,1761502655.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566310,-0.801765,-0.190959],[0.824181,0.552091,0.126178],[0.004262,-0.228841,0.973454]]
2025-10-26T18:17:36.206Z,1761502656.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571528,-0.798030,-0.191059],[0.820575,0.556842,0.128781],[0.003619,-0.230380,0.973094]]
2025-10-26T18:17:36.610Z,1761502656.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577131,-0.793925,-0.191317],[0.816648,0.561677,0.132682],[0.002119,-0.232813,0.972519]]
2025-10-26T18:17:37.017Z,1761502657.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583029,-0.790135,-0.189116],[0.812451,0.566851,0.136393],[-0.000569,-0.233169,0.972436]]
2025-10-26T18:17:37.426Z,1761502657.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594657,-0.782439,-0.184854],[0.803935,0.576276,0.146952],[-0.008455,-0.235997,0.971717]]
2025-10-26T18:17:37.828Z,1761502657.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597713,-0.780992,-0.181085],[0.801571,0.577952,0.153151],[-0.014951,-0.236693,0.971470]]
2025-10-26T18:17:38.231Z,1761502658.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599284,-0.781576,-0.173198],[0.800118,0.577789,0.161156],[-0.025883,-0.235157,0.971613]]
2025-10-26T18:17:38.670Z,1761502658.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599887,-0.783711,-0.161036],[0.799045,0.576591,0.170496],[-0.040768,-0.230953,0.972110]]
2025-10-26T18:17:39.071Z,1761502659.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599725,-0.786863,-0.145521],[0.798069,0.574869,0.180586],[-0.058441,-0.224438,0.972734]]
2025-10-26T18:17:39.474Z,1761502659.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598982,-0.790280,-0.129140],[0.796931,0.572557,0.192560],[-0.078236,-0.218255,0.972751]]
2025-10-26T18:17:39.878Z,1761502659.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598190,-0.793590,-0.111278],[0.795185,0.570637,0.205069],[-0.099241,-0.211157,0.972401]]
2025-10-26T18:17:40.285Z,1761502660.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597002,-0.796825,-0.093051],[0.792992,0.568575,0.218829],[-0.121462,-0.204430,0.971316]]
2025-10-26T18:17:40.686Z,1761502660.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595265,-0.799956,-0.075699],[0.790443,0.566033,0.234109],[-0.144429,-0.199192,0.969259]]
2025-10-26T18:17:41.091Z,1761502661.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593302,-0.802944,-0.057215],[0.787306,0.563996,0.249116],[-0.167757,-0.192846,0.966782]]
2025-10-26T18:17:41.496Z,1761502661.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589591,-0.806679,-0.040633],[0.784950,0.560400,0.264207],[-0.190360,-0.187669,0.963610]]
2025-10-26T18:17:41.901Z,1761502661.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585445,-0.810286,-0.026299],[0.782735,0.556495,0.278637],[-0.211140,-0.183711,0.960036]]
2025-10-26T18:17:42.302Z,1761502662.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580775,-0.813933,-0.014605],[0.781027,0.552056,0.291941],[-0.229558,-0.180959,0.956325]]
2025-10-26T18:17:42.706Z,1761502662.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576949,-0.816764,-0.005208],[0.779165,0.548455,0.303479],[-0.245014,-0.179150,0.952824]]
2025-10-26T18:17:43.110Z,1761502663.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574722,-0.818348,0.001429],[0.776564,0.545927,0.314503],[-0.258153,-0.179642,0.949255]]
2025-10-26T18:17:43.515Z,1761502663.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574385,-0.818545,0.008117],[0.772943,0.545597,0.323855],[-0.269519,-0.179744,0.946072]]
2025-10-26T18:17:43.921Z,1761502663.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576367,-0.817057,0.014788],[0.767448,0.547412,0.333712],[-0.280757,-0.180992,0.942559]]
2025-10-26T18:17:44.322Z,1761502664.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579846,-0.814433,0.021852],[0.760433,0.550637,0.344297],[-0.292439,-0.183022,0.938607]]
2025-10-26T18:17:44.726Z,1761502664.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583884,-0.811285,0.029953],[0.752153,0.554474,0.356124],[-0.305526,-0.185406,0.933958]]
2025-10-26T18:17:45.130Z,1761502665.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587330,-0.808344,0.040287],[0.743323,0.558440,0.368260],[-0.320179,-0.186344,0.928849]]
2025-10-26T18:17:45.536Z,1761502665.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588877,-0.806545,0.052055],[0.734911,0.561153,0.380806],[-0.336348,-0.185992,0.923189]]
2025-10-26T18:17:45.938Z,1761502665.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587627,-0.806672,0.063048],[0.728264,0.561245,0.393239],[-0.352600,-0.185162,0.917272]]
2025-10-26T18:17:46.401Z,1761502666.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582736,-0.809567,0.070848],[0.725110,0.557339,0.404461],[-0.366924,-0.184322,0.911807]]
2025-10-26T18:17:46.803Z,1761502666.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575059,-0.814703,0.074609],[0.725615,0.550038,0.413449],[-0.377876,-0.183621,0.907465]]
2025-10-26T18:17:47.377Z,1761502667.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566639,-0.820616,0.074226],[0.728924,0.541242,0.419198],[-0.384175,-0.183428,0.904856]]
2025-10-26T18:17:47.888Z,1761502667.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554061,-0.829787,0.066862],[0.737765,0.526646,0.422311],[-0.385641,-0.184657,0.903982]]
2025-10-26T18:17:48.286Z,1761502668.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550881,-0.832260,0.062233],[0.741353,0.522227,0.421515],[-0.383310,-0.186068,0.904684]]
2025-10-26T18:17:48.690Z,1761502668.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550862,-0.832510,0.058977],[0.742539,0.521137,0.420776],[-0.381035,-0.187997,0.905246]]
2025-10-26T18:17:49.095Z,1761502669.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554373,-0.830346,0.056533],[0.740285,0.523005,0.422426],[-0.380327,-0.192331,0.904633]]
2025-10-26T18:17:49.499Z,1761502669.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560542,-0.826260,0.055562],[0.734914,0.527253,0.426505],[-0.381699,-0.198241,0.902777]]
2025-10-26T18:17:49.903Z,1761502669.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567260,-0.821730,0.054554],[0.728081,0.531363,0.433072],[-0.384856,-0.205944,0.899707]]
2025-10-26T18:17:50.306Z,1761502670.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573394,-0.817414,0.055259],[0.720571,0.535258,0.440768],[-0.389868,-0.212916,0.895918]]
2025-10-26T18:17:50.710Z,1761502670.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578476,-0.813723,0.056744],[0.712750,0.538072,0.449963],[-0.396678,-0.219848,0.891243]]
2025-10-26T18:17:51.116Z,1761502671.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582342,-0.810716,0.060151],[0.704868,0.540402,0.459486],[-0.405018,-0.225179,0.886146]]
2025-10-26T18:17:51.518Z,1761502671.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585510,-0.808067,0.064855],[0.696869,0.542581,0.469019],[-0.414188,-0.229420,0.880803]]
2025-10-26T18:17:51.924Z,1761502671.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588523,-0.805351,0.071072],[0.688910,0.545550,0.477261],[-0.423136,-0.231917,0.875883]]
2025-10-26T18:17:52.327Z,1761502672.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591315,-0.802694,0.077647],[0.681874,0.549062,0.483300],[-0.430575,-0.232837,0.872004]]
2025-10-26T18:17:52.733Z,1761502672.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593498,-0.800645,0.082026],[0.677670,0.552104,0.485742],[-0.434193,-0.232700,0.870245]]
2025-10-26T18:17:53.135Z,1761502673.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593383,-0.800635,0.082944],[0.678814,0.553131,0.482967],[-0.432559,-0.230281,0.871701]]
2025-10-26T18:17:53.538Z,1761502673.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590022,-0.803364,0.080498],[0.685623,0.551194,0.475506],[-0.426375,-0.225367,0.876022]]
2025-10-26T18:17:53.572Z,1761502673.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:17:53.944Z,1761502673.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586126,-0.806550,0.077029],[0.694183,0.548934,0.465597],[-0.417811,-0.219426,0.881638]]
2025-10-26T18:17:54.347Z,1761502674.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582817,-0.809278,0.073439],[0.702827,0.547382,0.454320],[-0.407871,-0.213171,0.887806]]
2025-10-26T18:17:54.576Z,1761502674.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:17:54.752Z,1761502674.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581481,-0.810646,0.068795],[0.709660,0.546752,0.444347],[-0.397822,-0.209558,0.893209]]
2025-10-26T18:17:55.154Z,1761502675.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583208,-0.809777,0.064255],[0.713215,0.548312,0.436667],[-0.388835,-0.208840,0.897326]]
2025-10-26T18:17:55.558Z,1761502675.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587517,-0.806991,0.059907],[0.714031,0.551824,0.430870],[-0.380767,-0.210368,0.900423]]
2025-10-26T18:17:55.965Z,1761502675.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593336,-0.802941,0.056908],[0.712850,0.556969,0.426181],[-0.373895,-0.212302,0.902846]]
2025-10-26T18:17:56.367Z,1761502676.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600162,-0.798117,0.053057],[0.709648,0.561893,0.425059],[-0.369059,-0.217453,0.903609]]
2025-10-26T18:17:56.770Z,1761502676.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606641,-0.793321,0.051273],[0.705090,0.566720,0.426235],[-0.367198,-0.222420,0.903158]]
2025-10-26T18:17:57.174Z,1761502677.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611859,-0.789294,0.051412],[0.699796,0.570484,0.429921],[-0.368665,-0.227073,0.901401]]
2025-10-26T18:17:57.579Z,1761502677.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614361,-0.787120,0.054802],[0.695399,0.572969,0.433737],[-0.372802,-0.228362,0.899372]]
2025-10-26T18:17:57.985Z,1761502677.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612355,-0.788390,0.058845],[0.694622,0.572079,0.436149],[-0.377520,-0.226203,0.897948]]
2025-10-26T18:17:58.386Z,1761502678.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606497,-0.792655,0.062127],[0.697555,0.567970,0.436837],[-0.381547,-0.221603,0.897393]]
2025-10-26T18:17:58.790Z,1761502678.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597978,-0.798956,0.063963],[0.703685,0.561525,0.435337],[-0.383732,-0.215312,0.897993]]
2025-10-26T18:17:59.194Z,1761502679.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588034,-0.806333,0.063585],[0.712460,0.553580,0.431219],[-0.382906,-0.208270,0.900004]]
2025-10-26T18:17:59.601Z,1761502679.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577745,-0.814044,0.059526],[0.723511,0.544519,0.424300],[-0.377812,-0.202070,0.903563]]
2025-10-26T18:18:00.003Z,1761502680.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568320,-0.821275,0.050206],[0.736375,0.534895,0.414293],[-0.367103,-0.198481,0.908758]]
2025-10-26T18:18:00.406Z,1761502680.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560358,-0.827457,0.036238],[0.750424,0.525734,0.400585],[-0.350518,-0.197277,0.915543]]
2025-10-26T18:18:00.810Z,1761502680.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554425,-0.832070,0.016516],[0.764546,0.517072,0.384845],[-0.328758,-0.200741,0.922833]]
2025-10-26T18:18:01.216Z,1761502681.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551297,-0.834294,-0.004959],[0.777452,0.511561,0.365886],[-0.302720,-0.205567,0.930646]]
2025-10-26T18:18:01.618Z,1761502681.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552521,-0.833002,-0.028763],[0.787064,0.510072,0.346924],[-0.274317,-0.214321,0.937452]]
2025-10-26T18:18:02.144Z,1761502682.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559191,-0.827162,-0.055761],[0.791906,0.513031,0.331186],[-0.245337,-0.229354,0.941916]]
2025-10-26T18:18:02.542Z,1761502682.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570163,-0.817639,-0.079877],[0.791916,0.521134,0.318257],[-0.218593,-0.244715,0.944633]]
2025-10-26T18:18:02.946Z,1761502682.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582995,-0.806736,-0.096407],[0.788236,0.532838,0.307844],[-0.196980,-0.255463,0.946540]]
2025-10-26T18:18:03.352Z,1761502683.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595181,-0.796924,-0.103310],[0.782373,0.545308,0.300884],[-0.183446,-0.259907,0.948049]]
2025-10-26T18:18:03.756Z,1761502683.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606403,-0.788672,-0.101353],[0.774535,0.557016,0.299715],[-0.179922,-0.260249,0.948630]]
2025-10-26T18:18:04.159Z,1761502684.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617163,-0.781455,-0.091862],[0.764371,0.567745,0.305618],[-0.186672,-0.258833,0.947712]]
2025-10-26T18:18:04.562Z,1761502684.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626920,-0.774905,-0.080586],[0.752604,0.575625,0.319757],[-0.201393,-0.261111,0.944067]]
2025-10-26T18:18:04.966Z,1761502684.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634905,-0.769379,-0.070360],[0.740720,0.580299,0.338507],[-0.219610,-0.267037,0.938330]]
2025-10-26T18:18:05.372Z,1761502685.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640849,-0.764984,-0.064134],[0.730059,0.581494,0.358996],[-0.237333,-0.276883,0.931133]]
2025-10-26T18:18:05.774Z,1761502685.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644289,-0.762567,-0.058162],[0.722188,0.581618,0.374386],[-0.251667,-0.283217,0.925447]]
2025-10-26T18:18:06.178Z,1761502686.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643400,-0.763710,-0.052770],[0.720949,0.581309,0.377244],[-0.257429,-0.280763,0.924609]]
2025-10-26T18:18:06.583Z,1761502686.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639872,-0.767194,-0.044462],[0.723770,0.582188,0.370424],[-0.258302,-0.269204,0.927798]]
2025-10-26T18:18:06.993Z,1761502686.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637147,-0.770052,-0.032605],[0.726157,0.585574,0.360275],[-0.258338,-0.253225,0.932276]]
2025-10-26T18:18:07.395Z,1761502687.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635053,-0.772191,-0.020692],[0.727348,0.588724,0.352661],[-0.260140,-0.239008,0.935523]]
2025-10-26T18:18:07.798Z,1761502687.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630909,-0.775799,-0.009481],[0.729167,0.588722,0.348886],[-0.265083,-0.227029,0.937117]]
2025-10-26T18:18:08.202Z,1761502688.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624527,-0.781003,0.000531],[0.731644,0.585294,0.349469],[-0.273248,-0.217864,0.936948]]
2025-10-26T18:18:08.607Z,1761502688.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618218,-0.785927,0.011178],[0.733291,0.581818,0.351813],[-0.283003,-0.209300,0.936004]]
2025-10-26T18:18:09.010Z,1761502689.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613516,-0.789441,0.019494],[0.733787,0.579039,0.355345],[-0.291812,-0.203706,0.934532]]
2025-10-26T18:18:09.414Z,1761502689.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610830,-0.791465,0.021685],[0.734058,0.576364,0.359116],[-0.296726,-0.203441,0.933041]]
2025-10-26T18:18:09.818Z,1761502689.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610671,-0.791634,0.019904],[0.733296,0.574799,0.363156],[-0.298928,-0.207173,0.931516]]
2025-10-26T18:18:10.675Z,1761502690.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627165,-0.777390,0.048253],[0.706495,0.593864,0.384954],[-0.327915,-0.207340,0.921674]]
2025-10-26T18:18:11.070Z,1761502691.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633251,-0.771372,0.063082],[0.692012,0.600826,0.400159],[-0.346573,-0.209747,0.914272]]
2025-10-26T18:18:11.482Z,1761502691.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636055,-0.768119,0.073675],[0.680936,0.603635,0.414669],[-0.362988,-0.213584,0.906985]]
2025-10-26T18:18:11.885Z,1761502691.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635778,-0.767992,0.077297],[0.676262,0.602501,0.423866],[-0.372097,-0.217212,0.902421]]
2025-10-26T18:18:12.406Z,1761502692.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630545,-0.772665,0.073505],[0.680847,0.596101,0.425572],[-0.372640,-0.218297,0.901935]]
2025-10-26T18:18:12.806Z,1761502692.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622729,-0.779829,0.063843],[0.689577,0.585548,0.426167],[-0.369720,-0.221362,0.902389]]
2025-10-26T18:18:13.291Z,1761502693.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613134,-0.787974,0.056254],[0.699135,0.574402,0.425761],[-0.367801,-0.221719,0.903085]]
2025-10-26T18:18:13.690Z,1761502693.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604481,-0.794746,0.054595],[0.704485,0.565306,0.429103],[-0.371891,-0.220924,0.901604]]
2025-10-26T18:18:14.094Z,1761502694.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601673,-0.796399,0.061142],[0.702167,0.563860,0.434768],[-0.380725,-0.218657,0.898464]]
2025-10-26T18:18:14.498Z,1761502694.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600616,-0.796223,0.072733],[0.700089,0.567667,0.433162],[-0.386181,-0.209244,0.898377]]
2025-10-26T18:18:14.910Z,1761502694.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600452,-0.795435,0.082100],[0.702264,0.573637,0.421622],[-0.382469,-0.195508,0.903047]]
2025-10-26T18:18:15.306Z,1761502695.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593358,-0.799594,0.092602],[0.710588,0.574375,0.406397],[-0.378141,-0.175337,0.908992]]
2025-10-26T18:18:15.710Z,1761502695.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582066,-0.807208,0.098059],[0.720122,0.567726,0.398888],[-0.377657,-0.161565,0.911741]]
2025-10-26T18:18:15.745Z,1761502695.745 [transit:NeedComms:C] Running Loop=1
2025-10-26T18:18:16.129Z,1761502696.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567921,-0.817985,0.091472],[0.732526,0.552983,0.397008],[-0.375329,-0.158463,0.913246]]
2025-10-26T18:18:16.162Z,1761502696.162 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T18:18:16.340Z,1761502696.340 [Radio_Surface](INFO): Powering up
2025-10-26T18:18:16.530Z,1761502696.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557600,-0.825772,0.084752],[0.743990,0.542425,0.390197],[-0.368185,-0.154519,0.916822]]
2025-10-26T18:18:16.936Z,1761502696.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557233,-0.826670,0.078152],[0.752201,0.542408,0.374149],[-0.351688,-0.149702,0.924070]]
2025-10-26T18:18:17.338Z,1761502697.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577666,-0.815467,0.036281],[0.765818,0.556808,0.321696],[-0.282534,-0.158048,0.946148]]
2025-10-26T18:18:17.742Z,1761502697.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597754,-0.800677,-0.040078],[0.781340,0.570671,0.252671],[-0.179436,-0.182349,0.966722]]
2025-10-26T18:18:18.147Z,1761502698.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606630,-0.791401,-0.075397],[0.787662,0.585491,0.191805],[-0.107651,-0.175742,0.978533]]
2025-10-26T18:18:18.552Z,1761502698.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600845,-0.796475,-0.067921],[0.795988,0.588340,0.142332],[-0.073403,-0.139584,0.987486]]
2025-10-26T18:18:18.954Z,1761502698.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601579,-0.795914,-0.067995],[0.797894,0.594621,0.098950],[-0.038325,-0.113779,0.992767]]
2025-10-26T18:18:19.358Z,1761502699.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607986,-0.790051,-0.078567],[0.793856,0.606435,0.045052],[0.012052,-0.089762,0.995890]]
2025-10-26T18:18:19.762Z,1761502699.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604829,-0.793786,-0.063927],[0.796019,0.604955,0.019565],[0.023142,-0.062721,0.997763]]
2025-10-26T18:18:20.168Z,1761502700.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606501,-0.792816,-0.060001],[0.794801,0.606567,0.019180],[0.021188,-0.059321,0.998014]]
2025-10-26T18:18:20.572Z,1761502700.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610256,-0.790049,-0.058396],[0.792202,0.608436,0.047133],[-0.001707,-0.075024,0.997180]]
2025-10-26T18:18:21.378Z,1761502701.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625004,-0.777561,-0.069053],[0.780306,0.619787,0.083591],[-0.022199,-0.106127,0.994105]]
2025-10-26T18:18:21.592Z,1761502701.592 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T18:18:21.592Z,1761502701.592 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T18:18:21.784Z,1761502701.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615084,-0.785395,-0.069477],[0.788461,0.612567,0.055589],[-0.001100,-0.088972,0.996034]]
2025-10-26T18:18:22.186Z,1761502702.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603843,-0.794141,-0.068651],[0.797072,0.600821,0.060746],[-0.006994,-0.091401,0.995790]]
2025-10-26T18:18:22.590Z,1761502702.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594968,-0.801608,-0.058625],[0.803027,0.589761,0.085611],[-0.034052,-0.098014,0.994602]]
2025-10-26T18:18:22.995Z,1761502702.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584393,-0.809821,-0.051727],[0.809987,0.578284,0.097515],[-0.049057,-0.098885,0.993889]]
2025-10-26T18:18:23.398Z,1761502703.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588320,-0.806198,-0.062641],[0.807162,0.580827,0.105498],[-0.048669,-0.112628,0.992445]]
2025-10-26T18:18:23.802Z,1761502703.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589171,-0.802756,-0.091978],[0.807986,0.584480,0.074448],[-0.006004,-0.118179,0.992974]]
2025-10-26T18:18:24.207Z,1761502704.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591510,-0.798813,-0.109605],[0.805366,0.591875,0.032707],[0.038745,-0.107619,0.993437]]
2025-10-26T18:18:24.610Z,1761502704.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597821,-0.794454,-0.107019],[0.798905,0.601454,-0.002106],[0.066040,-0.084239,0.994255]]
2025-10-26T18:18:24.696Z,1761502704.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:18:25.014Z,1761502705.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596305,-0.797410,-0.092507],[0.801050,0.598586,0.003795],[0.052347,-0.076366,0.995705]]
2025-10-26T18:18:25.418Z,1761502705.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599470,-0.798808,-0.050414],[0.800387,0.597949,0.042868],[-0.004098,-0.066049,0.997808]]
2025-10-26T18:18:25.700Z,1761502705.700 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T18:18:25.700Z,1761502705.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:18:25.822Z,1761502705.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589963,-0.806412,-0.040538],[0.805992,0.585175,0.089148],[-0.048168,-0.085268,0.995193]]
2025-10-26T18:18:26.229Z,1761502706.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574692,-0.815296,-0.070859],[0.816705,0.565850,0.113162],[-0.052165,-0.122904,0.991047]]
2025-10-26T18:18:26.631Z,1761502706.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550252,-0.825705,-0.124233],[0.834685,0.539842,0.108959],[-0.022902,-0.163650,0.986253]]
2025-10-26T18:18:27.036Z,1761502707.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544353,-0.824069,-0.156810],[0.837880,0.543152,0.054255],[0.040461,-0.160922,0.986137]]
2025-10-26T18:18:27.438Z,1761502707.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529214,-0.832144,-0.165735],[0.842774,0.538156,-0.010954],[0.098307,-0.133880,0.986110]]
2025-10-26T18:18:27.843Z,1761502707.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520361,-0.846792,-0.110303],[0.849300,0.526650,-0.036447],[0.088955,-0.074715,0.993229]]
2025-10-26T18:18:28.247Z,1761502708.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547409,-0.834841,-0.058171],[0.834562,0.549735,-0.036019],[0.062049,-0.028830,0.997657]]
2025-10-26T18:18:28.650Z,1761502708.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558294,-0.827889,-0.053922],[0.827428,0.560372,-0.036677],[0.060581,-0.024140,0.997871]]
2025-10-26T18:18:29.054Z,1761502709.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556721,-0.828518,-0.060173],[0.828810,0.558878,-0.026997],[0.055997,-0.034842,0.997823]]
2025-10-26T18:18:29.459Z,1761502709.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554320,-0.824193,-0.115913],[0.830049,0.557675,0.004147],[0.061224,-0.098512,0.993251]]
2025-10-26T18:18:29.862Z,1761502709.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546645,-0.822785,-0.155573],[0.834652,0.550330,0.022205],[0.067347,-0.141988,0.987575]]
2025-10-26T18:18:30.267Z,1761502710.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553387,-0.816189,-0.166125],[0.828279,0.560279,0.006409],[0.087845,-0.141145,0.986084]]
2025-10-26T18:18:30.688Z,1761502710.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549891,-0.831406,-0.079899],[0.831919,0.553713,-0.036228],[0.074361,-0.046548,0.996144]]
2025-10-26T18:18:31.094Z,1761502711.094 [NAL9602](INFO): SBD MO Status=0, MOMSN=2926, MT Status=0, MTMSN=0
2025-10-26T18:18:31.094Z,1761502711.094 [NAL9602](INFO): No messages in MT queue
2025-10-26T18:18:31.484Z,1761502711.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571268,-0.818289,-0.063689],[0.819185,0.573260,-0.017567],[0.050885,-0.042138,0.997815]]
2025-10-26T18:18:31.886Z,1761502711.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594361,-0.798441,-0.096054],[0.802310,0.596901,0.002833],[0.055073,-0.078749,0.995372]]
2025-10-26T18:18:32.293Z,1761502712.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584615,-0.799000,-0.140800],[0.809409,0.586271,0.033821],[0.055524,-0.133737,0.989460]]
2025-10-26T18:18:32.298Z,1761502712.298 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181831.00,A,3646.48251,N,12151.95146,W,0.719,348.42,261025,,,A*7E
2025-10-26T18:18:32.300Z,1761502712.300 [NAL9602](INFO): GPS fix at 20251026T181831: (36.774709, -121.865858)
2025-10-26T18:18:32.314Z,1761502712.314 [UniversalFixResidualReporter](INFO): Fix residual: 2.6 %DT, over the last 632.9 m. Residual distance 16.2 m at bearing 82.1 degrees. Fix at (36.7747, -121.8659) with 515.1 m made good.
2025-10-26T18:18:32.316Z,1761502712.316 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998
2025-10-26T18:18:32.320Z,1761502712.320 [transit:NeedComms:C] Stopped
2025-10-26T18:18:32.320Z,1761502712.320 [transit:NeedComms:D] Running Loop=1
2025-10-26T18:18:32.694Z,1761502712.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569494,-0.811628,-0.130141],[0.821648,0.566677,0.061415],[0.023902,-0.141906,0.989592]]
2025-10-26T18:18:32.734Z,1761502712.734 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-26T18:18:33.110Z,1761502713.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567648,-0.815804,-0.110629],[0.823208,0.564129,0.063939],[0.010248,-0.127365,0.991803]]
2025-10-26T18:18:33.514Z,1761502713.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558000,-0.821830,-0.115027],[0.829239,0.557491,0.039570],[0.031607,-0.117465,0.992574]]
2025-10-26T18:18:33.918Z,1761502713.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562893,-0.821804,-0.088265],[0.825797,0.563673,0.018206],[0.034791,-0.083137,0.995931]]
2025-10-26T18:18:34.324Z,1761502714.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587879,-0.803081,-0.097259],[0.807020,0.590520,0.002003],[0.055824,-0.079667,0.995257]]
2025-10-26T18:18:34.726Z,1761502714.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573497,-0.812238,-0.106635],[0.817233,0.576279,0.005679],[0.056839,-0.090402,0.994282]]
2025-10-26T18:18:35.131Z,1761502715.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561427,-0.823888,-0.077510],[0.827453,0.560157,0.039320],[0.011023,-0.086211,0.996216]]
2025-10-26T18:18:35.534Z,1761502715.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568490,-0.816149,-0.103540],[0.822594,0.565824,0.056407],[0.012549,-0.117239,0.993024]]
2025-10-26T18:18:35.939Z,1761502715.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563303,-0.818809,-0.110641],[0.826097,0.560704,0.056343],[0.015903,-0.123138,0.992262]]
2025-10-26T18:18:36.698Z,1761502716.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573184,-0.816426,-0.070064],[0.819425,0.571274,0.046787],[0.001828,-0.084229,0.996445]]
2025-10-26T18:18:38.990Z,1761502718.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549070,-0.821587,-0.153354],[0.835699,0.542204,0.087307],[0.011418,-0.176095,0.984307]]
2025-10-26T18:18:39.351Z,1761502719.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544865,-0.823824,-0.156321],[0.838191,0.540350,0.073878],[0.023606,-0.171280,0.984940]]
2025-10-26T18:18:39.754Z,1761502719.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522239,-0.840958,-0.141618],[0.852037,0.521548,0.044953],[0.036057,-0.144140,0.988900]]
2025-10-26T18:18:40.158Z,1761502720.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521618,-0.847306,-0.099942],[0.852736,0.521535,0.029042],[0.027516,-0.100372,0.994569]]
2025-10-26T18:18:40.562Z,1761502720.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516932,-0.851945,-0.083493],[0.854985,0.518652,0.001262],[0.042228,-0.072038,0.996508]]
2025-10-26T18:18:40.968Z,1761502720.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502795,-0.861983,-0.064667],[0.863471,0.504321,-0.008777],[0.040178,-0.051425,0.997868]]
2025-10-26T18:18:40.975Z,1761502720.975 [NAL9602](INFO): SBD MO Status=1, MOMSN=2927, MT Status=0, MTMSN=0
2025-10-26T18:18:41.036Z,1761502721.036 [NAL9602](INFO): Sent 39 bytes from file Logs/20251026T173611/Courier0019.lzma
2025-10-26T18:18:41.036Z,1761502721.036 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:18:41.372Z,1761502721.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534995,-0.842976,-0.056319],[0.843423,0.536780,-0.022471],[0.049174,-0.035479,0.998160]]
2025-10-26T18:18:42.085Z,1761502722.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551207,-0.827792,-0.104546],[0.833678,0.551506,0.028670],[0.033925,-0.102961,0.994107]]
2025-10-26T18:18:44.224Z,1761502724.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492214,-0.865870,-0.089413],[0.869347,0.494202,-0.000107],[0.044280,-0.077678,0.995995]]
2025-10-26T18:18:44.622Z,1761502724.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503021,-0.862165,-0.060348],[0.862764,0.505042,-0.023882],[0.051068,-0.040053,0.997892]]
2025-10-26T18:18:45.028Z,1761502725.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514400,-0.855454,-0.059929],[0.854367,0.517254,-0.050062],[0.073824,-0.025450,0.996947]]
2025-10-26T18:18:45.430Z,1761502725.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511640,-0.854843,-0.086417],[0.852769,0.517518,-0.070426],[0.104925,-0.037661,0.993767]]
2025-10-26T18:18:45.837Z,1761502725.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506594,-0.854575,-0.114298],[0.854441,0.515341,-0.065988],[0.115294,-0.064232,0.991252]]
2025-10-26T18:18:46.241Z,1761502726.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513991,-0.850312,-0.113060],[0.852915,0.520648,-0.038237],[0.091378,-0.076777,0.992852]]
2025-10-26T18:18:46.662Z,1761502726.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530288,-0.842634,-0.093610],[0.844320,0.534890,-0.031879],[0.076933,-0.062132,0.995098]]
2025-10-26T18:18:47.066Z,1761502727.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541405,-0.837648,-0.072299],[0.839214,0.543622,-0.013961],[0.050997,-0.053115,0.997285]]
2025-10-26T18:18:47.451Z,1761502727.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555569,-0.829794,-0.052767],[0.831395,0.555252,0.021837],[0.011178,-0.056002,0.998368]]
2025-10-26T18:18:47.856Z,1761502727.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561340,-0.825256,-0.062047],[0.827571,0.559307,0.047986],[-0.004897,-0.078285,0.996919]]
2025-10-26T18:18:48.264Z,1761502728.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542822,-0.832441,-0.111297],[0.839799,0.539429,0.061264],[0.009039,-0.126722,0.991897]]
2025-10-26T18:18:48.661Z,1761502728.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534783,-0.833127,-0.141088],[0.844194,0.534021,0.046446],[0.036648,-0.143944,0.988907]]
2025-10-26T18:18:49.065Z,1761502729.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526763,-0.837096,-0.147617],[0.847190,0.531177,0.010985],[0.069216,-0.130846,0.988984]]
2025-10-26T18:18:49.477Z,1761502729.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528183,-0.840334,-0.121909],[0.846679,0.532104,0.000459],[0.064482,-0.103460,0.992541]]
2025-10-26T18:18:49.882Z,1761502729.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542701,-0.835467,-0.086430],[0.838894,0.544256,0.006489],[0.041619,-0.076028,0.996237]]
2025-10-26T18:18:50.312Z,1761502730.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546682,-0.834783,-0.065396],[0.837290,0.545835,0.031770],[0.009175,-0.072123,0.997354]]
2025-10-26T18:18:50.321Z,1761502730.321 [NAL9602](INFO): SBD MO Status=1, MOMSN=2928, MT Status=0, MTMSN=0
2025-10-26T18:18:50.368Z,1761502730.368 [NAL9602](INFO): Sent 151 bytes from file Logs/20251026T175710/Courier0000.lzma
2025-10-26T18:18:50.368Z,1761502730.368 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:18:50.706Z,1761502730.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553541,-0.830487,-0.062317],[0.831092,0.546021,0.105585],[-0.053661,-0.110237,0.992456]]
2025-10-26T18:18:51.269Z,1761502731.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548424,-0.830387,-0.098431],[0.833979,0.534589,0.136725],[-0.060915,-0.157073,0.985707]]
2025-10-26T18:18:51.671Z,1761502731.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521652,-0.844989,-0.117782],[0.852284,0.509876,0.116788],[-0.038630,-0.161306,0.986148]]
2025-10-26T18:18:53.816Z,1761502733.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478293,-0.875490,-0.068947],[0.877248,0.479955,-0.008908],[0.040891,-0.056223,0.997581]]
2025-10-26T18:18:54.212Z,1761502734.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480385,-0.872243,-0.091779],[0.875987,0.482333,0.001083],[0.043324,-0.080917,0.995779]]
2025-10-26T18:18:54.615Z,1761502734.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493624,-0.857110,-0.147303],[0.864982,0.501439,-0.019092],[0.090228,-0.117990,0.988907]]
2025-10-26T18:18:55.018Z,1761502735.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494858,-0.847401,-0.192423],[0.859994,0.509338,-0.031381],[0.124601,-0.149953,0.980810]]
2025-10-26T18:18:55.423Z,1761502735.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507675,-0.847226,-0.156443],[0.858728,0.512283,0.012370],[0.069663,-0.140622,0.987610]]
2025-10-26T18:18:55.820Z,1761502735.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:18:55.829Z,1761502735.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509449,-0.854475,-0.101654],[0.860156,0.509021,0.032070],[0.024341,-0.103776,0.994303]]
2025-10-26T18:18:56.230Z,1761502736.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476697,-0.877448,-0.053333],[0.879066,0.475700,0.030862],[-0.001709,-0.061595,0.998100]]
2025-10-26T18:18:56.634Z,1761502736.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459934,-0.887529,-0.027457],[0.887919,0.459425,0.022977],[-0.007778,-0.034947,0.999359]]
2025-10-26T18:18:56.825Z,1761502736.825 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:18:57.039Z,1761502737.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451714,-0.890445,-0.055343],[0.892160,0.450992,0.025612],[0.002153,-0.060944,0.998139]]
2025-10-26T18:18:57.443Z,1761502737.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446980,-0.889219,-0.097456],[0.894471,0.445679,0.035955],[0.011462,-0.103243,0.994590]]
2025-10-26T18:18:57.848Z,1761502737.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468101,-0.875934,-0.116705],[0.882746,0.469566,0.016334],[0.040493,-0.110667,0.993032]]
2025-10-26T18:18:58.250Z,1761502738.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475771,-0.870610,-0.125222],[0.873384,0.484467,-0.049917],[0.104124,-0.085618,0.990872]]
2025-10-26T18:18:58.654Z,1761502738.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467862,-0.879194,-0.090124],[0.872775,0.475674,-0.109538],[0.139175,-0.027410,0.989888]]
2025-10-26T18:18:59.059Z,1761502739.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482098,-0.875129,-0.041606],[0.867727,0.483499,-0.115230],[0.120957,0.019450,0.992467]]
2025-10-26T18:18:59.463Z,1761502739.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498844,-0.866094,-0.032178],[0.862633,0.499755,-0.078164],[0.083779,0.011234,0.996421]]
2025-10-26T18:18:59.866Z,1761502739.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506892,-0.860002,-0.058796],[0.860664,0.508732,-0.021195],[0.048139,-0.039860,0.998045]]
2025-10-26T18:19:00.270Z,1761502740.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507275,-0.854722,-0.110104],[0.860489,0.509364,0.010352],[0.047234,-0.099994,0.993866]]
2025-10-26T18:19:00.698Z,1761502740.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493180,-0.855974,-0.155185],[0.868402,0.494977,0.029584],[0.051490,-0.149353,0.987442]]
2025-10-26T18:19:01.078Z,1761502741.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477735,-0.860067,-0.179035],[0.877946,0.474675,0.062404],[0.031311,-0.186996,0.981862]]
2025-10-26T18:19:01.092Z,1761502741.092 [NAL9602](INFO): SBD MO Status=1, MOMSN=2929, MT Status=0, MTMSN=0
2025-10-26T18:19:01.152Z,1761502741.152 [NAL9602](INFO): Sent 270 bytes from file Logs/20251026T180113/Courier0000.lzma
2025-10-26T18:19:01.152Z,1761502741.152 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:19:01.482Z,1761502741.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465370,-0.869076,-0.167743],[0.884959,0.460425,0.069686],[0.016670,-0.180876,0.983365]]
2025-10-26T18:19:02.288Z,1761502742.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447849,-0.892269,-0.057338],[0.893835,0.448377,0.004005],[0.022135,-0.053044,0.998347]]
2025-10-26T18:19:02.686Z,1761502742.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440161,-0.897575,-0.024861],[0.897711,0.440486,-0.009333],[0.019328,-0.018210,0.999647]]
2025-10-26T18:19:05.056Z,1761502745.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438725,-0.883932,-0.161817],[0.888892,0.453307,-0.066204],[0.131872,-0.114793,0.984598]]
2025-10-26T18:19:05.452Z,1761502745.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441567,-0.893328,-0.083572],[0.891432,0.447378,-0.072130],[0.101824,-0.042648,0.993888]]
2025-10-26T18:19:05.854Z,1761502745.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443152,-0.894428,-0.060117],[0.891403,0.446771,-0.076136],[0.094956,-0.019849,0.995284]]
2025-10-26T18:19:06.258Z,1761502746.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461359,-0.885181,-0.060019],[0.884127,0.464339,-0.052057],[0.073949,-0.029047,0.996839]]
2025-10-26T18:19:06.663Z,1761502746.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474945,-0.876475,-0.078854],[0.878815,0.477068,-0.009499],[0.045945,-0.064786,0.996841]]
2025-10-26T18:19:07.066Z,1761502747.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453586,-0.885003,-0.105020],[0.890808,0.453771,0.023513],[0.026846,-0.104218,0.994192]]
2025-10-26T18:19:07.470Z,1761502747.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442627,-0.889106,-0.116500],[0.896361,0.442311,0.029974],[0.024879,-0.117693,0.992738]]
2025-10-26T18:19:07.875Z,1761502747.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442633,-0.884685,-0.146315],[0.894949,0.446048,0.010397],[0.056065,-0.135547,0.989183]]
2025-10-26T18:19:08.280Z,1761502748.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422807,-0.893653,-0.150392],[0.904970,0.425080,0.018311],[0.047566,-0.143842,0.988457]]
2025-10-26T18:19:08.682Z,1761502748.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418932,-0.899246,-0.125907],[0.908010,0.415456,0.053986],[0.003761,-0.136941,0.990572]]
2025-10-26T18:19:09.087Z,1761502749.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404319,-0.907486,-0.113999],[0.914520,0.399298,0.064917],[-0.013391,-0.130502,0.991358]]
2025-10-26T18:19:09.490Z,1761502749.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390696,-0.915099,-0.099746],[0.920470,0.389500,0.032015],[0.009554,-0.104321,0.994498]]
2025-10-26T18:19:09.896Z,1761502749.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392080,-0.914843,-0.096626],[0.918546,0.395085,-0.013426],[0.050458,-0.083491,0.995230]]
2025-10-26T18:19:10.298Z,1761502750.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382848,-0.920246,-0.081090],[0.921629,0.386499,-0.034909],[0.063466,-0.061370,0.996095]]
2025-10-26T18:19:10.715Z,1761502750.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399399,-0.914576,-0.063492],[0.914064,0.402585,-0.049121],[0.070485,-0.038417,0.996773]]
2025-10-26T18:19:11.106Z,1761502751.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405856,-0.911102,-0.071936],[0.909763,0.410263,-0.063371],[0.087250,-0.039725,0.995394]]
2025-10-26T18:19:11.512Z,1761502751.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411387,-0.909298,-0.062751],[0.906887,0.415240,-0.071642],[0.091201,-0.027436,0.995455]]
2025-10-26T18:19:11.516Z,1761502751.516 [NAL9602](INFO): SBD MO Status=1, MOMSN=2930, MT Status=0, MTMSN=0
2025-10-26T18:19:11.569Z,1761502751.569 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Courier0000.lzma
2025-10-26T18:19:11.570Z,1761502751.570 [NAL9602](INFO): Packets left to send: 1
2025-10-26T18:19:11.914Z,1761502751.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413382,-0.907103,-0.079244],[0.906916,0.417943,-0.053173],[0.081353,-0.049887,0.995436]]
2025-10-26T18:19:12.382Z,1761502752.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415739,-0.902337,-0.113794],[0.909427,0.413852,0.040867],[0.010218,-0.120477,0.992663]]
2025-10-26T18:19:14.653Z,1761502754.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402144,-0.913727,-0.058170],[0.909625,0.405955,-0.088215],[0.104219,-0.017437,0.994402]]
2025-10-26T18:19:15.046Z,1761502755.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413586,-0.909105,-0.049740],[0.906206,0.416315,-0.073974],[0.087957,-0.014480,0.996019]]
2025-10-26T18:19:15.450Z,1761502755.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418020,-0.906250,-0.063007],[0.906859,0.420376,-0.029850],[0.053538,-0.044661,0.997567]]
2025-10-26T18:19:15.855Z,1761502755.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420949,-0.900337,-0.110432],[0.906123,0.422978,0.005515],[0.041745,-0.102387,0.993868]]
2025-10-26T18:19:16.259Z,1761502756.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418645,-0.894981,-0.154094],[0.907652,0.417968,0.038361],[0.030074,-0.155923,0.987311]]
2025-10-26T18:19:16.662Z,1761502756.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424223,-0.889248,-0.171091],[0.905397,0.420066,0.061648],[0.017049,-0.181058,0.983325]]
2025-10-26T18:19:17.066Z,1761502757.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426928,-0.885718,-0.182307],[0.903897,0.423895,0.057305],[0.026523,-0.189252,0.981570]]
2025-10-26T18:19:17.470Z,1761502757.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399070,-0.901514,-0.167376],[0.916896,0.393687,0.065666],[0.006695,-0.179672,0.983704]]
2025-10-26T18:19:17.874Z,1761502757.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366697,-0.919173,-0.143716],[0.930004,0.358013,0.083179],[-0.025004,-0.164158,0.986117]]
2025-10-26T18:19:18.279Z,1761502758.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350938,-0.929023,-0.117300],[0.935884,0.343827,0.076845],[-0.031060,-0.136747,0.990119]]
2025-10-26T18:19:18.682Z,1761502758.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353630,-0.930836,-0.092140],[0.935374,0.351431,0.039642],[-0.004519,-0.100204,0.994957]]
2025-10-26T18:19:19.086Z,1761502759.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349725,-0.933382,-0.080566],[0.935717,0.352239,-0.018993],[0.046106,-0.068744,0.996568]]
2025-10-26T18:19:19.490Z,1761502759.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348187,-0.935379,-0.061906],[0.934523,0.351544,-0.055528],[0.073703,-0.038518,0.996536]]
2025-10-26T18:19:19.894Z,1761502759.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356725,-0.931764,-0.067545],[0.930125,0.360989,-0.067484],[0.087262,-0.038752,0.995431]]
2025-10-26T18:19:20.301Z,1761502760.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343418,-0.934623,-0.092429],[0.935332,0.349253,-0.056366],[0.084962,-0.067094,0.994123]]
2025-10-26T18:19:20.740Z,1761502760.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341028,-0.931678,-0.125205],[0.939780,0.341099,0.021541],[0.022638,-0.125011,0.991897]]
2025-10-26T18:19:21.511Z,1761502761.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339081,-0.933550,-0.116224],[0.940705,0.337765,0.031442],[0.009904,-0.119994,0.992725]]
2025-10-26T18:19:21.916Z,1761502761.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354755,-0.930488,-0.091328],[0.934620,0.355563,0.007821],[0.025195,-0.088132,0.995790]]
2025-10-26T18:19:21.921Z,1761502761.921 [NAL9602](INFO): SBD MO Status=1, MOMSN=2931, MT Status=0, MTMSN=0
2025-10-26T18:19:21.970Z,1761502761.970 [NAL9602](INFO): Sent 34 bytes from file Logs/20251026T180417/Courier0000.lzma
2025-10-26T18:19:21.970Z,1761502761.970 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:19:22.318Z,1761502762.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337055,-0.938125,-0.079464],[0.939341,0.340780,-0.038824],[0.063502,-0.061558,0.996081]]
2025-10-26T18:19:23.009Z,1761502763.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315748,-0.942451,-0.109949],[0.946308,0.321249,-0.036071],[0.069316,-0.092656,0.993282]]
2025-10-26T18:19:23.400Z,1761502763.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307027,-0.941649,-0.137958],[0.949933,0.312050,-0.015852],[0.057976,-0.126184,0.990311]]
2025-10-26T18:19:25.636Z,1761502765.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332160,-0.939972,-0.078245],[0.942760,0.333451,-0.003676],[0.029546,-0.072545,0.996927]]
2025-10-26T18:19:26.038Z,1761502766.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321657,-0.940382,-0.110535],[0.946093,0.323887,-0.002359],[0.038019,-0.103818,0.993869]]
2025-10-26T18:19:26.440Z,1761502766.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330013,-0.937211,-0.112813],[0.942810,0.333183,-0.009953],[0.046915,-0.103076,0.993566]]
2025-10-26T18:19:26.884Z,1761502766.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346449,-0.933149,-0.095944],[0.936349,0.350191,-0.024840],[0.056778,-0.081231,0.995077]]
2025-10-26T18:19:26.944Z,1761502766.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:19:27.246Z,1761502767.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356252,-0.931298,-0.075953],[0.932192,0.359810,-0.039429],[0.064049,-0.056756,0.996332]]
2025-10-26T18:19:27.650Z,1761502767.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344896,-0.936683,-0.060590],[0.937036,0.347361,-0.036103],[0.054864,-0.044324,0.997510]]
2025-10-26T18:19:27.948Z,1761502767.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:19:28.056Z,1761502768.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339792,-0.937384,-0.076502],[0.939563,0.341959,-0.016876],[0.041980,-0.066145,0.996927]]
2025-10-26T18:19:28.458Z,1761502768.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343248,-0.933090,-0.107345],[0.938420,0.345488,-0.002426],[0.039350,-0.099902,0.994219]]
2025-10-26T18:19:28.891Z,1761502768.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351116,-0.929636,-0.111777],[0.936164,0.350807,0.023075],[0.017761,-0.112744,0.993465]]
2025-10-26T18:19:29.266Z,1761502769.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373592,-0.921342,-0.107506],[0.927581,0.370485,0.048308],[-0.004678,-0.117768,0.993030]]
2025-10-26T18:19:29.672Z,1761502769.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351199,-0.930480,-0.104241],[0.936196,0.347311,0.053964],[-0.014009,-0.116542,0.993087]]
2025-10-26T18:19:30.074Z,1761502770.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294868,-0.949670,-0.105739],[0.955331,0.290693,0.053291],[-0.019871,-0.116729,0.992965]]
2025-10-26T18:19:30.478Z,1761502770.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292469,-0.949764,-0.111397],[0.955503,0.285563,0.073952],[-0.038426,-0.128069,0.991021]]
2025-10-26T18:19:30.900Z,1761502770.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294534,-0.945252,-0.140528],[0.954727,0.284623,0.086522],[-0.041788,-0.159649,0.986289]]
2025-10-26T18:19:31.286Z,1761502771.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276333,-0.950672,-0.140933],[0.960872,0.270379,0.060160],[-0.019087,-0.152043,0.988190]]
2025-10-26T18:19:31.690Z,1761502771.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282783,-0.953800,-0.101485],[0.958959,0.283419,0.008402],[0.020749,-0.099696,0.994802]]
2025-10-26T18:19:32.094Z,1761502772.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298030,-0.953086,-0.052963],[0.953187,0.300115,-0.036961],[0.051121,-0.039468,0.997912]]
2025-10-26T18:19:32.106Z,1761502772.106 [NAL9602](INFO): SBD MO Status=1, MOMSN=2932, MT Status=0, MTMSN=0
2025-10-26T18:19:32.160Z,1761502772.160 [NAL9602](INFO): Sent 107 bytes from file Logs/20251026T173611/Express0020.lzma
2025-10-26T18:19:32.160Z,1761502772.160 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:19:32.498Z,1761502772.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301345,-0.953312,-0.019655],[0.951450,0.301985,-0.059565],[0.062719,-0.000751,0.998031]]
2025-10-26T18:19:33.297Z,1761502773.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286965,-0.957435,-0.031145],[0.957853,0.287227,-0.004195],[0.012962,-0.028628,0.999506]]
2025-10-26T18:19:33.699Z,1761502773.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274712,-0.955477,-0.107690],[0.961459,0.271633,0.042582],[-0.011434,-0.115237,0.993272]]
2025-10-26T18:19:35.930Z,1761502775.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233361,-0.971945,-0.029429],[0.971182,0.234472,-0.042768],[0.048468,-0.018600,0.998652]]
2025-10-26T18:19:36.323Z,1761502776.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240474,-0.970400,0.022269],[0.969483,0.238993,-0.054625],[0.047686,0.034726,0.998259]]
2025-10-26T18:19:36.726Z,1761502776.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256605,-0.966516,-0.001079],[0.965983,0.256500,-0.032927],[0.032101,0.007407,0.999457]]
2025-10-26T18:19:37.534Z,1761502777.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273727,-0.951077,-0.143271],[0.960505,0.278056,-0.010728],[0.050040,-0.134676,0.989625]]
2025-10-26T18:19:37.941Z,1761502777.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266934,-0.939866,-0.213066],[0.959999,0.278720,-0.026766],[0.084542,-0.197398,0.976671]]
2025-10-26T18:19:38.342Z,1761502778.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260892,-0.944092,-0.201558],[0.961064,0.273698,-0.038019],[0.091059,-0.183792,0.978738]]
2025-10-26T18:19:38.746Z,1761502778.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270875,-0.955897,-0.113524],[0.959243,0.277905,-0.051206],[0.080497,-0.095027,0.992215]]
2025-10-26T18:19:39.157Z,1761502779.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259301,-0.965596,-0.019691],[0.964531,0.259950,-0.045881],[0.049422,-0.007096,0.998753]]
2025-10-26T18:19:39.562Z,1761502779.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254391,-0.967099,0.002190],[0.966280,0.254267,0.040640],[-0.039860,-0.008222,0.999171]]
2025-10-26T18:19:39.964Z,1761502779.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253808,-0.963696,-0.082895],[0.967098,0.251291,0.039685],[-0.017414,-0.090240,0.995768]]
2025-10-26T18:19:40.373Z,1761502780.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248060,-0.960662,-0.124882],[0.968718,0.245022,0.039374],[-0.007226,-0.130742,0.991390]]
2025-10-26T18:19:40.787Z,1761502780.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239653,-0.962672,-0.125816],[0.970739,0.235568,0.046619],[-0.015241,-0.133307,0.990958]]
2025-10-26T18:19:41.189Z,1761502781.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249994,-0.961521,-0.113930],[0.968247,0.248194,0.029953],[-0.000523,-0.117801,0.993037]]
2025-10-26T18:19:41.574Z,1761502781.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243423,-0.965542,-0.092055],[0.969726,0.244175,0.003169],[0.019418,-0.090039,0.995749]]
2025-10-26T18:19:41.978Z,1761502781.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239854,-0.969462,-0.051126],[0.969948,0.241526,-0.029428],[0.040877,-0.042531,0.998259]]
2025-10-26T18:19:42.382Z,1761502782.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240859,-0.969748,-0.039693],[0.970274,0.241579,-0.014390],[0.023544,-0.035047,0.999108]]
2025-10-26T18:19:42.789Z,1761502782.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234285,-0.969926,-0.065984],[0.972077,0.232797,0.029509],[-0.013261,-0.071055,0.997384]]
2025-10-26T18:19:43.190Z,1761502783.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235220,-0.966057,-0.106792],[0.971029,0.228816,0.068889],[-0.042115,-0.119902,0.991892]]
2025-10-26T18:19:43.595Z,1761502783.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233207,-0.964695,-0.122386],[0.970663,0.223357,0.089019],[-0.058541,-0.139556,0.988482]]
2025-10-26T18:19:43.608Z,1761502783.608 [NAL9602](INFO): SBD MO Status=1, MOMSN=2933, MT Status=0, MTMSN=0
2025-10-26T18:19:43.656Z,1761502783.656 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T175710/Express0001.lzma
2025-10-26T18:19:43.656Z,1761502783.656 [NAL9602](INFO): Packets left to send: 1
2025-10-26T18:19:43.998Z,1761502783.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229696,-0.967436,-0.106333],[0.972050,0.222586,0.074662],[-0.048563,-0.120511,0.991523]]
2025-10-26T18:19:44.692Z,1761502784.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224398,-0.969078,-0.102635],[0.974487,0.222649,0.028340],[-0.004612,-0.106376,0.994315]]
2025-10-26T18:19:46.929Z,1761502786.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182554,-0.981492,-0.057854],[0.983181,0.181915,0.016179],[-0.005355,-0.059834,0.998194]]
2025-10-26T18:19:47.327Z,1761502787.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161848,-0.986423,-0.027843],[0.986791,0.161578,0.011693],[-0.007035,-0.029367,0.999544]]
2025-10-26T18:19:47.731Z,1761502787.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126279,-0.988779,-0.079814],[0.991429,0.128514,-0.023493],[0.033487,-0.076164,0.996533]]
2025-10-26T18:19:48.134Z,1761502788.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122226,-0.986558,-0.108458],[0.990886,0.127530,-0.043375],[0.056624,-0.102168,0.993154]]
2025-10-26T18:19:48.538Z,1761502788.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152743,-0.980972,-0.119848],[0.986328,0.158910,-0.043650],[0.061865,-0.111543,0.991832]]
2025-10-26T18:19:48.945Z,1761502788.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165793,-0.980365,-0.106760],[0.983216,0.172686,-0.058868],[0.076148,-0.095208,0.992541]]
2025-10-26T18:19:49.346Z,1761502789.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144537,-0.987731,-0.059133],[0.986568,0.148448,-0.068168],[0.076110,-0.048486,0.995920]]
2025-10-26T18:19:49.750Z,1761502789.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141047,-0.989778,-0.021094],[0.987405,0.142188,-0.069389],[0.071679,-0.011041,0.997367]]
2025-10-26T18:19:50.154Z,1761502790.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160685,-0.986719,-0.023793],[0.984454,0.161955,-0.067976],[0.070926,-0.012501,0.997403]]
2025-10-26T18:19:50.559Z,1761502790.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175303,-0.982576,-0.061747],[0.981235,0.179490,-0.070433],[0.080289,-0.048242,0.995604]]
2025-10-26T18:19:50.962Z,1761502790.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160310,-0.980017,-0.117759],[0.982263,0.170146,-0.078799],[0.097261,-0.103038,0.989911]]
2025-10-26T18:19:51.366Z,1761502791.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145660,-0.976080,-0.161400],[0.984000,0.159853,-0.078686],[0.102604,-0.147357,0.983747]]
2025-10-26T18:19:51.770Z,1761502791.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149562,-0.978608,-0.141275],[0.984201,0.161040,-0.073587],[0.094763,-0.128037,0.987232]]
2025-10-26T18:19:52.176Z,1761502792.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143352,-0.986667,-0.077063],[0.986985,0.148263,-0.062280],[0.072876,-0.067132,0.995079]]
2025-10-26T18:19:52.578Z,1761502792.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145530,-0.989311,-0.009259],[0.987972,0.145814,-0.051467],[0.052267,-0.001658,0.998632]]
2025-10-26T18:19:52.588Z,1761502792.588 [NAL9602](INFO): SBD MO Status=1, MOMSN=2934, MT Status=0, MTMSN=0
2025-10-26T18:19:52.637Z,1761502792.637 [NAL9602](INFO): Sent 104 bytes from file Logs/20251026T175710/Express0001.lzma
2025-10-26T18:19:52.637Z,1761502792.637 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:19:52.982Z,1761502792.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155895,-0.987770,-0.002688],[0.987243,0.155900,-0.032345],[0.032368,0.002389,0.999473]]
2025-10-26T18:19:53.676Z,1761502793.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159143,-0.982619,-0.095571],[0.987122,0.159968,-0.000987],[0.016258,-0.094183,0.995422]]
2025-10-26T18:19:54.070Z,1761502794.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169816,-0.974192,-0.148704],[0.985242,0.171118,0.004088],[0.021463,-0.147204,0.988873]]
2025-10-26T18:19:56.190Z,1761502796.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097002,-0.986491,-0.132005],[0.995173,0.094155,0.027657],[-0.014855,-0.134050,0.990863]]
2025-10-26T18:19:56.574Z,1761502796.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101688,-0.972586,-0.209131],[0.994640,0.103357,0.002961],[0.018735,-0.208311,0.977883]]
2025-10-26T18:19:56.980Z,1761502796.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096262,-0.976992,-0.190316],[0.994754,0.101075,-0.015724],[0.034598,-0.187804,0.981597]]
2025-10-26T18:19:57.382Z,1761502797.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099492,-0.991426,-0.084710],[0.993617,0.103537,-0.044772],[0.053159,-0.079715,0.995399]]
2025-10-26T18:19:57.787Z,1761502797.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111819,-0.993570,0.017734],[0.990876,0.110129,-0.077696],[0.075243,0.026260,0.996819]]
2025-10-26T18:19:58.088Z,1761502798.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:19:58.190Z,1761502798.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121691,-0.990379,0.065879],[0.987754,0.114305,-0.106189],[0.097637,0.077995,0.992161]]
2025-10-26T18:19:58.595Z,1761502798.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118369,-0.992895,0.012173],[0.987932,0.116526,-0.102040],[0.099896,0.024104,0.994706]]
2025-10-26T18:19:59.000Z,1761502799.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097096,-0.992156,-0.078736],[0.994710,0.099402,-0.025908],[0.033531,-0.075804,0.996559]]
2025-10-26T18:19:59.092Z,1761502799.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:19:59.402Z,1761502799.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088689,-0.983068,-0.160349],[0.995969,0.085351,0.027598],[-0.013445,-0.162150,0.986674]]
2025-10-26T18:19:59.806Z,1761502799.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101074,-0.975708,-0.194363],[0.994767,0.102051,0.005007],[0.014949,-0.193852,0.980917]]
2025-10-26T18:20:00.211Z,1761502800.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114489,-0.979837,-0.163741],[0.992186,0.121010,-0.030386],[0.049587,-0.158983,0.986035]]
2025-10-26T18:20:00.616Z,1761502800.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116527,-0.989941,-0.080245],[0.990268,0.121995,-0.066987],[0.076103,-0.071658,0.994522]]
2025-10-26T18:20:01.018Z,1761502801.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121864,-0.992526,-0.006488],[0.989388,0.121994,-0.078925],[0.079127,0.003199,0.996859]]
2025-10-26T18:20:01.422Z,1761502801.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115539,-0.993105,0.019836],[0.992529,0.114638,-0.041764],[0.039202,0.024513,0.998931]]
2025-10-26T18:20:01.827Z,1761502801.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110722,-0.993817,0.008297],[0.993822,0.110651,-0.008571],[0.007600,0.009195,0.999929]]
2025-10-26T18:20:02.232Z,1761502802.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131534,-0.989523,-0.059515],[0.991311,0.131225,0.009089],[-0.001184,-0.060194,0.998186]]
2025-10-26T18:20:02.237Z,1761502802.237 [NAL9602](INFO): SBD MO Status=1, MOMSN=2935, MT Status=0, MTMSN=0
2025-10-26T18:20:02.296Z,1761502802.296 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180113/Express0001.lzma
2025-10-26T18:20:02.296Z,1761502802.296 [NAL9602](INFO): Packets left to send: 3
2025-10-26T18:20:02.634Z,1761502802.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130827,-0.980714,-0.145206],[0.991402,0.129772,0.016760],[0.002407,-0.146150,0.989259]]
2025-10-26T18:20:03.395Z,1761502803.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097468,-0.982833,-0.156649],[0.995199,0.097649,0.006557],[0.008852,-0.156536,0.987633]]
2025-10-26T18:20:03.770Z,1761502803.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105207,-0.988004,-0.113048],[0.993992,0.107928,-0.018214],[0.030197,-0.110452,0.993423]]
2025-10-26T18:20:05.903Z,1761502805.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082760,-0.993396,-0.079475],[0.996493,0.083480,-0.005771],[0.012368,-0.078718,0.996820]]
2025-10-26T18:20:06.270Z,1761502806.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104916,-0.991699,-0.074334],[0.994474,0.104896,0.004183],[0.003649,-0.074362,0.997225]]
2025-10-26T18:20:06.674Z,1761502806.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122464,-0.989473,-0.077109],[0.992244,0.123735,-0.011908],[0.021323,-0.075053,0.996952]]
2025-10-26T18:20:07.079Z,1761502807.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100892,-0.991380,-0.083582],[0.994821,0.101572,-0.003915],[0.012371,-0.082754,0.996493]]
2025-10-26T18:20:07.484Z,1761502807.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094579,-0.990119,-0.103533],[0.995078,0.097116,-0.019730],[0.029590,-0.101157,0.994430]]
2025-10-26T18:20:07.886Z,1761502807.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101376,-0.985405,-0.136746],[0.991914,0.110666,-0.062123],[0.076349,-0.129342,0.988656]]
2025-10-26T18:20:08.290Z,1761502808.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112797,-0.984533,-0.134059],[0.990925,0.121389,-0.057721],[0.073102,-0.126332,0.989291]]
2025-10-26T18:20:08.695Z,1761502808.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122722,-0.988886,-0.083930],[0.991251,0.126275,-0.038409],[0.048580,-0.078483,0.995731]]
2025-10-26T18:20:09.099Z,1761502809.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114781,-0.993152,-0.021760],[0.993065,0.115277,-0.023080],[0.025430,-0.018960,0.999497]]
2025-10-26T18:20:09.502Z,1761502809.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123655,-0.992223,0.014235],[0.992124,0.123906,0.018345],[-0.019966,0.011854,0.999730]]
2025-10-26T18:20:09.906Z,1761502809.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138257,-0.990266,-0.016047],[0.989862,0.137632,0.035082],[-0.032532,-0.020735,0.999256]]
2025-10-26T18:20:10.310Z,1761502810.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113966,-0.991158,-0.067956],[0.993444,0.113076,0.016812],[-0.008979,-0.069426,0.997547]]
2025-10-26T18:20:10.716Z,1761502810.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084608,-0.992306,-0.090385],[0.996351,0.083229,0.018934],[-0.011265,-0.091657,0.995727]]
2025-10-26T18:20:10.720Z,1761502810.720 [NAL9602](INFO): SBD MO Status=1, MOMSN=2936, MT Status=0, MTMSN=0
2025-10-26T18:20:10.774Z,1761502810.774 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180113/Express0001.lzma
2025-10-26T18:20:10.774Z,1761502810.774 [NAL9602](INFO): Packets left to send: 2
2025-10-26T18:20:11.118Z,1761502811.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065585,-0.990533,-0.120595],[0.997843,0.064779,0.010603],[-0.002690,-0.121030,0.992645]]
2025-10-26T18:20:11.797Z,1761502811.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053546,-0.991866,-0.115475],[0.998358,0.050817,0.026446],[-0.020363,-0.116702,0.992958]]
2025-10-26T18:20:12.198Z,1761502812.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049681,-0.996689,-0.064369],[0.998749,0.049208,0.008914],[-0.005717,-0.064731,0.997886]]
2025-10-26T18:20:14.444Z,1761502814.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052521,-0.994973,-0.085267],[0.994324,0.060015,-0.087847],[0.092523,-0.080169,0.992478]]
2025-10-26T18:20:14.870Z,1761502814.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064535,-0.991787,-0.110429],[0.997063,0.068657,-0.033935],[0.041237,-0.107914,0.993305]]
2025-10-26T18:20:15.248Z,1761502815.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054640,-0.994324,-0.091292],[0.998065,0.057104,-0.024606],[0.029679,-0.089771,0.995520]]
2025-10-26T18:20:15.650Z,1761502815.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048831,-0.995669,-0.079117],[0.997539,0.052606,-0.046347],[0.050308,-0.076659,0.995787]]
2025-10-26T18:20:16.054Z,1761502816.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031174,-0.996546,-0.076963],[0.998081,0.035158,-0.050965],[0.053495,-0.075226,0.995731]]
2025-10-26T18:20:16.458Z,1761502816.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034921,-0.997029,-0.068660],[0.998758,0.037259,-0.033063],[0.035523,-0.067420,0.997092]]
2025-10-26T18:20:16.895Z,1761502816.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017492,-0.998055,-0.059829],[0.999695,0.018500,-0.016330],[0.017405,-0.059525,0.998075]]
2025-10-26T18:20:17.272Z,1761502817.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001501,-0.998294,-0.058376],[0.999981,-0.001846,0.005860],[-0.005958,-0.058366,0.998277]]
2025-10-26T18:20:17.674Z,1761502817.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024923,-0.996893,-0.074718],[0.999404,0.023062,0.025670],[-0.023868,-0.075314,0.996874]]
2025-10-26T18:20:18.078Z,1761502818.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043955,-0.994038,-0.099786],[0.998458,0.040321,0.038146],[-0.033895,-0.101309,0.994277]]
2025-10-26T18:20:18.483Z,1761502818.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040002,-0.994673,-0.095004],[0.999019,0.038006,0.022721],[-0.018990,-0.095820,0.995218]]
2025-10-26T18:20:18.902Z,1761502818.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036829,-0.995729,-0.084663],[0.998853,0.039273,-0.027392],[0.030600,-0.083557,0.996033]]
2025-10-26T18:20:19.290Z,1761502819.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020367,-0.994785,-0.099935],[0.997508,0.026972,-0.065195],[0.067551,-0.098358,0.992856]]
2025-10-26T18:20:19.294Z,1761502819.294 [NAL9602](INFO): SBD MO Status=1, MOMSN=2937, MT Status=0, MTMSN=0
2025-10-26T18:20:19.344Z,1761502819.344 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180113/Express0001.lzma
2025-10-26T18:20:19.344Z,1761502819.344 [NAL9602](INFO): Packets left to send: 1
2025-10-26T18:20:19.694Z,1761502819.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003812,-0.992937,-0.118579],[0.998458,0.002788,-0.055438],[0.055377,-0.118608,0.991396]]
2025-10-26T18:20:20.357Z,1761502820.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020735,-0.991000,-0.132247],[0.999331,-0.016558,-0.032608],[0.030125,-0.132834,0.990680]]
2025-10-26T18:20:22.598Z,1761502822.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009828,-0.997769,0.066038],[0.992755,-0.017646,-0.118858],[0.119758,0.064391,0.990713]]
2025-10-26T18:20:23.001Z,1761502823.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000512,-0.998440,-0.055835],[0.996945,0.003852,-0.078018],[0.078111,-0.055705,0.995387]]
2025-10-26T18:20:23.402Z,1761502823.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003132,-0.990350,-0.138555],[0.999420,0.007798,-0.033146],[0.033907,-0.138370,0.989800]]
2025-10-26T18:20:23.806Z,1761502823.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003766,-0.983384,-0.181501],[0.999889,-0.001083,-0.014880],[0.014436,-0.181537,0.983278]]
2025-10-26T18:20:24.211Z,1761502824.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011860,-0.987890,-0.154703],[0.999730,0.014810,-0.017925],[0.019999,-0.154448,0.987798]]
2025-10-26T18:20:24.616Z,1761502824.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020361,-0.996780,-0.077555],[0.999255,0.022832,-0.031101],[0.032771,-0.076864,0.996503]]
2025-10-26T18:20:25.018Z,1761502825.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018922,-0.999820,0.001379],[0.998638,0.018833,-0.048662],[0.048627,0.002298,0.998814]]
2025-10-26T18:20:25.422Z,1761502825.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020055,-0.999754,0.009452],[0.998262,0.019499,-0.055617],[0.055419,0.010551,0.998407]]
2025-10-26T18:20:25.828Z,1761502825.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008630,-0.999495,-0.030576],[0.998779,0.010103,-0.048356],[0.048641,-0.030121,0.998362]]
2025-10-26T18:20:26.232Z,1761502826.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005116,-0.996983,-0.077458],[0.999980,0.005380,-0.003197],[0.003604,-0.077440,0.996991]]
2025-10-26T18:20:26.634Z,1761502826.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028445,-0.992464,-0.119191],[0.999568,0.027357,0.010756],[-0.007414,-0.119445,0.992813]]
2025-10-26T18:20:27.038Z,1761502827.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017400,-0.988808,-0.148179],[0.999561,0.020756,-0.021132],[0.023971,-0.147746,0.988735]]
2025-10-26T18:20:27.046Z,1761502827.046 [NAL9602](INFO): SBD MO Status=1, MOMSN=2938, MT Status=0, MTMSN=0
2025-10-26T18:20:27.100Z,1761502827.100 [NAL9602](INFO): Sent 141 bytes from file Logs/20251026T180113/Express0001.lzma
2025-10-26T18:20:27.100Z,1761502827.100 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:20:27.443Z,1761502827.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001860,-0.989498,-0.144537],[0.999603,0.005902,-0.027540],[0.028104,-0.144428,0.989116]]
2025-10-26T18:20:28.127Z,1761502828.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011998,-0.997165,-0.074287],[0.999769,-0.013289,0.016919],[-0.017858,-0.074066,0.997093]]
2025-10-26T18:20:28.529Z,1761502828.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019976,-0.999333,-0.030580],[0.998268,-0.021629,0.054703],[-0.055328,-0.029434,0.998034]]
2025-10-26T18:20:29.212Z,1761502829.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:20:30.216Z,1761502830.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:20:30.780Z,1761502830.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015425,-0.988318,-0.151624],[0.998757,-0.008041,-0.049189],[0.047395,-0.152195,0.987213]]
2025-10-26T18:20:31.556Z,1761502831.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022619,-0.999502,-0.022008],[0.996037,-0.020636,-0.086510],[0.086013,-0.023878,0.996008]]
2025-10-26T18:20:31.960Z,1761502831.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017438,-0.998830,0.045101],[0.996686,-0.020950,-0.078597],[0.079450,0.043581,0.995886]]
2025-10-26T18:20:32.362Z,1761502832.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010584,-0.999056,0.042123],[0.995269,0.006456,-0.096946],[0.096583,0.042950,0.994398]]
2025-10-26T18:20:32.766Z,1761502832.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038551,-0.999241,-0.005562],[0.994021,0.038918,-0.102017],[0.102156,-0.001595,0.994767]]
2025-10-26T18:20:33.171Z,1761502833.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042492,-0.996972,-0.065130],[0.996390,0.047082,-0.070648],[0.073500,-0.061893,0.995373]]
2025-10-26T18:20:33.577Z,1761502833.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028315,-0.993186,-0.113044],[0.996704,0.036652,-0.072367],[0.076017,-0.110622,0.990951]]
2025-10-26T18:20:33.979Z,1761502833.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021494,-0.991193,-0.130666],[0.994369,0.034760,-0.100108],[0.103768,-0.127778,0.986359]]
2025-10-26T18:20:34.382Z,1761502834.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031620,-0.991040,-0.129771],[0.990943,0.048037,-0.125397],[0.130507,-0.124630,0.983583]]
2025-10-26T18:20:34.786Z,1761502834.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036204,-0.991211,-0.127242],[0.987961,0.054664,-0.144722],[0.150406,-0.120471,0.981257]]
2025-10-26T18:20:35.595Z,1761502835.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038573,-0.995717,-0.084025],[0.994156,0.046725,-0.097317],[0.100826,-0.079780,0.991700]]
2025-10-26T18:20:35.998Z,1761502835.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029427,-0.998665,-0.042454],[0.997979,0.031746,-0.055040],[0.056314,-0.040749,0.997581]]
2025-10-26T18:20:36.402Z,1761502836.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022037,-0.999669,-0.013274],[0.998969,0.022544,-0.039397],[0.039683,-0.012392,0.999135]]
2025-10-26T18:20:36.808Z,1761502836.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025821,-0.999597,-0.011790],[0.999170,0.026179,-0.031213],[0.031509,-0.010975,0.999443]]
2025-10-26T18:20:37.230Z,1761502837.230 [NAL9602](INFO): SBD MO Status=1, MOMSN=2939, MT Status=0, MTMSN=0
2025-10-26T18:20:37.280Z,1761502837.280 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0001.lzma
2025-10-26T18:20:37.280Z,1761502837.280 [NAL9602](INFO): Packets left to send: 3
2025-10-26T18:20:37.618Z,1761502837.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023814,-0.996772,-0.076667],[0.998812,0.026984,-0.040582],[0.042520,-0.075610,0.996231]]
2025-10-26T18:20:38.282Z,1761502838.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006326,-0.992122,-0.125114],[0.999723,0.009112,-0.021709],[0.022678,-0.124942,0.991905]]
2025-10-26T18:20:38.684Z,1761502838.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000739,-0.993780,-0.111358],[0.999879,0.002461,-0.015331],[0.015510,-0.111334,0.993662]]
2025-10-26T18:20:40.918Z,1761502840.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004200,-0.994990,-0.099887],[0.999737,-0.006430,0.022020],[-0.022552,-0.099768,0.994755]]
2025-10-26T18:20:41.315Z,1761502841.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002055,-0.992585,-0.121533],[0.999923,-0.000551,-0.012405],[0.012246,-0.121549,0.992510]]
2025-10-26T18:20:41.718Z,1761502841.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021508,-0.990166,-0.138234],[0.999397,-0.017522,-0.029990],[0.027273,-0.138796,0.989945]]
2025-10-26T18:20:42.124Z,1761502842.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032456,-0.991463,-0.126283],[0.998403,-0.026316,-0.049992],[0.046242,-0.127704,0.990734]]
2025-10-26T18:20:42.526Z,1761502842.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029968,-0.995781,-0.086735],[0.997957,-0.024908,-0.058837],[0.056428,-0.088321,0.994492]]
2025-10-26T18:20:42.930Z,1761502842.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018857,-0.999090,-0.038262],[0.996347,-0.015590,-0.083962],[0.083289,-0.039706,0.995734]]
2025-10-26T18:20:43.335Z,1761502843.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008744,-0.999961,-0.001420],[0.995699,0.008837,-0.092223],[0.092232,-0.000608,0.995737]]
2025-10-26T18:20:43.740Z,1761502843.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022583,-0.999744,-0.001306],[0.994159,0.022595,-0.105534],[0.105536,0.001085,0.994415]]
2025-10-26T18:20:44.142Z,1761502844.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010439,-0.999544,-0.028330],[0.991717,0.013976,-0.127678],[0.128016,-0.026763,0.991411]]
2025-10-26T18:20:44.546Z,1761502844.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002924,-0.997167,-0.075161],[0.993943,0.005359,-0.109767],[0.109859,-0.075026,0.991112]]
2025-10-26T18:20:44.950Z,1761502844.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001556,-0.992033,-0.125971],[0.996060,0.009632,-0.088155],[0.088666,-0.125612,0.988109]]
2025-10-26T18:20:45.355Z,1761502845.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024958,-0.987649,-0.154684],[0.995445,0.038795,-0.087092],[0.092017,-0.151805,0.984118]]
2025-10-26T18:20:45.783Z,1761502845.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058369,-0.989453,-0.132575],[0.989571,0.074866,-0.123065],[0.131692,-0.124010,0.983503]]
2025-10-26T18:20:46.162Z,1761502846.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082488,-0.995095,-0.054600],[0.977029,0.091549,-0.192439],[0.196493,-0.037472,0.979789]]
2025-10-26T18:20:46.566Z,1761502846.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088366,-0.995738,0.026403],[0.968697,0.079732,-0.235095],[0.231988,0.046351,0.971614]]
2025-10-26T18:20:46.970Z,1761502846.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088283,-0.994737,0.052010],[0.973585,0.075133,-0.215611],[0.210569,0.069671,0.975093]]
2025-10-26T18:20:46.975Z,1761502846.975 [NAL9602](INFO): SBD MO Status=1, MOMSN=2940, MT Status=0, MTMSN=0
2025-10-26T18:20:47.028Z,1761502847.028 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0001.lzma
2025-10-26T18:20:47.028Z,1761502847.028 [NAL9602](INFO): Packets left to send: 2
2025-10-26T18:20:47.375Z,1761502847.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078737,-0.996888,0.003826],[0.986164,0.077328,-0.146632],[0.145880,0.015318,0.989184]]
2025-10-26T18:20:48.222Z,1761502848.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103310,-0.983664,-0.147419],[0.994570,0.104028,0.002858],[0.012524,-0.146914,0.989070]]
2025-10-26T18:20:48.624Z,1761502848.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126706,-0.973141,-0.192204],[0.991908,0.122743,0.032436],[-0.007973,-0.194759,0.980819]]
2025-10-26T18:20:50.756Z,1761502850.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083008,-0.994207,-0.068285],[0.996450,0.081841,0.019719],[-0.014016,-0.069680,0.997471]]
2025-10-26T18:20:51.112Z,1761502851.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076689,-0.991234,-0.107580],[0.996960,0.074744,0.022003],[-0.013769,-0.108940,0.993953]]
2025-10-26T18:20:51.516Z,1761502851.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067960,-0.989273,-0.129311],[0.997556,0.065268,0.024945],[-0.016238,-0.130690,0.991290]]
2025-10-26T18:20:51.927Z,1761502851.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074402,-0.989560,-0.123427],[0.997225,0.074164,0.006534],[0.002688,-0.123571,0.992332]]
2025-10-26T18:20:52.344Z,1761502852.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079630,-0.992333,-0.094520],[0.996585,0.081330,-0.014266],[0.021844,-0.093061,0.995421]]
2025-10-26T18:20:52.763Z,1761502852.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089760,-0.995465,-0.031491],[0.995326,0.090788,-0.032911],[0.035621,-0.028389,0.998962]]
2025-10-26T18:20:53.132Z,1761502853.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112829,-0.993027,0.034172],[0.992329,0.110868,-0.054691],[0.050521,0.040081,0.997918]]
2025-10-26T18:20:53.548Z,1761502853.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127036,-0.991477,0.028902],[0.989450,0.124623,-0.073880],[0.069648,0.037983,0.996848]]
2025-10-26T18:20:53.957Z,1761502853.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147867,-0.988588,-0.028802],[0.985217,0.149785,-0.083140],[0.086506,-0.016082,0.996122]]
2025-10-26T18:20:54.373Z,1761502854.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158825,-0.981498,-0.106939],[0.983745,0.166513,-0.067226],[0.083789,-0.094524,0.991990]]
2025-10-26T18:20:54.760Z,1761502854.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139364,-0.977112,-0.160718],[0.988205,0.147636,-0.040674],[0.063471,-0.153154,0.986162]]
2025-10-26T18:20:55.162Z,1761502855.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132643,-0.975556,-0.175205],[0.988418,0.143341,-0.049835],[0.073731,-0.166566,0.983270]]
2025-10-26T18:20:55.565Z,1761502855.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153351,-0.976128,-0.153811],[0.984143,0.164906,-0.065337],[0.089141,-0.141353,0.985938]]
2025-10-26T18:20:55.965Z,1761502855.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189044,-0.977219,-0.096462],[0.979172,0.195003,-0.056533],[0.074055,-0.083766,0.993730]]
2025-10-26T18:20:55.970Z,1761502855.970 [NAL9602](INFO): SBD MO Status=1, MOMSN=2941, MT Status=0, MTMSN=0
2025-10-26T18:20:56.032Z,1761502856.032 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0001.lzma
2025-10-26T18:20:56.032Z,1761502856.032 [NAL9602](INFO): Packets left to send: 1
2025-10-26T18:20:56.366Z,1761502856.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206116,-0.977957,-0.033413],[0.977228,0.207482,-0.044471],[0.050423,-0.023486,0.998452]]
2025-10-26T18:20:57.068Z,1761502857.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225681,-0.973956,0.021871],[0.974189,0.225736,0.000029],[-0.004966,0.021300,0.999761]]
2025-10-26T18:20:58.316Z,1761502858.316 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003171
2025-10-26T18:20:59.305Z,1761502859.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203507,-0.972158,-0.116159],[0.975818,0.211065,-0.056841],[0.079776,-0.101782,0.991603]]
2025-10-26T18:20:59.700Z,1761502859.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237658,-0.971048,-0.024183],[0.970510,0.238413,-0.035622],[0.040356,-0.015005,0.999073]]
2025-10-26T18:21:00.102Z,1761502860.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261168,-0.965268,0.007004],[0.965275,0.261110,-0.008156],[0.006044,0.008891,0.999942]]
2025-10-26T18:21:00.506Z,1761502860.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273824,-0.961703,0.012164],[0.961664,0.273965,0.012056],[-0.014926,0.008397,0.999853]]
2025-10-26T18:21:00.912Z,1761502860.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268400,-0.962781,-0.031840],[0.963290,0.268447,0.002854],[0.005800,-0.031437,0.999489]]
2025-10-26T18:21:01.314Z,1761502861.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241205,-0.963430,-0.116713],[0.969785,0.243815,-0.008417],[0.036566,-0.111157,0.993130]]
2025-10-26T18:21:01.719Z,1761502861.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207337,-0.960301,-0.186637],[0.977703,0.209903,0.006131],[0.033288,-0.183746,0.982410]]
2025-10-26T18:21:02.122Z,1761502862.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211197,-0.961018,-0.178437],[0.977435,0.208409,0.034446],[0.004085,-0.181685,0.983348]]
2025-10-26T18:21:02.526Z,1761502862.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233356,-0.963314,-0.132556],[0.972354,0.232370,0.023079],[0.008569,-0.134277,0.990907]]
2025-10-26T18:21:02.932Z,1761502862.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239516,-0.968380,-0.069808],[0.970753,0.240082,0.000289],[0.016480,-0.067836,0.997560]]
2025-10-26T18:21:03.334Z,1761502863.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241749,-0.969813,-0.031933],[0.970139,0.242236,-0.012319],[0.019683,-0.028001,0.999414]]
2025-10-26T18:21:03.739Z,1761502863.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214914,-0.975271,-0.051562],[0.975820,0.216589,-0.029401],[0.039842,-0.043997,0.998237]]
2025-10-26T18:21:04.143Z,1761502864.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195250,-0.977294,-0.082309],[0.979346,0.198776,-0.036997],[0.052519,-0.073386,0.995920]]
2025-10-26T18:21:04.547Z,1761502864.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209486,-0.973320,-0.093616],[0.974486,0.215704,-0.062036],[0.080574,-0.078232,0.993674]]
2025-10-26T18:21:04.554Z,1761502864.554 [NAL9602](INFO): SBD MO Status=1, MOMSN=2942, MT Status=0, MTMSN=0
2025-10-26T18:21:04.608Z,1761502864.608 [NAL9602](INFO): Sent 114 bytes from file Logs/20251026T180417/Express0001.lzma
2025-10-26T18:21:04.608Z,1761502864.608 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:21:04.670Z,1761502864.670 [transit:NeedComms:D] Stopped
2025-10-26T18:21:04.670Z,1761502864.670 [transit:NeedComms:E] Running Loop=1
2025-10-26T18:21:04.950Z,1761502864.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225797,-0.970171,-0.088228],[0.969179,0.232876,-0.080380],[0.098529,-0.067359,0.992852]]
2025-10-26T18:21:05.035Z,1761502865.035 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T18:21:05.354Z,1761502865.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248625,-0.963829,-0.096018],[0.961898,0.257330,-0.092377],[0.113744,-0.069393,0.991084]]
2025-10-26T18:21:05.758Z,1761502865.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243778,-0.963531,-0.110364],[0.962782,0.254129,-0.092025],[0.116716,-0.083823,0.989622]]
2025-10-26T18:21:06.163Z,1761502866.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242457,-0.964867,-0.101224],[0.964045,0.251312,-0.086369],[0.108774,-0.076644,0.991107]]
2025-10-26T18:21:06.291Z,1761502866.291 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251026T180417/Courier0003.lzma
2025-10-26T18:21:06.566Z,1761502866.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253189,-0.965236,-0.064916],[0.964071,0.257321,-0.065979],[0.080390,-0.045878,0.995707]]
2025-10-26T18:21:06.970Z,1761502866.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263175,-0.964574,-0.018322],[0.963945,0.263683,-0.035789],[0.039352,-0.008242,0.999191]]
2025-10-26T18:21:06.982Z,1761502866.982 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182106.00,A,3646.47689,N,12151.96049,W,0.408,300.19,261025,,,A*72
2025-10-26T18:21:06.994Z,1761502866.994 [NAL9602](INFO): GPS fix at 20251026T182106: (36.774615, -121.866008)
2025-10-26T18:21:07.026Z,1761502867.026 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.775002,-121.864998
2025-10-26T18:21:07.030Z,1761502867.030 [transit:NeedComms:E] Stopped
2025-10-26T18:21:07.031Z,1761502867.031 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-10-26T18:21:07.031Z,1761502867.031 [transit:NeedComms] Stopped
2025-10-26T18:21:07.031Z,1761502867.031 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-10-26T18:21:07.031Z,1761502867.031 [transit:NeedComms:B.GoToSurface] Stopped
2025-10-26T18:21:07.031Z,1761502867.031 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T18:21:07.293Z,1761502867.293 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Courier0003.lzma.bak
2025-10-26T18:21:07.293Z,1761502867.293 [DataOverHttps](INFO): SBD MOMSN=26241813
2025-10-26T18:21:07.375Z,1761502867.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260982,-0.965325,-0.005949],[0.964809,0.261038,-0.031657],[0.032113,0.002523,0.999481]]
2025-10-26T18:21:07.780Z,1761502867.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247187,-0.967702,-0.049510],[0.968161,0.248743,-0.028125],[0.039532,-0.040982,0.998378]]
2025-10-26T18:21:08.182Z,1761502868.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247482,-0.959776,-0.132603],[0.967867,0.251188,-0.011725],[0.044561,-0.125441,0.991100]]
2025-10-26T18:21:08.586Z,1761502868.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251322,-0.947041,-0.199875],[0.966816,0.255416,0.005464],[0.045876,-0.194615,0.979806]]
2025-10-26T18:21:08.990Z,1761502868.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241912,-0.948978,-0.202284],[0.968719,0.248100,-0.005424],[0.055334,-0.194645,0.979312]]
2025-10-26T18:21:09.662Z,1761502869.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231342,-0.971773,-0.046234],[0.970549,0.233811,-0.058018],[0.067191,-0.031451,0.997244]]
2025-10-26T18:21:10.063Z,1761502870.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234587,-0.972067,0.007387],[0.971740,0.234289,-0.028827],[0.026291,0.013941,0.999557]]
2025-10-26T18:21:10.467Z,1761502870.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244379,-0.969680,-0.000392],[0.969107,0.244249,-0.034262],[0.033319,0.007993,0.999413]]
2025-10-26T18:21:10.922Z,1761502870.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259505,-0.964612,-0.046689],[0.964265,0.261478,-0.042687],[0.053384,-0.033943,0.997997]]
2025-10-26T18:21:11.271Z,1761502871.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271510,-0.958571,-0.086159],[0.961849,0.273379,-0.010467],[0.033587,-0.080031,0.996226]]
2025-10-26T18:21:11.675Z,1761502871.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290123,-0.950329,-0.112706],[0.956665,0.291072,0.008307],[0.024911,-0.110232,0.993594]]
2025-10-26T18:21:12.080Z,1761502872.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281438,-0.945626,-0.163048],[0.957912,0.286875,-0.010326],[0.056539,-0.153280,0.986564]]
2025-10-26T18:21:12.482Z,1761502872.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268769,-0.939974,-0.210265],[0.961493,0.274829,0.000419],[0.057393,-0.202281,0.977644]]
2025-10-26T18:21:12.912Z,1761502872.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268366,-0.939998,-0.210675],[0.961968,0.273074,0.006979],[0.050970,-0.204536,0.977531]]
2025-10-26T18:21:13.292Z,1761502873.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284050,-0.950271,-0.127673],[0.958458,0.285022,0.010980],[0.025956,-0.125488,0.991756]]
2025-10-26T18:21:13.774Z,1761502873.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315919,-0.948301,-0.030336],[0.948706,0.316147,-0.002903],[0.012343,-0.027863,0.999536]]
2025-10-26T18:21:14.170Z,1761502874.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322094,-0.946689,-0.006042],[0.946456,0.322149,-0.021000],[0.021827,0.001045,0.999761]]
2025-10-26T18:21:14.623Z,1761502874.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321437,-0.943493,-0.080617],[0.945893,0.323904,-0.019303],[0.044325,-0.070050,0.996558]]
2025-10-26T18:21:15.026Z,1761502875.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316345,-0.925747,-0.207169],[0.946119,0.323812,-0.002258],[0.069174,-0.195292,0.978303]]
2025-10-26T18:21:15.432Z,1761502875.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304959,-0.913464,-0.269413],[0.951160,0.306359,0.037923],[0.047896,-0.267819,0.962278]]
2025-10-26T18:21:15.834Z,1761502875.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312312,-0.916963,-0.248274],[0.949883,0.305162,0.067819],[0.013576,-0.257012,0.966313]]
2025-10-26T18:21:16.238Z,1761502876.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315530,-0.931241,-0.182291],[0.948914,0.309343,0.062199],[-0.001532,-0.192604,0.981275]]
2025-10-26T18:21:16.643Z,1761502876.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314629,-0.941029,-0.124392],[0.949183,0.312972,0.033162],[0.007725,-0.128504,0.991679]]
2025-10-26T18:21:17.049Z,1761502877.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317180,-0.942647,-0.103992],[0.947408,0.319876,-0.009915],[0.042611,-0.095377,0.994529]]
2025-10-26T18:21:17.491Z,1761502877.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327519,-0.938633,-0.108165],[0.942293,0.332895,-0.035567],[0.069392,-0.090275,0.993496]]
2025-10-26T18:21:17.894Z,1761502877.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347903,-0.928914,-0.126818],[0.932420,0.356931,-0.056505],[0.097754,-0.098590,0.990315]]
2025-10-26T18:21:18.005Z,1761502878.005 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:21:18.299Z,1761502878.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370789,-0.918603,-0.136691],[0.923528,0.380239,-0.050144],[0.098037,-0.107645,0.989344]]
2025-10-26T18:21:18.698Z,1761502878.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400185,-0.907120,-0.130329],[0.912265,0.407865,-0.037652],[0.087312,-0.103827,0.990756]]
2025-10-26T18:21:19.143Z,1761502879.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406555,-0.904563,-0.128371],[0.911141,0.411784,-0.016012],[0.067345,-0.110454,0.991597]]
2025-10-26T18:21:19.543Z,1761502879.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399981,-0.907677,-0.127030],[0.915999,0.400580,0.021927],[0.030983,-0.125130,0.991656]]
2025-10-26T18:21:19.976Z,1761502879.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391869,-0.905626,-0.162112],[0.919661,0.390515,0.041489],[0.025733,-0.165346,0.985900]]
2025-10-26T18:21:20.370Z,1761502880.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387494,-0.899806,-0.200491],[0.921218,0.386142,0.047453],[0.034719,-0.203084,0.978546]]
2025-10-26T18:21:20.775Z,1761502880.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395580,-0.892966,-0.214774],[0.916640,0.398461,0.031624],[0.057340,-0.209381,0.976152]]
2025-10-26T18:21:21.178Z,1761502881.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403311,-0.884256,-0.235439],[0.903626,0.425413,-0.049831],[0.144222,-0.192651,0.970611]]
2025-10-26T18:21:21.582Z,1761502881.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396768,-0.896381,-0.197675],[0.896614,0.424594,-0.125712],[0.196618,-0.127360,0.972173]]
2025-10-26T18:21:21.986Z,1761502881.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414722,-0.902514,-0.116077],[0.891436,0.428566,-0.147215],[0.182610,-0.042422,0.982270]]
2025-10-26T18:21:22.391Z,1761502882.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439625,-0.894873,-0.077016],[0.886646,0.446079,-0.121952],[0.143487,-0.014672,0.989543]]
2025-10-26T18:21:22.794Z,1761502882.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460535,-0.882355,-0.096730],[0.881681,0.467326,-0.065158],[0.102697,-0.055278,0.993176]]
2025-10-26T18:21:23.198Z,1761502883.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501360,-0.848352,-0.170111],[0.855586,0.515376,-0.048576],[0.128881,-0.121190,0.984227]]
2025-10-26T18:21:23.653Z,1761502883.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512181,-0.821963,-0.249091],[0.840014,0.539852,-0.054194],[0.179018,-0.181483,0.966963]]
2025-10-26T18:21:24.058Z,1761502884.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514430,-0.811021,-0.278580],[0.834231,0.548523,-0.056394],[0.198544,-0.203389,0.958756]]
2025-10-26T18:21:24.458Z,1761502884.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512878,-0.813471,-0.274264],[0.833773,0.548090,-0.066475],[0.204397,-0.194581,0.959354]]
2025-10-26T18:21:24.911Z,1761502884.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552362,-0.807876,-0.205505],[0.817005,0.573607,-0.058979],[0.165527,-0.135321,0.976877]]
2025-10-26T18:21:25.677Z,1761502885.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560181,-0.795981,-0.229373],[0.802785,0.589939,-0.086648],[0.204286,-0.135598,0.969474]]
2025-10-26T18:21:26.079Z,1761502886.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546683,-0.791805,-0.272366],[0.802683,0.588170,-0.098775],[0.238408,-0.164625,0.957110]]
2025-10-26T18:21:26.483Z,1761502886.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537498,-0.788155,-0.299847],[0.803100,0.586875,-0.102999],[0.257152,-0.185445,0.948411]]
2025-10-26T18:21:26.902Z,1761502886.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545937,-0.773421,-0.322139],[0.795034,0.599538,-0.092060],[0.264336,-0.205852,0.942206]]
2025-10-26T18:21:27.289Z,1761502887.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565427,-0.751824,-0.339195],[0.778663,0.622184,-0.081062],[0.271987,-0.218284,0.937217]]
2025-10-26T18:21:27.715Z,1761502887.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569892,-0.739999,-0.357246],[0.760482,0.639656,-0.111834],[0.311272,-0.207946,0.927291]]
2025-10-26T18:21:28.114Z,1761502888.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557783,-0.734333,-0.386824],[0.751386,0.644736,-0.140478],[0.352557,-0.212298,0.911391]]
2025-10-26T18:21:28.128Z,1761502888.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:21:28.518Z,1761502888.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550601,-0.722132,-0.418765],[0.741054,0.653773,-0.153035],[0.384289,-0.226066,0.895107]]
2025-10-26T18:21:28.923Z,1761502888.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554732,-0.696363,-0.455357],[0.728382,0.670974,-0.138757],[0.402158,-0.254701,0.879429]]
2025-10-26T18:21:29.328Z,1761502889.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569804,-0.683712,-0.455919],[0.718480,0.683770,-0.127454],[0.398885,-0.254945,0.880848]]
2025-10-26T18:21:29.730Z,1761502889.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588657,-0.686682,-0.426556],[0.717902,0.686638,-0.114649],[0.371617,-0.238737,0.897165]]
2025-10-26T18:21:30.134Z,1761502890.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596386,-0.696941,-0.398241],[0.730116,0.677148,-0.091656],[0.333548,-0.236100,0.912690]]
2025-10-26T18:21:30.538Z,1761502890.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588358,-0.710217,-0.386557],[0.748559,0.659174,-0.071752],[0.305768,-0.247145,0.919470]]
2025-10-26T18:21:30.943Z,1761502890.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570354,-0.723771,-0.388397],[0.765127,0.640138,-0.069311],[0.298794,-0.257641,0.918882]]
2025-10-26T18:21:31.403Z,1761502891.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551019,-0.733458,-0.398017],[0.775131,0.626528,-0.081453],[0.309111,-0.263634,0.913755]]
2025-10-26T18:21:31.425Z,1761502891.425 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 22.43 mm (1 active estimators).
2025-10-26T18:21:31.806Z,1761502891.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534538,-0.744276,-0.400403],[0.777911,0.618472,-0.111117],[0.330339,-0.252082,0.909577]]
2025-10-26T18:21:32.210Z,1761502892.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523392,-0.759549,-0.386195],[0.774729,0.612889,-0.155445],[0.354763,-0.217838,0.909225]]
2025-10-26T18:21:32.616Z,1761502892.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522296,-0.772547,-0.361079],[0.767466,0.610424,-0.195903],[0.371756,-0.174796,0.911726]]
2025-10-26T18:21:33.422Z,1761502893.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533365,-0.781630,-0.323384],[0.765559,0.608652,-0.208478],[0.359781,-0.136374,0.923017]]
2025-10-26T18:21:33.851Z,1761502893.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537572,-0.782003,-0.315418],[0.769401,0.607958,-0.195982],[0.345019,-0.137329,0.928495]]
2025-10-26T18:21:34.254Z,1761502894.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542342,-0.778270,-0.316482],[0.770084,0.611098,-0.183109],[0.335909,-0.144410,0.930758]]
2025-10-26T18:21:34.694Z,1761502894.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550524,-0.770784,-0.320648],[0.765882,0.619158,-0.173401],[0.332187,-0.150117,0.931191]]
2025-10-26T18:21:35.094Z,1761502895.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552530,-0.767038,-0.326135],[0.762315,0.623272,-0.174379],[0.337026,-0.152268,0.929101]]
2025-10-26T18:21:35.498Z,1761502895.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552022,-0.762212,-0.338089],[0.758693,0.627346,-0.175562],[0.345914,-0.159591,0.924594]]
2025-10-26T18:21:35.903Z,1761502895.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552970,-0.756369,-0.349471],[0.755855,0.631862,-0.171562],[0.350582,-0.169281,0.921106]]
2025-10-26T18:21:36.308Z,1761502896.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557066,-0.750358,-0.355867],[0.755362,0.635885,-0.158360],[0.345117,-0.180592,0.921022]]
2025-10-26T18:21:36.710Z,1761502896.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564944,-0.744631,-0.355475],[0.756836,0.639246,-0.136247],[0.328690,-0.192064,0.924702]]
2025-10-26T18:21:37.518Z,1761502897.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577812,-0.740190,-0.343877],[0.767601,0.636014,-0.079219],[0.277348,-0.218187,0.935667]]
2025-10-26T18:21:37.924Z,1761502897.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575440,-0.744409,-0.338709],[0.777473,0.626429,-0.055889],[0.253782,-0.231176,0.939230]]
2025-10-26T18:21:38.326Z,1761502898.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566607,-0.754053,-0.332206],[0.789029,0.612707,-0.044982],[0.237463,-0.236633,0.942134]]
2025-10-26T18:21:38.730Z,1761502898.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554319,-0.766062,-0.325390],[0.799726,0.598541,-0.046763],[0.230582,-0.234301,0.944423]]
2025-10-26T18:21:39.132Z,1761502899.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541940,-0.778588,-0.316389],[0.807568,0.586670,-0.060437],[0.232671,-0.222753,0.946702]]
2025-10-26T18:21:39.536Z,1761502899.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531196,-0.788700,-0.309490],[0.812245,0.577971,-0.078788],[0.241016,-0.209530,0.947633]]
2025-10-26T18:21:39.938Z,1761502899.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522741,-0.797203,-0.302008],[0.814552,0.571593,-0.098924],[0.251488,-0.194289,0.948159]]
2025-10-26T18:21:39.946Z,1761502899.946 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T18:21:40.342Z,1761502900.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516823,-0.804162,-0.293626],[0.816101,0.566400,-0.114764],[0.258599,-0.180316,0.949006]]
2025-10-26T18:21:40.746Z,1761502900.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511253,-0.810902,-0.284707],[0.819122,0.560024,-0.124150],[0.260116,-0.169738,0.950541]]
2025-10-26T18:21:41.574Z,1761502901.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497103,-0.821792,-0.278471],[0.831071,0.543189,-0.119442],[0.249419,-0.172054,0.952989]]
2025-10-26T18:21:41.980Z,1761502901.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493230,-0.823619,-0.279959],[0.836735,0.537201,-0.106254],[0.237907,-0.181844,0.954114]]
2025-10-26T18:21:42.382Z,1761502902.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489522,-0.825479,-0.280986],[0.841522,0.531655,-0.095830],[0.228493,-0.189545,0.954916]]
2025-10-26T18:21:42.796Z,1761502902.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487037,-0.826850,-0.281272],[0.843917,0.528479,-0.092271],[0.224941,-0.192431,0.955182]]
2025-10-26T18:21:43.191Z,1761502903.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487102,-0.826256,-0.282900],[0.843295,0.529223,-0.093684],[0.227124,-0.192934,0.954563]]
2025-10-26T18:21:43.595Z,1761502903.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491155,-0.822734,-0.286141],[0.839280,0.534905,-0.097393],[0.233187,-0.192317,0.953225]]
2025-10-26T18:21:43.998Z,1761502903.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498307,-0.817293,-0.289349],[0.833081,0.543796,-0.101299],[0.240138,-0.190574,0.951848]]
2025-10-26T18:21:44.402Z,1761502904.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507500,-0.810780,-0.291685],[0.826393,0.553842,-0.101650],[0.243964,-0.189459,0.951098]]
2025-10-26T18:21:44.806Z,1761502904.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517906,-0.804333,-0.291242],[0.820624,0.563286,-0.096357],[0.241556,-0.189096,0.951784]]
2025-10-26T18:21:45.214Z,1761502905.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529482,-0.797530,-0.289129],[0.816126,0.571892,-0.082930],[0.231490,-0.192056,0.953691]]
2025-10-26T18:21:45.671Z,1761502905.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540562,-0.790598,-0.287661],[0.813123,0.578721,-0.062548],[0.215925,-0.200093,0.955688]]
2025-10-26T18:21:46.074Z,1761502906.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548423,-0.786399,-0.284269],[0.812311,0.581704,-0.042079],[0.198452,-0.207838,0.957821]]
2025-10-26T18:21:46.523Z,1761502906.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549456,-0.788510,-0.276316],[0.817881,0.575191,-0.015034],[0.170788,-0.217733,0.960949]]
2025-10-26T18:21:46.921Z,1761502906.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544806,-0.794152,-0.269276],[0.822775,0.568256,-0.011249],[0.161951,-0.215425,0.962997]]
2025-10-26T18:21:47.324Z,1761502907.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541202,-0.800301,-0.258107],[0.826588,0.562690,-0.011504],[0.154440,-0.207122,0.966048]]
2025-10-26T18:21:47.729Z,1761502907.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539969,-0.804954,-0.245933],[0.828832,0.559386,-0.011128],[0.146529,-0.197828,0.969223]]
2025-10-26T18:21:48.134Z,1761502908.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539465,-0.809771,-0.230757],[0.830875,0.556369,-0.009982],[0.136470,-0.186346,0.972960]]
2025-10-26T18:21:48.548Z,1761502908.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537833,-0.815475,-0.213860],[0.834129,0.551544,-0.005367],[0.122330,-0.175500,0.976850]]
2025-10-26T18:21:48.988Z,1761502908.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533698,-0.822222,-0.197780],[0.839290,0.543665,0.004623],[0.103725,-0.168462,0.980236]]
2025-10-26T18:21:49.363Z,1761502909.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527749,-0.829534,-0.182633],[0.845512,0.533596,0.019617],[0.081179,-0.164771,0.982985]]
2025-10-26T18:21:49.768Z,1761502909.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520129,-0.837419,-0.167914],[0.852154,0.522045,0.036087],[0.057439,-0.161858,0.985141]]
2025-10-26T18:21:50.171Z,1761502910.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509997,-0.846024,-0.155390],[0.859339,0.509084,0.048670],[0.037931,-0.158354,0.986654]]
2025-10-26T18:21:50.577Z,1761502910.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498323,-0.854616,-0.145962],[0.866580,0.496162,0.053499],[0.026700,-0.153148,0.987843]]
2025-10-26T18:21:50.978Z,1761502910.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486915,-0.862144,-0.140081],[0.873110,0.484899,0.050524],[0.024366,-0.146906,0.988850]]
2025-10-26T18:21:51.390Z,1761502911.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477786,-0.867596,-0.137831],[0.877993,0.476810,0.042185],[0.029120,-0.141170,0.989557]]
2025-10-26T18:21:51.794Z,1761502911.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472444,-0.870148,-0.140138],[0.880599,0.472638,0.034030],[0.036623,-0.139483,0.989547]]
2025-10-26T18:21:52.192Z,1761502912.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471084,-0.870273,-0.143893],[0.881043,0.472164,0.028729],[0.042939,-0.140310,0.989176]]
2025-10-26T18:21:52.594Z,1761502912.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473786,-0.867350,-0.152414],[0.879438,0.475040,0.030439],[0.046001,-0.148461,0.987848]]
2025-10-26T18:21:53.012Z,1761502913.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481695,-0.860955,-0.163486],[0.875207,0.482105,0.039836],[0.044520,-0.162273,0.985741]]
2025-10-26T18:21:53.414Z,1761502913.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494696,-0.851031,-0.176133],[0.868237,0.492820,0.057388],[0.037963,-0.181315,0.982692]]
2025-10-26T18:21:53.819Z,1761502913.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507983,-0.840804,-0.187086],[0.860870,0.502944,0.077131],[0.029242,-0.200238,0.979311]]
2025-10-26T18:21:54.223Z,1761502914.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519977,-0.831631,-0.194970],[0.853946,0.511456,0.095858],[0.020000,-0.216337,0.976114]]
2025-10-26T18:21:54.626Z,1761502914.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528592,-0.824420,-0.202293],[0.848790,0.516708,0.112109],[0.012101,-0.230964,0.972887]]
2025-10-26T18:21:55.034Z,1761502915.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530581,-0.821900,-0.207277],[0.847603,0.516550,0.121428],[0.007267,-0.240117,0.970717]]
2025-10-26T18:21:55.434Z,1761502915.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529469,-0.822220,-0.208847],[0.848321,0.514260,0.126049],[0.003762,-0.243909,0.969791]]
2025-10-26T18:21:55.847Z,1761502915.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526230,-0.824855,-0.206632],[0.850342,0.510760,0.126663],[0.001061,-0.242362,0.970185]]
2025-10-26T18:21:56.242Z,1761502916.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521508,-0.829592,-0.199515],[0.853245,0.506643,0.123636],[-0.001485,-0.234713,0.972064]]
2025-10-26T18:21:56.650Z,1761502916.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516345,-0.835203,-0.189272],[0.856369,0.502400,0.119277],[-0.004530,-0.223674,0.974653]]
2025-10-26T18:21:57.051Z,1761502917.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511159,-0.840818,-0.178162],[0.859447,0.498063,0.115253],[-0.008171,-0.212033,0.977228]]
2025-10-26T18:21:57.455Z,1761502917.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505925,-0.845798,-0.169309],[0.862494,0.493306,0.112931],[-0.011996,-0.203163,0.979071]]
2025-10-26T18:21:57.858Z,1761502917.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500542,-0.850632,-0.160881],[0.865574,0.488426,0.110547],[-0.015457,-0.194587,0.980763]]
2025-10-26T18:21:58.264Z,1761502918.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494741,-0.854940,-0.155914],[0.868863,0.482990,0.108617],[-0.017556,-0.189205,0.981781]]
2025-10-26T18:21:58.666Z,1761502918.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488976,-0.858440,-0.154867],[0.872106,0.477390,0.107372],[-0.018241,-0.187563,0.982083]]
2025-10-26T18:21:59.072Z,1761502919.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484881,-0.861154,-0.152661],[0.874384,0.473630,0.105484],[-0.018533,-0.184631,0.982633]]
2025-10-26T18:21:59.260Z,1761502919.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:21:59.474Z,1761502919.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483807,-0.861711,-0.152922],[0.874963,0.472407,0.106163],[-0.019241,-0.185164,0.982519]]
2025-10-26T18:21:59.879Z,1761502919.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485558,-0.860556,-0.153871],[0.873962,0.473702,0.108611],[-0.020577,-0.187214,0.982104]]
2025-10-26T18:22:00.282Z,1761502920.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488636,-0.858888,-0.153448],[0.872185,0.476218,0.111849],[-0.022991,-0.188489,0.981806]]
2025-10-26T18:22:00.687Z,1761502920.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492007,-0.856884,-0.153879],[0.870188,0.478660,0.116862],[-0.026482,-0.191401,0.981155]]
2025-10-26T18:22:01.090Z,1761502921.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495832,-0.854585,-0.154389],[0.867848,0.481170,0.123751],[-0.031468,-0.195346,0.980229]]
2025-10-26T18:22:01.115Z,1761502921.115 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   +20,  +845,
2025-10-26T18:22:01.494Z,1761502921.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499757,-0.852086,-0.155539],[0.865335,0.483296,0.132744],[-0.037937,-0.200933,0.978870]]
2025-10-26T18:22:01.898Z,1761502921.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502589,-0.850204,-0.156709],[0.863334,0.484067,0.142598],[-0.045379,-0.206960,0.977296]]
2025-10-26T18:22:02.304Z,1761502922.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501618,-0.850771,-0.156742],[0.863520,0.481511,0.149934],[-0.052087,-0.210559,0.976192]]
2025-10-26T18:22:02.707Z,1761502922.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497445,-0.853905,-0.152953],[0.865530,0.476679,0.153737],[-0.058367,-0.208861,0.976202]]
2025-10-26T18:22:03.110Z,1761502923.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491700,-0.858379,-0.146343],[0.868456,0.471191,0.154154],[-0.063367,-0.202890,0.977149]]
2025-10-26T18:22:03.515Z,1761502923.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485047,-0.863317,-0.139330],[0.871955,0.465343,0.152154],[-0.066521,-0.195291,0.978487]]
2025-10-26T18:22:03.918Z,1761502923.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478163,-0.867902,-0.134560],[0.875648,0.459274,0.149361],[-0.067831,-0.189245,0.979584]]
2025-10-26T18:22:04.322Z,1761502924.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470803,-0.872329,-0.131855],[0.879689,0.452819,0.145266],[-0.067013,-0.184383,0.980567]]
2025-10-26T18:22:04.726Z,1761502924.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462329,-0.876664,-0.133091],[0.884432,0.445169,0.140015],[-0.063498,-0.182442,0.981164]]
2025-10-26T18:22:05.130Z,1761502925.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452541,-0.881008,-0.137956],[0.889951,0.436390,0.132481],[-0.056514,-0.182727,0.981538]]
2025-10-26T18:22:05.544Z,1761502925.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442131,-0.885432,-0.143282],[0.895728,0.427520,0.122060],[-0.046820,-0.182308,0.982126]]
2025-10-26T18:22:05.938Z,1761502925.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433912,-0.888448,-0.149601],[0.900228,0.420872,0.111605],[-0.036193,-0.183102,0.982428]]
2025-10-26T18:22:06.342Z,1761502926.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430556,-0.888573,-0.158303],[0.902164,0.418471,0.104799],[-0.026876,-0.187937,0.981813]]
2025-10-26T18:22:06.747Z,1761502926.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432360,-0.885721,-0.169007],[0.901485,0.420492,0.102528],[-0.019745,-0.196687,0.980268]]
2025-10-26T18:22:07.151Z,1761502927.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437921,-0.880521,-0.181404],[0.898900,0.425652,0.103922],[-0.014291,-0.208574,0.977902]]
2025-10-26T18:22:07.554Z,1761502927.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444567,-0.874576,-0.193591],[0.895697,0.431773,0.106302],[-0.009381,-0.220657,0.975306]]
2025-10-26T18:22:07.958Z,1761502927.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450844,-0.869012,-0.203857],[0.892588,0.437615,0.108533],[-0.005106,-0.230892,0.972966]]
2025-10-26T18:22:08.362Z,1761502928.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457162,-0.863539,-0.212843],[0.889381,0.443308,0.111716],[-0.002116,-0.240370,0.970679]]
2025-10-26T18:22:08.767Z,1761502928.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464092,-0.858220,-0.219265],[0.885787,0.449480,0.115540],[-0.000603,-0.247843,0.968800]]
2025-10-26T18:22:09.175Z,1761502929.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472217,-0.852635,-0.223661],[0.881482,0.456729,0.119950],[-0.000121,-0.253796,0.967258]]
2025-10-26T18:22:09.574Z,1761502929.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476703,-0.849899,-0.224555],[0.879063,0.461251,0.120396],[0.001252,-0.254791,0.966995]]
2025-10-26T18:22:09.979Z,1761502929.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476676,-0.850010,-0.224195],[0.879072,0.461936,0.117673],[0.003541,-0.253175,0.967414]]
2025-10-26T18:22:10.382Z,1761502930.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474627,-0.850596,-0.226308],[0.880168,0.460322,0.115789],[0.005684,-0.254146,0.967149]]
2025-10-26T18:22:10.796Z,1761502930.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470299,-0.852708,-0.227395],[0.882472,0.456706,0.112532],[0.007896,-0.253593,0.967279]]
2025-10-26T18:22:11.191Z,1761502931.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463459,-0.855540,-0.230774],[0.886041,0.450864,0.107950],[0.011692,-0.254506,0.967001]]
2025-10-26T18:22:11.594Z,1761502931.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455447,-0.858917,-0.234156],[0.890097,0.444398,0.101179],[0.017154,-0.254504,0.966920]]
2025-10-26T18:22:11.000Z,1761502932.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448373,-0.862045,-0.236305],[0.893546,0.439137,0.093463],[0.023201,-0.253055,0.967174]]
2025-10-26T18:22:12.404Z,1761502932.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443498,-0.864446,-0.236734],[0.895766,0.436410,0.084556],[0.030220,-0.249559,0.967888]]
2025-10-26T18:22:12.806Z,1761502932.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441896,-0.865673,-0.235241],[0.896251,0.437219,0.074650],[0.038229,-0.243822,0.969066]]
2025-10-26T18:22:13.212Z,1761502933.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444303,-0.865027,-0.233072],[0.894710,0.441717,0.066181],[0.045704,-0.237936,0.970205]]
2025-10-26T18:22:13.616Z,1761502933.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449005,-0.862793,-0.232342],[0.892010,0.447980,0.060271],[0.052083,-0.234313,0.970765]]
2025-10-26T18:22:14.023Z,1761502934.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454735,-0.859489,-0.233442],[0.888822,0.454627,0.057537],[0.056677,-0.233652,0.970667]]
2025-10-26T18:22:14.422Z,1761502934.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461214,-0.855370,-0.235847],[0.885286,0.461467,0.057587],[0.059577,-0.235353,0.970082]]
2025-10-26T18:22:14.837Z,1761502934.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468455,-0.850231,-0.240118],[0.881365,0.468567,0.060344],[0.061205,-0.239900,0.968866]]
2025-10-26T18:22:15.232Z,1761502935.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475686,-0.844945,-0.244521],[0.877440,0.475342,0.064404],[0.061813,-0.245189,0.967503]]
2025-10-26T18:22:15.636Z,1761502935.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480437,-0.841136,-0.248335],[0.874784,0.479842,0.067111],[0.062712,-0.249482,0.966347]]
2025-10-26T18:22:16.039Z,1761502936.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481288,-0.839817,-0.251137],[0.874113,0.481229,0.065923],[0.065491,-0.251250,0.965704]]
2025-10-26T18:22:16.442Z,1761502936.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480174,-0.839872,-0.253076],[0.874466,0.480985,0.062947],[0.068858,-0.251532,0.965396]]
2025-10-26T18:22:16.877Z,1761502936.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478043,-0.840544,-0.254875],[0.875411,0.479613,0.060218],[0.071625,-0.251907,0.965097]]
2025-10-26T18:22:17.252Z,1761502937.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474600,-0.842149,-0.256008],[0.877205,0.476517,0.058685],[0.072571,-0.252423,0.964892]]
2025-10-26T18:22:17.654Z,1761502937.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469733,-0.844975,-0.255671],[0.880004,0.471242,0.059371],[0.070316,-0.252880,0.964939]]
2025-10-26T18:22:18.058Z,1761502938.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464002,-0.849085,-0.252501],[0.883372,0.464753,0.060481],[0.065997,-0.251115,0.965705]]
2025-10-26T18:22:18.462Z,1761502938.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457325,-0.853842,-0.248610],[0.887175,0.457355,0.061215],[0.061435,-0.248555,0.966667]]
2025-10-26T18:22:18.897Z,1761502938.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449645,-0.858774,-0.245617],[0.891242,0.449590,0.059629],[0.059219,-0.245716,0.967531]]
2025-10-26T18:22:19.271Z,1761502939.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441202,-0.864440,-0.241007],[0.895309,0.442355,0.052377],[0.061334,-0.238885,0.969109]]
2025-10-26T18:22:19.682Z,1761502939.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433068,-0.869008,-0.239327],[0.898803,0.436328,0.042077],[0.067860,-0.233330,0.970027]]
2025-10-26T18:22:20.079Z,1761502940.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426543,-0.872450,-0.238522],[0.901087,0.432685,0.028743],[0.078128,-0.227189,0.970712]]
2025-10-26T18:22:20.484Z,1761502940.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422938,-0.874003,-0.239253],[0.901541,0.432471,0.013853],[0.091363,-0.221555,0.970858]]
2025-10-26T18:22:20.922Z,1761502940.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423665,-0.872430,-0.243667],[0.899572,0.436772,0.000265],[0.106195,-0.219308,0.969859]]
2025-10-26T18:22:21.292Z,1761502941.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428454,-0.867873,-0.251444],[0.895511,0.444932,-0.009778],[0.120362,-0.220981,0.967823]]
2025-10-26T18:22:21.695Z,1761502941.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435806,-0.861379,-0.260960],[0.890291,0.455128,-0.015496],[0.132118,-0.225576,0.965225]]
2025-10-26T18:22:22.098Z,1761502942.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445133,-0.853604,-0.270587],[0.884432,0.466383,-0.016322],[0.140129,-0.232051,0.962557]]
2025-10-26T18:22:22.502Z,1761502942.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456560,-0.845164,-0.277941],[0.878109,0.478310,-0.012021],[0.143102,-0.238574,0.960523]]
2025-10-26T18:22:22.912Z,1761502942.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469564,-0.835998,-0.283932],[0.871653,0.490121,-0.001560],[0.140465,-0.246757,0.958843]]
2025-10-26T18:22:23.310Z,1761502943.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483053,-0.826434,-0.289251],[0.865373,0.500935,0.013937],[0.133378,-0.257042,0.957152]]
2025-10-26T18:22:23.715Z,1761502943.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495369,-0.817820,-0.292881],[0.859849,0.509581,0.031401],[0.123566,-0.267389,0.955633]]
2025-10-26T18:22:24.118Z,1761502944.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504190,-0.811615,-0.295083],[0.856120,0.514598,0.047417],[0.113365,-0.276534,0.954294]]
2025-10-26T18:22:24.523Z,1761502944.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506458,-0.809980,-0.295689],[0.855839,0.513989,0.057919],[0.105068,-0.282396,0.953527]]
2025-10-26T18:22:24.926Z,1761502944.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502332,-0.812651,-0.295400],[0.858933,0.508280,0.062342],[0.099484,-0.285045,0.953337]]
2025-10-26T18:22:25.330Z,1761502945.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495887,-0.817819,-0.292008],[0.863186,0.500962,0.062828],[0.094903,-0.283212,0.954350]]
2025-10-26T18:22:25.739Z,1761502945.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489824,-0.823723,-0.285577],[0.867079,0.494403,0.061156],[0.090814,-0.277573,0.956403]]
2025-10-26T18:22:26.145Z,1761502946.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480955,-0.835018,-0.267258],[0.872497,0.485818,0.052250],[0.086209,-0.258312,0.962207]]
2025-10-26T18:22:26.547Z,1761502946.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478521,-0.839194,-0.258402],[0.873756,0.484239,0.045434],[0.087000,-0.247521,0.964969]]
2025-10-26T18:22:26.951Z,1761502946.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478786,-0.841223,-0.251213],[0.873394,0.485450,0.039001],[0.089143,-0.238081,0.967146]]
2025-10-26T18:22:27.354Z,1761502947.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484223,-0.839874,-0.245234],[0.870376,0.490992,0.037044],[0.089296,-0.231383,0.968756]]
2025-10-26T18:22:27.372Z,1761502947.372 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247395
2025-10-26T18:22:27.757Z,1761502947.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490621,-0.837118,-0.241918],[0.866903,0.497000,0.038334],[0.088143,-0.228527,0.969539]]
2025-10-26T18:22:28.158Z,1761502948.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497079,-0.833862,-0.239970],[0.863495,0.502585,0.042250],[0.085375,-0.228214,0.969860]]
2025-10-26T18:22:28.376Z,1761502948.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:22:28.562Z,1761502948.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503624,-0.829694,-0.240773],[0.860163,0.507538,0.050245],[0.080513,-0.232408,0.969280]]
2025-10-26T18:22:28.966Z,1761502948.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509737,-0.825889,-0.240987],[0.857110,0.511712,0.059269],[0.074366,-0.236764,0.968717]]
2025-10-26T18:22:29.372Z,1761502949.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513309,-0.823002,-0.243274],[0.855441,0.513397,0.068147],[0.068811,-0.243087,0.967561]]
2025-10-26T18:22:29.790Z,1761502949.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515075,-0.821069,-0.246056],[0.854659,0.513814,0.074523],[0.065238,-0.248679,0.966386]]
2025-10-26T18:22:30.178Z,1761502950.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515679,-0.819773,-0.249093],[0.854472,0.513409,0.079306],[0.062873,-0.253740,0.965227]]
2025-10-26T18:22:30.582Z,1761502950.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515983,-0.819387,-0.249733],[0.854399,0.513181,0.081531],[0.061353,-0.255440,0.964876]]
2025-10-26T18:22:30.987Z,1761502950.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515895,-0.819478,-0.249618],[0.854545,0.512717,0.082908],[0.060042,-0.256081,0.964789]]
2025-10-26T18:22:31.391Z,1761502951.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515470,-0.820287,-0.247831],[0.854903,0.512057,0.083298],[0.058575,-0.254809,0.965216]]
2025-10-26T18:22:31.760Z,1761502951.760 [Radio_Surface](INFO): Powering down
2025-10-26T18:22:31.794Z,1761502951.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514414,-0.821958,-0.244466],[0.855645,0.510929,0.082602],[0.057009,-0.251668,0.966133]]
2025-10-26T18:22:32.198Z,1761502952.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513034,-0.824290,-0.239461],[0.856570,0.509681,0.080699],[0.055530,-0.246516,0.967546]]
2025-10-26T18:22:32.604Z,1761502952.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511601,-0.826491,-0.234899],[0.857501,0.508425,0.078712],[0.054374,-0.241695,0.968828]]
2025-10-26T18:22:33.006Z,1761502953.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511109,-0.827960,-0.230756],[0.857846,0.508116,0.076933],[0.053553,-0.237275,0.969965]]
2025-10-26T18:22:33.411Z,1761502953.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512845,-0.827685,-0.227878],[0.856859,0.509824,0.076627],[0.052755,-0.234557,0.970670]]
2025-10-26T18:22:33.822Z,1761502953.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516314,-0.825829,-0.226774],[0.854799,0.513136,0.077533],[0.052337,-0.233877,0.970857]]
2025-10-26T18:22:34.219Z,1761502954.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520885,-0.822881,-0.227039],[0.851992,0.517614,0.078644],[0.052804,-0.234400,0.970705]]
2025-10-26T18:22:34.622Z,1761502954.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526717,-0.818844,-0.228175],[0.848356,0.523273,0.080487],[0.053491,-0.235968,0.970287]]
2025-10-26T18:22:35.026Z,1761502955.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533523,-0.813718,-0.230688],[0.844079,0.529578,0.084131],[0.053709,-0.239605,0.969384]]
2025-10-26T18:22:35.430Z,1761502955.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540990,-0.808543,-0.231490],[0.839372,0.536338,0.088293],[0.052768,-0.242072,0.968822]]
2025-10-26T18:22:35.836Z,1761502955.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547539,-0.803738,-0.232825],[0.835244,0.541805,0.093887],[0.050685,-0.245872,0.967976]]
2025-10-26T18:22:36.238Z,1761502956.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552005,-0.800787,-0.232445],[0.832492,0.545115,0.099029],[0.047409,-0.248173,0.967555]]
2025-10-26T18:22:36.645Z,1761502956.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553291,-0.800400,-0.230715],[0.831846,0.545417,0.102731],[0.043610,-0.248759,0.967583]]
2025-10-26T18:22:37.046Z,1761502957.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551222,-0.802917,-0.226890],[0.833402,0.542857,0.103668],[0.039932,-0.246234,0.968387]]
2025-10-26T18:22:37.483Z,1761502957.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546032,-0.807897,-0.221701],[0.836940,0.537784,0.101586],[0.037156,-0.241019,0.969809]]
2025-10-26T18:22:37.883Z,1761502957.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538045,-0.815146,-0.214579],[0.842169,0.530574,0.096139],[0.035482,-0.232439,0.971964]]
2025-10-26T18:22:38.287Z,1761502958.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529329,-0.822535,-0.207959],[0.847700,0.522817,0.089811],[0.034852,-0.223826,0.974006]]
2025-10-26T18:22:38.690Z,1761502958.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521133,-0.829563,-0.200613],[0.852766,0.515690,0.082785],[0.034778,-0.214218,0.976167]]
2025-10-26T18:22:39.094Z,1761502959.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513676,-0.835839,-0.193674],[0.857256,0.509295,0.075711],[0.035355,-0.204919,0.978140]]
2025-10-26T18:22:39.498Z,1761502959.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507057,-0.841245,-0.187616],[0.861134,0.503704,0.068785],[0.036638,-0.196440,0.979831]]
2025-10-26T18:22:39.904Z,1761502959.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500517,-0.846219,-0.182745],[0.864853,0.498226,0.061641],[0.038886,-0.188900,0.981226]]
2025-10-26T18:22:40.306Z,1761502960.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493554,-0.850762,-0.180579],[0.868664,0.492420,0.054272],[0.042748,-0.183648,0.982062]]
2025-10-26T18:22:40.711Z,1761502960.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486767,-0.854982,-0.179066],[0.872240,0.486872,0.046409],[0.047504,-0.178779,0.982742]]
2025-10-26T18:22:41.115Z,1761502961.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483034,-0.856933,-0.179846],[0.874103,0.483939,0.041807],[0.051209,-0.177398,0.982806]]
2025-10-26T18:22:41.520Z,1761502961.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481680,-0.856722,-0.184421],[0.874635,0.483121,0.040095],[0.054747,-0.180614,0.982029]]
2025-10-26T18:22:41.922Z,1761502961.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481066,-0.855721,-0.190571],[0.874772,0.482888,0.039906],[0.057876,-0.185904,0.980862]]
2025-10-26T18:22:42.326Z,1761502962.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481414,-0.853816,-0.198088],[0.874443,0.483310,0.041957],[0.059915,-0.193416,0.979286]]
2025-10-26T18:22:42.731Z,1761502962.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482496,-0.851333,-0.205984],[0.873795,0.484126,0.045881],[0.060662,-0.202125,0.977479]]
2025-10-26T18:22:43.136Z,1761502963.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484156,-0.848140,-0.215064],[0.872854,0.485292,0.051158],[0.060980,-0.212488,0.975259]]
2025-10-26T18:22:43.538Z,1761502963.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484718,-0.845606,-0.223605],[0.872491,0.485478,0.055406],[0.061704,-0.221950,0.973104]]
2025-10-26T18:22:43.947Z,1761502963.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483453,-0.844632,-0.229936],[0.873112,0.484130,0.057396],[0.062840,-0.228508,0.971512]]
2025-10-26T18:22:44.347Z,1761502964.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481389,-0.844716,-0.233920],[0.874136,0.482291,0.057286],[0.064427,-0.232055,0.970567]]
2025-10-26T18:22:44.752Z,1761502964.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478883,-0.845784,-0.235204],[0.875304,0.480528,0.054188],[0.067191,-0.231825,0.970434]]
2025-10-26T18:22:45.154Z,1761502965.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476292,-0.847518,-0.234220],[0.876374,0.479226,0.048063],[0.071511,-0.228157,0.970995]]
2025-10-26T18:22:45.558Z,1761502965.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474443,-0.849145,-0.232072],[0.876867,0.479096,0.039647],[0.077519,-0.222307,0.971890]]
2025-10-26T18:22:45.962Z,1761502965.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474438,-0.849374,-0.231241],[0.876203,0.480930,0.031202],[0.084708,-0.217418,0.972396]]
2025-10-26T18:22:46.368Z,1761502966.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478734,-0.845927,-0.234994],[0.873218,0.486557,0.027438],[0.091127,-0.218337,0.971610]]
2025-10-26T18:22:46.770Z,1761502966.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484657,-0.841621,-0.238290],[0.869362,0.493540,0.025047],[0.096526,-0.219300,0.970871]]
2025-10-26T18:22:47.174Z,1761502967.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489516,-0.837889,-0.241489],[0.866075,0.499391,0.022871],[0.101434,-0.220343,0.970134]]
2025-10-26T18:22:47.578Z,1761502967.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493989,-0.833446,-0.247676],[0.863176,0.504303,0.024589],[0.104410,-0.225935,0.968531]]
2025-10-26T18:22:47.982Z,1761502967.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497849,-0.829106,-0.254421],[0.860938,0.507841,0.029729],[0.104557,-0.233841,0.966637]]
2025-10-26T18:22:48.388Z,1761502968.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499932,-0.827522,-0.255490],[0.860023,0.509135,0.033786],[0.102120,-0.236618,0.966221]]
2025-10-26T18:22:48.790Z,1761502968.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498505,-0.829450,-0.252004],[0.861217,0.507050,0.034715],[0.098984,-0.234336,0.967103]]
2025-10-26T18:22:49.194Z,1761502969.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492928,-0.833862,-0.248386],[0.864673,0.501232,0.033268],[0.096758,-0.231171,0.968090]]
2025-10-26T18:22:49.598Z,1761502969.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484803,-0.838724,-0.248008],[0.869347,0.493199,0.031464],[0.095928,-0.230859,0.968247]]
2025-10-26T18:22:50.004Z,1761502970.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474923,-0.843966,-0.249340],[0.874657,0.483936,0.027950],[0.097075,-0.231361,0.968013]]
2025-10-26T18:22:50.406Z,1761502970.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463867,-0.849644,-0.250863],[0.880171,0.474167,0.021561],[0.100632,-0.230804,0.967782]]
2025-10-26T18:22:50.813Z,1761502970.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452713,-0.855790,-0.250349],[0.885324,0.464819,0.012021],[0.106079,-0.227082,0.968081]]
2025-10-26T18:22:51.216Z,1761502971.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442765,-0.861279,-0.249315],[0.889535,0.456865,0.001471],[0.112636,-0.222426,0.968421]]
2025-10-26T18:22:51.618Z,1761502971.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435707,-0.865646,-0.246608],[0.892097,0.451743,-0.009557],[0.119677,-0.215834,0.969068]]
2025-10-26T18:22:52.022Z,1761502972.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433251,-0.867433,-0.244651],[0.892366,0.450931,-0.018532],[0.126396,-0.210289,0.969434]]
2025-10-26T18:22:52.426Z,1761502972.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436549,-0.865170,-0.246792],[0.890003,0.455414,-0.022205],[0.131604,-0.209952,0.968814]]
2025-10-26T18:22:52.846Z,1761502972.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443763,-0.860031,-0.251835],[0.885802,0.463536,-0.022113],[0.135752,-0.213263,0.967518]]
2025-10-26T18:22:53.234Z,1761502973.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451645,-0.853626,-0.259497],[0.881241,0.472255,-0.019735],[0.139395,-0.219766,0.965542]]
2025-10-26T18:22:53.638Z,1761502973.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459282,-0.846132,-0.270408],[0.876848,0.480553,-0.014389],[0.142121,-0.230498,0.962638]]
2025-10-26T18:22:54.043Z,1761502974.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466744,-0.838456,-0.281319],[0.872675,0.488247,-0.007317],[0.143488,-0.242085,0.959586]]
2025-10-26T18:22:54.448Z,1761502974.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473200,-0.831380,-0.291358],[0.869204,0.494452,0.000787],[0.143408,-0.253622,0.956614]]
2025-10-26T18:22:54.885Z,1761502974.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476041,-0.827572,-0.297507],[0.867695,0.497064,0.005720],[0.143146,-0.260868,0.954702]]
2025-10-26T18:22:55.254Z,1761502975.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475505,-0.826143,-0.302297],[0.867900,0.496678,0.007819],[0.143685,-0.266081,0.953182]]
2025-10-26T18:22:55.659Z,1761502975.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473359,-0.826086,-0.305797],[0.868900,0.494923,0.008020],[0.144721,-0.269504,0.952063]]
2025-10-26T18:22:56.063Z,1761502976.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470188,-0.827510,-0.306841],[0.870378,0.492348,0.005926],[0.146169,-0.269854,0.951742]]
2025-10-26T18:22:56.468Z,1761502976.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467076,-0.829226,-0.306959],[0.871792,0.489866,0.003203],[0.147713,-0.269101,0.951717]]
2025-10-26T18:22:56.895Z,1761502976.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464398,-0.831140,-0.305844],[0.872920,0.487863,-0.000325],[0.149480,-0.266826,0.952082]]
2025-10-26T18:22:57.274Z,1761502977.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462570,-0.832862,-0.303923],[0.873505,0.486794,-0.004524],[0.151715,-0.263386,0.952686]]
2025-10-26T18:22:57.679Z,1761502977.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462197,-0.833516,-0.302696],[0.873327,0.487073,-0.007710],[0.153862,-0.260789,0.953056]]
2025-10-26T18:22:58.085Z,1761502978.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462855,-0.833812,-0.300868],[0.872675,0.488190,-0.010423],[0.155572,-0.257736,0.953609]]
2025-10-26T18:22:58.486Z,1761502978.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463965,-0.833470,-0.300106],[0.871811,0.489690,-0.012171],[0.157103,-0.255989,0.953828]]
2025-10-26T18:22:58.516Z,1761502978.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:22:58.901Z,1761502978.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465047,-0.833187,-0.299217],[0.870972,0.491136,-0.013919],[0.158553,-0.254137,0.954084]]
2025-10-26T18:22:59.294Z,1761502979.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466052,-0.832831,-0.298644],[0.870208,0.492448,-0.015282],[0.159794,-0.252760,0.954242]]
2025-10-26T18:22:59.520Z,1761502979.520 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T18:22:59.521Z,1761502979.521 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:22:59.700Z,1761502979.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467443,-0.831997,-0.298795],[0.869344,0.493967,-0.015430],[0.160432,-0.252543,0.954193]]
2025-10-26T18:23:00.106Z,1761502980.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467629,-0.831787,-0.299088],[0.869205,0.494212,-0.015424],[0.160643,-0.252756,0.954101]]
2025-10-26T18:23:00.506Z,1761502980.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467641,-0.831775,-0.299102],[0.869133,0.494326,-0.015798],[0.160994,-0.252572,0.954090]]
2025-10-26T18:23:00.920Z,1761502980.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467585,-0.832137,-0.298180],[0.869270,0.494088,-0.015732],[0.160419,-0.251843,0.954380]]
2025-10-26T18:23:01.315Z,1761502981.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466995,-0.832946,-0.296844],[0.869797,0.493168,-0.015470],[0.159279,-0.250970,0.954801]]
2025-10-26T18:23:01.727Z,1761502981.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466153,-0.833955,-0.295330],[0.870532,0.491885,-0.014927],[0.157717,-0.250136,0.955279]]
2025-10-26T18:23:02.122Z,1761502982.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464616,-0.835037,-0.294695],[0.871677,0.489885,-0.013836],[0.155921,-0.250451,0.955491]]
2025-10-26T18:23:02.526Z,1761502982.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462970,-0.836678,-0.292623],[0.872865,0.487770,-0.013657],[0.154159,-0.249098,0.956130]]
2025-10-26T18:23:02.932Z,1761502982.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461161,-0.838384,-0.290590],[0.874004,0.485708,-0.014292],[0.153124,-0.247386,0.956741]]
2025-10-26T18:23:03.334Z,1761502983.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459231,-0.840115,-0.288640],[0.875027,0.483809,-0.015992],[0.153082,-0.245224,0.957304]]
2025-10-26T18:23:03.738Z,1761502983.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458152,-0.841450,-0.286458],[0.875383,0.483060,-0.018893],[0.154274,-0.242105,0.957906]]
2025-10-26T18:23:04.143Z,1761502984.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458627,-0.841686,-0.285002],[0.874879,0.483879,-0.021161],[0.155718,-0.239637,0.958293]]
2025-10-26T18:23:04.549Z,1761502984.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461281,-0.840871,-0.283119],[0.873245,0.486745,-0.022883],[0.157048,-0.236677,0.958812]]
2025-10-26T18:23:04.950Z,1761502984.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465234,-0.838403,-0.283967],[0.870868,0.490986,-0.022843],[0.158576,-0.236670,0.958562]]
2025-10-26T18:23:05.354Z,1761502985.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470479,-0.834769,-0.286026],[0.867798,0.496453,-0.021475],[0.159925,-0.238109,0.957981]]
2025-10-26T18:23:05.758Z,1761502985.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476961,-0.829303,-0.291144],[0.864106,0.503017,-0.017201],[0.160715,-0.243375,0.956525]]
2025-10-26T18:23:06.165Z,1761502986.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484345,-0.823763,-0.294658],[0.859993,0.510151,-0.012590],[0.160692,-0.247306,0.955520]]
2025-10-26T18:23:06.566Z,1761502986.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492555,-0.817820,-0.297591],[0.855572,0.517643,-0.006460],[0.159329,-0.251429,0.954672]]
2025-10-26T18:23:06.970Z,1761502986.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501267,-0.811446,-0.300478],[0.851062,0.525062,0.001829],[0.156286,-0.256642,0.953787]]
2025-10-26T18:23:07.375Z,1761502987.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509123,-0.806370,-0.300935],[0.847127,0.531306,0.009512],[0.152219,-0.259773,0.953597]]
2025-10-26T18:23:07.797Z,1761502987.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516830,-0.802306,-0.298651],[0.844079,0.535794,0.021342],[0.142893,-0.263115,0.954124]]
2025-10-26T18:23:08.189Z,1761502988.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517353,-0.803468,-0.294593],[0.844817,0.534419,0.026071],[0.136489,-0.262365,0.955267]]
2025-10-26T18:23:08.590Z,1761502988.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516421,-0.806160,-0.288817],[0.846546,0.531454,0.030253],[0.129105,-0.260121,0.956906]]
2025-10-26T18:23:08.994Z,1761502988.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514186,-0.809860,-0.282380],[0.849001,0.527321,0.033601],[0.121693,-0.257018,0.958714]]
2025-10-26T18:23:09.399Z,1761502989.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510616,-0.814008,-0.276881],[0.852024,0.522276,0.035828],[0.115444,-0.254204,0.960236]]
2025-10-26T18:23:09.802Z,1761502989.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505671,-0.818713,-0.272041],[0.855569,0.516425,0.036144],[0.110898,-0.251027,0.961607]]
2025-10-26T18:23:10.202Z,1761502990.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499647,-0.823926,-0.267392],[0.859438,0.510098,0.034153],[0.108257,-0.246871,0.962982]]
2025-10-26T18:23:10.607Z,1761502990.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493119,-0.829038,-0.263683],[0.863293,0.503778,0.030548],[0.107512,-0.242699,0.964126]]
2025-10-26T18:23:11.010Z,1761502991.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486896,-0.834018,-0.259512],[0.866702,0.498200,0.024989],[0.108448,-0.237087,0.965416]]
2025-10-26T18:23:11.416Z,1761502991.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482840,-0.837812,-0.254826],[0.868755,0.494876,0.019059],[0.110140,-0.230584,0.966799]]
2025-10-26T18:23:11.818Z,1761502991.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482448,-0.838960,-0.251774],[0.868829,0.494857,0.015887],[0.111264,-0.226413,0.967656]]
2025-10-26T18:23:12.223Z,1761502992.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486261,-0.838058,-0.247403],[0.866754,0.498514,0.014893],[0.110853,-0.221680,0.968798]]
2025-10-26T18:23:12.626Z,1761502992.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492222,-0.835300,-0.244931],[0.863519,0.504050,0.016374],[0.109781,-0.219562,0.969402]]
2025-10-26T18:23:13.032Z,1761502993.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499622,-0.831505,-0.242852],[0.859540,0.510684,0.019802],[0.107556,-0.218635,0.969861]]
2025-10-26T18:23:13.434Z,1761502993.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507625,-0.826845,-0.242166],[0.855177,0.517740,0.024854],[0.104829,-0.219711,0.969916]]
2025-10-26T18:23:13.838Z,1761502993.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516303,-0.821477,-0.242087],[0.850399,0.525194,0.031512],[0.101256,-0.222140,0.969743]]
2025-10-26T18:23:14.244Z,1761502994.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525024,-0.815868,-0.242302],[0.845555,0.532435,0.039371],[0.096888,-0.225550,0.969402]]
2025-10-26T18:23:14.647Z,1761502994.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532758,-0.810945,-0.241944],[0.841178,0.538758,0.046462],[0.092671,-0.228272,0.969177]]
2025-10-26T18:23:15.050Z,1761502995.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538837,-0.806871,-0.242102],[0.837697,0.543576,0.052811],[0.088989,-0.231264,0.968813]]
2025-10-26T18:23:15.454Z,1761502995.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543275,-0.804261,-0.240866],[0.835176,0.546986,0.057336],[0.085638,-0.232314,0.968863]]
2025-10-26T18:23:15.858Z,1761502995.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546501,-0.802576,-0.239185],[0.833438,0.549174,0.061545],[0.081960,-0.232980,0.969021]]
2025-10-26T18:23:16.265Z,1761502996.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548317,-0.802568,-0.235019],[0.832669,0.550006,0.064461],[0.077527,-0.231038,0.969851]]
2025-10-26T18:23:16.666Z,1761502996.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549078,-0.803643,-0.229501],[0.832605,0.549849,0.066590],[0.072676,-0.227647,0.971028]]
2025-10-26T18:23:17.070Z,1761502997.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548725,-0.805823,-0.222598],[0.833229,0.548835,0.067157],[0.068053,-0.222326,0.972594]]
2025-10-26T18:23:17.475Z,1761502997.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547106,-0.808686,-0.216107],[0.834663,0.546581,0.067730],[0.063348,-0.217432,0.974018]]
2025-10-26T18:23:17.880Z,1761502997.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544439,-0.811896,-0.210737],[0.836751,0.543241,0.068827],[0.058601,-0.213806,0.975117]]
2025-10-26T18:23:18.283Z,1761502998.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540546,-0.815809,-0.205586],[0.839569,0.538805,0.069377],[0.054173,-0.210105,0.976177]]
2025-10-26T18:23:18.686Z,1761502998.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534971,-0.820521,-0.201373],[0.843357,0.532883,0.069177],[0.050547,-0.206837,0.977069]]
2025-10-26T18:23:19.090Z,1761502999.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528229,-0.825982,-0.196793],[0.847765,0.526037,0.067670],[0.047626,-0.202579,0.978107]]
2025-10-26T18:23:19.496Z,1761502999.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520732,-0.831521,-0.193417],[0.852522,0.518480,0.066220],[0.045220,-0.199375,0.978879]]
2025-10-26T18:23:19.898Z,1761502999.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512635,-0.837247,-0.190325],[0.857508,0.510453,0.064168],[0.043428,-0.196100,0.979622]]
2025-10-26T18:23:20.304Z,1761503000.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504506,-0.842723,-0.187860],[0.862357,0.502555,0.061475],[0.042603,-0.193017,0.980270]]
2025-10-26T18:23:20.707Z,1761503000.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497409,-0.847261,-0.186369],[0.866471,0.495753,0.058797],[0.042577,-0.190729,0.980719]]
2025-10-26T18:23:21.112Z,1761503001.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492827,-0.850093,-0.185643],[0.869070,0.491411,0.056862],[0.042889,-0.189360,0.980971]]
2025-10-26T18:23:21.514Z,1761503001.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491435,-0.850559,-0.187192],[0.869821,0.490115,0.056566],[0.043633,-0.190621,0.980693]]
2025-10-26T18:23:21.918Z,1761503001.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492769,-0.848991,-0.190768],[0.869006,0.491433,0.057644],[0.044811,-0.194184,0.979941]]
2025-10-26T18:23:22.322Z,1761503002.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496198,-0.846178,-0.194347],[0.866961,0.494909,0.058676],[0.046534,-0.197606,0.979176]]
2025-10-26T18:23:22.728Z,1761503002.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501408,-0.841790,-0.199948],[0.863855,0.500002,0.061254],[0.048411,-0.203440,0.977890]]
2025-10-26T18:23:23.130Z,1761503003.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508099,-0.836902,-0.203547],[0.859847,0.506591,0.063476],[0.049992,-0.207272,0.977005]]
2025-10-26T18:23:23.534Z,1761503003.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516183,-0.831020,-0.207271],[0.854972,0.514307,0.067169],[0.050782,-0.211882,0.975975]]
2025-10-26T18:23:23.938Z,1761503003.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525315,-0.824835,-0.209025],[0.849415,0.522870,0.071422],[0.050381,-0.215068,0.975299]]
2025-10-26T18:23:24.343Z,1761503004.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535173,-0.817971,-0.210980],[0.843380,0.531555,0.078481],[0.047953,-0.219937,0.974335]]
2025-10-26T18:23:24.747Z,1761503004.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545686,-0.810910,-0.211309],[0.836871,0.540371,0.087438],[0.043281,-0.224552,0.973500]]
2025-10-26T18:23:25.150Z,1761503005.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555059,-0.804794,-0.210278],[0.831013,0.547589,0.097795],[0.036441,-0.229025,0.972738]]
2025-10-26T18:23:25.554Z,1761503005.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561076,-0.801200,-0.208018],[0.827279,0.551351,0.107800],[0.028321,-0.232573,0.972167]]
2025-10-26T18:23:25.961Z,1761503005.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562323,-0.801517,-0.203379],[0.826661,0.551008,0.114114],[0.020599,-0.232294,0.972427]]
2025-10-26T18:23:26.364Z,1761503006.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558736,-0.805548,-0.197248],[0.829226,0.546664,0.116375],[0.014082,-0.228586,0.973422]]
2025-10-26T18:23:26.766Z,1761503006.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551986,-0.811979,-0.189742],[0.833808,0.539854,0.115424],[0.008711,-0.221920,0.975026]]
2025-10-26T18:23:27.170Z,1761503007.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543148,-0.819548,-0.182567],[0.839621,0.531497,0.112018],[0.005230,-0.214130,0.976791]]
2025-10-26T18:23:27.574Z,1761503007.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532832,-0.827891,-0.175179],[0.846213,0.522226,0.105849],[0.003851,-0.204638,0.978830]]
2025-10-26T18:23:27.978Z,1761503007.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521824,-0.836070,-0.169374],[0.853039,0.512594,0.097840],[0.005019,-0.195538,0.980683]]
2025-10-26T18:23:28.382Z,1761503008.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511802,-0.843137,-0.164857],[0.859068,0.504019,0.089264],[0.007829,-0.187309,0.982270]]
2025-10-26T18:23:28.788Z,1761503008.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504693,-0.848373,-0.159839],[0.863228,0.498295,0.080864],[0.011045,-0.178789,0.983825]]
2025-10-26T18:23:29.191Z,1761503009.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501338,-0.851154,-0.155555],[0.865148,0.495895,0.074885],[0.013400,-0.172121,0.984985]]
2025-10-26T18:23:29.594Z,1761503009.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501022,-0.852034,-0.151710],[0.865307,0.496200,0.070917],[0.014855,-0.166807,0.985878]]
2025-10-26T18:23:29.640Z,1761503009.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:23:29.998Z,1761503009.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503112,-0.850964,-0.150792],[0.864084,0.498419,0.070261],[0.015368,-0.165646,0.986066]]
2025-10-26T18:23:30.402Z,1761503010.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506815,-0.848259,-0.153605],[0.861922,0.501754,0.073025],[0.015128,-0.169406,0.985430]]
2025-10-26T18:23:30.644Z,1761503010.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:23:30.808Z,1761503010.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511219,-0.845142,-0.156172],[0.859334,0.505631,0.076699],[0.014143,-0.173414,0.984747]]
2025-10-26T18:23:31.210Z,1761503011.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515530,-0.841934,-0.159297],[0.856782,0.509178,0.081622],[0.012390,-0.178561,0.983851]]
2025-10-26T18:23:31.614Z,1761503011.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519158,-0.839008,-0.162915],[0.854623,0.511769,0.087814],[0.009698,-0.184820,0.982724]]
2025-10-26T18:23:32.018Z,1761503012.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521855,-0.836565,-0.166812],[0.853011,0.513202,0.094849],[0.006261,-0.191790,0.981416]]
2025-10-26T18:23:32.424Z,1761503012.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522562,-0.835361,-0.170590],[0.852597,0.512612,0.101523],[0.002638,-0.198496,0.980098]]
2025-10-26T18:23:32.846Z,1761503012.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521357,-0.835603,-0.173073],[0.853338,0.510383,0.106409],[-0.000583,-0.203167,0.979144]]
2025-10-26T18:23:33.230Z,1761503013.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518192,-0.837209,-0.174807],[0.855258,0.506443,0.109773],[-0.003373,-0.206388,0.978464]]
2025-10-26T18:23:33.635Z,1761503013.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514067,-0.839277,-0.177058],[0.857732,0.501663,0.112383],[-0.005497,-0.209641,0.977763]]
2025-10-26T18:23:34.040Z,1761503014.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509666,-0.841800,-0.177802],[0.860346,0.497027,0.113004],[-0.006754,-0.210566,0.977556]]
2025-10-26T18:23:34.442Z,1761503014.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505249,-0.844634,-0.176966],[0.862948,0.492936,0.111058],[-0.006570,-0.208825,0.977931]]
2025-10-26T18:23:34.878Z,1761503014.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500655,-0.847426,-0.176674],[0.865633,0.488963,0.107678],[-0.004862,-0.206844,0.978362]]
2025-10-26T18:23:35.250Z,1761503015.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496521,-0.849784,-0.177016],[0.868023,0.485709,0.103064],[-0.001604,-0.204828,0.978797]]
2025-10-26T18:23:35.655Z,1761503015.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493849,-0.851253,-0.177429],[0.869546,0.483859,0.098844],[0.001709,-0.203097,0.979157]]
2025-10-26T18:23:36.060Z,1761503016.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493456,-0.851334,-0.178134],[0.869762,0.483915,0.096645],[0.003925,-0.202624,0.979249]]
2025-10-26T18:23:36.462Z,1761503016.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494614,-0.850942,-0.176791],[0.869103,0.485233,0.095966],[0.004123,-0.201115,0.979559]]
2025-10-26T18:23:36.895Z,1761503016.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496025,-0.850327,-0.175794],[0.868303,0.486444,0.097065],[0.002977,-0.200789,0.979630]]
2025-10-26T18:23:37.270Z,1761503017.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496611,-0.850180,-0.174847],[0.867972,0.486758,0.098442],[0.001415,-0.200650,0.979662]]
2025-10-26T18:23:37.676Z,1761503017.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495941,-0.850653,-0.174451],[0.868356,0.485635,0.100583],[-0.000842,-0.201369,0.979515]]
2025-10-26T18:23:38.078Z,1761503018.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494114,-0.851656,-0.174739],[0.869392,0.483334,0.102691],[-0.003000,-0.202658,0.979245]]
2025-10-26T18:23:38.482Z,1761503018.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491471,-0.852849,-0.176365],[0.870880,0.480143,0.105022],[-0.004887,-0.205208,0.978706]]
2025-10-26T18:23:38.899Z,1761503018.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487997,-0.854196,-0.179467],[0.872826,0.476180,0.106898],[-0.005853,-0.208810,0.977939]]
2025-10-26T18:23:39.292Z,1761503019.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484383,-0.855893,-0.181160],[0.874835,0.472463,0.106966],[-0.005960,-0.210298,0.977619]]
2025-10-26T18:23:39.695Z,1761503019.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480657,-0.857581,-0.183094],[0.876892,0.468780,0.106327],[-0.005354,-0.211661,0.977329]]
2025-10-26T18:23:40.098Z,1761503020.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478546,-0.858061,-0.186348],[0.878048,0.466436,0.107092],[-0.004972,-0.214871,0.976630]]
2025-10-26T18:23:40.503Z,1761503020.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477040,-0.858324,-0.188977],[0.878869,0.464754,0.107667],[-0.004585,-0.217447,0.976061]]
2025-10-26T18:23:40.939Z,1761503020.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476230,-0.858373,-0.190788],[0.879311,0.463878,0.107836],[-0.004061,-0.219117,0.975690]]
2025-10-26T18:23:41.310Z,1761503021.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475908,-0.858411,-0.191421],[0.879488,0.463584,0.107664],[-0.003681,-0.219590,0.975585]]
2025-10-26T18:23:41.714Z,1761503021.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476041,-0.858124,-0.192374],[0.879417,0.463709,0.107697],[-0.003212,-0.220446,0.975394]]
2025-10-26T18:23:42.119Z,1761503022.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476964,-0.857837,-0.191367],[0.878918,0.464798,0.107080],[-0.002910,-0.219270,0.975660]]
2025-10-26T18:23:42.524Z,1761503022.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478862,-0.856683,-0.191792],[0.877885,0.466565,0.107866],[-0.002924,-0.220024,0.975490]]
2025-10-26T18:23:42.926Z,1761503022.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480953,-0.855322,-0.192633],[0.876740,0.468403,0.109201],[-0.003172,-0.221410,0.975176]]
2025-10-26T18:23:43.330Z,1761503023.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483454,-0.853624,-0.193903],[0.875364,0.470635,0.110640],[-0.003187,-0.223225,0.974762]]
2025-10-26T18:23:43.793Z,1761503023.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486322,-0.851821,-0.194658],[0.873773,0.473258,0.112013],[-0.003291,-0.224562,0.974454]]
2025-10-26T18:23:44.140Z,1761503024.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488628,-0.850194,-0.195993],[0.872484,0.475154,0.114020],[-0.003812,-0.226715,0.973954]]
2025-10-26T18:23:44.542Z,1761503024.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490593,-0.848617,-0.197909],[0.871378,0.476640,0.116254],[-0.004324,-0.229487,0.973302]]
2025-10-26T18:23:44.946Z,1761503024.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491659,-0.847477,-0.200134],[0.870776,0.477263,0.118194],[-0.004650,-0.232383,0.972613]]
2025-10-26T18:23:45.352Z,1761503025.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491906,-0.846378,-0.204141],[0.870635,0.476861,0.120826],[-0.004918,-0.237167,0.971456]]
2025-10-26T18:23:45.755Z,1761503025.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491599,-0.846048,-0.206233],[0.870809,0.476334,0.121645],[-0.004682,-0.239390,0.970912]]
2025-10-26T18:23:46.158Z,1761503026.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490742,-0.845926,-0.208762],[0.871296,0.475370,0.121928],[-0.003903,-0.241728,0.970336]]
2025-10-26T18:23:46.562Z,1761503026.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490413,-0.845850,-0.209840],[0.871484,0.475061,0.121794],[-0.003333,-0.242601,0.970120]]
2025-10-26T18:23:46.968Z,1761503026.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490385,-0.845967,-0.209433],[0.871500,0.475153,0.121314],[-0.003115,-0.242012,0.970268]]
2025-10-26T18:23:47.370Z,1761503027.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490855,-0.845681,-0.209490],[0.871237,0.475684,0.121124],[-0.002781,-0.241970,0.970280]]
2025-10-26T18:23:47.774Z,1761503027.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492014,-0.844973,-0.209625],[0.870583,0.476804,0.121419],[-0.002646,-0.242235,0.970214]]
2025-10-26T18:23:48.178Z,1761503028.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493539,-0.844056,-0.209734],[0.869718,0.478097,0.122529],[-0.003148,-0.242882,0.970051]]
2025-10-26T18:23:48.583Z,1761503028.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495136,-0.843629,-0.207680],[0.868801,0.479404,0.123922],[-0.004982,-0.241790,0.970316]]
2025-10-26T18:23:48.986Z,1761503028.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495267,-0.843951,-0.206049],[0.868712,0.479196,0.125344],[-0.007046,-0.241076,0.970481]]
2025-10-26T18:23:49.390Z,1761503029.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494320,-0.845085,-0.203666],[0.869226,0.477910,0.126684],[-0.009724,-0.239654,0.970810]]
2025-10-26T18:23:49.795Z,1761503029.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492264,-0.846850,-0.201299],[0.870357,0.475566,0.127732],[-0.012439,-0.238080,0.971166]]
2025-10-26T18:23:50.200Z,1761503030.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489490,-0.848673,-0.200385],[0.871884,0.472423,0.128980],[-0.014795,-0.237847,0.971190]]
2025-10-26T18:23:50.603Z,1761503030.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486039,-0.851113,-0.198423],[0.873789,0.469092,0.128237],[-0.016066,-0.235708,0.971691]]
2025-10-26T18:23:51.006Z,1761503031.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482209,-0.853441,-0.197770],[0.875918,0.465678,0.126142],[-0.015558,-0.234057,0.972098]]
2025-10-26T18:23:51.410Z,1761503031.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478513,-0.855478,-0.197944],[0.877983,0.462797,0.122326],[-0.013039,-0.232327,0.972550]]
2025-10-26T18:23:51.816Z,1761503031.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474940,-0.857271,-0.198794],[0.879969,0.460259,0.117540],[-0.009267,-0.230757,0.972967]]
2025-10-26T18:23:52.219Z,1761503032.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472392,-0.858241,-0.200669],[0.881375,0.458721,0.112930],[-0.004870,-0.230212,0.973128]]
2025-10-26T18:23:52.622Z,1761503032.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471509,-0.858170,-0.203035],[0.881861,0.458622,0.109488],[-0.000843,-0.230673,0.973031]]
2025-10-26T18:23:53.026Z,1761503033.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472336,-0.857062,-0.205774],[0.881415,0.459963,0.107434],[0.002571,-0.232117,0.972685]]
2025-10-26T18:23:53.435Z,1761503033.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475669,-0.854454,-0.208920],[0.879611,0.463368,0.107587],[0.004879,-0.234944,0.971997]]
2025-10-26T18:23:53.843Z,1761503033.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484485,-0.847242,-0.217842],[0.874767,0.471372,0.112213],[0.007613,-0.244926,0.969512]]
2025-10-26T18:23:54.243Z,1761503034.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488736,-0.843700,-0.222051],[0.872392,0.475055,0.115135],[0.008347,-0.249986,0.968213]]
2025-10-26T18:23:54.646Z,1761503034.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492202,-0.840657,-0.225904],[0.870437,0.477917,0.118045],[0.008728,-0.254737,0.966971]]
2025-10-26T18:23:55.050Z,1761503035.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494479,-0.838247,-0.229853],[0.869140,0.479679,0.120432],[0.009304,-0.259326,0.965745]]
2025-10-26T18:23:55.453Z,1761503035.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495503,-0.836949,-0.232366],[0.868547,0.480527,0.121321],[0.010118,-0.261936,0.965032]]
2025-10-26T18:23:55.856Z,1761503035.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495973,-0.836242,-0.233900],[0.868264,0.481129,0.120969],[0.011376,-0.263085,0.964706]]
2025-10-26T18:23:56.259Z,1761503036.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495798,-0.835808,-0.235816],[0.868338,0.481226,0.120044],[0.013147,-0.264285,0.964355]]
2025-10-26T18:23:56.662Z,1761503036.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495128,-0.836049,-0.236370],[0.868685,0.481176,0.117711],[0.015324,-0.263613,0.964507]]
2025-10-26T18:23:57.068Z,1761503037.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494352,-0.836251,-0.237276],[0.869085,0.480986,0.115514],[0.017527,-0.263318,0.964550]]
2025-10-26T18:23:57.472Z,1761503037.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494722,-0.835586,-0.238844],[0.868813,0.481971,0.113435],[0.020332,-0.263630,0.964410]]
2025-10-26T18:23:57.874Z,1761503037.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496607,-0.834097,-0.240131],[0.867659,0.484518,0.111402],[0.023428,-0.263674,0.964327]]
2025-10-26T18:23:58.278Z,1761503038.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499838,-0.831707,-0.241716],[0.865713,0.488297,0.110029],[0.026517,-0.264253,0.964089]]
2025-10-26T18:23:58.684Z,1761503038.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504525,-0.828624,-0.242563],[0.862900,0.493462,0.109084],[0.029307,-0.264343,0.963983]]
2025-10-26T18:23:58.705Z,1761503038.705 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.775002,-121.864998
2025-10-26T18:23:58.705Z,1761503038.705 [transit:Transit:Wpt1.Waypoint] Stopped
2025-10-26T18:23:58.705Z,1761503038.705 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-26T18:23:58.705Z,1761503038.705 [transit:Transit:PhoneHome] Running Loop=1
2025-10-26T18:23:58.706Z,1761503038.706 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-10-26T18:23:59.086Z,1761503039.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509740,-0.825251,-0.243159],[0.859737,0.499097,0.108416],[0.031890,-0.264317,0.963909]]
2025-10-26T18:23:59.128Z,1761503039.128 [transit:NeedComms] Running Loop=1
2025-10-26T18:23:59.128Z,1761503039.128 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-10-26T18:23:59.129Z,1761503039.129 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T18:23:59.129Z,1761503039.129 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T18:23:59.129Z,1761503039.129 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T18:23:59.129Z,1761503039.129 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T18:23:59.130Z,1761503039.130 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T18:23:59.130Z,1761503039.130 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T18:23:59.130Z,1761503039.130 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T18:23:59.131Z,1761503039.131 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T18:23:59.131Z,1761503039.131 [transit:NeedComms:A] Running Loop=1
2025-10-26T18:23:59.134Z,1761503039.134 [transit:NeedComms:A](INFO): last time_fix was:  1761502866.000000 second since 1970/01/01T00:00:00Z 
2025-10-26T18:23:59.134Z,1761503039.134 [transit:NeedComms:A] Stopped
2025-10-26T18:23:59.490Z,1761503039.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515107,-0.821589,-0.244246],[0.856450,0.504673,0.108617],[0.034026,-0.265134,0.963611]]
2025-10-26T18:23:59.894Z,1761503039.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520349,-0.818028,-0.245085],[0.853218,0.509939,0.109458],[0.035438,-0.266067,0.963303]]
2025-10-26T18:24:00.300Z,1761503040.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524576,-0.815542,-0.244358],[0.850600,0.514208,0.109861],[0.036055,-0.265482,0.963442]]
2025-10-26T18:24:00.700Z,1761503040.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527307,-0.814075,-0.243373],[0.848915,0.516871,0.110394],[0.035924,-0.264815,0.963630]]
2025-10-26T18:24:00.768Z,1761503040.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:24:01.102Z,1761503041.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527090,-0.814733,-0.241632],[0.849091,0.516598,0.110323],[0.034943,-0.263318,0.964076]]
2025-10-26T18:24:01.507Z,1761503041.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524283,-0.818832,-0.233755],[0.850990,0.513717,0.109135],[0.030720,-0.256141,0.966151]]
2025-10-26T18:24:01.772Z,1761503041.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:24:01.910Z,1761503041.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520505,-0.825267,-0.219110],[0.853619,0.509022,0.110597],[0.020260,-0.244603,0.969412]]
2025-10-26T18:24:02.327Z,1761503042.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516061,-0.833443,-0.197623],[0.856544,0.503163,0.114719],[0.003825,-0.228475,0.973542]]
2025-10-26T18:24:02.730Z,1761503042.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511174,-0.841787,-0.173480],[0.859326,0.496787,0.121494],[-0.016090,-0.211180,0.977315]]
2025-10-26T18:24:03.134Z,1761503043.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505708,-0.849596,-0.149819],[0.861911,0.490117,0.129984],[-0.037005,-0.194865,0.980132]]
2025-10-26T18:24:03.540Z,1761503043.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499658,-0.856737,-0.127839],[0.864309,0.483290,0.139289],[-0.057551,-0.180089,0.981965]]
2025-10-26T18:24:03.942Z,1761503043.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493370,-0.862845,-0.109933],[0.866374,0.476237,0.150312],[-0.077342,-0.169403,0.982508]]
2025-10-26T18:24:04.347Z,1761503044.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487229,-0.868145,-0.094509],[0.868011,0.469584,0.161390],[-0.095730,-0.160669,0.982355]]
2025-10-26T18:24:04.751Z,1761503044.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482573,-0.872187,-0.080082],[0.868502,0.464692,0.172529],[-0.113264,-0.152809,0.981744]]
2025-10-26T18:24:05.156Z,1761503045.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481379,-0.873805,-0.068838],[0.866501,0.462575,0.187619],[-0.132100,-0.149964,0.979827]]
2025-10-26T18:24:05.558Z,1761503045.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482973,-0.873772,-0.057086],[0.862079,0.463057,0.205909],[-0.153484,-0.148661,0.976905]]
2025-10-26T18:24:05.998Z,1761503045.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485307,-0.873170,-0.045284],[0.856495,0.464351,0.225375],[-0.175763,-0.148162,0.973219]]
2025-10-26T18:24:06.403Z,1761503046.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486816,-0.872867,-0.033374],[0.850751,0.465125,0.244709],[-0.198075,-0.147521,0.969022]]
2025-10-26T18:24:06.807Z,1761503046.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486055,-0.873592,-0.024261],[0.846046,0.463409,0.263549],[-0.218991,-0.148626,0.964341]]
2025-10-26T18:24:07.210Z,1761503047.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483426,-0.875226,-0.016683],[0.842237,0.459841,0.281396],[-0.238614,-0.150085,0.959447]]
2025-10-26T18:24:07.614Z,1761503047.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479021,-0.877748,-0.009902],[0.839477,0.454780,0.297412],[-0.256550,-0.150779,0.954698]]
2025-10-26T18:24:08.019Z,1761503048.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473415,-0.880822,-0.005440],[0.837590,0.448251,0.312273],[-0.272618,-0.152391,0.949977]]
2025-10-26T18:24:08.422Z,1761503048.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467480,-0.884000,-0.002692],[0.836133,0.441175,0.325955],[-0.286956,-0.154628,0.945382]]
2025-10-26T18:24:08.839Z,1761503048.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462341,-0.886701,0.001311],[0.834575,0.435660,0.337171],[-0.299541,-0.154793,0.941443]]
2025-10-26T18:24:09.230Z,1761503049.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458399,-0.888739,0.003616],[0.832652,0.430885,0.347892],[-0.310743,-0.156463,0.937528]]
2025-10-26T18:24:09.635Z,1761503049.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457201,-0.889333,0.007382],[0.829412,0.429363,0.357384],[-0.321003,-0.157274,0.933928]]
2025-10-26T18:24:10.039Z,1761503050.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458099,-0.888827,0.011445],[0.824906,0.429881,0.367059],[-0.331172,-0.158709,0.930127]]
2025-10-26T18:24:10.442Z,1761503050.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460176,-0.887687,0.015819],[0.819420,0.431510,0.377293],[-0.341744,-0.160659,0.925959]]
2025-10-26T18:24:10.888Z,1761503050.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462668,-0.886271,0.021506],[0.813237,0.433950,0.387727],[-0.352964,-0.161900,0.921523]]
2025-10-26T18:24:11.253Z,1761503051.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465023,-0.884837,0.028578],[0.806601,0.436770,0.398280],[-0.364895,-0.162158,0.916819]]
2025-10-26T18:24:11.654Z,1761503051.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466978,-0.883554,0.035564],[0.799809,0.439187,0.409170],[-0.377143,-0.162629,0.911765]]
2025-10-26T18:24:12.058Z,1761503052.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468313,-0.882545,0.042397],[0.793248,0.441094,0.419755],[-0.389153,-0.162946,0.906647]]
2025-10-26T18:24:12.462Z,1761503052.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469083,-0.881783,0.049190],[0.786932,0.442608,0.429926],[-0.400874,-0.162962,0.901523]]
2025-10-26T18:24:12.894Z,1761503052.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469262,-0.881232,0.056766],[0.781435,0.444340,0.438088],[-0.411280,-0.161219,0.897138]]
2025-10-26T18:24:13.270Z,1761503053.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468052,-0.881417,0.063497],[0.777479,0.444882,0.444529],[-0.420064,-0.158695,0.893511]]
2025-10-26T18:24:13.674Z,1761503053.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465490,-0.882398,0.068510],[0.775032,0.443780,0.449872],[-0.427370,-0.156313,0.890461]]
2025-10-26T18:24:14.081Z,1761503054.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460698,-0.884696,0.071209],[0.774587,0.439934,0.454393],[-0.433326,-0.154181,0.887951]]
2025-10-26T18:24:14.483Z,1761503054.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453882,-0.888117,0.072389],[0.775708,0.433794,0.458366],[-0.438485,-0.151892,0.885810]]
2025-10-26T18:24:14.902Z,1761503054.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445713,-0.892162,0.073390],[0.778014,0.426623,0.461179],[-0.442757,-0.148455,0.884267]]
2025-10-26T18:24:15.290Z,1761503055.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437104,-0.896630,0.070678],[0.781158,0.417410,0.464286],[-0.445794,-0.147731,0.882861]]
2025-10-26T18:24:15.694Z,1761503055.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428608,-0.901150,0.064993],[0.785419,0.407185,0.466172],[-0.446555,-0.148758,0.882304]]
2025-10-26T18:24:16.100Z,1761503056.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420805,-0.905267,0.058444],[0.790710,0.397606,0.465497],[-0.444637,-0.149671,0.883118]]
2025-10-26T18:24:16.503Z,1761503056.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413893,-0.909026,0.048629],[0.797427,0.387811,0.462291],[-0.439093,-0.152561,0.885394]]
2025-10-26T18:24:16.906Z,1761503056.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407764,-0.912363,0.036357],[0.805530,0.378195,0.456169],[-0.429942,-0.156722,0.889150]]
2025-10-26T18:24:17.310Z,1761503057.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402142,-0.915271,0.023687],[0.814561,0.369467,0.447196],[-0.418057,-0.160542,0.894122]]
2025-10-26T18:24:17.714Z,1761503057.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397124,-0.917704,0.010568],[0.823820,0.361524,0.436602],[-0.404492,-0.164679,0.899593]]
2025-10-26T18:24:18.120Z,1761503058.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393086,-0.919500,-0.001686],[0.832520,0.355123,0.425203],[-0.390376,-0.168545,0.905096]]
2025-10-26T18:24:18.522Z,1761503058.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390250,-0.920584,-0.015182],[0.839963,0.349224,0.415337],[-0.377051,-0.174838,0.909541]]
2025-10-26T18:24:18.926Z,1761503058.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390264,-0.920322,-0.026476],[0.844841,0.346529,0.407628],[-0.365974,-0.181451,0.912764]]
2025-10-26T18:24:19.331Z,1761503059.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395077,-0.917959,-0.035561],[0.845612,0.348269,0.404535],[-0.358962,-0.189894,0.913831]]
2025-10-26T18:24:19.737Z,1761503059.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404460,-0.913421,-0.045537],[0.842682,0.352864,0.406662],[-0.355385,-0.202852,0.912443]]
2025-10-26T18:24:20.138Z,1761503060.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414244,-0.908542,-0.054341],[0.839072,0.358074,0.409562],[-0.352647,-0.215255,0.910662]]
2025-10-26T18:24:20.542Z,1761503060.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422531,-0.904176,-0.062720],[0.836091,0.362129,0.412085],[-0.349885,-0.226558,0.908984]]
2025-10-26T18:24:20.982Z,1761503060.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429774,-0.900276,-0.069264],[0.833765,0.366235,0.413168],[-0.346598,-0.235319,0.908017]]
2025-10-26T18:24:21.352Z,1761503061.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435689,-0.897142,-0.072883],[0.832302,0.370720,0.412116],[-0.342707,-0.240215,0.908212]]
2025-10-26T18:24:21.754Z,1761503061.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437511,-0.895858,-0.077610],[0.833390,0.371558,0.409152],[-0.337706,-0.243688,0.909159]]
2025-10-26T18:24:22.158Z,1761503062.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436004,-0.896410,-0.079684],[0.836352,0.370910,0.403660],[-0.332289,-0.242641,0.911433]]
2025-10-26T18:24:22.603Z,1761503062.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433142,-0.897927,-0.078191],[0.839851,0.370589,0.396629],[-0.327167,-0.237466,0.914643]]
2025-10-26T18:24:23.003Z,1761503063.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430279,-0.899399,-0.077077],[0.843222,0.369982,0.389988],[-0.322238,-0.232797,0.917588]]
2025-10-26T18:24:23.412Z,1761503063.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427639,-0.900793,-0.075477],[0.846027,0.369432,0.384394],[-0.318376,-0.228237,0.920079]]
2025-10-26T18:24:23.815Z,1761503063.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424767,-0.902198,-0.074911],[0.848106,0.367620,0.381539],[-0.316685,-0.225598,0.921312]]
2025-10-26T18:24:24.219Z,1761503064.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421563,-0.903738,-0.074444],[0.849855,0.365123,0.380041],[-0.316276,-0.223477,0.921969]]
2025-10-26T18:24:24.625Z,1761503064.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417987,-0.905496,-0.073238],[0.851005,0.362067,0.380392],[-0.317927,-0.221325,0.921921]]
2025-10-26T18:24:25.026Z,1761503065.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414350,-0.907138,-0.073579],[0.851934,0.358149,0.382019],[-0.320192,-0.220974,0.921221]]
2025-10-26T18:24:25.462Z,1761503065.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410221,-0.908870,-0.075330],[0.853611,0.353574,0.382535],[-0.321040,-0.221226,0.920865]]
2025-10-26T18:24:25.863Z,1761503065.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405108,-0.910826,-0.079271],[0.856979,0.348084,0.380032],[-0.318550,-0.221888,0.921570]]
2025-10-26T18:24:26.272Z,1761503066.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399098,-0.912983,-0.084754],[0.862238,0.342254,0.373375],[-0.311877,-0.222092,0.923801]]
2025-10-26T18:24:26.678Z,1761503066.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387592,-0.916845,-0.095743],[0.875232,0.333406,0.350441],[-0.289379,-0.219625,0.931678]]
2025-10-26T18:24:27.081Z,1761503067.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384995,-0.917655,-0.098432],[0.880914,0.333567,0.335744],[-0.275264,-0.215970,0.936796]]
2025-10-26T18:24:27.483Z,1761503067.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385297,-0.917297,-0.100561],[0.884987,0.336439,0.321879],[-0.261426,-0.213014,0.941425]]
2025-10-26T18:24:27.888Z,1761503067.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389235,-0.915330,-0.103278],[0.886449,0.341736,0.312129],[-0.250408,-0.213042,0.944409]]
2025-10-26T18:24:28.304Z,1761503068.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394643,-0.912567,-0.107137],[0.885814,0.346888,0.308225],[-0.244111,-0.216542,0.945261]]
2025-10-26T18:24:28.706Z,1761503068.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400553,-0.909551,-0.110789],[0.883399,0.351250,0.310209],[-0.243236,-0.222126,0.944191]]
2025-10-26T18:24:29.111Z,1761503069.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405386,-0.907433,-0.110576],[0.879894,0.354530,0.316377],[-0.247889,-0.225550,0.942167]]
2025-10-26T18:24:29.514Z,1761503069.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404589,-0.907996,-0.108864],[0.878257,0.352612,0.323000],[-0.254896,-0.226293,0.940117]]
2025-10-26T18:24:29.918Z,1761503069.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400912,-0.909729,-0.107991],[0.877851,0.347775,0.329287],[-0.262006,-0.226815,0.938034]]
2025-10-26T18:24:30.322Z,1761503070.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396617,-0.911853,-0.105917],[0.877876,0.343023,0.334170],[-0.268382,-0.225519,0.936543]]
2025-10-26T18:24:30.727Z,1761503070.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393238,-0.913638,-0.103095],[0.877588,0.339529,0.338467],[-0.274233,-0.223573,0.935314]]
2025-10-26T18:24:31.131Z,1761503071.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391249,-0.914997,-0.098507],[0.876607,0.337954,0.342560],[-0.280150,-0.220378,0.934318]]
2025-10-26T18:24:31.535Z,1761503071.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391160,-0.915468,-0.094408],[0.874349,0.337643,0.348584],[-0.287241,-0.218897,0.932511]]
2025-10-26T18:24:31.892Z,1761503071.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:24:31.938Z,1761503071.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392900,-0.915116,-0.090510],[0.870564,0.338445,0.357172],[-0.296222,-0.219128,0.929643]]
2025-10-26T18:24:32.342Z,1761503072.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395348,-0.914224,-0.088850],[0.865929,0.338695,0.368039],[-0.306377,-0.222441,0.925555]]
2025-10-26T18:24:32.747Z,1761503072.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395828,-0.913969,-0.089332],[0.862517,0.336615,0.377829],[-0.315254,-0.226606,0.921556]]
2025-10-26T18:24:32.897Z,1761503072.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:24:33.150Z,1761503073.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394123,-0.914542,-0.090994],[0.861376,0.333049,0.383548],[-0.320466,-0.229545,0.919027]]
2025-10-26T18:24:33.554Z,1761503073.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392755,-0.914946,-0.092829],[0.861938,0.331038,0.384027],[-0.320634,-0.230842,0.918644]]
2025-10-26T18:24:33.958Z,1761503073.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392250,-0.915008,-0.094344],[0.863584,0.330988,0.380355],[-0.316801,-0.230669,0.920016]]
2025-10-26T18:24:34.364Z,1761503074.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392797,-0.914875,-0.093345],[0.865246,0.333275,0.374535],[-0.311543,-0.227883,0.922502]]
2025-10-26T18:24:34.766Z,1761503074.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395161,-0.914043,-0.091507],[0.864664,0.336469,0.373022],[-0.310169,-0.226527,0.923299]]
2025-10-26T18:24:35.170Z,1761503075.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400923,-0.911752,-0.089269],[0.859563,0.340680,0.380906],[-0.316879,-0.229446,0.920294]]
2025-10-26T18:24:35.574Z,1761503075.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411751,-0.907362,-0.084591],[0.849267,0.348406,0.396685],[-0.330465,-0.235176,0.914049]]
2025-10-26T18:24:35.984Z,1761503075.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424342,-0.902206,-0.077189],[0.836950,0.358253,0.413726],[-0.345613,-0.240165,0.907123]]
2025-10-26T18:24:36.382Z,1761503076.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434202,-0.898155,-0.069178],[0.826156,0.366429,0.428014],[-0.359075,-0.242996,0.901121]]
2025-10-26T18:24:36.786Z,1761503076.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430429,-0.900432,-0.062870],[0.823655,0.363326,0.435415],[-0.369219,-0.239198,0.898032]]
2025-10-26T18:24:37.190Z,1761503077.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421753,-0.904765,-0.059372],[0.824229,0.355277,0.440937],[-0.377851,-0.234902,0.895572]]
2025-10-26T18:24:37.596Z,1761503077.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414514,-0.908174,-0.058291],[0.826039,0.348599,0.442875],[-0.381887,-0.231729,0.894687]]
2025-10-26T18:24:38.002Z,1761503078.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411202,-0.909502,-0.060974],[0.827454,0.344372,0.443540],[-0.382403,-0.232838,0.894178]]
2025-10-26T18:24:38.403Z,1761503078.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416347,-0.906925,-0.064364],[0.824796,0.346958,0.446466],[-0.382579,-0.238972,0.892483]]
2025-10-26T18:24:38.806Z,1761503078.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428526,-0.901527,-0.060126],[0.816089,0.357637,0.453976],[-0.387768,-0.243608,0.888983]]
2025-10-26T18:24:39.212Z,1761503079.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441445,-0.896132,-0.045547],[0.805007,0.373112,0.461249],[-0.396346,-0.240282,0.886101]]
2025-10-26T18:24:39.614Z,1761503079.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452832,-0.891137,-0.028600],[0.793868,0.388389,0.467897],[-0.405852,-0.234583,0.883320]]
2025-10-26T18:24:40.018Z,1761503080.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458503,-0.888478,-0.019533],[0.785770,0.395037,0.475933],[-0.415140,-0.233565,0.879265]]
2025-10-26T18:24:40.422Z,1761503080.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455741,-0.889969,-0.015991],[0.783021,0.392301,0.482678],[-0.423295,-0.232498,0.875652]]
2025-10-26T18:24:40.846Z,1761503080.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443124,-0.896343,-0.014517],[0.784552,0.379921,0.490038],[-0.433727,-0.228537,0.871580]]
2025-10-26T18:24:40.911Z,1761503080.911 [transit:NeedComms:C] Running Loop=1
2025-10-26T18:24:41.429Z,1761503081.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434497,-0.900540,-0.015516],[0.782972,0.369145,0.500686],[-0.445160,-0.229695,0.865490]]
2025-10-26T18:24:41.448Z,1761503081.448 [Radio_Surface](INFO): Powering up
2025-10-26T18:24:41.865Z,1761503081.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428355,-0.903341,-0.022055],[0.792562,0.363877,0.489325],[-0.434003,-0.227085,0.871822]]
2025-10-26T18:24:42.262Z,1761503082.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443355,-0.894665,-0.054878],[0.821861,0.381314,0.423255],[-0.357746,-0.232754,0.904347]]
2025-10-26T18:24:43.065Z,1761503083.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459653,-0.882199,-0.102194],[0.866295,0.420048,0.270357],[-0.195583,-0.212801,0.957321]]
2025-10-26T18:24:43.463Z,1761503083.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450847,-0.889982,-0.068332],[0.866537,0.418034,0.272691],[-0.214125,-0.182154,0.959672]]
2025-10-26T18:24:43.866Z,1761503083.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425841,-0.904302,-0.029968],[0.877091,0.404440,0.259114],[-0.222197,-0.136626,0.965382]]
2025-10-26T18:24:44.280Z,1761503084.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407592,-0.912988,-0.017948],[0.889288,0.392393,0.234936],[-0.207451,-0.111719,0.971845]]
2025-10-26T18:24:44.674Z,1761503084.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406433,-0.912898,-0.037806],[0.898964,0.392147,0.195153],[-0.163329,-0.113303,0.980044]]
2025-10-26T18:24:45.078Z,1761503085.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409423,-0.909643,-0.070160],[0.904657,0.394809,0.160382],[-0.118190,-0.129134,0.984558]]
2025-10-26T18:24:45.481Z,1761503085.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402472,-0.912367,-0.074851],[0.910090,0.389963,0.140232],[-0.098754,-0.124560,0.987285]]
2025-10-26T18:24:45.886Z,1761503085.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394563,-0.915619,-0.077212],[0.916688,0.386449,0.101684],[-0.063266,-0.110901,0.991816]]
2025-10-26T18:24:46.293Z,1761503086.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401396,-0.912236,-0.081897],[0.915283,0.396222,0.072562],[-0.033744,-0.104085,0.993996]]
2025-10-26T18:24:46.698Z,1761503086.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408526,-0.907713,-0.095725],[0.912716,0.405408,0.050921],[-0.007414,-0.108172,0.994105]]
2025-10-26T18:24:46.700Z,1761503086.700 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T18:24:46.700Z,1761503086.700 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T18:24:47.101Z,1761503087.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413895,-0.906593,-0.082336],[0.910313,0.411742,0.042403],[-0.004541,-0.092502,0.995702]]
2025-10-26T18:24:47.506Z,1761503087.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418507,-0.905989,-0.063527],[0.907980,0.418960,0.006657],[0.020584,-0.060467,0.997958]]
2025-10-26T18:24:47.912Z,1761503087.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425173,-0.904406,-0.035744],[0.905107,0.424711,0.020044],[-0.002947,-0.040874,0.999160]]
2025-10-26T18:24:48.311Z,1761503088.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436667,-0.897822,-0.056897],[0.899516,0.434762,0.043054],[-0.013919,-0.069980,0.997451]]
2025-10-26T18:24:48.713Z,1761503088.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434745,-0.896052,-0.089932],[0.899902,0.428461,0.081228],[-0.034252,-0.116244,0.992630]]
2025-10-26T18:24:49.117Z,1761503089.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444284,-0.891314,-0.090395],[0.894524,0.435784,0.099594],[-0.049377,-0.125108,0.990914]]
2025-10-26T18:24:49.522Z,1761503089.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422940,-0.901348,-0.093241],[0.905298,0.415815,0.086794],[-0.039460,-0.121119,0.991853]]
2025-10-26T18:24:49.924Z,1761503089.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393228,-0.914878,-0.091492],[0.917492,0.383972,0.103796],[-0.059831,-0.124759,0.990382]]
2025-10-26T18:24:50.332Z,1761503090.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371986,-0.921625,-0.110607],[0.924966,0.358037,0.127466],[-0.077875,-0.149724,0.985656]]
2025-10-26T18:24:50.763Z,1761503090.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360347,-0.924123,-0.127068],[0.929895,0.345093,0.127300],[-0.073790,-0.164032,0.983691]]
2025-10-26T18:24:51.156Z,1761503091.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369083,-0.919832,-0.132991],[0.928381,0.358198,0.099010],[-0.043435,-0.160009,0.986159]]
2025-10-26T18:24:51.542Z,1761503091.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359920,-0.923940,-0.129584],[0.932920,0.358031,0.038408],[0.010908,-0.134716,0.990824]]
2025-10-26T18:24:51.947Z,1761503091.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358001,-0.928335,-0.100148],[0.932938,0.360029,-0.002343],[0.038231,-0.092593,0.994970]]
2025-10-26T18:24:52.357Z,1761503092.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384150,-0.920295,-0.074064],[0.922135,0.386418,-0.018644],[0.045778,-0.061135,0.997079]]
2025-10-26T18:24:52.752Z,1761503092.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397318,-0.914721,-0.073642],[0.916969,0.398889,-0.007383],[0.036128,-0.064594,0.997257]]
2025-10-26T18:24:53.156Z,1761503093.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388744,-0.919333,-0.060876],[0.921311,0.387305,0.034363],[-0.008014,-0.069444,0.997554]]
2025-10-26T18:24:53.568Z,1761503093.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384052,-0.921636,-0.055598],[0.921794,0.379274,0.080295],[-0.052916,-0.082088,0.995219]]
2025-10-26T18:24:53.974Z,1761503093.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378221,-0.922963,-0.071337],[0.923118,0.370270,0.103695],[-0.069293,-0.105072,0.992048]]
2025-10-26T18:24:54.392Z,1761503094.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372893,-0.920871,-0.113782],[0.927295,0.365516,0.080756],[-0.032776,-0.135623,0.990218]]
2025-10-26T18:24:54.773Z,1761503094.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359519,-0.920543,-0.152798],[0.932649,0.359780,0.026907],[0.030205,-0.152181,0.987891]]
2025-10-26T18:24:55.189Z,1761503095.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365742,-0.919339,-0.145084],[0.928901,0.370298,-0.004766],[0.058106,-0.133025,0.989408]]
2025-10-26T18:24:55.594Z,1761503095.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387137,-0.916187,-0.103568],[0.919857,0.391477,-0.024678],[0.063154,-0.085714,0.994316]]
2025-10-26T18:24:56.006Z,1761503096.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405329,-0.912938,-0.047451],[0.912557,0.407151,-0.038304],[0.054288,-0.027776,0.998139]]
2025-10-26T18:24:56.030Z,1761503096.030 [NAL9602](INFO): SBD MO Status=0, MOMSN=2943, MT Status=0, MTMSN=0
2025-10-26T18:24:56.030Z,1761503096.030 [NAL9602](INFO): No messages in MT queue
2025-10-26T18:24:56.400Z,1761503096.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405835,-0.913891,-0.010051],[0.913922,0.405880,-0.002757],[0.006600,-0.008067,0.999946]]
2025-10-26T18:24:56.802Z,1761503096.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397408,-0.917414,-0.020441],[0.916971,0.396168,0.047055],[-0.035070,-0.037444,0.998683]]
2025-10-26T18:24:57.205Z,1761503097.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385072,-0.920072,-0.072021],[0.922068,0.380273,0.071988],[-0.038847,-0.094129,0.994802]]
2025-10-26T18:24:57.210Z,1761503097.210 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182456.00,A,3646.50599,N,12151.87848,W,0.622,42.83,261025,,,A*43
2025-10-26T18:24:57.212Z,1761503097.212 [NAL9602](INFO): GPS fix at 20251026T182456: (36.775100, -121.864641)
2025-10-26T18:24:57.259Z,1761503097.259 [transit:NeedComms:C] Stopped
2025-10-26T18:24:57.260Z,1761503097.260 [transit:NeedComms:D] Running Loop=1
2025-10-26T18:24:57.605Z,1761503097.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368532,-0.921027,-0.126066],[0.929197,0.360895,0.079678],[-0.027889,-0.146504,0.988817]]
2025-10-26T18:24:58.010Z,1761503098.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369635,-0.917944,-0.144042],[0.929027,0.362325,0.075027],[-0.016680,-0.161551,0.986723]]
2025-10-26T18:24:58.436Z,1761503098.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382668,-0.913530,-0.137940],[0.923636,0.381747,0.034138],[0.021472,-0.140470,0.989852]]
2025-10-26T18:24:58.838Z,1761503098.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402870,-0.910289,-0.095229],[0.914286,0.405050,-0.003930],[0.042150,-0.085484,0.995448]]
2025-10-26T18:24:59.217Z,1761503099.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418065,-0.906994,-0.050819],[0.907323,0.419653,-0.025633],[0.044575,-0.035393,0.998379]]
2025-10-26T18:24:59.622Z,1761503099.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426086,-0.904372,-0.023717],[0.904620,0.426218,-0.000564],[0.010619,-0.021215,0.999719]]
2025-10-26T18:25:00.026Z,1761503100.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423886,-0.904507,-0.046765],[0.905138,0.421207,0.057533],[-0.032342,-0.066716,0.997248]]
2025-10-26T18:25:00.434Z,1761503100.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411105,-0.907418,-0.087096],[0.911044,0.405678,0.073655],[-0.031503,-0.109629,0.993473]]
2025-10-26T18:25:00.856Z,1761503100.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393704,-0.911947,-0.115541],[0.919190,0.391831,0.039462],[0.009285,-0.121740,0.992519]]
2025-10-26T18:25:01.277Z,1761503101.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405785,-0.907483,-0.108689],[0.913954,0.403577,0.042594],[0.005211,-0.116621,0.993163]]
2025-10-26T18:25:03.016Z,1761503103.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:25:03.408Z,1761503103.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355568,-0.927900,-0.112129],[0.934014,0.348331,0.079271],[-0.034498,-0.132917,0.990527]]
2025-10-26T18:25:03.802Z,1761503103.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348252,-0.930937,-0.109897],[0.937400,0.345993,0.039611],[0.001148,-0.116812,0.993153]]
2025-10-26T18:25:04.020Z,1761503104.020 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T18:25:04.020Z,1761503104.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:25:04.206Z,1761503104.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348346,-0.930981,-0.109217],[0.936024,0.351711,-0.012595],[0.050139,-0.097843,0.993938]]
2025-10-26T18:25:04.610Z,1761503104.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345592,-0.934478,-0.085545],[0.935469,0.350265,-0.047035],[0.073916,-0.063770,0.995224]]
2025-10-26T18:25:05.016Z,1761503105.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361793,-0.930024,-0.064508],[0.929692,0.365064,-0.049006],[0.069127,-0.042242,0.996713]]
2025-10-26T18:25:05.418Z,1761503105.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384879,-0.921288,-0.055651],[0.921919,0.386615,-0.024379],[0.043976,-0.041923,0.998153]]
2025-10-26T18:25:05.822Z,1761503105.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388861,-0.918867,-0.066865],[0.920680,0.390230,-0.008263],[0.033685,-0.058348,0.997728]]
2025-10-26T18:25:06.226Z,1761503106.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396377,-0.914778,-0.077884],[0.917439,0.397857,-0.003839],[0.034498,-0.069932,0.996955]]
2025-10-26T18:25:06.632Z,1761503106.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399794,-0.911509,-0.096520],[0.916513,0.399020,0.028043],[0.012952,-0.099674,0.994936]]
2025-10-26T18:25:07.036Z,1761503107.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400958,-0.909249,-0.111797],[0.916091,0.397540,0.052334],[-0.003141,-0.123400,0.992352]]
2025-10-26T18:25:07.438Z,1761503107.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377752,-0.920225,-0.102420],[0.925872,0.374466,0.050354],[-0.007984,-0.113849,0.993466]]
2025-10-26T18:25:07.842Z,1761503107.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366081,-0.926546,-0.086585],[0.930401,0.362584,0.053730],[-0.018389,-0.100228,0.994794]]
2025-10-26T18:25:08.248Z,1761503108.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367173,-0.924672,-0.100829],[0.930146,0.365402,0.036182],[0.003387,-0.107070,0.994246]]
2025-10-26T18:25:08.650Z,1761503108.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369952,-0.921482,-0.118350],[0.928529,0.371001,0.013857],[0.031139,-0.115018,0.992875]]
2025-10-26T18:25:09.055Z,1761503109.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397326,-0.911451,-0.106718],[0.916982,0.398857,0.007518],[0.035713,-0.100845,0.994261]]
2025-10-26T18:25:09.458Z,1761503109.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406935,-0.909169,-0.088408],[0.912524,0.408985,-0.005635],[0.041281,-0.078382,0.996068]]
2025-10-26T18:25:09.863Z,1761503109.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396310,-0.916092,-0.060948],[0.917186,0.398023,-0.018631],[0.041327,-0.048517,0.997967]]
2025-10-26T18:25:10.266Z,1761503110.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375526,-0.923726,-0.075574],[0.925818,0.377649,-0.015549],[0.042904,-0.064129,0.997019]]
2025-10-26T18:25:10.670Z,1761503110.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354454,-0.930297,-0.094391],[0.934934,0.354334,0.018599],[0.016143,-0.094842,0.995361]]
2025-10-26T18:25:11.074Z,1761503111.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372537,-0.922509,-0.100966],[0.928016,0.370483,0.039091],[0.001344,-0.108261,0.994122]]
2025-10-26T18:25:11.480Z,1761503111.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386532,-0.914600,-0.118743],[0.922055,0.386041,0.028050],[0.020185,-0.120329,0.992529]]
2025-10-26T18:25:12.287Z,1761503112.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387300,-0.917880,-0.086571],[0.921895,0.384505,0.047594],[-0.010398,-0.098242,0.995108]]
2025-10-26T18:25:12.691Z,1761503112.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383893,-0.919166,-0.088090],[0.923375,0.381909,0.039040],[-0.002242,-0.096327,0.995347]]
2025-10-26T18:25:12.695Z,1761503112.695 [NAL9602](INFO): SBD MO Status=1, MOMSN=2944, MT Status=0, MTMSN=0
2025-10-26T18:25:12.748Z,1761503112.748 [NAL9602](INFO): Sent 73 bytes from file Logs/20251026T180417/Courier0006.lzma
2025-10-26T18:25:12.748Z,1761503112.748 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:25:13.095Z,1761503113.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379242,-0.921670,-0.081849],[0.925285,0.377299,0.038630],[-0.004722,-0.090384,0.995896]]
2025-10-26T18:25:13.815Z,1761503113.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387877,-0.915752,-0.104637],[0.921507,0.387673,0.023115],[0.019398,-0.105390,0.994242]]
2025-10-26T18:25:15.960Z,1761503115.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338219,-0.936061,-0.096940],[0.940643,0.333177,0.064681],[-0.028247,-0.113062,0.993186]]
2025-10-26T18:25:16.342Z,1761503116.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309780,-0.948970,-0.059093],[0.950740,0.308414,0.031217],[-0.011399,-0.065853,0.997764]]
2025-10-26T18:25:16.742Z,1761503116.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312556,-0.947762,-0.063681],[0.949863,0.312426,0.012243],[0.008292,-0.064315,0.997895]]
2025-10-26T18:25:17.142Z,1761503117.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330708,-0.941462,-0.065435],[0.943062,0.332292,-0.014720],[0.035602,-0.056841,0.997748]]
2025-10-26T18:25:17.546Z,1761503117.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341265,-0.938937,-0.044003],[0.939262,0.342448,-0.022729],[0.036410,-0.033574,0.998773]]
2025-10-26T18:25:17.952Z,1761503117.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353362,-0.935425,-0.010760],[0.934666,0.353510,-0.037828],[0.039189,0.003310,0.999226]]
2025-10-26T18:25:18.354Z,1761503118.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358535,-0.933009,-0.030786],[0.930849,0.359807,-0.063703],[0.070512,-0.005817,0.997494]]
2025-10-26T18:25:18.758Z,1761503118.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349639,-0.934453,-0.067452],[0.934295,0.353117,-0.049005],[0.069611,-0.045886,0.996518]]
2025-10-26T18:25:19.162Z,1761503119.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339123,-0.932374,-0.125198],[0.939260,0.343045,-0.010556],[0.052790,-0.114014,0.992076]]
2025-10-26T18:25:19.568Z,1761503119.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334842,-0.924809,-0.180581],[0.941422,0.336489,0.022366],[0.040079,-0.177492,0.983306]]
2025-10-26T18:25:19.970Z,1761503119.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333105,-0.927104,-0.171811],[0.942563,0.332208,0.034813],[0.024801,-0.173540,0.984515]]
2025-10-26T18:25:20.374Z,1761503120.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342383,-0.932173,-0.117589],[0.939211,0.342978,0.015775],[0.025626,-0.115842,0.992937]]
2025-10-26T18:25:20.778Z,1761503120.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336988,-0.937713,-0.084464],[0.940562,0.339313,-0.014450],[0.042210,-0.074575,0.996322]]
2025-10-26T18:25:21.184Z,1761503121.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318401,-0.946642,-0.049890],[0.947154,0.319856,-0.024336],[0.038995,-0.039505,0.998458]]
2025-10-26T18:25:21.586Z,1761503121.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312216,-0.949539,-0.029943],[0.949027,0.313172,-0.035660],[0.043238,-0.017283,0.998915]]
2025-10-26T18:25:21.990Z,1761503121.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304775,-0.950069,-0.066941],[0.950763,0.307641,-0.037520],[0.056240,-0.052210,0.997051]]
2025-10-26T18:25:21.995Z,1761503121.995 [NAL9602](INFO): SBD MO Status=1, MOMSN=2945, MT Status=0, MTMSN=0
2025-10-26T18:25:22.048Z,1761503122.048 [NAL9602](INFO): Sent 73 bytes from file Logs/20251026T180417/Express0004.lzma
2025-10-26T18:25:22.048Z,1761503122.048 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:25:22.394Z,1761503122.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314797,-0.941801,-0.117960],[0.946449,0.320850,-0.035917],[0.071674,-0.100336,0.992369]]
2025-10-26T18:25:23.102Z,1761503123.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336666,-0.932429,-0.131273],[0.938540,0.343560,-0.033296],[0.076146,-0.111996,0.990787]]
2025-10-26T18:25:23.494Z,1761503123.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357526,-0.928246,-0.102634],[0.932155,0.361417,-0.021571],[0.057117,-0.087959,0.994485]]
2025-10-26T18:25:25.636Z,1761503125.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344818,-0.930901,-0.120512],[0.935746,0.351024,-0.034078],[0.074026,-0.101018,0.992127]]
2025-10-26T18:25:26.035Z,1761503126.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340483,-0.927882,-0.152006],[0.939106,0.343570,0.006296],[0.046382,-0.144893,0.988360]]
2025-10-26T18:25:26.434Z,1761503126.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342888,-0.930167,-0.131214],[0.938343,0.345703,0.001411],[0.044048,-0.123607,0.991353]]
2025-10-26T18:25:26.867Z,1761503126.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363384,-0.929214,-0.067181],[0.931505,0.363612,0.009229],[0.015852,-0.065933,0.997698]]
2025-10-26T18:25:27.242Z,1761503127.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373957,-0.927055,-0.026926],[0.927432,0.373951,0.005437],[0.005028,-0.027005,0.999623]]
2025-10-26T18:25:27.649Z,1761503127.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362719,-0.931843,-0.010164],[0.931495,0.362219,0.033378],[-0.027422,-0.021574,0.999391]]
2025-10-26T18:25:28.050Z,1761503128.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357949,-0.932562,-0.046915],[0.932469,0.354389,0.070070],[-0.048718,-0.068828,0.996438]]
2025-10-26T18:25:28.454Z,1761503128.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336365,-0.932770,-0.129610],[0.941546,0.330366,0.065945],[-0.018693,-0.144216,0.989370]]
2025-10-26T18:25:28.887Z,1761503128.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324906,-0.929377,-0.175196],[0.945704,0.317518,0.069470],[-0.008936,-0.188255,0.982080]]
2025-10-26T18:25:29.263Z,1761503129.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328857,-0.929702,-0.165856],[0.944356,0.324982,0.050777],[0.006693,-0.173325,0.984842]]
2025-10-26T18:25:29.667Z,1761503129.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322251,-0.938059,-0.127279],[0.945733,0.324944,-0.000417],[0.041749,-0.120237,0.991867]]
2025-10-26T18:25:30.070Z,1761503130.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330139,-0.943143,-0.038593],[0.942953,0.331383,-0.032024],[0.042992,-0.025819,0.998742]]
2025-10-26T18:25:30.474Z,1761503130.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338352,-0.941010,0.004272],[0.940230,0.337878,-0.042506],[0.038556,0.018399,0.999087]]
2025-10-26T18:25:30.478Z,1761503130.478 [NAL9602](INFO): SBD MO Status=1, MOMSN=2946, MT Status=0, MTMSN=0
2025-10-26T18:25:30.528Z,1761503130.528 [NAL9602](INFO): Sent 221 bytes from file Logs/20251026T180417/Express0007.lzma
2025-10-26T18:25:30.528Z,1761503130.528 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:25:30.897Z,1761503130.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320582,-0.946371,-0.040116],[0.946578,0.321637,-0.023230],[0.034887,-0.030525,0.998925]]
2025-10-26T18:25:31.366Z,1761503131.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311225,-0.943264,-0.115721],[0.949478,0.313803,-0.004298],[0.040368,-0.108537,0.993272]]
2025-10-26T18:25:31.746Z,1761503131.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308024,-0.935368,-0.173804],[0.950406,0.310790,0.011764],[0.043013,-0.168808,0.984710]]
2025-10-26T18:25:32.150Z,1761503132.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311099,-0.936615,-0.161150],[0.949864,0.312002,0.020331],[0.031237,-0.159396,0.986720]]
2025-10-26T18:25:32.554Z,1761503132.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331167,-0.937791,-0.104288],[0.942973,0.332866,0.001177],[0.033610,-0.098730,0.994546]]
2025-10-26T18:25:32.960Z,1761503132.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335868,-0.940984,-0.041726],[0.940587,0.337414,-0.038060],[0.049893,-0.026464,0.998404]]
2025-10-26T18:25:33.362Z,1761503133.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334620,-0.942345,-0.003915],[0.940305,0.334164,-0.064509],[0.062098,0.017905,0.997909]]
2025-10-26T18:25:33.766Z,1761503133.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332303,-0.942828,-0.025481],[0.941585,0.333190,-0.049017],[0.054705,-0.007704,0.998473]]
2025-10-26T18:25:34.140Z,1761503134.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:25:34.170Z,1761503134.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329031,-0.940647,-0.083200],[0.943480,0.331173,-0.013014],[0.039795,-0.074216,0.996448]]
2025-10-26T18:25:34.575Z,1761503134.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320405,-0.937862,-0.133248],[0.946864,0.321250,0.015696],[0.028085,-0.131197,0.990958]]
2025-10-26T18:25:34.978Z,1761503134.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317448,-0.934276,-0.162342],[0.948196,0.314960,0.041535],[0.012326,-0.167117,0.985860]]
2025-10-26T18:25:35.145Z,1761503135.145 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:25:35.382Z,1761503135.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322897,-0.936188,-0.138885],[0.946428,0.319939,0.043749],[0.003477,-0.145571,0.989342]]
2025-10-26T18:25:35.786Z,1761503135.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339680,-0.936748,-0.084381],[0.940484,0.339280,0.019476],[0.010385,-0.085975,0.996243]]
2025-10-26T18:25:36.191Z,1761503136.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340832,-0.939087,-0.044146],[0.939429,0.342009,-0.022407],[0.036140,-0.033835,0.998774]]
2025-10-26T18:25:36.594Z,1761503136.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324237,-0.944708,-0.048965],[0.942996,0.326888,-0.062472],[0.075024,-0.025918,0.996845]]
2025-10-26T18:25:36.998Z,1761503136.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316688,-0.945555,-0.075063],[0.942766,0.322488,-0.084821],[0.104410,-0.043905,0.993565]]
2025-10-26T18:25:37.402Z,1761503137.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327249,-0.942214,-0.071694],[0.940645,0.332047,-0.070230],[0.089977,-0.044456,0.994951]]
2025-10-26T18:25:37.407Z,1761503137.407 [NAL9602](INFO): SBD MO Status=0, MOMSN=2947, MT Status=0, MTMSN=0
2025-10-26T18:25:37.487Z,1761503137.487 [transit:NeedComms:D] Stopped
2025-10-26T18:25:37.503Z,1761503137.503 [transit:NeedComms:E] Running Loop=1
2025-10-26T18:25:37.807Z,1761503137.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340566,-0.937426,-0.072441],[0.939563,0.342197,-0.011069],[0.035165,-0.064293,0.997311]]
2025-10-26T18:25:38.210Z,1761503138.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340337,-0.935030,-0.099447],[0.940194,0.336775,0.051159],[-0.014344,-0.110910,0.993727]]
2025-10-26T18:25:38.614Z,1761503138.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329426,-0.936278,-0.121907],[0.943589,0.321890,0.077635],[-0.033448,-0.140605,0.989501]]
2025-10-26T18:25:39.019Z,1761503139.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344168,-0.929241,-0.134385],[0.938825,0.342493,0.036129],[0.012453,-0.138599,0.990270]]
2025-10-26T18:25:39.424Z,1761503139.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366562,-0.924336,-0.105993],[0.927018,0.372550,-0.042947],[0.079185,-0.082515,0.993439]]
2025-10-26T18:25:39.826Z,1761503139.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380412,-0.924041,-0.037876],[0.920092,0.382285,-0.085369],[0.093364,-0.002374,0.995629]]
2025-10-26T18:25:39.834Z,1761503139.834 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182539.00,A,3646.50494,N,12151.87783,W,0.816,212.78,261025,,,A*75
2025-10-26T18:25:39.837Z,1761503139.837 [NAL9602](INFO): GPS fix at 20251026T182539: (36.775082, -121.864631)
2025-10-26T18:25:39.870Z,1761503139.870 [transit:NeedComms:E] Stopped
2025-10-26T18:25:39.870Z,1761503139.870 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-10-26T18:25:39.870Z,1761503139.870 [transit:NeedComms] Stopped
2025-10-26T18:25:39.871Z,1761503139.871 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-10-26T18:25:39.871Z,1761503139.871 [transit:NeedComms:B.GoToSurface] Stopped
2025-10-26T18:25:39.871Z,1761503139.871 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T18:25:40.230Z,1761503140.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385063,-0.922830,-0.010590],[0.918197,0.384235,-0.096319],[0.092955,0.027365,0.995294]]
2025-10-26T18:25:40.280Z,1761503140.280 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-10-26T18:25:40.280Z,1761503140.280 [transit:Transit:PhoneHome] Stopped
2025-10-26T18:25:40.280Z,1761503140.280 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-10-26T18:25:40.281Z,1761503140.281 [transit:Transit](INFO): Completed transit:Transit
2025-10-26T18:25:40.281Z,1761503140.281 [transit:Transit] Stopped
2025-10-26T18:25:40.281Z,1761503140.281 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-10-26T18:25:40.281Z,1761503140.281 [transit:Transit:A.Pitch] Stopped
2025-10-26T18:25:40.281Z,1761503140.281 [transit:Transit:B.SetSpeed] Stopped
2025-10-26T18:25:40.281Z,1761503140.281 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-10-26T18:25:40.283Z,1761503140.283 [transit](INFO): Completed transit
2025-10-26T18:25:40.284Z,1761503140.284 [MissionManager](INFO): transit is completed.
2025-10-26T18:25:40.284Z,1761503140.284 [MissionManager](INFO): Uninitializing Mission transit
2025-10-26T18:25:40.284Z,1761503140.284 [transit] Stopped
2025-10-26T18:25:40.284Z,1761503140.284 [transit](DEBUG): Aggregate::uninitialize transit
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes] Stopped
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-26T18:25:40.284Z,1761503140.284 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-26T18:25:40.285Z,1761503140.285 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-26T18:25:40.285Z,1761503140.285 [transit:BackseatDriver] Stopped
2025-10-26T18:25:40.285Z,1761503140.285 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-10-26T18:25:40.285Z,1761503140.285 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-10-26T18:25:40.285Z,1761503140.285 [transit:PowerOnly] Stopped
2025-10-26T18:25:40.285Z,1761503140.285 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-10-26T18:25:40.285Z,1761503140.285 [transit:PowerOnly:E.Wait] Stopped
2025-10-26T18:25:40.285Z,1761503140.285 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T18:25:40.285Z,1761503140.285 [transit:BuoyancyHold.Buoyancy] Stopped
2025-10-26T18:25:40.285Z,1761503140.285 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T18:25:40.285Z,1761503140.285 [transit:MassHold.Pitch] Stopped
2025-10-26T18:25:40.357Z,1761503140.357 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/marl3.tl
2025-10-26T18:25:40.358Z,1761503140.358 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/marl3.tl
2025-10-26T18:25:40.358Z,1761503140.358 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/marl3.tl
2025-10-26T18:25:40.363Z,1761503140.363 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl
2025-10-26T18:25:40.635Z,1761503140.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366519,-0.927998,-0.066952],[0.927256,0.370250,-0.055774],[0.076547,-0.041640,0.996196]]
2025-10-26T18:25:41.039Z,1761503141.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349372,-0.927392,-0.133727],[0.936591,0.349786,0.021161],[0.027152,-0.132641,0.990792]]
2025-10-26T18:25:41.442Z,1761503141.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334596,-0.927563,-0.166348],[0.941439,0.321212,0.102541],[-0.041680,-0.190916,0.980721]]
2025-10-26T18:25:41.849Z,1761503141.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333352,-0.929841,-0.155793],[0.939546,0.313912,0.136792],[-0.078290,-0.191974,0.978272]]
2025-10-26T18:25:42.253Z,1761503142.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341818,-0.932385,-0.117554],[0.938528,0.332267,0.093616],[-0.048227,-0.142327,0.988644]]
2025-10-26T18:25:42.654Z,1761503142.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341104,-0.937509,-0.068742],[0.940007,0.340649,0.018605],[0.005974,-0.070964,0.997461]]
2025-10-26T18:25:43.058Z,1761503143.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347332,-0.937223,-0.031194],[0.936907,0.348234,-0.030634],[0.039574,-0.018586,0.999044]]
2025-10-26T18:25:43.462Z,1761503143.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355490,-0.934381,-0.023645],[0.933328,0.356222,-0.044770],[0.050255,-0.006154,0.998717]]
2025-10-26T18:25:43.868Z,1761503143.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355389,-0.934492,-0.020570],[0.934342,0.355785,-0.020538],[0.026511,-0.011921,0.999577]]
2025-10-26T18:25:44.271Z,1761503144.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363544,-0.930414,-0.046537],[0.931431,0.363917,0.000488],[0.016481,-0.043524,0.998916]]
2025-10-26T18:25:44.674Z,1761503144.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354652,-0.931107,-0.085219],[0.934334,0.356360,-0.005236],[0.035244,-0.077766,0.996349]]
2025-10-26T18:25:45.078Z,1761503145.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349185,-0.929696,-0.117199],[0.936156,0.351585,0.000203],[0.041017,-0.109787,0.993108]]
2025-10-26T18:25:45.483Z,1761503145.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368863,-0.919425,-0.136371],[0.928518,0.371178,0.008984],[0.042357,-0.129937,0.990617]]
2025-10-26T18:25:45.838Z,1761503145.838 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/marl3.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="marl">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ContactLabel">
        <Units:count />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="SendDataLabel">
        <Units:count />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="ContactDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CenterLatitude">
        <Units:degree />
        <Value>36.81544</Value>
    </DefineArg>
    <DefineArg Name="CenterLongitude">
        <Units:degree />
        <Value>-121.82506</Value>
    </DefineArg>
    <DefineArg Name="CenterNorthingsDelta">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="CenterEastingsDelta">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="SpeedUpdateTimeout">
        <Units:second />
        <Value>240</Value>
    </DefineArg>
    <DefineArg Name="StateUpdateDelay">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="HorizontalCommandMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="AcousticContactTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SendObservationDataInterval">
        <Units:minute />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MyTempVar">
        <Units:none_str />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="KwpHeading">
        <Units:radian_per_meter />
        <Value>0.010</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1.5</Value>
    </DefineArg>
    <DefineOutput Name="HeadingMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RudderMode">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Heading">
        <Units:degree />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RudderAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="TimeLastSendData">
        <Units:second />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="ElapsedSinceLastSendData">
        <Units:second />
        <Value>0</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/AbortDrift.tl">
        <RedefineArg Name="AcousticTimeout">
            <Arg Name="AcousticContactTimeout" />
        </RedefineArg>
    </Insert>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactDepthSetting />
            <Arg Name="ContactDepth" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="ContactLabel" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="SendObservationData">
        <When>
            <Elapsed>
                <Arg Name="MyTempVar" />
            </Elapsed>
            <Ge>
                <Arg Name="SendObservationDataInterval" />
            </Ge>
        </When>
        <Syslog Severity="Info">
            Got test_good : 
            <CustomUri Uri="_.send_observations" />
            <Units:none_str />
             and temp var is 
            <Arg Name="MyTempVar" />
            <Units:none_str />
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceLastSendData" />
            <Elapsed>
                <Arg Name="MyTempVar" />
            </Elapsed>
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="MyTempVar" />
            <CustomUri Uri="_.send_observations" />
        </Assign>
        <Sensor:SendDirect>
            <Parallel />
            <Setting>
                <Sensor:SendDirect.destType />
                <String>modem</String>
            </Setting>
            <Setting>
                <Sensor:SendDirect.destId />
                <Arg Name="SendDataLabel" />
            </Setting>
            <Setting>
                <Sensor:SendDirect.destName />
                <String>_.others_observations</String>
            </Setting>
            <Setting>
                <Sensor:SendDirect.value />
                <Arg Name="MyTempVar" />
            </Setting>
            <Setting>
                <Sensor:SendDirect.unit />
                <String>none_str</String>
            </Setting>
        </Sensor:SendDirect>
        <Syslog Severity="Info">
            SendData: sent send_observations : 
            <Arg Name="MyTempVar" />
            <Units:none_str />
             to nearby vehicles. Elapsed time 
            <Arg Name="ElapsedSinceLastSendData" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateContactLabel">
        <When>
            <Elapsed>
                <CustomUri Uri="_.contactLabelSetting" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="ContactLabel" />
                </Elapsed>
            </Lt>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="ContactLabel" />
            <Abs>
                <CustomUri Uri="_.contactLabelSetting" />
            </Abs>
        </Assign>
        <Syslog Severity="Info">
            Upadating ContactLabel 
            <CustomUri Uri="_.contactLabelSetting" />
            <Units:count />
        </Syslog>
    </Aggregate>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Aggregate Id="SpeedTimeout">
        <When>
            <Elapsed>
                <Arg Name="Speed" />
            </Elapsed>
            <Ge>
                <Arg Name="SpeedUpdateTimeout" />
            </Ge>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Speed" />
            <Units:meter_per_second />
            <Value>0</Value>
        </Assign>
        <Syslog Severity="Fault">
            Speed timeout reached. Stopping vehicle (speed 
            <Arg Name="Speed" />
            <Units:meter_per_second />
            ).
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateSpeed">
        <When>
            <Elapsed>
                <CustomUri Uri="_.speedCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="Speed" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="Speed" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Speed" />
            <CustomUri Uri="_.speedCmd" />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateCommandMode">
        <When>
            <Elapsed>
                <CustomUri Uri="_.horizontalCmdMode" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="HorizontalCommandMode" />
                </Elapsed>
            </Lt>
            <And>
                <CustomUri Uri="_.horizontalCmdMode" />
                <Eq>
                    <Arg Name="HeadingMode" />
                </Eq>
                <Or>
                    <CustomUri Uri="_.horizontalCmdMode" />
                    <Eq>
                        <Arg Name="RudderMode" />
                    </Eq>
                </Or>
            </And>
            <And>
                <Elapsed>
                    <Arg Name="HorizontalCommandMode" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="HorizontalCommandMode" />
            <CustomUri Uri="_.horizontalCmdMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateHeading">
        <When>
            <Elapsed>
                <CustomUri Uri="_.headingCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="Heading" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="Heading" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="Heading" />
            <CustomUri Uri="_.headingCmd" />
        </Assign>
        <Syslog Severity="Info">
            Updating heading 
            <Arg Name="Heading" />
            <Units:degree />
        </Syslog>
    </Aggregate>
    <Aggregate Id="UpdateRudder">
        <When>
            <Elapsed>
                <CustomUri Uri="_.rudderAngleCmd" />
            </Elapsed>
            <Lt>
                <Elapsed>
                    <Arg Name="RudderAngle" />
                </Elapsed>
            </Lt>
            <And>
                <Elapsed>
                    <Arg Name="RudderAngle" />
                </Elapsed>
                <Gt>
                    <Arg Name="StateUpdateDelay" />
                </Gt>
            </And>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="RudderAngle" />
            <CustomUri Uri="_.rudderAngleCmd" />
        </Assign>
        <Syslog Severity="Info">
            Updating rudder angle 
            <Arg Name="RudderAngle" />
            <Units:degree />
        </Syslog>
    </Aggregate>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="JoystickControl">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <While>
                <Arg Name="MassHold" />
            </While>
            <Setting>
                <Guidance:Pitch.massPosition />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Pitch>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Aggregate Id="CmdHeading">
            <While>
                <Arg Name="HorizontalCommandMode" />
                <Eq>
                    <Arg Name="HeadingMode" />
                </Eq>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.forceUpdate />
                    <True />
                </Setting>
                <Setting>
                    <Guidance:Point.heading />
                    <Arg Name="Heading" />
                </Setting>
            </Guidance:Point>
        </Aggregate>
        <Aggregate Id="CmdRudder">
            <While>
                <Arg Name="HorizontalCommandMode" />
                <Eq>
                    <Arg Name="RudderMode" />
                </Eq>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.forceUpdate />
                    <True />
                </Setting>
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
        </Aggregate>
    </Aggregate>
</Mission>

2025-10-26T18:25:45.853Z,1761503145.853 [MissionManager](INFO): DefineArg marl.MissionTimeout = 4.000000 h
2025-10-26T18:25:45.856Z,1761503145.856 [MissionManager](INFO): DefineArg marl.NeedCommsTime = 1.000000 h
2025-10-26T18:25:45.859Z,1761503145.859 [MissionManager](INFO): DefineArg marl.ContactLabel = 8.000000 count
2025-10-26T18:25:45.862Z,1761503145.862 [MissionManager](INFO): DefineArg marl.SendDataLabel = 10.000000 count
2025-10-26T18:25:45.865Z,1761503145.865 [MissionManager](INFO): DefineArg marl.ContactDepth = nan m
2025-10-26T18:25:45.869Z,1761503145.869 [MissionManager](INFO): DefineArg marl.CenterLatitude = 36.815441 arcdeg
2025-10-26T18:25:45.886Z,1761503145.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374962,-0.919123,-0.120900],[0.925603,0.378442,-0.006352],[0.051592,-0.109524,0.992644]]
2025-10-26T18:25:45.920Z,1761503145.920 [MissionManager](INFO): DefineArg marl.CenterLongitude = -121.825058 arcdeg
2025-10-26T18:25:45.923Z,1761503145.923 [MissionManager](INFO): DefineArg marl.CenterNorthingsDelta = 0.000000 m
2025-10-26T18:25:45.934Z,1761503145.934 [MissionManager](INFO): DefineArg marl.CenterEastingsDelta = 0.000000 m
2025-10-26T18:25:45.941Z,1761503145.941 [MissionManager](INFO): DefineArg marl.CircleRadius = 50.000000 m
2025-10-26T18:25:45.964Z,1761503145.964 [MissionManager](INFO): DefineArg marl.SpeedUpdateTimeout = 240.000000 s
2025-10-26T18:25:45.979Z,1761503145.979 [MissionManager](INFO): DefineArg marl.StateUpdateDelay = 10.000000 s
2025-10-26T18:25:45.986Z,1761503145.986 [MissionManager](INFO): DefineArg marl.HorizontalCommandMode = 0.000000 count
2025-10-26T18:25:45.991Z,1761503145.991 [MissionManager](INFO): DefineArg marl.AcousticContactTimeout = 4.000000 h
2025-10-26T18:25:46.033Z,1761503146.033 [MissionManager](INFO): DefineArg marl.SendObservationDataInterval = 1.000000 min
2025-10-26T18:25:46.037Z,1761503146.037 [MissionManager](INFO): DefineArg marl.TrackingUpdatePeriod = 30.000000 s
2025-10-26T18:25:46.048Z,1761503146.048 [MissionManager](INFO): DefineArg marl.Depth = 20.000000 m
2025-10-26T18:25:46.055Z,1761503146.055 [MissionManager](INFO): DefineArg marl.MaxDepth = 60.000000 m
2025-10-26T18:25:46.058Z,1761503146.058 [MissionManager](INFO): DefineArg marl.MinAltitude = 5.000000 m
2025-10-26T18:25:46.066Z,1761503146.066 [MissionManager](INFO): DefineArg marl.MassHold = 1 bool
2025-10-26T18:25:46.071Z,1761503146.071 [MissionManager](INFO): DefineArg marl.BuoyancyHold = 1 bool
2025-10-26T18:25:46.118Z,1761503146.118 [MissionManager](INFO): DefineArg marl.NumberOfPings = 1.000000 count
2025-10-26T18:25:46.122Z,1761503146.122 [MissionManager](INFO): DefineArg marl.CircleMaxError = 10.000000 m
2025-10-26T18:25:46.145Z,1761503146.145 [MissionManager](INFO): DefineArg marl.CircleTurnToPort = 0 bool
2025-10-26T18:25:46.152Z,1761503146.152 [MissionManager](INFO): DefineArg marl.Speed = 0.000000 m/s
2025-10-26T18:25:46.160Z,1761503146.160 [MissionManager](INFO): DefineArg marl.MyTempVar = nan n/a str
2025-10-26T18:25:46.163Z,1761503146.163 [MissionManager](INFO): DefineArg marl.KwpHeading = 0.010000 rad/m
2025-10-26T18:25:46.174Z,1761503146.174 [MissionManager](INFO): DefineArg marl.MinOffshore = 1.500000 km
2025-10-26T18:25:46.177Z,1761503146.177 [MissionManager](INFO): DefineOutput marl.HeadingMode = 0.000000 count
2025-10-26T18:25:46.193Z,1761503146.193 [MissionManager](INFO): DefineOutput marl.RudderMode = 1.000000 count
2025-10-26T18:25:46.200Z,1761503146.200 [MissionManager](INFO): DefineOutput marl.Heading = 0.000000 arcdeg
2025-10-26T18:25:46.207Z,1761503146.207 [MissionManager](INFO): DefineOutput marl.RudderAngle = 0.000000 arcdeg
2025-10-26T18:25:46.214Z,1761503146.214 [MissionManager](INFO): DefineOutput marl.TimeLastSendData = 0.000000 s
2025-10-26T18:25:46.217Z,1761503146.217 [MissionManager](INFO): DefineOutput marl.ElapsedSinceLastSendData = 0.000000 s
2025-10-26T18:25:46.218Z,1761503146.218 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/AbortDrift.tl
2025-10-26T18:25:46.218Z,1761503146.218 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/AbortDrift.tl
2025-10-26T18:25:46.219Z,1761503146.219 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tl
2025-10-26T18:25:46.291Z,1761503146.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365374,-0.926954,-0.085188],[0.926788,0.370801,-0.059760],[0.086982,-0.057117,0.994571]]
2025-10-26T18:25:46.339Z,1761503146.339 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/AbortDrift.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="AbortDrift">
    <DefineArg Name="AcousticTimeout">
        <Units:hour />
        <Value>96</Value>
    </DefineArg>
    <Parallel />
    <Syslog Severity="Info">
        Insert acoustic timeout set to 
        <Arg Name="AcousticTimeout" />
        <Units:hour />
        .
    </Syslog>
    <Guidance:AbortDrift>
        <Sequence />
        <Setting>
            <Guidance:AbortDrift.acousticTimeout />
            <Arg Name="AcousticTimeout" />
        </Setting>
    </Guidance:AbortDrift>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>stop</String>
        </Setting>
    </Guidance:Execute>
</Aggregate>

2025-10-26T18:25:46.359Z,1761503146.359 [MissionManager](INFO): DefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h
2025-10-26T18:25:46.366Z,1761503146.366 [marl:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2025-10-26T18:25:46.374Z,1761503146.374 [marl:AbortDrift:C.Execute](DEBUG): Construct Execute.
2025-10-26T18:25:46.388Z,1761503146.388 [MissionManager](INFO): RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout
2025-10-26T18:25:46.478Z,1761503146.478 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-10-26T18:25:46.479Z,1761503146.479 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-10-26T18:25:46.494Z,1761503146.494 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-10-26T18:25:46.694Z,1761503146.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362696,-0.930119,-0.057702],[0.923757,0.367005,-0.109453],[0.122981,-0.013604,0.992316]]
2025-10-26T18:25:46.984Z,1761503146.984 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-10-26T18:25:46.994Z,1761503146.994 [MissionManager](INFO): DefineArg marl:NeedComms.DiveInterval = 1.000000 h
2025-10-26T18:25:46.997Z,1761503146.997 [MissionManager](INFO): DefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min
2025-10-26T18:25:47.009Z,1761503147.009 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-10-26T18:25:47.016Z,1761503147.016 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceDepthRate = nan m/s
2025-10-26T18:25:47.019Z,1761503147.019 [MissionManager](INFO): DefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-10-26T18:25:47.026Z,1761503147.026 [MissionManager](INFO): DefineArg marl:NeedComms.SurfacingTimeout = 1000.000000 s
2025-10-26T18:25:47.030Z,1761503147.030 [MissionManager](INFO): DefineArg marl:NeedComms.GPSTimeout = 7.000000 min
2025-10-26T18:25:47.042Z,1761503147.042 [MissionManager](INFO): DefineArg marl:NeedComms.CommsTimeout = 30.000000 min
2025-10-26T18:25:47.053Z,1761503147.053 [marl:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-26T18:25:47.098Z,1761503147.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371901,-0.926781,-0.052606],[0.919623,0.375562,-0.115098],[0.126427,-0.005573,0.991960]]
2025-10-26T18:25:47.138Z,1761503147.138 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-26T18:25:47.138Z,1761503147.138 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-26T18:25:47.151Z,1761503147.151 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-26T18:25:47.323Z,1761503147.323 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-26T18:25:47.336Z,1761503147.336 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-26T18:25:47.338Z,1761503147.338 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-26T18:25:47.346Z,1761503147.346 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-26T18:25:47.350Z,1761503147.350 [MissionManager](INFO): DefineArg marl:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-26T18:25:47.351Z,1761503147.351 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-26T18:25:47.367Z,1761503147.367 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-26T18:25:47.392Z,1761503147.392 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-26T18:25:47.477Z,1761503147.477 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-26T18:25:47.477Z,1761503147.477 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-26T18:25:47.486Z,1761503147.486 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-26T18:25:47.502Z,1761503147.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391072,-0.918273,-0.061949],[0.912652,0.395610,-0.102756],[0.118866,-0.016353,0.992776]]
2025-10-26T18:25:47.906Z,1761503147.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428278,-0.899278,-0.088755],[0.895875,0.435396,-0.088539],[0.118265,-0.041594,0.992110]]
2025-10-26T18:25:48.312Z,1761503148.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451663,-0.885083,-0.112374],[0.888457,0.457700,-0.033987],[0.081515,-0.084488,0.993085]]
2025-10-26T18:25:48.714Z,1761503148.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448478,-0.887679,-0.104369],[0.893762,0.446378,0.044005],[0.007526,-0.113017,0.993565]]
2025-10-26T18:25:49.118Z,1761503149.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438849,-0.890457,-0.120406],[0.898153,0.430660,0.088614],[-0.027053,-0.147031,0.988762]]
2025-10-26T18:25:49.522Z,1761503149.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421360,-0.893810,-0.153492],[0.906883,0.414454,0.076103],[-0.004407,-0.171266,0.985215]]
2025-10-26T18:25:49.928Z,1761503149.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392429,-0.906814,-0.153912],[0.919696,0.389157,0.052125],[0.012628,-0.162007,0.986709]]
2025-10-26T18:25:50.331Z,1761503150.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381197,-0.916087,-0.124392],[0.924229,0.380844,0.027552],[0.022134,-0.125470,0.991850]]
2025-10-26T18:25:50.734Z,1761503150.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375833,-0.923244,-0.079810],[0.926480,0.376175,0.011286],[0.019602,-0.078184,0.996746]]
2025-10-26T18:25:51.139Z,1761503151.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379511,-0.924521,-0.035113],[0.925148,0.379570,0.005238],[0.008486,-0.034473,0.999370]]
2025-10-26T18:25:51.392Z,1761503151.392 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-26T18:25:51.420Z,1761503151.420 [MissionManager](INFO): DefineArg marl:Science.PeakDetectChlActive = 0 bool
2025-10-26T18:25:51.423Z,1761503151.423 [MissionManager](INFO): DefineArg marl:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-26T18:25:51.426Z,1761503151.426 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectChlActive = 0 bool
2025-10-26T18:25:51.429Z,1761503151.429 [MissionManager](INFO): DefineArg marl:Science.TimeWindowPeakReport = nan min
2025-10-26T18:25:51.456Z,1761503151.456 [MissionManager](INFO): DefineArg marl:Science.HighestChlPeakReportActive = 0 bool
2025-10-26T18:25:51.462Z,1761503151.462 [MissionManager](INFO): DefineArg marl:Science.HighestSaltPeakReportActive = 0 bool
2025-10-26T18:25:51.465Z,1761503151.465 [MissionManager](INFO): DefineArg marl:Science.HighestOilPeakReportActive = 0 bool
2025-10-26T18:25:51.472Z,1761503151.472 [MissionManager](INFO): DefineArg marl:Science.PatchTracking = 0 bool
2025-10-26T18:25:51.475Z,1761503151.475 [MissionManager](INFO): DefineArg marl:Science.FilterWidthHorizontal = 3.000000 count
2025-10-26T18:25:51.482Z,1761503151.482 [MissionManager](INFO): DefineArg marl:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-26T18:25:51.485Z,1761503151.485 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-26T18:25:51.500Z,1761503151.500 [MissionManager](INFO): DefineArg marl:Science.PeakDetectNO3Active = 0 bool
2025-10-26T18:25:51.503Z,1761503151.503 [MissionManager](INFO): DefineArg marl:Science.PeakDetectOilActive = 0 bool
2025-10-26T18:25:51.510Z,1761503151.510 [MissionManager](INFO): DefineArg marl:Science.PeakDetectFDOMActive = 0 bool
2025-10-26T18:25:51.517Z,1761503151.517 [MissionManager](INFO): DefineArg marl:Science.PeakDetectSalinityActive = 0 bool
2025-10-26T18:25:51.523Z,1761503151.523 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-26T18:25:51.542Z,1761503151.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374406,-0.926813,-0.028943],[0.927220,0.374512,0.001867],[0.009109,-0.027536,0.999579]]
2025-10-26T18:25:51.567Z,1761503151.567 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-26T18:25:51.586Z,1761503151.586 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-26T18:25:51.593Z,1761503151.593 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-26T18:25:51.608Z,1761503151.608 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-26T18:25:51.611Z,1761503151.611 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-26T18:25:51.622Z,1761503151.622 [MissionManager](INFO): DefineArg marl:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-26T18:25:51.629Z,1761503151.629 [MissionManager](INFO): DefineArg marl:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-26T18:25:51.641Z,1761503151.641 [MissionManager](INFO): DefineArg marl:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-26T18:25:51.645Z,1761503151.645 [MissionManager](INFO): DefineArg marl:Science.EnabledAanderaaO2 = 0 bool
2025-10-26T18:25:51.649Z,1761503151.649 [MissionManager](INFO): DefineArg marl:Science.EnabledNeilBrown = 0 bool
2025-10-26T18:25:51.664Z,1761503151.664 [MissionManager](INFO): DefineArg marl:Science.EnabledRBRTridente = 0 bool
2025-10-26T18:25:51.670Z,1761503151.670 [MissionManager](INFO): DefineArg marl:Science.EnabledSeabird = 1 bool
2025-10-26T18:25:51.674Z,1761503151.674 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-26T18:25:51.685Z,1761503151.685 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-26T18:25:51.689Z,1761503151.689 [MissionManager](INFO): DefineArg marl:Science.EnabledWetLabsUBAT = 0 bool
2025-10-26T18:25:51.700Z,1761503151.700 [MissionManager](INFO): DefineArg marl:Science.LowPassWindowLength = 20.000000 count
2025-10-26T18:25:51.707Z,1761503151.707 [MissionManager](INFO): DefineArg marl:Science.MedianFilterLen = 5.000000 count
2025-10-26T18:25:51.710Z,1761503151.710 [MissionManager](INFO): DefineArg marl:Science.ShallowBound = nan m
2025-10-26T18:25:51.724Z,1761503151.724 [MissionManager](INFO): DefineArg marl:Science.DeepBound = nan m
2025-10-26T18:25:51.732Z,1761503151.732 [MissionManager](INFO): DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-26T18:25:51.735Z,1761503151.735 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalAscent = nan %
2025-10-26T18:25:51.746Z,1761503151.746 [MissionManager](INFO): DefineArg marl:Science.OffPeakFractionVerticalDescent = nan %
2025-10-26T18:25:51.757Z,1761503151.757 [MissionManager](INFO): DefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-26T18:25:51.762Z,1761503151.762 [MissionManager](INFO): DefineArg marl:Science.NumberOfLayers = 1.000000 count
2025-10-26T18:25:51.773Z,1761503151.773 [MissionManager](INFO): DefineArg marl:Science.ChlThreshTriggerActive = 0 bool
2025-10-26T18:25:51.777Z,1761503151.777 [MissionManager](INFO): DefineArg marl:Science.ChlLowerThresh = nan ug/l
2025-10-26T18:25:51.790Z,1761503151.790 [MissionManager](INFO): DefineArg marl:Science.ChlUpperThresh = nan ug/l
2025-10-26T18:25:51.801Z,1761503151.801 [MissionManager](INFO): DefineArg marl:Science.NumProfilesThresh = 5.000000 count
2025-10-26T18:25:51.808Z,1761503151.808 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-26T18:25:51.811Z,1761503151.811 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-26T18:25:51.818Z,1761503151.818 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-26T18:25:51.821Z,1761503151.821 [MissionManager](INFO): DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-26T18:25:51.832Z,1761503151.832 [MissionManager](INFO): DefineOutput marl:Science.GoDown = 1 bool
2025-10-26T18:25:51.840Z,1761503151.840 [MissionManager](INFO): DefineOutput marl:Science.PeakChl = nan ug/l
2025-10-26T18:25:51.845Z,1761503151.845 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepth = nan m
2025-10-26T18:25:51.848Z,1761503151.848 [MissionManager](INFO): DefineOutput marl:Science.PeakChlTemperature = nan degC
2025-10-26T18:25:51.856Z,1761503151.856 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLatitude = nan arcdeg
2025-10-26T18:25:51.859Z,1761503151.859 [MissionManager](INFO): DefineOutput marl:Science.PeakChlLongitude = nan arcdeg
2025-10-26T18:25:51.866Z,1761503151.866 [MissionManager](INFO): DefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l
2025-10-26T18:25:51.878Z,1761503151.878 [MissionManager](INFO): DefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m
2025-10-26T18:25:51.883Z,1761503151.883 [MissionManager](INFO): DefineOutput marl:Science.EdgeChl = nan ug/l
2025-10-26T18:25:51.894Z,1761503151.894 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlDepth = nan m
2025-10-26T18:25:51.898Z,1761503151.898 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlTemperature = nan degC
2025-10-26T18:25:51.909Z,1761503151.909 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLatitude = nan arcdeg
2025-10-26T18:25:51.917Z,1761503151.917 [MissionManager](INFO): DefineOutput marl:Science.EdgeChlLongitude = nan arcdeg
2025-10-26T18:25:51.924Z,1761503151.924 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3 = nan umol/l
2025-10-26T18:25:51.927Z,1761503151.927 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Depth = nan m
2025-10-26T18:25:51.947Z,1761503151.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358741,-0.932957,-0.029930],[0.933423,0.358728,0.006008],[0.005131,-0.030093,0.999534]]
2025-10-26T18:25:51.973Z,1761503151.973 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Latitude = nan arcdeg
2025-10-26T18:25:51.992Z,1761503151.992 [MissionManager](INFO): DefineOutput marl:Science.PeakNO3Longitude = nan arcdeg
2025-10-26T18:25:52.007Z,1761503152.007 [MissionManager](INFO): DefineOutput marl:Science.PeakOil = nan kg/m3
2025-10-26T18:25:52.010Z,1761503152.010 [MissionManager](INFO): DefineOutput marl:Science.PeakOilDepth = nan m
2025-10-26T18:25:52.018Z,1761503152.018 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLatitude = nan arcdeg
2025-10-26T18:25:52.025Z,1761503152.025 [MissionManager](INFO): DefineOutput marl:Science.PeakOilLongitude = nan arcdeg
2025-10-26T18:25:52.032Z,1761503152.032 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOM = nan ppb
2025-10-26T18:25:52.040Z,1761503152.040 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMDepth = nan m
2025-10-26T18:25:52.043Z,1761503152.043 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMTemperature = nan degC
2025-10-26T18:25:52.050Z,1761503152.050 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg
2025-10-26T18:25:52.055Z,1761503152.055 [MissionManager](INFO): DefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg
2025-10-26T18:25:52.066Z,1761503152.066 [MissionManager](INFO): DefineOutput marl:Science.PeakSalt = nan psu
2025-10-26T18:25:52.070Z,1761503152.070 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltDepth = nan m
2025-10-26T18:25:52.083Z,1761503152.083 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltTemperature = nan degC
2025-10-26T18:25:52.090Z,1761503152.090 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLatitude = nan arcdeg
2025-10-26T18:25:52.095Z,1761503152.095 [MissionManager](INFO): DefineOutput marl:Science.PeakSaltLongitude = nan arcdeg
2025-10-26T18:25:52.106Z,1761503152.106 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-26T18:25:52.110Z,1761503152.110 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-26T18:25:52.121Z,1761503152.121 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-26T18:25:52.142Z,1761503152.142 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-26T18:25:52.146Z,1761503152.146 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-26T18:25:52.157Z,1761503152.157 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-26T18:25:52.161Z,1761503152.161 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-26T18:25:52.176Z,1761503152.176 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-26T18:25:52.184Z,1761503152.184 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-26T18:25:52.187Z,1761503152.187 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-26T18:25:52.194Z,1761503152.194 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-26T18:25:52.199Z,1761503152.199 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-26T18:25:52.210Z,1761503152.210 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-26T18:25:52.215Z,1761503152.215 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-26T18:25:52.226Z,1761503152.226 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-26T18:25:52.231Z,1761503152.231 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-26T18:25:52.242Z,1761503152.242 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-26T18:25:52.245Z,1761503152.245 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-26T18:25:52.257Z,1761503152.257 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-26T18:25:52.264Z,1761503152.264 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-26T18:25:52.272Z,1761503152.272 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-26T18:25:52.275Z,1761503152.275 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-26T18:25:52.282Z,1761503152.282 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-26T18:25:52.290Z,1761503152.290 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-26T18:25:52.301Z,1761503152.301 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-26T18:25:52.307Z,1761503152.307 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-26T18:25:52.318Z,1761503152.318 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-26T18:25:52.330Z,1761503152.330 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-26T18:25:52.350Z,1761503152.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352340,-0.932529,-0.079027],[0.935392,0.353605,-0.002157],[0.029956,-0.073162,0.996870]]
2025-10-26T18:25:52.373Z,1761503152.373 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-26T18:25:52.381Z,1761503152.381 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-26T18:25:52.396Z,1761503152.396 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-26T18:25:52.403Z,1761503152.403 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-26T18:25:52.410Z,1761503152.410 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-26T18:25:52.418Z,1761503152.418 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-26T18:25:52.422Z,1761503152.422 [MissionManager](INFO): DefineOutput marl:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-26T18:25:52.433Z,1761503152.433 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-26T18:25:52.437Z,1761503152.437 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-26T18:25:52.452Z,1761503152.452 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-26T18:25:52.464Z,1761503152.464 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-26T18:25:52.467Z,1761503152.467 [MissionManager](INFO): DefineOutput marl:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-26T18:25:52.479Z,1761503152.479 [MissionManager](INFO): DefineOutput marl:Science.PatchChl = nan ug/l
2025-10-26T18:25:52.487Z,1761503152.487 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDepth = nan m
2025-10-26T18:25:52.494Z,1761503152.494 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLatitude = nan arcdeg
2025-10-26T18:25:52.498Z,1761503152.498 [MissionManager](INFO): DefineOutput marl:Science.PatchChlLongitude = nan arcdeg
2025-10-26T18:25:52.513Z,1761503152.513 [MissionManager](INFO): DefineOutput marl:Science.PatchChlDistance = nan m
2025-10-26T18:25:52.517Z,1761503152.517 [MissionManager](INFO): DefineOutput marl:Science.PatchSalt = nan psu
2025-10-26T18:25:52.539Z,1761503152.539 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDepth = nan m
2025-10-26T18:25:52.552Z,1761503152.552 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLatitude = nan arcdeg
2025-10-26T18:25:52.559Z,1761503152.559 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltLongitude = nan arcdeg
2025-10-26T18:25:52.563Z,1761503152.563 [MissionManager](INFO): DefineOutput marl:Science.PatchSaltDistance = nan m
2025-10-26T18:25:52.566Z,1761503152.566 [MissionManager](INFO): DefineOutput marl:Science.PatchOil = nan psu
2025-10-26T18:25:52.582Z,1761503152.582 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDepth = nan m
2025-10-26T18:25:52.589Z,1761503152.589 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLatitude = nan arcdeg
2025-10-26T18:25:52.597Z,1761503152.597 [MissionManager](INFO): DefineOutput marl:Science.PatchOilLongitude = nan arcdeg
2025-10-26T18:25:52.602Z,1761503152.602 [MissionManager](INFO): DefineOutput marl:Science.PatchOilDistance = nan m
2025-10-26T18:25:52.613Z,1761503152.613 [MissionManager](INFO): DefineOutput marl:Science.TriggeredOnChl = 0 bool
2025-10-26T18:25:52.620Z,1761503152.620 [MissionManager](INFO): DefineOutput marl:Science.ChlTriggering = nan ug/l
2025-10-26T18:25:52.722Z,1761503152.722 [marl:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:52.754Z,1761503152.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344792,-0.928616,-0.137076],[0.937129,0.348920,-0.006552],[0.053912,-0.126199,0.990539]]
2025-10-26T18:25:52.790Z,1761503152.790 [marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T18:25:52.910Z,1761503152.910 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T18:25:52.945Z,1761503152.945 [marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T18:25:52.971Z,1761503152.971 [marl:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:52.995Z,1761503152.995 [marl:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.018Z,1761503153.018 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T18:25:53.057Z,1761503153.057 [marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.078Z,1761503153.078 [marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.107Z,1761503153.107 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T18:25:53.141Z,1761503153.141 [marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.159Z,1761503153.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348244,-0.924900,-0.152598],[0.933526,0.356969,-0.033196],[0.085176,-0.130894,0.987731]]
2025-10-26T18:25:53.221Z,1761503153.221 [marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T18:25:53.291Z,1761503153.291 [marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.328Z,1761503153.328 [marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T18:25:53.385Z,1761503153.385 [marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.407Z,1761503153.407 [marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T18:25:53.468Z,1761503153.468 [marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T18:25:53.499Z,1761503153.499 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T18:25:53.567Z,1761503153.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350863,-0.926039,-0.139095],[0.931322,0.360568,-0.051281],[0.097642,-0.111550,0.988950]]
2025-10-26T18:25:53.571Z,1761503153.571 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-26T18:25:53.595Z,1761503153.595 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-26T18:25:53.595Z,1761503153.595 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-26T18:25:53.608Z,1761503153.608 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-26T18:25:53.671Z,1761503153.671 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-26T18:25:53.683Z,1761503153.683 [MissionManager](INFO): DefineArg marl:BackseatDriver.EnableBackseat = 0 bool
2025-10-26T18:25:53.686Z,1761503153.686 [marl:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-26T18:25:53.699Z,1761503153.699 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-26T18:25:53.699Z,1761503153.699 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-26T18:25:53.708Z,1761503153.708 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-26T18:25:53.943Z,1761503153.943 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-26T18:25:53.972Z,1761503153.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382957,-0.922934,-0.039207],[0.920072,0.384873,-0.073076],[0.082534,-0.008088,0.996555]]
2025-10-26T18:25:53.988Z,1761503153.988 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleAll = 0 bool
2025-10-26T18:25:53.990Z,1761503153.990 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad1 = 0 bool
2025-10-26T18:25:54.005Z,1761503154.005 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad2 = 0 bool
2025-10-26T18:25:54.029Z,1761503154.029 [MissionManager](INFO): DefineArg marl:PowerOnly.SampleLoad3 = 0 bool
2025-10-26T18:25:54.035Z,1761503154.035 [MissionManager](INFO): DefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-26T18:25:54.062Z,1761503154.062 [marl:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-26T18:25:54.074Z,1761503154.074 [marl:JoystickControl:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-26T18:25:54.091Z,1761503154.091 [marl:JoystickControl:B.Pitch](DEBUG): Construct.
2025-10-26T18:25:54.106Z,1761503154.106 [marl:JoystickControl:C.Pitch](DEBUG): Construct.
2025-10-26T18:25:54.117Z,1761503154.117 [marl:JoystickControl:D.SetSpeed](DEBUG): Construct.
2025-10-26T18:25:54.125Z,1761503154.125 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Construct.
2025-10-26T18:25:54.143Z,1761503154.143 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Construct.
2025-10-26T18:25:54.259Z,1761503154.259 [MissionManager](DEBUG): 
mission marl {
  """
  This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only.
  """

  arguments {
    # Mission-wide settings

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

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

    # You probably need to change these.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


      #  You probably do not need to change these.


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

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

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

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

    MyTempVar = NaN none_str

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

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

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

  }

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

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

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

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

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

  # Missions should always start with a timeout.

  timeout duration=MissionTimeout

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

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

  behavior Estimation:TrackAcousticContact {
    run in parallel

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

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

  aggregate SendObservationData {

     run when ( elapsed (MyTempVar) >= SendObservationDataInterval )

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

     assign in sequence MyTempVar = customUri "_.send_observations"

     behavior Sensor:SendDirect {
        run in parallel

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

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

  }


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

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

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

  # Most missions have the NeedComms aggregate at high priority.

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime


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

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  # Add guidance update directives high in the stack.

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

    assign in sequence Speed = 0 meter_per_second

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

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

    assign in sequence Speed = customUri "_.speedCmd"

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

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

    assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode"

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

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

    assign in sequence Heading = customUri "_.headingCmd"

    syslog info "Updating heading " + Heading~degree
  }

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

    assign in sequence RudderAngle = customUri "_.rudderAngleCmd"

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

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

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

  aggregate JoystickControl {
    run in sequence

    behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Pitch {
    run in parallel

    set depth = Depth
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = Speed
  }

    aggregate CmdHeading {
      run while ( HorizontalCommandMode == HeadingMode )

      behavior Guidance:Point {
        run in parallel

        set forceUpdate = true
        set heading = Heading
      }
    }

    aggregate CmdRudder {
      run while ( HorizontalCommandMode == RudderMode )

      behavior Guidance:Point {
        run in parallel

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


2025-10-26T18:25:54.267Z,1761503154.267 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/marl3.tl id=marl
2025-10-26T18:25:54.375Z,1761503154.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396558,-0.917760,0.021418],[0.916268,0.394261,-0.070793],[0.056527,0.047698,0.997261]]
2025-10-26T18:25:54.408Z,1761503154.408 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-26T18:25:54.409Z,1761503154.409 [DefaultWithUndock] Running Loop=1
2025-10-26T18:25:54.409Z,1761503154.409 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-26T18:25:54.409Z,1761503154.409 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-26T18:25:54.409Z,1761503154.409 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-26T18:25:54.778Z,1761503154.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397000,-0.917637,0.018253],[0.917308,0.396037,-0.041230],[0.030605,0.033112,0.998983]]
2025-10-26T18:25:55.183Z,1761503155.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376370,-0.924936,-0.053276],[0.926465,0.375930,0.018436],[0.002976,-0.056297,0.998410]]
2025-10-26T18:25:55.583Z,1761503155.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366206,-0.921872,-0.126672],[0.930267,0.359436,0.073540],[-0.022264,-0.144770,0.989215]]
2025-10-26T18:25:55.986Z,1761503155.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364323,-0.916907,-0.162943],[0.931230,0.357016,0.073139],[-0.008889,-0.178384,0.983921]]
2025-10-26T18:25:56.391Z,1761503156.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342072,-0.927617,-0.150044],[0.939382,0.341557,0.030005],[0.023416,-0.151213,0.988224]]
2025-10-26T18:25:56.794Z,1761503156.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337783,-0.937190,-0.087043],[0.940849,0.338812,0.003118],[0.026569,-0.082947,0.996200]]
2025-10-26T18:25:57.198Z,1761503157.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347608,-0.936807,-0.039525],[0.937186,0.348442,-0.016425],[0.029159,-0.031333,0.999084]]
2025-10-26T18:25:57.602Z,1761503157.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352470,-0.935745,-0.012119],[0.935232,0.352678,-0.030973],[0.033257,-0.000417,0.999447]]
2025-10-26T18:25:58.007Z,1761503158.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358971,-0.933328,-0.006194],[0.933209,0.359024,-0.014897],[0.016128,-0.000433,0.999870]]
2025-10-26T18:25:58.410Z,1761503158.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362156,-0.931946,-0.017874],[0.932075,0.361890,0.016497],[-0.008906,-0.022635,0.999704]]
2025-10-26T18:25:58.818Z,1761503158.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354477,-0.931130,-0.085687],[0.935065,0.352957,0.032799],[-0.000296,-0.091750,0.995782]]
2025-10-26T18:25:59.218Z,1761503159.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344013,-0.925101,-0.160757],[0.938937,0.340239,0.051329],[0.007212,-0.168599,0.985658]]
2025-10-26T18:25:59.623Z,1761503159.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350525,-0.916486,-0.192836],[0.935936,0.350265,0.036592],[0.034008,-0.193308,0.980549]]
2025-10-26T18:26:00.026Z,1761503160.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337017,-0.928680,-0.154832],[0.938632,0.344239,-0.021654],[0.073409,-0.138032,0.987704]]
2025-10-26T18:26:00.430Z,1761503160.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325774,-0.942638,-0.072833],[0.941613,0.330419,-0.064710],[0.085064,-0.047499,0.995243]]
2025-10-26T18:26:00.879Z,1761503160.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319110,-0.947361,-0.026002],[0.944347,0.320168,-0.075506],[0.079857,-0.000460,0.996806]]
2025-10-26T18:26:01.240Z,1761503161.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323260,-0.946028,-0.023098],[0.943832,0.324083,-0.064440],[0.068448,-0.000970,0.997654]]
2025-10-26T18:26:01.642Z,1761503161.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338915,-0.939881,-0.041960],[0.938184,0.340964,-0.059610],[0.070334,-0.019163,0.997339]]
2025-10-26T18:26:02.046Z,1761503162.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359575,-0.930276,-0.072752],[0.930535,0.363284,-0.046153],[0.069365,-0.051103,0.996282]]
2025-10-26T18:26:02.450Z,1761503162.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367013,-0.925036,-0.098033],[0.928663,0.370447,-0.018825],[0.053730,-0.084130,0.995005]]
2025-10-26T18:26:02.895Z,1761503162.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369143,-0.923258,-0.106432],[0.928848,0.370355,0.008869],[0.031230,-0.102133,0.994280]]
2025-10-26T18:26:03.259Z,1761503163.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365371,-0.924264,-0.110639],[0.930837,0.363638,0.036182],[0.006791,-0.116206,0.993202]]
2025-10-26T18:26:03.662Z,1761503163.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356489,-0.927590,-0.111768],[0.934292,0.353457,0.046542],[-0.003667,-0.121016,0.992644]]
2025-10-26T18:26:04.066Z,1761503164.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346793,-0.933156,-0.094628],[0.937810,0.346663,0.018336],[0.015694,-0.095102,0.995344]]
2025-10-26T18:26:04.471Z,1761503164.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337975,-0.937771,-0.079733],[0.939581,0.341095,-0.029017],[0.054408,-0.065109,0.996394]]
2025-10-26T18:26:04.895Z,1761503164.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352452,-0.933274,-0.069112],[0.933017,0.356155,-0.051316],[0.072506,-0.046396,0.996288]]
2025-10-26T18:26:05.264Z,1761503165.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:26:05.279Z,1761503165.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356252,-0.933249,-0.046171],[0.933857,0.357283,-0.016147],[0.031565,-0.037365,0.998803]]
2025-10-26T18:26:05.682Z,1761503165.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357218,-0.933504,-0.031084],[0.933844,0.356304,0.031341],[-0.018181,-0.040224,0.999025]]
2025-10-26T18:26:06.089Z,1761503166.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350540,-0.934027,-0.068666],[0.935774,0.346329,0.066201],[-0.038053,-0.087462,0.995441]]
2025-10-26T18:26:06.268Z,1761503166.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:26:06.491Z,1761503166.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317149,-0.940117,-0.124885],[0.947398,0.308084,0.086729],[-0.043060,-0.145822,0.988373]]
2025-10-26T18:26:06.901Z,1761503166.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287124,-0.943456,-0.165683],[0.957893,0.282604,0.050759],[-0.001066,-0.173281,0.984872]]
2025-10-26T18:26:07.298Z,1761503167.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274816,-0.945088,-0.176877],[0.960731,0.277250,0.011299],[0.038361,-0.173036,0.984168]]
2025-10-26T18:26:07.702Z,1761503167.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288989,-0.948246,-0.131589],[0.956032,0.293018,-0.011939],[0.049879,-0.122353,0.991233]]
2025-10-26T18:26:08.107Z,1761503168.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295586,-0.954026,-0.049627],[0.954356,0.297219,-0.029431],[0.042828,-0.038663,0.998334]]
2025-10-26T18:26:08.510Z,1761503168.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311284,-0.950250,0.011278],[0.949956,0.310817,-0.031255],[0.026195,0.020443,0.999448]]
2025-10-26T18:26:08.914Z,1761503168.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331018,-0.943440,0.018669],[0.943197,0.330208,-0.036631],[0.028395,0.029734,0.999154]]
2025-10-26T18:26:09.319Z,1761503169.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347493,-0.937679,-0.002672],[0.936340,0.347146,-0.052508],[0.050163,0.015744,0.998617]]
2025-10-26T18:26:09.724Z,1761503169.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351417,-0.935152,-0.044694],[0.934839,0.353090,-0.037453],[0.050805,-0.028620,0.998298]]
2025-10-26T18:26:10.127Z,1761503170.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336246,-0.935279,-0.110413],[0.940908,0.338648,-0.003207],[0.040390,-0.102811,0.993881]]
2025-10-26T18:26:10.530Z,1761503170.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305086,-0.939639,-0.154923],[0.952307,0.302008,0.043620],[0.005801,-0.160842,0.986963]]
2025-10-26T18:26:10.934Z,1761503170.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300028,-0.943114,-0.143245],[0.953574,0.292410,0.072065],[-0.026079,-0.158216,0.987060]]
2025-10-26T18:26:11.338Z,1761503171.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308317,-0.942614,-0.128141],[0.951271,0.304818,0.046568],[-0.004836,-0.136255,0.990662]]
2025-10-26T18:26:11.744Z,1761503171.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314980,-0.943406,-0.103788],[0.948847,0.315523,0.011581],[0.021822,-0.102126,0.994532]]
2025-10-26T18:26:12.146Z,1761503172.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316234,-0.945931,-0.072176],[0.947707,0.318441,-0.021148],[0.042989,-0.061714,0.997168]]
2025-10-26T18:26:12.550Z,1761503172.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310538,-0.949466,-0.045611],[0.949114,0.312354,-0.040214],[0.052429,-0.030802,0.998149]]
2025-10-26T18:26:12.556Z,1761503172.556 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T18:26:12.954Z,1761503172.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321148,-0.946316,-0.036758],[0.945902,0.322417,-0.036297],[0.046200,-0.023113,0.998665]]
2025-10-26T18:26:13.360Z,1761503173.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321409,-0.945953,-0.043241],[0.946831,0.321730,-0.000485],[0.014371,-0.040786,0.999065]]
2025-10-26T18:26:13.763Z,1761503173.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319826,-0.945938,-0.053961],[0.946854,0.317033,0.054385],[-0.034338,-0.068487,0.997061]]
2025-10-26T18:26:14.034Z,1761503174.034 [CommandExec](IMPORTANT): got command set marl.NeedCommsTime 30 minute
2025-10-26T18:26:14.036Z,1761503174.036 [CommandExec](IMPORTANT): got command set marl.ContactLabel 20 count
2025-10-26T18:26:14.036Z,1761503174.036 [CommandExec](IMPORTANT): got command set marl.SendDataLabel 6 count
2025-10-26T18:26:14.037Z,1761503174.037 [CommandExec](IMPORTANT): got command set marl.CenterLatitude 36.7749 degree
2025-10-26T18:26:14.038Z,1761503174.038 [CommandExec](IMPORTANT): got command set marl.CenterLongitude -121.8631661 degree
2025-10-26T18:26:14.038Z,1761503174.038 [CommandExec](IMPORTANT): got command set marl.SpeedUpdateTimeout 15 minute
2025-10-26T18:26:14.166Z,1761503174.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327249,-0.942754,-0.064212],[0.943258,0.321860,0.081676],[-0.056333,-0.087296,0.994588]]
2025-10-26T18:26:14.570Z,1761503174.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327236,-0.943157,-0.058068],[0.943065,0.322096,0.082967],[-0.059547,-0.081912,0.994859]]
2025-10-26T18:26:14.975Z,1761503174.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315203,-0.947918,-0.045815],[0.947971,0.312211,0.062257],[-0.044711,-0.063055,0.997008]]
2025-10-26T18:26:15.378Z,1761503175.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305955,-0.950747,-0.049708],[0.951965,0.304832,0.028977],[-0.012397,-0.056186,0.998343]]
2025-10-26T18:26:15.783Z,1761503175.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293435,-0.952266,-0.084172],[0.955715,0.294286,0.002396],[0.022489,-0.081147,0.996448]]
2025-10-26T18:26:16.186Z,1761503176.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286933,-0.949319,-0.128312],[0.956070,0.292177,-0.023705],[0.059993,-0.115873,0.991451]]
2025-10-26T18:26:16.592Z,1761503176.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289436,-0.945616,-0.148452],[0.953093,0.299054,-0.046691],[0.088547,-0.127974,0.987817]]
2025-10-26T18:26:16.994Z,1761503176.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291148,-0.947834,-0.129785],[0.953534,0.298499,-0.040893],[0.077500,-0.111849,0.990699]]
2025-10-26T18:26:17.398Z,1761503177.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297578,-0.949455,-0.099917],[0.952860,0.301864,-0.030589],[0.059204,-0.086104,0.994526]]
2025-10-26T18:26:17.802Z,1761503177.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297103,-0.953327,-0.053821],[0.953962,0.298780,-0.026195],[0.041053,-0.043561,0.998207]]
2025-10-26T18:26:18.207Z,1761503178.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293871,-0.955549,-0.023783],[0.955795,0.294019,-0.002899],[0.009763,-0.021879,0.999713]]
2025-10-26T18:26:18.610Z,1761503178.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277826,-0.959802,-0.039911],[0.960503,0.276869,0.027899],[-0.015727,-0.046086,0.998814]]
2025-10-26T18:26:19.014Z,1761503179.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258726,-0.960800,-0.099623],[0.965903,0.256305,0.036599],[-0.009631,-0.105695,0.994352]]
2025-10-26T18:26:19.418Z,1761503179.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241311,-0.956668,-0.162959],[0.969984,0.242962,0.010025],[0.030002,-0.160486,0.986582]]
2025-10-26T18:26:19.823Z,1761503179.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236032,-0.957314,-0.166850],[0.971278,0.237739,0.009961],[0.030131,-0.164409,0.985932]]
2025-10-26T18:26:20.226Z,1761503180.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250458,-0.963306,-0.096503],[0.968059,0.250375,0.013161],[0.011484,-0.096717,0.995246]]
2025-10-26T18:26:20.630Z,1761503180.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258745,-0.965729,-0.020473],[0.965744,0.259066,-0.014966],[0.019757,-0.015899,0.999678]]
2025-10-26T18:26:21.078Z,1761503181.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262448,-0.964688,0.022331],[0.964468,0.261520,-0.037521],[0.030356,0.031385,0.999046]]
2025-10-26T18:26:21.439Z,1761503181.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278222,-0.960449,0.011365],[0.959316,0.277264,-0.053270],[0.048012,0.025723,0.998515]]
2025-10-26T18:26:21.842Z,1761503181.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281274,-0.959008,-0.034462],[0.958400,0.282549,-0.040445],[0.048524,-0.021652,0.998587]]
2025-10-26T18:26:22.246Z,1761503182.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278790,-0.956373,-0.087334],[0.959631,0.280950,-0.013245],[0.037204,-0.080116,0.996091]]
2025-10-26T18:26:22.650Z,1761503182.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278281,-0.952212,-0.125903],[0.959537,0.281472,-0.007944],[0.043002,-0.118598,0.992011]]
2025-10-26T18:26:23.055Z,1761503183.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277893,-0.947784,-0.156462],[0.958099,0.285238,-0.026174],[0.069436,-0.142632,0.987337]]
2025-10-26T18:26:23.458Z,1761503183.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284073,-0.947329,-0.147883],[0.955319,0.292791,-0.040497],[0.081663,-0.129771,0.988175]]
2025-10-26T18:26:23.862Z,1761503183.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302224,-0.949359,-0.085892],[0.951989,0.305210,-0.023748],[0.048760,-0.074591,0.996021]]
2025-10-26T18:26:24.266Z,1761503184.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303750,-0.952698,-0.010125],[0.952553,0.303453,0.023652],[-0.019461,-0.016829,0.999669]]
2025-10-26T18:26:24.671Z,1761503184.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295910,-0.955124,-0.013209],[0.954354,0.295027,0.046565],[-0.040578,-0.026385,0.998828]]
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:A.Wait] Stopped
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-26T18:26:24.697Z,1761503184.697 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-26T18:26:24.698Z,1761503184.698 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-26T18:26:24.698Z,1761503184.698 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T18:26:24.698Z,1761503184.698 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T18:26:25.074Z,1761503185.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260477,-0.961970,-0.082251],[0.965251,0.257613,0.043882],[-0.021024,-0.090823,0.995645]]
2025-10-26T18:26:25.156Z,1761503185.156 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T18:26:25.157Z,1761503185.157 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T18:26:25.157Z,1761503185.157 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.144463 m.
2025-10-26T18:26:25.158Z,1761503185.158 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-26T18:26:25.158Z,1761503185.158 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T18:26:25.478Z,1761503185.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238927,-0.961896,-0.132929],[0.970849,0.233936,0.052209],[-0.019123,-0.141528,0.989750]]
2025-10-26T18:26:25.520Z,1761503185.520 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-26T18:26:25.882Z,1761503185.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254991,-0.956989,-0.138393],[0.966882,0.250741,0.047614],[-0.010865,-0.145951,0.989232]]
2025-10-26T18:26:25.934Z,1761503185.934 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T18:26:26.054Z,1761503186.054 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T18:26:26.287Z,1761503186.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256597,-0.961374,-0.099585],[0.966514,0.254904,0.029588],[-0.003060,-0.103842,0.994589]]
2025-10-26T18:26:26.690Z,1761503186.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246859,-0.967778,-0.049657],[0.968992,0.245953,0.023685],[-0.010709,-0.053964,0.998485]]
2025-10-26T18:26:27.095Z,1761503187.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240688,-0.969728,-0.041194],[0.970488,0.239791,0.025555],[-0.014903,-0.046129,0.998824]]
2025-10-26T18:26:27.558Z,1761503187.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232514,-0.971245,-0.051197],[0.972555,0.231716,0.021085],[-0.008616,-0.054694,0.998466]]
2025-10-26T18:26:27.955Z,1761503187.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243303,-0.967098,-0.074334],[0.969941,0.242922,0.014265],[0.004261,-0.075571,0.997131]]
2025-10-26T18:26:28.358Z,1761503188.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258857,-0.960494,-0.102204],[0.965757,0.259281,0.009338],[0.017530,-0.101121,0.994720]]
2025-10-26T18:26:28.762Z,1761503188.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244617,-0.963590,-0.107969],[0.969436,0.245219,0.007870],[0.018893,-0.106594,0.994123]]
2025-10-26T18:26:29.167Z,1761503189.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215564,-0.971833,-0.095255],[0.976453,0.215370,0.012429],[0.008436,-0.095692,0.995375]]
2025-10-26T18:26:29.570Z,1761503189.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206790,-0.973796,-0.094654],[0.978078,0.208179,-0.004935],[0.024511,-0.091558,0.995498]]
2025-10-26T18:26:29.974Z,1761503189.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215509,-0.971661,-0.097111],[0.975427,0.218870,-0.025268],[0.045807,-0.089279,0.994953]]
2025-10-26T18:26:30.380Z,1761503190.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234316,-0.968502,-0.084262],[0.970980,0.237421,-0.028799],[0.047898,-0.075068,0.996027]]
2025-10-26T18:26:30.782Z,1761503190.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230108,-0.970532,-0.071541],[0.972223,0.232498,-0.026984],[0.042822,-0.063344,0.997073]]
2025-10-26T18:26:31.186Z,1761503191.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213115,-0.975511,-0.054414],[0.976055,0.215056,-0.032671],[0.043573,-0.046149,0.997984]]
2025-10-26T18:26:31.442Z,1761503191.442 [CommandExec](IMPORTANT): got command set marl.AcousticContactTimeout 0.5 hour
2025-10-26T18:26:31.443Z,1761503191.443 [CommandExec](IMPORTANT): got command set marl.SendObservationDataInterval 10 minute
2025-10-26T18:26:31.443Z,1761503191.443 [CommandExec](IMPORTANT): got command set marl.TrackingUpdatePeriod 30 second
2025-10-26T18:26:31.444Z,1761503191.444 [CommandExec](IMPORTANT): got command set marl.Depth 15 meter
2025-10-26T18:26:31.445Z,1761503191.445 [CommandExec](IMPORTANT): got command set marl.MaxDepth 35 meter
2025-10-26T18:26:31.445Z,1761503191.445 [CommandExec](IMPORTANT): got command run
2025-10-26T18:26:31.450Z,1761503191.450 [CommandExec](IMPORTANT): Running 
2025-10-26T18:26:31.590Z,1761503191.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210858,-0.975898,-0.056238],[0.976397,0.213020,-0.035659],[0.046779,-0.047391,0.997780]]
2025-10-26T18:26:31.633Z,1761503191.633 [DefaultWithUndock] Stopped
2025-10-26T18:26:31.633Z,1761503191.633 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-26T18:26:31.633Z,1761503191.633 [DefaultWithUndock:LeaveDock] Stopped
2025-10-26T18:26:31.633Z,1761503191.633 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-26T18:26:31.633Z,1761503191.633 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-26T18:26:31.633Z,1761503191.633 [MissionManager](IMPORTANT): Started mission marl
2025-10-26T18:26:31.633Z,1761503191.633 [marl] Running Loop=1
2025-10-26T18:26:31.634Z,1761503191.634 [marl](DEBUG): Aggregate::initialize marl
2025-10-26T18:26:31.634Z,1761503191.634 [marl:AbortDrift] Running Loop=1
2025-10-26T18:26:31.634Z,1761503191.634 [marl:AbortDrift](DEBUG): Aggregate::initialize marl:AbortDrift
2025-10-26T18:26:31.634Z,1761503191.634 [marl:AbortDrift:A] Running Loop=1
2025-10-26T18:26:31.634Z,1761503191.634 [marl:B.] Running Loop=1
2025-10-26T18:26:31.634Z,1761503191.634 [marl:B.](INFO): Initializing TrackAcousticContact.
2025-10-26T18:26:31.634Z,1761503191.634 [marl:StandardEnvelopes] Running Loop=1
2025-10-26T18:26:31.634Z,1761503191.634 [marl:StandardEnvelopes](DEBUG): Aggregate::initialize marl:StandardEnvelopes
2025-10-26T18:26:31.634Z,1761503191.634 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T18:26:31.634Z,1761503191.634 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-26T18:26:31.635Z,1761503191.635 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T18:26:31.635Z,1761503191.635 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-26T18:26:31.635Z,1761503191.635 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T18:26:31.635Z,1761503191.635 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-26T18:26:31.635Z,1761503191.635 [marl:Science] Running Loop=1
2025-10-26T18:26:31.639Z,1761503191.639 [marl:Science](DEBUG): Aggregate::initialize marl:Science
2025-10-26T18:26:31.639Z,1761503191.639 [marl:Science:A] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:B] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:C] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:D] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:E] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:F] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:Read_Oil] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:PeakDetectChl] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:PeakDetectChl](DEBUG): Aggregate::initialize marl:Science:PeakDetectChl
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:PeakDetectChl:A] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:EdgeDetectChl] Running Loop=1
2025-10-26T18:26:31.640Z,1761503191.640 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::initialize marl:Science:EdgeDetectChl
2025-10-26T18:26:31.641Z,1761503191.641 [marl:Science:EdgeDetectChl:A] Running Loop=1
2025-10-26T18:26:31.641Z,1761503191.641 [marl:Science:HighestChlPeakReport] Running Loop=1
2025-10-26T18:26:31.641Z,1761503191.641 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestChlPeakReport
2025-10-26T18:26:31.641Z,1761503191.641 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T18:26:31.641Z,1761503191.641 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T18:26:31.641Z,1761503191.641 [marl:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize marl:Science:PeakDepthAvgProfilesChl
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDetectNO3] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::initialize marl:Science:PeakDetectNO3
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDetectNO3:A] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDetectOil] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDetectOil](DEBUG): Aggregate::initialize marl:Science:PeakDetectOil
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:PeakDetectOil:A] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:HighestOilPeakReport] Running Loop=1
2025-10-26T18:26:31.642Z,1761503191.642 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestOilPeakReport
2025-10-26T18:26:31.643Z,1761503191.643 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T18:26:31.643Z,1761503191.643 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T18:26:31.647Z,1761503191.647 [marl:Science:PeakDetectFDOM] Running Loop=1
2025-10-26T18:26:31.647Z,1761503191.647 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize marl:Science:PeakDetectFDOM
2025-10-26T18:26:31.648Z,1761503191.648 [marl:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-26T18:26:31.648Z,1761503191.648 [marl:Science:PeakDetectSalinity] Running Loop=1
2025-10-26T18:26:31.648Z,1761503191.648 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize marl:Science:PeakDetectSalinity
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:HighestSaltPeakReport] Running Loop=1
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize marl:Science:HighestSaltPeakReport
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-26T18:26:31.649Z,1761503191.649 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROI
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-26T18:26:31.650Z,1761503191.650 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-26T18:26:31.651Z,1761503191.651 [marl:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-26T18:26:31.651Z,1761503191.651 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatoms
2025-10-26T18:26:31.651Z,1761503191.651 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-26T18:26:31.651Z,1761503191.651 [marl:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-26T18:26:31.651Z,1761503191.651 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatoms
2025-10-26T18:26:31.660Z,1761503191.660 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:ChlThreshTrigger] Running Loop=1
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize marl:Science:ChlThreshTrigger
2025-10-26T18:26:31.661Z,1761503191.661 [marl:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-26T18:26:31.662Z,1761503191.662 [marl:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-26T18:26:31.662Z,1761503191.662 [marl:Science:OceanCurrent] Running Loop=1
2025-10-26T18:26:31.662Z,1761503191.662 [marl:Science:OceanCurrent](DEBUG): Aggregate::initialize marl:Science:OceanCurrent
2025-10-26T18:26:31.662Z,1761503191.662 [marl:Science:OceanCurrent:A.] Running Loop=1
2025-10-26T18:26:31.662Z,1761503191.662 [marl:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-26T18:26:31.663Z,1761503191.663 [marl:BackseatDriver] Running Loop=1
2025-10-26T18:26:31.663Z,1761503191.663 [marl:BackseatDriver](DEBUG): Aggregate::initialize marl:BackseatDriver
2025-10-26T18:26:31.663Z,1761503191.663 [marl:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-26T18:26:31.663Z,1761503191.663 [marl:PowerOnly] Running Loop=1
2025-10-26T18:26:31.663Z,1761503191.663 [marl:PowerOnly](DEBUG): Aggregate::initialize marl:PowerOnly
2025-10-26T18:26:31.663Z,1761503191.663 [marl:PowerOnly:A] Running Loop=1
2025-10-26T18:26:31.667Z,1761503191.667 [marl:PowerOnly:B] Running Loop=1
2025-10-26T18:26:31.667Z,1761503191.667 [marl:PowerOnly:C] Running Loop=1
2025-10-26T18:26:31.668Z,1761503191.668 [marl:PowerOnly:D] Running Loop=1
2025-10-26T18:26:31.668Z,1761503191.668 [marl:PowerOnly:E.Wait] Running Loop=1
2025-10-26T18:26:31.668Z,1761503191.668 [marl:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-26T18:26:31.668Z,1761503191.668 [marl:F] Running Loop=1
2025-10-26T18:26:31.669Z,1761503191.669 [marl:PowerOnly] Running Loop=1
2025-10-26T18:26:31.670Z,1761503191.670 [marl:PowerOnly:D] Stopped
2025-10-26T18:26:31.670Z,1761503191.670 [marl:PowerOnly:C] Stopped
2025-10-26T18:26:31.670Z,1761503191.670 [marl:PowerOnly:B] Stopped
2025-10-26T18:26:31.670Z,1761503191.670 [marl:PowerOnly:A] Stopped
2025-10-26T18:26:31.670Z,1761503191.670 [marl:BackseatDriver] Running Loop=1
2025-10-26T18:26:31.670Z,1761503191.670 [marl:Science] Running Loop=1
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:ChlThreshTrigger] Stopped
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize marl:Science:ChlThreshTrigger
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-26T18:26:31.676Z,1761503191.676 [marl:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreDiatoms
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreDiatoms
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreHMavgROI
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-26T18:26:31.677Z,1761503191.677 [marl:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectPlanktivoreLMavgROI
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:HighestSaltPeakReport] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestSaltPeakReport
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectSalinity] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectSalinity
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectSalinity:A] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectFDOM] Stopped
2025-10-26T18:26:31.678Z,1761503191.678 [marl:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectFDOM
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:PeakDetectFDOM:A] Stopped
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:HighestOilPeakReport] Stopped
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestOilPeakReport
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:PeakDetectOil] Stopped
2025-10-26T18:26:31.679Z,1761503191.679 [marl:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectOil
2025-10-26T18:26:31.683Z,1761503191.683 [marl:Science:PeakDetectOil:A] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:PeakDetectNO3] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectNO3
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:PeakDetectNO3:A] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDepthAvgProfilesChl
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:HighestChlPeakReport] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize marl:Science:HighestChlPeakReport
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:EdgeDetectChl] Stopped
2025-10-26T18:26:31.684Z,1761503191.684 [marl:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize marl:Science:EdgeDetectChl
2025-10-26T18:26:31.685Z,1761503191.685 [marl:Science:EdgeDetectChl:A] Stopped
2025-10-26T18:26:31.685Z,1761503191.685 [marl:Science:PeakDetectChl] Stopped
2025-10-26T18:26:31.685Z,1761503191.685 [marl:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize marl:Science:PeakDetectChl
2025-10-26T18:26:31.685Z,1761503191.685 [marl:Science:PeakDetectChl:A] Stopped
2025-10-26T18:26:31.685Z,1761503191.685 [marl:Science:OceanCurrent:A.] Running Loop=1
2025-10-26T18:26:31.687Z,1761503191.687 [marl:Science:Read_Oil] Stopped
2025-10-26T18:26:31.687Z,1761503191.687 [marl:Science:F] Stopped
2025-10-26T18:26:31.687Z,1761503191.687 [marl:Science:E] Running Loop=1
2025-10-26T18:26:31.688Z,1761503191.688 [marl:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-10-26T18:26:31.688Z,1761503191.688 [marl:Science:D] Stopped
2025-10-26T18:26:31.688Z,1761503191.688 [marl:Science:C] Running Loop=1
2025-10-26T18:26:31.689Z,1761503191.689 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-10-26T18:26:31.689Z,1761503191.689 [marl:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-10-26T18:26:31.689Z,1761503191.689 [marl:Science:B] Running Loop=1
2025-10-26T18:26:31.690Z,1761503191.690 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-10-26T18:26:31.691Z,1761503191.691 [marl:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-10-26T18:26:31.691Z,1761503191.691 [marl:Science:A] Stopped
2025-10-26T18:26:31.691Z,1761503191.691 [marl:StandardEnvelopes] Running Loop=1
2025-10-26T18:26:31.691Z,1761503191.691 [marl:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T18:26:31.699Z,1761503191.699 [marl:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T18:26:31.700Z,1761503191.700 [marl:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T18:26:31.700Z,1761503191.700 [marl:F] Stopped
2025-10-26T18:26:31.701Z,1761503191.701 [marl:H] Running Loop=1
2025-10-26T18:26:31.701Z,1761503191.701 [marl:B.] Running Loop=1
2025-10-26T18:26:31.701Z,1761503191.701 [marl:AbortDrift] Running Loop=1
2025-10-26T18:26:31.702Z,1761503191.702 [marl:AbortDrift:A](INFO): Insert acoustic timeout set to  0.500000 h .
2025-10-26T18:26:31.702Z,1761503191.702 [marl:AbortDrift:A] Stopped
2025-10-26T18:26:31.702Z,1761503191.702 [marl:AbortDrift:B.AbortDrift] Running Loop=1
2025-10-26T18:26:31.702Z,1761503191.702 [marl:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2025-10-26T18:26:31.703Z,1761503191.703 [marl:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.50 hours.
2025-10-26T18:26:31.994Z,1761503191.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204312,-0.975441,-0.082291],[0.978462,0.206028,-0.012839],[0.029478,-0.077895,0.996526]]
2025-10-26T18:26:32.040Z,1761503192.040 [marl:H] Stopped
2025-10-26T18:26:32.040Z,1761503192.040 [marl:I] Running Loop=1
2025-10-26T18:26:32.042Z,1761503192.042 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761503104.00. Resetting abort timer.
2025-10-26T18:26:32.401Z,1761503192.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205016,-0.974491,-0.091304],[0.978661,0.205421,0.005042],[0.013842,-0.090389,0.995810]]
2025-10-26T18:26:32.425Z,1761503192.425 [marl:I] Stopped
2025-10-26T18:26:32.425Z,1761503192.425 [marl:J] Running Loop=1
2025-10-26T18:26:32.502Z,1761503192.502 [WetLabsBB2FL](INFO): Powering up
2025-10-26T18:26:32.802Z,1761503192.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207463,-0.974498,-0.085510],[0.977992,0.208595,-0.004425],[0.022150,-0.082710,0.996327]]
2025-10-26T18:26:32.890Z,1761503192.890 [marl:J] Stopped
2025-10-26T18:26:32.890Z,1761503192.890 [marl:U] Running Loop=1
2025-10-26T18:26:33.210Z,1761503193.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200134,-0.977365,-0.068592],[0.979405,0.201476,-0.013171],[0.026693,-0.064543,0.997558]]
2025-10-26T18:26:33.251Z,1761503193.251 [marl:U] Stopped
2025-10-26T18:26:33.252Z,1761503193.252 [marl:StartingMission] Running Loop=1
2025-10-26T18:26:33.252Z,1761503193.252 [marl:StartingMission](DEBUG): Aggregate::initialize marl:StartingMission
2025-10-26T18:26:33.252Z,1761503193.252 [marl:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-10-26T18:26:33.580Z,1761503193.580 [BackseatComponent](INFO): Powering up
2025-10-26T18:26:33.580Z,1761503193.580 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-10-26T18:26:33.629Z,1761503193.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198864,-0.976873,-0.078565],[0.979201,0.201347,-0.024984],[0.040225,-0.071963,0.996596]]
2025-10-26T18:26:33.651Z,1761503193.651 [marl:NeedComms] Running Loop=1
2025-10-26T18:26:33.651Z,1761503193.651 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T18:26:33.660Z,1761503193.660 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T18:26:33.660Z,1761503193.660 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T18:26:33.660Z,1761503193.660 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T18:26:33.660Z,1761503193.660 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T18:26:33.661Z,1761503193.661 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T18:26:33.661Z,1761503193.661 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T18:26:33.661Z,1761503193.661 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T18:26:33.662Z,1761503193.662 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T18:26:33.662Z,1761503193.662 [marl:NeedComms:A] Running Loop=1
2025-10-26T18:26:33.663Z,1761503193.663 [marl:NeedComms:A](INFO): last time_fix was:  1761503139.000000 second since 1970/01/01T00:00:00Z 
2025-10-26T18:26:33.667Z,1761503193.667 [marl:NeedComms:A] Stopped
2025-10-26T18:26:34.020Z,1761503194.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203010,-0.975389,-0.086043],[0.977708,0.206732,-0.036722],[0.053606,-0.076670,0.995614]]
2025-10-26T18:26:34.048Z,1761503194.048 [marl:NeedComms:C] Running Loop=1
2025-10-26T18:26:34.422Z,1761503194.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205845,-0.974229,-0.092231],[0.974352,0.212799,-0.073181],[0.090921,-0.074802,0.993045]]
2025-10-26T18:26:34.459Z,1761503194.459 [marl:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T18:26:34.837Z,1761503194.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190531,-0.977869,-0.086424],[0.973069,0.199763,-0.115032],[0.129751,-0.062180,0.989595]]
2025-10-26T18:26:35.121Z,1761503195.121 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-10-26T18:26:35.229Z,1761503195.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194974,-0.978527,-0.066858],[0.974573,0.200958,-0.099109],[0.110417,-0.045834,0.992828]]
2025-10-26T18:26:35.631Z,1761503195.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196817,-0.979008,-0.052965],[0.978831,0.199301,-0.046564],[0.056143,-0.042679,0.997510]]
2025-10-26T18:26:36.069Z,1761503196.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198063,-0.978450,-0.058376],[0.980180,0.197969,0.007448],[0.004269,-0.058694,0.998267]]
2025-10-26T18:26:36.075Z,1761503196.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182635.00,A,3646.50247,N,12151.88285,W,0.447,242.80,261025,,,D*71
2025-10-26T18:26:36.077Z,1761503196.077 [NAL9602](INFO): GPS fix at 20251026T182635: (36.775041, -121.864714)
2025-10-26T18:26:36.095Z,1761503196.095 [marl:NeedComms:C] Stopped
2025-10-26T18:26:36.095Z,1761503196.095 [marl:NeedComms:D] Running Loop=1
2025-10-26T18:26:36.097Z,1761503196.097 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761503232.00. Resetting abort timer.
2025-10-26T18:26:36.388Z,1761503196.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:26:36.438Z,1761503196.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203026,-0.975301,-0.086997],[0.978837,0.199825,0.044145],[-0.025670,-0.094119,0.995230]]
2025-10-26T18:26:36.500Z,1761503196.500 [marl:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-26T18:26:36.884Z,1761503196.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185901,-0.975225,-0.119904],[0.981400,0.178343,0.071046],[-0.047902,-0.130882,0.990240]]
2025-10-26T18:26:37.246Z,1761503197.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174507,-0.977636,-0.117368],[0.982988,0.166034,0.078538],[-0.057294,-0.129076,0.989978]]
2025-10-26T18:26:37.392Z,1761503197.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:26:37.650Z,1761503197.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180484,-0.979088,-0.093868],[0.982616,0.175266,0.061217],[-0.043485,-0.103285,0.993701]]
2025-10-26T18:26:38.064Z,1761503198.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163581,-0.983741,-0.074121],[0.986349,0.161650,0.031384],[-0.018892,-0.078243,0.996755]]
2025-10-26T18:26:38.460Z,1761503198.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148730,-0.987045,-0.060174],[0.988878,0.148467,0.008855],[0.000194,-0.060822,0.998149]]
2025-10-26T18:26:38.893Z,1761503198.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142507,-0.986928,-0.075265],[0.989282,0.144465,-0.021223],[0.031819,-0.071434,0.996938]]
2025-10-26T18:26:39.268Z,1761503199.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141634,-0.985949,-0.088568],[0.987971,0.146399,-0.049803],[0.062069,-0.080449,0.994824]]
2025-10-26T18:26:39.670Z,1761503199.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150865,-0.985449,-0.078297],[0.986185,0.155511,-0.057059],[0.068405,-0.068607,0.995296]]
2025-10-26T18:26:40.077Z,1761503200.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156983,-0.986296,-0.050759],[0.984330,0.160436,-0.073173],[0.080314,-0.038477,0.996027]]
2025-10-26T18:26:40.486Z,1761503200.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170645,-0.984685,-0.035712],[0.981829,0.172981,-0.078036],[0.083018,-0.021746,0.996311]]
2025-10-26T18:26:40.899Z,1761503200.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174303,-0.983190,-0.054374],[0.981182,0.178075,-0.074640],[0.083068,-0.040340,0.995727]]
2025-10-26T18:26:41.286Z,1761503201.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164718,-0.983326,-0.077060],[0.983379,0.169771,-0.064375],[0.076384,-0.065175,0.994946]]
2025-10-26T18:26:41.690Z,1761503201.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179237,-0.980471,-0.080930],[0.982305,0.182899,-0.040304],[0.054319,-0.072274,0.995905]]
2025-10-26T18:26:42.097Z,1761503202.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187909,-0.978954,-0.079614],[0.981885,0.189242,-0.009483],[0.024350,-0.076390,0.996781]]
2025-10-26T18:26:42.500Z,1761503202.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172552,-0.982472,-0.070530],[0.984987,0.172484,0.007103],[0.005186,-0.070697,0.997484]]
2025-10-26T18:26:42.903Z,1761503202.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159885,-0.985384,-0.058784],[0.987095,0.160138,0.000408],[0.009011,-0.058090,0.998271]]
2025-10-26T18:26:43.306Z,1761503203.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156867,-0.985904,-0.058188],[0.987377,0.157862,-0.012882],[0.021886,-0.055433,0.998223]]
2025-10-26T18:26:43.715Z,1761503203.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140198,-0.988106,-0.063182],[0.989052,0.142728,-0.037476],[0.046048,-0.057237,0.997298]]
2025-10-26T18:26:44.124Z,1761503204.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125123,-0.989310,-0.074897],[0.989937,0.129518,-0.057007],[0.066098,-0.067010,0.995560]]
2025-10-26T18:26:46.373Z,1761503206.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090859,-0.993075,-0.074480],[0.990592,0.097810,-0.095708],[0.102330,-0.065083,0.992619]]
2025-10-26T18:26:46.772Z,1761503206.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106424,-0.993611,-0.037559],[0.992762,0.108295,-0.051921],[0.055657,-0.031761,0.997945]]
2025-10-26T18:26:47.186Z,1761503207.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125658,-0.991925,-0.017200],[0.991978,0.125868,-0.011703],[0.013774,-0.015592,0.999784]]
2025-10-26T18:26:47.578Z,1761503207.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121961,-0.992456,-0.012512],[0.992531,0.121914,0.004450],[-0.002891,-0.012962,0.999912]]
2025-10-26T18:26:47.985Z,1761503207.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106528,-0.994041,-0.023117],[0.994238,0.106771,-0.009541],[0.011952,-0.021967,0.999687]]
2025-10-26T18:26:48.387Z,1761503208.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085566,-0.993899,-0.069601],[0.995244,0.088528,-0.040651],[0.046564,-0.065791,0.996746]]
2025-10-26T18:26:48.792Z,1761503208.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074148,-0.989948,-0.120440],[0.995347,0.080917,-0.052317],[0.061536,-0.116000,0.991341]]
2025-10-26T18:26:49.198Z,1761503209.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081435,-0.983707,-0.160280],[0.995154,0.089144,-0.041496],[0.055108,-0.156124,0.986199]]
2025-10-26T18:26:49.598Z,1761503209.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090593,-0.984815,-0.148095],[0.995402,0.094187,-0.017418],[0.031102,-0.145836,0.988820]]
2025-10-26T18:26:50.003Z,1761503210.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119670,-0.988252,-0.095068],[0.991306,0.124214,-0.043386],[0.054685,-0.089050,0.994525]]
2025-10-26T18:26:50.407Z,1761503210.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121217,-0.992009,-0.034983],[0.988445,0.123863,-0.087372],[0.091007,-0.023988,0.995561]]
2025-10-26T18:26:50.815Z,1761503210.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106720,-0.994175,0.015035],[0.992961,0.105784,-0.053267],[0.051367,0.020614,0.998467]]
2025-10-26T18:26:51.214Z,1761503211.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108546,-0.994086,0.003306],[0.993878,0.108454,-0.021075],[0.020592,0.005573,0.999772]]
2025-10-26T18:26:51.618Z,1761503211.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108962,-0.991883,-0.065539],[0.993721,0.110375,-0.018332],[0.025417,-0.063130,0.997682]]
2025-10-26T18:26:52.023Z,1761503212.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108623,-0.984571,-0.137190],[0.994062,0.108477,0.008562],[0.006452,-0.137306,0.990508]]
2025-10-26T18:26:52.426Z,1761503212.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109401,-0.978516,-0.174752],[0.993930,0.105643,0.030692],[-0.011571,-0.177049,0.984134]]
2025-10-26T18:26:52.866Z,1761503212.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089112,-0.989163,-0.116689],[0.995489,0.092283,-0.022054],[0.032583,-0.114198,0.992924]]
2025-10-26T18:26:53.245Z,1761503213.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092296,-0.995007,-0.037990],[0.995331,0.093274,-0.024816],[0.028236,-0.035522,0.998970]]
2025-10-26T18:26:53.645Z,1761503213.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093675,-0.995543,-0.010903],[0.995079,0.093975,-0.031397],[0.032282,-0.007908,0.999448]]
2025-10-26T18:26:54.047Z,1761503214.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079302,-0.996650,-0.019990],[0.996381,0.079864,-0.029083],[0.030582,-0.017611,0.999377]]
2025-10-26T18:26:54.454Z,1761503214.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063637,-0.996351,-0.056871],[0.997574,0.065119,-0.024594],[0.028208,-0.055168,0.998079]]
2025-10-26T18:26:54.867Z,1761503214.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061840,-0.993195,-0.098694],[0.996688,0.066683,-0.046551],[0.052816,-0.095489,0.994028]]
2025-10-26T18:26:54.900Z,1761503214.900 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 836.70, 779.46, 8A
2025-10-26T18:26:55.260Z,1761503215.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069370,-0.992543,-0.100232],[0.996045,0.074503,-0.048408],[0.055514,-0.096478,0.993786]]
2025-10-26T18:26:55.658Z,1761503215.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077935,-0.994922,-0.063686],[0.996944,0.078123,-0.000463],[0.005436,-0.063455,0.997970]]
2025-10-26T18:26:56.085Z,1761503216.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084705,-0.996169,-0.021737],[0.996077,0.084096,0.027536],[-0.025602,-0.023984,0.999385]]
2025-10-26T18:26:56.472Z,1761503216.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080130,-0.996570,-0.020666],[0.996773,0.080212,-0.003195],[0.004842,-0.020344,0.999781]]
2025-10-26T18:26:56.895Z,1761503216.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068192,-0.996658,-0.044980],[0.996081,0.070559,-0.053321],[0.056317,-0.041168,0.997564]]
2025-10-26T18:26:57.274Z,1761503217.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056155,-0.995140,-0.080893],[0.996053,0.061415,-0.064079],[0.068735,-0.076975,0.994661]]
2025-10-26T18:26:57.678Z,1761503217.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050027,-0.990605,-0.127273],[0.997222,0.056585,-0.048443],[0.055190,-0.124496,0.990684]]
2025-10-26T18:26:58.084Z,1761503218.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051952,-0.986837,-0.153149],[0.997679,0.058046,-0.035589],[0.044011,-0.150945,0.987562]]
2025-10-26T18:26:58.486Z,1761503218.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056181,-0.987325,-0.148436],[0.998219,0.058532,-0.011519],[0.020061,-0.147524,0.988855]]
2025-10-26T18:26:58.901Z,1761503218.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045147,-0.992800,-0.110951],[0.998976,0.045213,0.001929],[0.003102,-0.110924,0.993824]]
2025-10-26T18:26:59.299Z,1761503219.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035180,-0.998460,-0.042891],[0.999237,0.035870,-0.015430],[0.016944,-0.042315,0.998961]]
2025-10-26T18:26:59.702Z,1761503219.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029403,-0.999497,-0.011871],[0.999347,0.029645,-0.020681],[0.021023,-0.011255,0.999716]]
2025-10-26T18:27:00.102Z,1761503220.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025256,-0.999490,-0.019558],[0.999154,0.025873,-0.031968],[0.032458,-0.018734,0.999298]]
2025-10-26T18:27:00.506Z,1761503220.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033136,-0.997156,-0.067695],[0.998657,0.035732,-0.037508],[0.039821,-0.066361,0.997001]]
2025-10-26T18:27:00.911Z,1761503220.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026570,-0.993686,-0.109006],[0.999505,0.028245,-0.013844],[0.016836,-0.108584,0.993945]]
2025-10-26T18:27:01.315Z,1761503221.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014190,-0.993618,-0.111903],[0.999843,0.012908,0.012179],[-0.010657,-0.112058,0.993645]]
2025-10-26T18:27:01.722Z,1761503221.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018118,-0.995619,-0.091732],[0.999301,0.015031,0.034233],[-0.032704,-0.092288,0.995195]]
2025-10-26T18:27:01.755Z,1761503221.755 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:27:01.912Z,1761503221.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:27:01.913Z,1761503221.913 [DAT](INFO): setting remote address to 0
2025-10-26T18:27:02.122Z,1761503222.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025179,-0.997130,-0.071399],[0.999170,0.022814,0.033745],[-0.032019,-0.072189,0.996877]]
2025-10-26T18:27:02.164Z,1761503222.164 [DAT](INFO): DAT read: user:6>

2025-10-26T18:27:02.165Z,1761503222.165 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:27:02.166Z,1761503222.166 [DAT](INFO): set remote address to 0
2025-10-26T18:27:02.166Z,1761503222.166 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:27:02.166Z,1761503222.166 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:27:02.416Z,1761503222.416 [DAT](INFO): DAT read: user:7>

2025-10-26T18:27:02.417Z,1761503222.417 [DAT](INFO): DAT read: Tx time:18:27:03.1841

2025-10-26T18:27:02.417Z,1761503222.417 [DAT](INFO): Ping request sent.
2025-10-26T18:27:02.417Z,1761503222.417 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:27:02.418Z,1761503222.418 [DAT](INFO): publishing transmit ping time
2025-10-26T18:27:02.419Z,1761503222.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001610
2025-10-26T18:27:02.526Z,1761503222.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015831,-0.997961,-0.061832],[0.999872,0.015938,-0.001236],[0.002218,-0.061805,0.998086]]
2025-10-26T18:27:02.668Z,1761503222.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250781
2025-10-26T18:27:02.925Z,1761503222.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507404
2025-10-26T18:27:02.949Z,1761503222.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019442,-0.997190,-0.072353],[0.999672,0.020597,-0.015249],[0.016696,-0.072033,0.997262]]
2025-10-26T18:27:03.176Z,1761503223.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758708
2025-10-26T18:27:03.334Z,1761503223.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023835,-0.996028,-0.085795],[0.999481,0.025601,-0.019540],[0.021659,-0.085284,0.996121]]
2025-10-26T18:27:03.429Z,1761503223.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011251
2025-10-26T18:27:03.680Z,1761503223.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262819
2025-10-26T18:27:03.740Z,1761503223.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032775,-0.997502,-0.062574],[0.998662,0.035190,-0.037894],[0.040002,-0.061248,0.997321]]
2025-10-26T18:27:03.933Z,1761503223.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515231
2025-10-26T18:27:04.142Z,1761503224.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025461,-0.999291,-0.027738],[0.997764,0.027118,-0.061092],[0.061801,-0.026121,0.997747]]
2025-10-26T18:27:04.184Z,1761503224.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766911
2025-10-26T18:27:04.437Z,1761503224.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019737
2025-10-26T18:27:04.548Z,1761503224.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013282,-0.999884,-0.007419],[0.998340,0.013676,-0.055954],[0.056049,-0.006663,0.998406]]
2025-10-26T18:27:04.558Z,1761503224.558 [NAL9602](INFO): SBD MO Status=1, MOMSN=2948, MT Status=0, MTMSN=0
2025-10-26T18:27:04.616Z,1761503224.616 [NAL9602](INFO): Sent 72 bytes from file Logs/20251026T180417/Courier0009.lzma
2025-10-26T18:27:04.616Z,1761503224.616 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:27:04.688Z,1761503224.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270762
2025-10-26T18:27:04.945Z,1761503224.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527009
2025-10-26T18:27:04.955Z,1761503224.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014747,-0.999378,-0.032024],[0.999230,0.015894,-0.035867],[0.036354,-0.031470,0.998843]]
2025-10-26T18:27:05.196Z,1761503225.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778950
2025-10-26T18:27:05.448Z,1761503225.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030738
2025-10-26T18:27:05.680Z,1761503225.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041670,-0.993714,-0.103901],[0.997597,0.047142,-0.050774],[0.055353,-0.101536,0.993291]]
2025-10-26T18:27:05.701Z,1761503225.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283670
2025-10-26T18:27:05.952Z,1761503225.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534837
2025-10-26T18:27:06.051Z,1761503226.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037097,-0.995114,-0.091502],[0.997337,0.042622,-0.059176],[0.062787,-0.089063,0.994045]]
2025-10-26T18:27:06.204Z,1761503226.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786842
2025-10-26T18:27:06.456Z,1761503226.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038789
2025-10-26T18:27:06.709Z,1761503226.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291155
2025-10-26T18:27:06.960Z,1761503226.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542757
2025-10-26T18:27:07.213Z,1761503227.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794996
2025-10-26T18:27:07.464Z,1761503227.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046842
2025-10-26T18:27:07.512Z,1761503227.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:27:07.717Z,1761503227.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299156
2025-10-26T18:27:07.969Z,1761503227.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551048
2025-10-26T18:27:08.164Z,1761503228.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040182,-0.995376,-0.087252],[0.993654,0.048988,-0.101254],[0.105060,-0.082630,0.991027]]
2025-10-26T18:27:08.220Z,1761503228.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802922
2025-10-26T18:27:08.472Z,1761503228.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054766
2025-10-26T18:27:08.516Z,1761503228.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:27:08.542Z,1761503228.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042708,-0.996333,-0.074144],[0.997222,0.047044,-0.057759],[0.061035,-0.071471,0.995573]]
2025-10-26T18:27:08.725Z,1761503228.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307566
2025-10-26T18:27:08.949Z,1761503228.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053722,-0.997485,-0.046240],[0.998554,0.053586,0.004185],[-0.001697,-0.046398,0.998922]]
2025-10-26T18:27:08.977Z,1761503228.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559029
2025-10-26T18:27:09.228Z,1761503229.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810750
2025-10-26T18:27:09.362Z,1761503229.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054760,-0.997853,-0.035922],[0.997858,0.053400,0.037794],[-0.035795,-0.037915,0.998640]]
2025-10-26T18:27:09.480Z,1761503229.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062789
2025-10-26T18:27:09.733Z,1761503229.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315262
2025-10-26T18:27:09.754Z,1761503229.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045970,-0.997789,-0.048000],[0.998480,0.044433,0.032614],[-0.030409,-0.049426,0.998315]]
2025-10-26T18:27:09.984Z,1761503229.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566752
2025-10-26T18:27:10.158Z,1761503230.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054658,-0.995627,-0.075762],[0.998499,0.054226,0.007751],[-0.003609,-0.076072,0.997096]]
2025-10-26T18:27:10.236Z,1761503230.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818750
2025-10-26T18:27:10.488Z,1761503230.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070824
2025-10-26T18:27:10.563Z,1761503230.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062370,-0.990983,-0.118589],[0.996766,0.067881,-0.043005],[0.050668,-0.115524,0.992012]]
2025-10-26T18:27:10.740Z,1761503230.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322774
2025-10-26T18:27:10.966Z,1761503230.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046333,-0.989827,-0.134519],[0.995378,0.057088,-0.077228],[0.084122,-0.130319,0.987897]]
2025-10-26T18:27:10.992Z,1761503230.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574828
2025-10-26T18:27:11.244Z,1761503231.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826819
2025-10-26T18:27:11.370Z,1761503231.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035662,-0.993082,-0.111880],[0.994814,0.045947,-0.090737],[0.095249,-0.108064,0.989570]]
2025-10-26T18:27:11.496Z,1761503231.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078782
2025-10-26T18:27:11.750Z,1761503231.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331995
2025-10-26T18:27:11.774Z,1761503231.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033538,-0.995650,-0.086931],[0.996137,0.040364,-0.077988],[0.081157,-0.083979,0.993157]]
2025-10-26T18:27:12.000Z,1761503232.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582828
2025-10-26T18:27:12.180Z,1761503232.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041424,-0.997336,-0.060034],[0.998985,0.042408,-0.015207],[0.017712,-0.059343,0.998080]]
2025-10-26T18:27:12.252Z,1761503232.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834748
2025-10-26T18:27:12.504Z,1761503232.504 [DAT](INFO): Reached modem response timeout
2025-10-26T18:27:12.584Z,1761503232.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059619,-0.996865,-0.052014],[0.997961,0.058332,0.025910],[-0.022794,-0.053453,0.998310]]
2025-10-26T18:27:12.986Z,1761503232.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068094,-0.996193,-0.054432],[0.997462,0.066840,0.024529],[-0.020797,-0.055964,0.998216]]
2025-10-26T18:27:13.390Z,1761503233.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068494,-0.996221,-0.053416],[0.997363,0.067089,0.027670],[-0.023982,-0.055170,0.998189]]
2025-10-26T18:27:13.795Z,1761503233.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068978,-0.995435,-0.065965],[0.997409,0.067460,0.024978],[-0.020414,-0.067517,0.997509]]
2025-10-26T18:27:14.199Z,1761503234.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055325,-0.993937,-0.095017],[0.998180,0.052771,0.029184],[-0.023993,-0.096459,0.995048]]
2025-10-26T18:27:14.602Z,1761503234.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040142,-0.993112,-0.110076],[0.998937,0.037388,0.026972],[-0.022671,-0.111041,0.993557]]
2025-10-26T18:27:14.772Z,1761503234.772 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:27:14.773Z,1761503234.773 [DAT](INFO): response not received
2025-10-26T18:27:14.773Z,1761503234.773 [DAT](ERROR): No response from remote modem.
2025-10-26T18:27:15.006Z,1761503235.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030794,-0.994128,-0.103740],[0.999526,0.030625,0.003220],[-0.000024,-0.103790,0.994599]]
2025-10-26T18:27:15.429Z,1761503235.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031842,-0.995527,-0.088954],[0.999305,0.033436,-0.016483],[0.019383,-0.088367,0.995899]]
2025-10-26T18:27:15.814Z,1761503235.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035281,-0.996238,-0.079149],[0.999335,0.035900,-0.006411],[0.009228,-0.078870,0.996842]]
2025-10-26T18:27:16.218Z,1761503236.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040839,-0.997224,-0.062263],[0.999163,0.040896,0.000358],[0.002189,-0.062225,0.998060]]
2025-10-26T18:27:16.230Z,1761503236.230 [NAL9602](INFO): SBD MO Status=1, MOMSN=2949, MT Status=0, MTMSN=0
2025-10-26T18:27:16.285Z,1761503236.285 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0010.lzma
2025-10-26T18:27:16.285Z,1761503236.285 [NAL9602](INFO): Packets left to send: 1
2025-10-26T18:27:16.623Z,1761503236.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033503,-0.998448,-0.044479],[0.999283,0.034249,-0.016122],[0.017620,-0.043907,0.998880]]
2025-10-26T18:27:17.350Z,1761503237.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063920,-0.996496,-0.053945],[0.997112,0.065994,-0.037583],[0.041011,-0.051386,0.997836]]
2025-10-26T18:27:17.751Z,1761503237.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064328,-0.996261,-0.057670],[0.996805,0.066890,-0.043658],[0.047352,-0.054677,0.997381]]
2025-10-26T18:27:19.928Z,1761503239.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039187,-0.992209,-0.118260],[0.997207,0.046363,-0.058556],[0.063582,-0.115635,0.991255]]
2025-10-26T18:27:20.290Z,1761503240.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040858,-0.996198,-0.076945],[0.997652,0.044912,-0.051712],[0.054972,-0.074651,0.995693]]
2025-10-26T18:27:20.696Z,1761503240.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044690,-0.998335,-0.036477],[0.997300,0.046714,-0.056659],[0.058269,-0.033846,0.997727]]
2025-10-26T18:27:21.098Z,1761503241.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046672,-0.998791,-0.015430],[0.996430,0.047638,-0.069697],[0.070348,-0.012122,0.997449]]
2025-10-26T18:27:21.503Z,1761503241.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040237,-0.998716,-0.030763],[0.997235,0.042065,-0.061269],[0.062485,-0.028213,0.997647]]
2025-10-26T18:27:21.917Z,1761503241.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037275,-0.996705,-0.072039],[0.998220,0.040496,-0.043780],[0.046553,-0.070278,0.996441]]
2025-10-26T18:27:22.311Z,1761503242.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032708,-0.992630,-0.116684],[0.998633,0.037219,-0.036697],[0.040769,-0.115324,0.992491]]
2025-10-26T18:27:22.722Z,1761503242.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038059,-0.989618,-0.138590],[0.998804,0.041932,-0.025134],[0.030684,-0.137468,0.990031]]
2025-10-26T18:27:23.118Z,1761503243.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048022,-0.990430,-0.129392],[0.998751,0.049401,-0.007468],[0.013788,-0.128871,0.991565]]
2025-10-26T18:27:23.524Z,1761503243.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038312,-0.995783,-0.083362],[0.999266,0.038216,0.002754],[0.000443,-0.083406,0.996516]]
2025-10-26T18:27:23.927Z,1761503243.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028853,-0.998421,-0.048187],[0.999565,0.029111,-0.004668],[0.006063,-0.048032,0.998827]]
2025-10-26T18:27:24.334Z,1761503244.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028503,-0.997773,-0.060310],[0.999533,0.029113,-0.009252],[0.010988,-0.060018,0.998137]]
2025-10-26T18:27:24.738Z,1761503244.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034488,-0.995977,-0.082702],[0.999347,0.035261,-0.007912],[0.010796,-0.082375,0.996543]]
2025-10-26T18:27:25.138Z,1761503245.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026011,-0.997520,-0.065398],[0.999606,0.025265,0.012208],[-0.010525,-0.065690,0.997785]]
2025-10-26T18:27:25.143Z,1761503245.143 [NAL9602](INFO): SBD MO Status=1, MOMSN=2950, MT Status=0, MTMSN=0
2025-10-26T18:27:25.200Z,1761503245.200 [NAL9602](INFO): Sent 229 bytes from file Logs/20251026T180417/Express0010.lzma
2025-10-26T18:27:25.200Z,1761503245.200 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:27:25.544Z,1761503245.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011419,-0.999618,-0.025149],[0.999637,0.010798,0.024701],[-0.024420,-0.025422,0.999379]]
2025-10-26T18:27:25.788Z,1761503245.788 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003427
2025-10-26T18:27:26.000Z,1761503246.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021327,-0.999166,-0.034835],[0.999751,0.021086,0.007271],[-0.006530,-0.034981,0.999367]]
2025-10-26T18:27:26.409Z,1761503246.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028206,-0.995873,-0.086262],[0.999116,0.030778,-0.028634],[0.031171,-0.085378,0.995861]]
2025-10-26T18:27:26.862Z,1761503246.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025802,-0.992175,-0.122161],[0.997785,0.033055,-0.057725],[0.061311,-0.120401,0.990830]]
2025-10-26T18:27:27.211Z,1761503247.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034493,-0.993890,-0.104851],[0.996926,0.041602,-0.066391],[0.070347,-0.102239,0.992269]]
2025-10-26T18:27:27.614Z,1761503247.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036202,-0.996333,-0.077526],[0.997836,0.040300,-0.051957],[0.054890,-0.075478,0.995636]]
2025-10-26T18:27:27.651Z,1761503247.651 [marl:NeedComms:D] Stopped
2025-10-26T18:27:27.651Z,1761503247.651 [marl:NeedComms:E] Running Loop=1
2025-10-26T18:27:28.018Z,1761503248.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023638,-0.997213,-0.070763],[0.999463,0.025177,-0.020948],[0.022671,-0.070230,0.997273]]
2025-10-26T18:27:28.064Z,1761503248.064 [marl:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T18:27:28.423Z,1761503248.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020643,-0.996977,-0.074910],[0.999786,0.020509,0.002551],[-0.001007,-0.074947,0.997187]]
2025-10-26T18:27:28.851Z,1761503248.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039868,-0.995192,-0.089462],[0.999205,0.039730,0.003324],[0.000246,-0.089524,0.995985]]
2025-10-26T18:27:29.230Z,1761503249.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039224,-0.993987,-0.102228],[0.999230,0.039135,0.002884],[0.001134,-0.102262,0.994757]]
2025-10-26T18:27:29.635Z,1761503249.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017971,-0.996729,-0.078789],[0.999294,0.015304,0.034317],[-0.032999,-0.079350,0.996300]]
2025-10-26T18:27:30.039Z,1761503250.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002701,-0.997735,-0.067213],[0.998008,-0.006926,0.062707],[-0.063031,-0.066910,0.995766]]
2025-10-26T18:27:30.444Z,1761503250.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008555,-0.997312,-0.072768],[0.998902,-0.011875,0.045311],[-0.046053,-0.072301,0.996319]]
2025-10-26T18:27:30.895Z,1761503250.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007057,-0.997987,-0.063022],[0.998949,-0.004181,-0.045640],[0.045284,-0.063278,0.996968]]
2025-10-26T18:27:31.654Z,1761503251.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008893,-0.997544,-0.069471],[0.996960,-0.003467,-0.077836],[0.077404,-0.069952,0.994543]]
2025-10-26T18:27:32.060Z,1761503252.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008075,-0.996264,-0.085977],[0.995595,0.000022,-0.093760],[0.093412,-0.086355,0.991876]]
2025-10-26T18:27:32.104Z,1761503252.104 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:27:32.164Z,1761503252.164 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:27:32.164Z,1761503252.164 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:27:32.416Z,1761503252.416 [DAT](INFO): DAT read: user:8>

2025-10-26T18:27:32.417Z,1761503252.417 [DAT](INFO): DAT read: Tx time:18:27:33.1341

2025-10-26T18:27:32.417Z,1761503252.417 [DAT](INFO): Ping request sent.
2025-10-26T18:27:32.417Z,1761503252.417 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:27:32.418Z,1761503252.418 [DAT](INFO): publishing transmit ping time
2025-10-26T18:27:32.418Z,1761503252.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-10-26T18:27:32.463Z,1761503252.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009363,-0.995548,-0.093794],[0.996098,0.017517,-0.086498],[0.087756,-0.092618,0.991827]]
2025-10-26T18:27:32.472Z,1761503252.472 [NAL9602](INFO): SBD MO Status=0, MOMSN=2951, MT Status=0, MTMSN=0
2025-10-26T18:27:32.668Z,1761503252.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250859
2025-10-26T18:27:32.898Z,1761503252.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032250,-0.997282,-0.066239],[0.998126,0.035583,-0.049776],[0.051997,-0.064510,0.996561]]
2025-10-26T18:27:32.920Z,1761503252.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502899
2025-10-26T18:27:33.172Z,1761503253.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754879
2025-10-26T18:27:33.424Z,1761503253.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006771
2025-10-26T18:27:33.678Z,1761503253.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260291
2025-10-26T18:27:33.682Z,1761503253.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015133,-0.998418,-0.054146],[0.999885,0.015127,0.000518],[0.000302,-0.054148,0.998533]]
2025-10-26T18:27:33.702Z,1761503253.702 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182733.00,A,3646.49940,N,12151.88957,W,0.330,253.65,261025,,,D*7A
2025-10-26T18:27:33.705Z,1761503253.705 [NAL9602](INFO): GPS fix at 20251026T182733: (36.774990, -121.864826)
2025-10-26T18:27:33.748Z,1761503253.748 [marl:NeedComms:E] Stopped
2025-10-26T18:27:33.749Z,1761503253.749 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T18:27:33.749Z,1761503253.749 [marl:NeedComms] Stopped
2025-10-26T18:27:33.749Z,1761503253.749 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T18:27:33.749Z,1761503253.749 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T18:27:33.749Z,1761503253.749 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T18:27:33.750Z,1761503253.750 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761503232.00. Resetting abort timer.
2025-10-26T18:27:33.928Z,1761503253.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510836
2025-10-26T18:27:34.082Z,1761503254.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002952,-0.998468,-0.055261],[0.999625,-0.001442,-0.027343],[0.027221,-0.055321,0.998098]]
2025-10-26T18:27:34.116Z,1761503254.116 [marl:StartingMission](INFO): Completed marl:StartingMission
2025-10-26T18:27:34.116Z,1761503254.116 [marl:StartingMission] Stopped
2025-10-26T18:27:34.116Z,1761503254.116 [marl:StartingMission](DEBUG): Aggregate::uninitialize marl:StartingMission
2025-10-26T18:27:34.116Z,1761503254.116 [marl:JoystickControl] Running Loop=1
2025-10-26T18:27:34.116Z,1761503254.116 [marl:JoystickControl](DEBUG): Aggregate::initialize marl:JoystickControl
2025-10-26T18:27:34.116Z,1761503254.116 [marl:JoystickControl:A.Buoyancy] Running Loop=1
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:B.Pitch] Running Loop=1
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:B.Pitch](DEBUG): Initialize.
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:C.Pitch] Running Loop=1
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:C.Pitch](DEBUG): Initialize.
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:D.SetSpeed] Running Loop=1
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:D.SetSpeed](DEBUG): Initialize.
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:CmdHeading] Running Loop=1
2025-10-26T18:27:34.117Z,1761503254.117 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::initialize marl:JoystickControl:CmdHeading
2025-10-26T18:27:34.118Z,1761503254.118 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1
2025-10-26T18:27:34.118Z,1761503254.118 [marl:JoystickControl:CmdHeading:A.Point](DEBUG): Initialize.
2025-10-26T18:27:34.118Z,1761503254.118 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-26T18:27:34.118Z,1761503254.118 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder
2025-10-26T18:27:34.118Z,1761503254.118 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-26T18:27:34.118Z,1761503254.118 [marl:JoystickControl:CmdRudder:A.Point](DEBUG): Initialize.
2025-10-26T18:27:34.180Z,1761503254.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762939
2025-10-26T18:27:34.432Z,1761503254.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014827
2025-10-26T18:27:34.486Z,1761503254.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015771,-0.997461,-0.069441],[0.998454,0.019412,-0.052079],[0.053295,-0.068512,0.996226]]
2025-10-26T18:27:34.503Z,1761503254.503 [marl:JoystickControl:CmdRudder] Stopped
2025-10-26T18:27:34.503Z,1761503254.503 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder
2025-10-26T18:27:34.503Z,1761503254.503 [marl:JoystickControl:CmdRudder:A.Point] Stopped
2025-10-26T18:27:34.503Z,1761503254.503 [marl:JoystickControl:CmdHeading] Running Loop=1
2025-10-26T18:27:34.503Z,1761503254.503 [marl:JoystickControl:CmdHeading:A.Point] Running Loop=1
2025-10-26T18:27:34.504Z,1761503254.504 [marl:JoystickControl:D.SetSpeed] Running Loop=1
2025-10-26T18:27:34.504Z,1761503254.504 [marl:JoystickControl:C.Pitch] Running Loop=1
2025-10-26T18:27:34.505Z,1761503254.505 [marl:JoystickControl:B.Pitch] Running Loop=1
2025-10-26T18:27:34.505Z,1761503254.505 [marl:JoystickControl:A.Buoyancy] Running Loop=1
2025-10-26T18:27:34.684Z,1761503254.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898
2025-10-26T18:27:34.904Z,1761503254.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022782,-0.994421,-0.102992],[0.998353,0.028055,-0.050038],[0.052648,-0.101683,0.993423]]
2025-10-26T18:27:34.937Z,1761503254.937 [DAT](INFO): DAT read: Rx Time:18:27:35.2265

2025-10-26T18:27:34.937Z,1761503254.937 [DAT](INFO): Rx dataTimestamp_ set to:1761503254.936694
2025-10-26T18:27:34.938Z,1761503254.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520040
2025-10-26T18:27:35.189Z,1761503255.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771285
2025-10-26T18:27:35.294Z,1761503255.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004349,-0.992654,-0.120910],[0.999357,-0.000009,-0.035866],[0.035601,-0.120988,0.992015]]
2025-10-26T18:27:35.441Z,1761503255.441 [DAT](INFO): DAT read: $Error in header

2025-10-26T18:27:35.441Z,1761503255.441 [DAT](INFO): Received a bad header
2025-10-26T18:27:35.452Z,1761503255.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034201
2025-10-26T18:27:35.694Z,1761503255.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021424,-0.992549,-0.119949],[0.999484,-0.018394,-0.026317],[0.023915,-0.120451,0.992431]]
2025-10-26T18:27:35.697Z,1761503255.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278877
2025-10-26T18:27:35.948Z,1761503255.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530845
2025-10-26T18:27:36.044Z,1761503256.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:27:36.130Z,1761503256.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010376,-0.995203,-0.097275],[0.999623,-0.007852,-0.026294],[0.025404,-0.097512,0.994910]]
2025-10-26T18:27:36.200Z,1761503256.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782946
2025-10-26T18:27:36.452Z,1761503256.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034851
2025-10-26T18:27:36.507Z,1761503256.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001072,-0.998568,-0.053481],[0.999668,0.000306,-0.025763],[0.025743,-0.053491,0.998236]]
2025-10-26T18:27:36.705Z,1761503256.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287704
2025-10-26T18:27:36.907Z,1761503256.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013315,-0.999881,-0.007815],[0.999857,0.013395,-0.010364],[0.010467,-0.007676,0.999916]]
2025-10-26T18:27:36.957Z,1761503256.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539017
2025-10-26T18:27:37.208Z,1761503257.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790807
2025-10-26T18:27:37.310Z,1761503257.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018244,-0.999781,0.010257],[0.999733,0.018096,-0.014365],[0.014177,0.010516,0.999844]]
2025-10-26T18:27:37.460Z,1761503257.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042834
2025-10-26T18:27:37.713Z,1761503257.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295777
2025-10-26T18:27:37.725Z,1761503257.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005002,-0.999690,-0.024376],[0.999962,0.005173,-0.006957],[0.007081,-0.024341,0.999679]]
2025-10-26T18:27:37.964Z,1761503257.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546818
2025-10-26T18:27:38.119Z,1761503258.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002518,-0.996572,-0.082687],[0.999997,-0.002452,-0.000908],[0.000702,-0.082689,0.996575]]
2025-10-26T18:27:38.217Z,1761503258.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799894
2025-10-26T18:27:38.468Z,1761503258.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050865
2025-10-26T18:27:38.522Z,1761503258.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006366,-0.990277,-0.138967],[0.999503,0.010591,-0.029685],[0.030868,-0.138709,0.989852]]
2025-10-26T18:27:38.721Z,1761503258.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303375
2025-10-26T18:27:38.926Z,1761503258.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020079,-0.987162,-0.158456],[0.998945,0.026357,-0.037614],[0.041308,-0.157533,0.986649]]
2025-10-26T18:27:38.973Z,1761503258.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555226
2025-10-26T18:27:39.224Z,1761503259.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806932
2025-10-26T18:27:39.332Z,1761503259.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021841,-0.989917,-0.139957],[0.999507,0.024780,-0.019290],[0.022564,-0.139467,0.989970]]
2025-10-26T18:27:39.477Z,1761503259.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059397
2025-10-26T18:27:39.729Z,1761503259.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311180
2025-10-26T18:27:39.740Z,1761503259.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013462,-0.993721,-0.111073],[0.999576,0.016242,-0.024159],[0.025811,-0.110701,0.993519]]
2025-10-26T18:27:39.981Z,1761503259.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563080
2025-10-26T18:27:40.138Z,1761503260.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004115,-0.996791,-0.079946],[0.999746,0.005871,-0.021752],[0.022152,-0.079837,0.996562]]
2025-10-26T18:27:40.234Z,1761503260.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816838
2025-10-26T18:27:40.485Z,1761503260.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067930
2025-10-26T18:27:40.546Z,1761503260.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002874,-0.999205,-0.039763],[0.999989,0.003020,-0.003617],[0.003734,-0.039752,0.999203]]
2025-10-26T18:27:40.736Z,1761503260.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318994
2025-10-26T18:27:40.948Z,1761503260.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000680,-0.999415,-0.034179],[0.999892,-0.001181,0.014640],[-0.014672,-0.034165,0.999308]]
2025-10-26T18:27:40.988Z,1761503260.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570905
2025-10-26T18:27:41.241Z,1761503261.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822923
2025-10-26T18:27:41.351Z,1761503261.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012197,-0.996915,-0.077540],[0.999081,-0.015337,0.040023],[-0.041089,-0.076981,0.996186]]
2025-10-26T18:27:41.492Z,1761503261.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074930
2025-10-26T18:27:41.744Z,1761503261.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326918
2025-10-26T18:27:41.762Z,1761503261.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003445,-0.990961,-0.134104],[0.998218,-0.011396,0.058572],[-0.059571,-0.133663,0.989235]]
2025-10-26T18:27:41.997Z,1761503261.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579022
2025-10-26T18:27:42.158Z,1761503262.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005933,-0.987528,-0.157332],[0.999443,0.000689,0.033367],[-0.032842,-0.157442,0.986982]]
2025-10-26T18:27:42.250Z,1761503262.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832546
2025-10-26T18:27:42.500Z,1761503262.500 [DAT](INFO): Reached modem response timeout
2025-10-26T18:27:42.562Z,1761503262.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019312,-0.993120,-0.115497],[0.999813,-0.019268,-0.001497],[-0.000739,-0.115504,0.993307]]
2025-10-26T18:27:42.966Z,1761503262.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039425,-0.998500,-0.037990],[0.999051,-0.040095,0.017024],[-0.018522,-0.037283,0.999133]]
2025-10-26T18:27:43.378Z,1761503263.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041389,-0.999127,0.005595],[0.998792,-0.041225,0.026739],[-0.026485,0.006695,0.999627]]
2025-10-26T18:27:43.775Z,1761503263.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040654,-0.999158,-0.005467],[0.999091,-0.040721,0.012621],[-0.012833,-0.004949,0.999905]]
2025-10-26T18:27:44.179Z,1761503264.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048456,-0.996827,-0.063148],[0.998759,-0.049085,0.008449],[-0.011521,-0.062661,0.997968]]
2025-10-26T18:27:44.584Z,1761503264.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055570,-0.989414,-0.134058],[0.998417,-0.056237,0.001192],[-0.008718,-0.133779,0.990973]]
2025-10-26T18:27:44.769Z,1761503264.769 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:27:44.769Z,1761503264.769 [DAT](INFO): response not received
2025-10-26T18:27:44.769Z,1761503264.769 [DAT](ERROR): No response from remote modem.
2025-10-26T18:27:44.987Z,1761503264.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061755,-0.983778,-0.168426],[0.997922,-0.057751,-0.028576],[0.018386,-0.169841,0.985300]]
2025-10-26T18:27:45.392Z,1761503265.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063158,-0.987821,-0.142198],[0.996712,-0.055185,-0.059333],[0.050763,-0.145478,0.988058]]
2025-10-26T18:27:45.795Z,1761503265.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057756,-0.995098,-0.080276],[0.996269,-0.052284,-0.068665],[0.064131,-0.083942,0.994405]]
2025-10-26T18:27:46.198Z,1761503266.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053665,-0.998521,-0.008736],[0.996211,-0.052938,-0.069006],[0.068442,-0.012406,0.997578]]
2025-10-26T18:27:46.602Z,1761503266.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058149,-0.997616,0.037167],[0.995902,-0.060552,-0.067172],[0.069262,0.033109,0.997049]]
2025-10-26T18:27:46.644Z,1761503266.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:27:47.006Z,1761503267.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056423,-0.998167,0.021902],[0.995993,-0.057798,-0.068243],[0.069384,0.017963,0.997428]]
2025-10-26T18:27:47.411Z,1761503267.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049385,-0.998160,-0.035171],[0.994837,-0.046034,-0.090445],[0.088660,-0.039457,0.995280]]
2025-10-26T18:27:47.816Z,1761503267.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043784,-0.994041,-0.099828],[0.993032,-0.032359,-0.113319],[0.109413,-0.104094,0.988531]]
2025-10-26T18:27:48.219Z,1761503268.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028059,-0.992557,-0.118505],[0.991644,-0.012705,-0.128380],[0.125919,-0.121117,0.984619]]
2025-10-26T18:27:48.622Z,1761503268.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013183,-0.996000,-0.088378],[0.991175,-0.001357,-0.132552],[0.131901,-0.089346,0.987228]]
2025-10-26T18:27:49.027Z,1761503269.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000349,-0.998945,-0.045925],[0.993631,0.005521,-0.112546],[0.112681,-0.045593,0.992585]]
2025-10-26T18:27:49.431Z,1761503269.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004029,-0.999628,-0.026991],[0.995918,0.006445,-0.090034],[0.090174,-0.026518,0.995573]]
2025-10-26T18:27:49.834Z,1761503269.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002726,-0.999598,-0.028236],[0.996213,-0.000260,-0.086943],[0.086901,-0.028366,0.995813]]
2025-10-26T18:27:50.238Z,1761503270.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012056,-0.998615,-0.051204],[0.996512,-0.007771,-0.083083],[0.082570,-0.052027,0.995226]]
2025-10-26T18:27:50.647Z,1761503270.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027131,-0.995306,-0.092895],[0.997309,-0.020619,-0.070353],[0.068107,-0.094554,0.993187]]
2025-10-26T18:27:51.046Z,1761503271.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042721,-0.992037,-0.118476],[0.997283,-0.035218,-0.064709],[0.060021,-0.120919,0.990846]]
2025-10-26T18:27:51.455Z,1761503271.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032451,-0.993997,-0.104484],[0.997354,-0.025400,-0.068121],[0.065058,-0.106418,0.992191]]
2025-10-26T18:27:51.864Z,1761503271.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011004,-0.997490,-0.069941],[0.997236,-0.005807,-0.074070],[0.073478,-0.070563,0.994797]]
2025-10-26T18:27:52.259Z,1761503272.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010101,-0.999143,-0.040141],[0.997568,-0.007300,-0.069318],[0.068966,-0.040743,0.996787]]
2025-10-26T18:27:52.666Z,1761503272.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030353,-0.998911,-0.035433],[0.998761,-0.028912,-0.040497],[0.039428,-0.036619,0.998551]]
2025-10-26T18:27:53.066Z,1761503273.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046259,-0.997403,-0.055206],[0.998733,-0.045084,-0.022339],[0.019792,-0.056170,0.998225]]
2025-10-26T18:27:53.474Z,1761503273.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056210,-0.995193,-0.080195],[0.998148,-0.054140,-0.027749],[0.023274,-0.081606,0.996393]]
2025-10-26T18:27:53.970Z,1761503273.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053339,-0.995066,-0.083655],[0.998131,-0.050627,-0.034215],[0.029811,-0.085323,0.995907]]
2025-10-26T18:27:54.512Z,1761503274.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050330,-0.995276,-0.083016],[0.997447,-0.045875,-0.054718],[0.050651,-0.085558,0.995045]]
2025-10-26T18:27:54.925Z,1761503274.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076498,-0.994880,-0.066045],[0.996487,-0.074022,-0.039159],[0.034069,-0.068809,0.997048]]
2025-10-26T18:27:55.327Z,1761503275.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077533,-0.995112,-0.061170],[0.996604,-0.075651,-0.032508],[0.027722,-0.063482,0.997598]]
2025-10-26T18:27:55.737Z,1761503275.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085809,-0.994130,-0.065892],[0.995917,-0.083726,-0.033751],[0.028036,-0.068519,0.997256]]
2025-10-26T18:27:56.324Z,1761503276.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:27:56.534Z,1761503276.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102449,-0.991855,-0.075686],[0.994623,-0.103300,0.007403],[-0.015161,-0.074521,0.997104]]
2025-10-26T18:27:56.938Z,1761503276.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093487,-0.991105,-0.094721],[0.995008,-0.096342,0.026023],[-0.034917,-0.091815,0.995164]]
2025-10-26T18:27:57.356Z,1761503277.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085281,-0.990964,-0.103529],[0.996306,-0.085866,0.001198],[-0.010077,-0.103045,0.994626]]
2025-10-26T18:27:57.759Z,1761503277.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102348,-0.989011,-0.106684],[0.994563,-0.099667,-0.030183],[0.019219,-0.109194,0.993835]]
2025-10-26T18:27:58.154Z,1761503278.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110513,-0.990343,-0.083715],[0.993688,-0.108469,-0.028598],[0.019241,-0.086348,0.996079]]
2025-10-26T18:27:58.558Z,1761503278.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115824,-0.992231,-0.045410],[0.992971,-0.114547,-0.029804],[0.024371,-0.048543,0.998524]]
2025-10-26T18:27:58.962Z,1761503278.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116662,-0.992958,-0.020592],[0.992629,-0.115888,-0.035473],[0.032837,-0.024578,0.999158]]
2025-10-26T18:27:59.370Z,1761503279.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106381,-0.994164,-0.017916],[0.993714,-0.105667,-0.036981],[0.034872,-0.021737,0.999155]]
2025-10-26T18:27:59.770Z,1761503279.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102021,-0.994207,-0.033836],[0.994114,-0.100647,-0.040092],[0.036454,-0.037727,0.998623]]
2025-10-26T18:28:00.174Z,1761503280.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094991,-0.992967,-0.070660],[0.994359,-0.091280,-0.054015],[0.047185,-0.075392,0.996037]]
2025-10-26T18:28:00.578Z,1761503280.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088845,-0.992012,-0.089553],[0.995020,-0.084316,-0.053159],[0.045183,-0.093830,0.994563]]
2025-10-26T18:28:01.386Z,1761503281.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114964,-0.990168,-0.079693],[0.993345,-0.115150,-0.002266],[-0.006933,-0.079424,0.996817]]
2025-10-26T18:28:01.790Z,1761503281.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124762,-0.989307,-0.075539],[0.992173,-0.123999,-0.014723],[0.005198,-0.076784,0.997034]]
2025-10-26T18:28:02.196Z,1761503282.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124564,-0.988357,-0.087369],[0.991608,-0.120934,-0.045701],[0.034603,-0.092328,0.995127]]
2025-10-26T18:28:02.276Z,1761503282.276 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:28:02.420Z,1761503282.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:28:02.421Z,1761503282.421 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:28:02.598Z,1761503282.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133830,-0.986212,-0.097344],[0.990007,-0.128644,-0.057763],[0.044444,-0.104102,0.993573]]
2025-10-26T18:28:02.672Z,1761503282.672 [DAT](INFO): DAT read: 

2025-10-26T18:28:02.673Z,1761503282.673 [DAT](INFO): DAT read: Tx time:18:28:03.4340

2025-10-26T18:28:02.673Z,1761503282.673 [DAT](INFO): Ping request sent.
2025-10-26T18:28:02.673Z,1761503282.673 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:28:02.673Z,1761503282.673 [DAT](INFO): publishing transmit ping time
2025-10-26T18:28:02.674Z,1761503282.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-26T18:28:02.925Z,1761503282.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251604
2025-10-26T18:28:03.080Z,1761503283.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134613,-0.984927,-0.108615],[0.990856,-0.132791,-0.023877],[0.009094,-0.110836,0.993797]]
2025-10-26T18:28:03.176Z,1761503283.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503058
2025-10-26T18:28:03.428Z,1761503283.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755193
2025-10-26T18:28:03.606Z,1761503283.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114618,-0.988711,-0.096502],[0.993368,-0.114963,-0.002001],[-0.009115,-0.096091,0.995331]]
2025-10-26T18:28:03.680Z,1761503283.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918
2025-10-26T18:28:03.933Z,1761503283.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259217
2025-10-26T18:28:03.990Z,1761503283.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103411,-0.992696,-0.062129],[0.994602,-0.102666,-0.015073],[0.008585,-0.063352,0.997954]]
2025-10-26T18:28:04.189Z,1761503284.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514869
2025-10-26T18:28:04.394Z,1761503284.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104805,-0.994075,-0.028838],[0.994268,-0.104121,-0.024290],[0.021143,-0.031218,0.999289]]
2025-10-26T18:28:04.436Z,1761503284.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763033
2025-10-26T18:28:04.690Z,1761503284.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016244
2025-10-26T18:28:04.941Z,1761503284.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267354
2025-10-26T18:28:05.192Z,1761503285.192 [DAT](INFO): DAT read: Rx Time:18:28:05.5187

2025-10-26T18:28:05.193Z,1761503285.193 [DAT](INFO): Rx dataTimestamp_ set to:1761503285.192627
2025-10-26T18:28:05.193Z,1761503285.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520180
2025-10-26T18:28:05.444Z,1761503285.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771012
2025-10-26T18:28:05.610Z,1761503285.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085919,-0.994551,-0.059053],[0.995653,-0.083573,-0.041109],[0.035950,-0.062329,0.997408]]
2025-10-26T18:28:05.697Z,1761503285.697 [DAT](INFO): DAT read: Bearing 352,  -8 (Remote)

2025-10-26T18:28:05.698Z,1761503285.698 [DAT](INFO): Remote Bearing received:Bearing 352,  -8 (Remote)

2025-10-26T18:28:05.700Z,1761503285.700 [DAT](INFO): DAT read: Range 11 to 20 : 41.6 m  (Round-trip  55.5 ms) speed -0.1 m/s

2025-10-26T18:28:05.701Z,1761503285.701 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T18:28:06.029Z,1761503286.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084980,-0.991094,-0.102519],[0.996383,-0.084539,-0.008653],[-0.000091,-0.102883,0.994693]]
2025-10-26T18:28:06.084Z,1761503286.084 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503232.00. Resetting abort timer.
2025-10-26T18:28:06.440Z,1761503286.440 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T18:28:06.865Z,1761503286.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:28:06.881Z,1761503286.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103863,-0.984628,-0.140428],[0.994543,-0.101421,-0.024456],[0.009837,-0.142201,0.989789]]
2025-10-26T18:28:07.226Z,1761503287.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125001,-0.985180,-0.117455],[0.991846,-0.121122,-0.039637],[0.024824,-0.121452,0.992287]]
2025-10-26T18:28:07.632Z,1761503287.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119361,-0.989486,-0.081666],[0.992851,-0.119012,-0.009149],[-0.000667,-0.082174,0.996618]]
2025-10-26T18:28:08.034Z,1761503288.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102401,-0.992245,-0.070459],[0.994242,-0.104341,0.024418],[-0.031581,-0.067553,0.997216]]
2025-10-26T18:28:08.438Z,1761503288.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114611,-0.991424,-0.062793],[0.991975,-0.117614,0.046403],[-0.053390,-0.056971,0.996947]]
2025-10-26T18:28:08.910Z,1761503288.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127330,-0.990588,-0.050222],[0.991343,-0.128736,0.025800],[-0.032023,-0.046502,0.998405]]
2025-10-26T18:28:09.253Z,1761503289.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132869,-0.989334,-0.059699],[0.990945,-0.131427,-0.027470],[0.019331,-0.062808,0.997838]]
2025-10-26T18:28:09.655Z,1761503289.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141477,-0.984788,-0.100885],[0.989429,-0.137390,-0.046405],[0.031838,-0.106384,0.993815]]
2025-10-26T18:28:10.058Z,1761503290.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148518,-0.981453,-0.121210],[0.988837,-0.145902,-0.030227],[0.011982,-0.124347,0.992167]]
2025-10-26T18:28:10.462Z,1761503290.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147324,-0.982521,-0.113786],[0.989071,-0.147025,-0.011060],[-0.005863,-0.114171,0.993444]]
2025-10-26T18:28:10.898Z,1761503290.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159283,-0.982827,-0.093163],[0.987126,-0.159944,-0.000371],[-0.014536,-0.092022,0.995651]]
2025-10-26T18:28:11.270Z,1761503291.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176348,-0.981733,-0.071430],[0.983850,-0.178058,0.018283],[-0.030667,-0.067053,0.997278]]
2025-10-26T18:28:11.674Z,1761503291.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169331,-0.984347,-0.048869],[0.984611,-0.171134,0.035409],[-0.043217,-0.042121,0.998177]]
2025-10-26T18:28:12.080Z,1761503292.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175416,-0.983473,-0.044825],[0.984387,-0.175886,0.006739],[-0.014511,-0.042943,0.998972]]
2025-10-26T18:28:12.482Z,1761503292.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195203,-0.979131,-0.056548],[0.980682,-0.194121,-0.024081],[0.012601,-0.060156,0.998109]]
2025-10-26T18:28:12.899Z,1761503292.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191258,-0.979321,-0.065964],[0.981058,-0.188628,-0.044090],[0.030736,-0.073147,0.996847]]
2025-10-26T18:28:13.290Z,1761503293.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184576,-0.980403,-0.068864],[0.981954,-0.181023,-0.054745],[0.041206,-0.077726,0.996123]]
2025-10-26T18:28:13.697Z,1761503293.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178302,-0.983035,-0.043015],[0.983288,-0.176373,-0.045129],[0.036777,-0.050343,0.998055]]
2025-10-26T18:28:14.098Z,1761503294.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165408,-0.986148,-0.012327],[0.985825,-0.164972,-0.030535],[0.028079,-0.017203,0.999458]]
2025-10-26T18:28:14.502Z,1761503294.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168394,-0.985644,-0.012240],[0.985714,-0.168338,-0.005468],[0.003329,-0.012986,0.999910]]
2025-10-26T18:28:14.912Z,1761503294.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176688,-0.983481,-0.039337],[0.984198,-0.177008,0.004792],[-0.011676,-0.037869,0.999214]]
2025-10-26T18:28:15.326Z,1761503295.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176156,-0.979596,-0.096749],[0.984278,-0.176576,-0.004273],[-0.012898,-0.095980,0.995300]]
2025-10-26T18:28:15.729Z,1761503295.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177266,-0.974701,-0.136146],[0.983957,-0.178355,-0.004256],[-0.020134,-0.134716,0.990680]]
2025-10-26T18:28:16.516Z,1761503296.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:28:16.528Z,1761503296.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193198,-0.980784,-0.027153],[0.980205,-0.194157,0.038749],[-0.043276,-0.019129,0.998880]]
2025-10-26T18:28:16.939Z,1761503296.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204422,-0.978571,0.024728],[0.978008,-0.203106,0.047419],[-0.041380,0.033877,0.998569]]
2025-10-26T18:28:17.338Z,1761503297.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209270,-0.977845,0.005113],[0.976714,-0.208769,0.049450],[-0.047287,0.015342,0.998764]]
2025-10-26T18:28:17.741Z,1761503297.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199950,-0.978284,-0.054586],[0.977130,-0.203209,0.062632],[-0.072364,-0.040815,0.996543]]
2025-10-26T18:28:18.141Z,1761503298.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197492,-0.972550,-0.123057],[0.975399,-0.207491,0.074458],[-0.097947,-0.105325,0.989603]]
2025-10-26T18:28:18.561Z,1761503298.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196679,-0.968058,-0.155506],[0.974155,-0.210908,0.080865],[-0.111080,-0.135582,0.984520]]
2025-10-26T18:28:18.950Z,1761503298.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185487,-0.972568,-0.140375],[0.977054,-0.197760,0.079102],[-0.104693,-0.122481,0.986933]]
2025-10-26T18:28:19.352Z,1761503299.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184394,-0.979378,-0.082568],[0.977689,-0.191377,0.086598],[-0.100613,-0.064757,0.992816]]
2025-10-26T18:28:19.754Z,1761503299.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186702,-0.982045,-0.027022],[0.977464,-0.188449,0.095137],[-0.098521,-0.008651,0.995097]]
2025-10-26T18:28:20.158Z,1761503300.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191885,-0.981382,-0.008389],[0.976956,-0.191820,0.093608],[-0.093474,0.009766,0.995574]]
2025-10-26T18:28:20.562Z,1761503300.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192344,-0.980835,-0.031096],[0.975400,-0.194563,0.103631],[-0.107695,-0.010398,0.994130]]
2025-10-26T18:28:20.966Z,1761503300.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193302,-0.978534,-0.071460],[0.974526,-0.199931,0.101620],[-0.113726,-0.049996,0.992253]]
2025-10-26T18:28:21.394Z,1761503301.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202036,-0.973590,-0.106324],[0.973905,-0.211181,0.083142],[-0.103400,-0.086752,0.990849]]
2025-10-26T18:28:21.787Z,1761503301.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211613,-0.968769,-0.129255],[0.970829,-0.223610,0.086543],[-0.112743,-0.107171,0.987828]]
2025-10-26T18:28:22.191Z,1761503302.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212440,-0.968833,-0.127402],[0.968376,-0.226187,0.105296],[-0.130831,-0.101004,0.986246]]
2025-10-26T18:28:22.600Z,1761503302.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202148,-0.973352,-0.108271],[0.968819,-0.214920,0.123284],[-0.143268,-0.079973,0.986447]]
2025-10-26T18:28:22.999Z,1761503302.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198256,-0.976175,-0.088182],[0.969456,-0.208551,0.129077],[-0.144392,-0.059898,0.987706]]
2025-10-26T18:28:23.402Z,1761503303.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209460,-0.975779,-0.063108],[0.968331,-0.215964,0.125275],[-0.135870,-0.034869,0.990113]]
2025-10-26T18:28:23.813Z,1761503303.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215868,-0.975448,-0.043607],[0.967109,-0.219749,0.128105],[-0.134542,-0.014519,0.990802]]
2025-10-26T18:28:24.211Z,1761503304.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225422,-0.973084,-0.047884],[0.963904,-0.229904,0.134288],[-0.141682,-0.015884,0.989785]]
2025-10-26T18:28:24.620Z,1761503304.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243860,-0.967785,-0.062654],[0.959028,-0.250252,0.132811],[-0.144211,-0.027700,0.989159]]
2025-10-26T18:28:25.018Z,1761503305.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247477,-0.965463,-0.081467],[0.955431,-0.257142,0.145015],[-0.160955,-0.041948,0.986070]]
2025-10-26T18:28:25.422Z,1761503305.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235089,-0.966677,-0.101332],[0.953183,-0.249688,0.170584],[-0.190201,-0.056486,0.980119]]
2025-10-26T18:28:25.827Z,1761503305.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221913,-0.969105,-0.107653],[0.955360,-0.238184,0.174801],[-0.195042,-0.064056,0.978701]]
2025-10-26T18:28:26.231Z,1761503306.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220695,-0.972420,-0.075450],[0.961944,-0.229790,0.147854],[-0.161114,-0.039948,0.986127]]
2025-10-26T18:28:26.236Z,1761503306.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:28:26.635Z,1761503306.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228896,-0.972666,-0.039088],[0.966715,-0.231844,0.108215],[-0.114319,-0.013017,0.993359]]
2025-10-26T18:28:27.038Z,1761503307.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250564,-0.967000,-0.046143],[0.965013,-0.253285,0.067799],[-0.077249,-0.027540,0.996631]]
2025-10-26T18:28:27.442Z,1761503307.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263987,-0.959147,-0.101726],[0.961539,-0.269996,0.050447],[-0.075852,-0.084497,0.993532]]
2025-10-26T18:28:27.848Z,1761503307.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254814,-0.955090,-0.151238],[0.958810,-0.269849,0.088679],[-0.125508,-0.122412,0.984512]]
2025-10-26T18:28:28.251Z,1761503308.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234697,-0.959058,-0.158510],[0.955535,-0.257565,0.143575],[-0.178524,-0.117765,0.976863]]
2025-10-26T18:28:28.447Z,1761503308.447 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application.
2025-10-26T18:28:28.654Z,1761503308.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211079,-0.973050,-0.092838],[0.959620,-0.224356,0.169688],[-0.185944,-0.053272,0.981115]]
2025-10-26T18:28:29.059Z,1761503309.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213329,-0.976831,-0.017096],[0.966189,-0.213534,0.144506],[-0.144808,0.014309,0.989356]]
2025-10-26T18:28:29.462Z,1761503309.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226442,-0.974016,0.004035],[0.969550,-0.225003,0.096681],[-0.093261,0.025805,0.995307]]
2025-10-26T18:28:29.867Z,1761503309.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236269,-0.970669,-0.044489],[0.969829,-0.238400,0.050965],[-0.060076,-0.031106,0.997709]]
2025-10-26T18:28:30.270Z,1761503310.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242668,-0.963279,-0.114918],[0.968919,-0.246530,0.020462],[-0.048042,-0.106381,0.993164]]
2025-10-26T18:28:30.674Z,1761503310.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232999,-0.962403,-0.139614],[0.971550,-0.236631,0.009772],[-0.042442,-0.133365,0.990158]]
2025-10-26T18:28:31.078Z,1761503311.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226139,-0.968933,-0.100149],[0.973656,-0.227925,0.006614],[-0.029235,-0.096016,0.994950]]
2025-10-26T18:28:31.280Z,1761503311.280 [BackseatComponent](INFO): Created data reader for DAT.enableBroadcast with code: 1725
2025-10-26T18:28:31.281Z,1761503311.281 [BackseatComponent](INFO): Requesting data from DAT.enableBroadcast (1725). Requested size is: 1
2025-10-26T18:28:31.287Z,1761503311.287 [BackseatComponent](INFO): Created data reader for NAL9602.latitude_fix with code: 1803
2025-10-26T18:28:31.287Z,1761503311.287 [BackseatComponent](INFO): Requesting data from NAL9602.latitude_fix (1803). Requested size is: 2
2025-10-26T18:28:31.300Z,1761503311.300 [BackseatComponent](INFO): Created data reader for NAL9602.longitude_fix with code: 1804
2025-10-26T18:28:31.300Z,1761503311.300 [BackseatComponent](INFO): Requesting data from NAL9602.longitude_fix (1804). Requested size is: 3
2025-10-26T18:28:31.305Z,1761503311.305 [BackseatComponent](INFO): Created data reader for WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water with code: 1959
2025-10-26T18:28:31.306Z,1761503311.306 [BackseatComponent](INFO): Requesting data from WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water (1959). Requested size is: 4
2025-10-26T18:28:31.309Z,1761503311.309 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:28:31.309Z,1761503311.309 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:28:31.312Z,1761503311.312 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-10-26T18:28:31.312Z,1761503311.312 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 5
2025-10-26T18:28:31.341Z,1761503311.341 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-10-26T18:28:31.341Z,1761503311.341 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 6
2025-10-26T18:28:31.354Z,1761503311.354 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-10-26T18:28:31.354Z,1761503311.354 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 7
2025-10-26T18:28:31.441Z,1761503311.441 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message.
2025-10-26T18:28:31.442Z,1761503311.442 [DAT](INFO): Activating messaging.
2025-10-26T18:28:31.483Z,1761503311.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218811,-0.975203,-0.033186],[0.975587,-0.219298,0.011768],[-0.018754,-0.029801,0.999380]]
2025-10-26T18:28:31.593Z,1761503311.593 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2115
2025-10-26T18:28:31.595Z,1761503311.595 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2117
2025-10-26T18:28:31.601Z,1761503311.601 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2114
2025-10-26T18:28:31.886Z,1761503311.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208137,-0.977837,0.022644],[0.978022,-0.207773,0.017410],[-0.012319,0.025770,0.999592]]
2025-10-26T18:28:31.926Z,1761503311.926 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:28:31.926Z,1761503311.926 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:28:31.927Z,1761503311.927 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:28:31.927Z,1761503311.927 [marl:UpdateRudder:A] Stopped
2025-10-26T18:28:31.927Z,1761503311.927 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:28:31.928Z,1761503311.928 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:28:31.928Z,1761503311.928 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:28:31.928Z,1761503311.928 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:28:31.928Z,1761503311.928 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:28:31.928Z,1761503311.928 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:28:31.928Z,1761503311.928 [marl:UpdateCommandMode] Stopped
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed] Stopped
2025-10-26T18:28:31.929Z,1761503311.929 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:28:32.298Z,1761503312.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205489,-0.978554,0.014337],[0.978655,-0.205424,0.005922],[-0.002850,0.015248,0.999880]]
2025-10-26T18:28:32.342Z,1761503312.342 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-26T18:28:32.342Z,1761503312.342 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::initialize marl:JoystickControl:CmdRudder
2025-10-26T18:28:32.342Z,1761503312.342 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-26T18:28:32.342Z,1761503312.342 [marl:JoystickControl:CmdRudder] Running Loop=1
2025-10-26T18:28:32.342Z,1761503312.342 [marl:JoystickControl:CmdRudder:A.Point] Running Loop=1
2025-10-26T18:28:32.342Z,1761503312.342 [marl:JoystickControl:CmdHeading] Stopped
2025-10-26T18:28:32.343Z,1761503312.343 [marl:JoystickControl:CmdHeading](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdHeading
2025-10-26T18:28:32.343Z,1761503312.343 [marl:JoystickControl:CmdHeading:A.Point] Stopped
2025-10-26T18:28:32.352Z,1761503312.352 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-26T18:28:32.352Z,1761503312.352 [marl:UpdateRudder:B] Stopped
2025-10-26T18:28:32.352Z,1761503312.352 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:28:32.352Z,1761503312.352 [marl:UpdateRudder] Stopped
2025-10-26T18:28:32.352Z,1761503312.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:28:32.354Z,1761503312.354 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:28:32.448Z,1761503312.448 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:28:32.448Z,1761503312.448 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:28:32.696Z,1761503312.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199190,-0.979452,-0.031588],[0.979945,-0.198896,-0.012209],[0.005676,-0.033387,0.999426]]
2025-10-26T18:28:32.701Z,1761503312.701 [DAT](INFO): DAT read: user:10>

2025-10-26T18:28:32.702Z,1761503312.702 [DAT](INFO): DAT read: Tx time:18:28:33.4339

2025-10-26T18:28:32.702Z,1761503312.702 [DAT](INFO): Ping request sent.
2025-10-26T18:28:32.702Z,1761503312.702 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:28:32.703Z,1761503312.703 [DAT](INFO): publishing transmit ping time
2025-10-26T18:28:32.704Z,1761503312.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001303
2025-10-26T18:28:32.710Z,1761503312.710 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182832.00,A,3646.49714,N,12151.89772,W,2.158,248.41,261025,,,D*71
2025-10-26T18:28:32.713Z,1761503312.713 [NAL9602](INFO): GPS fix at 20251026T182832: (36.774952, -121.864962)
2025-10-26T18:28:32.778Z,1761503312.778 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761503360.00. Resetting abort timer.
2025-10-26T18:28:32.953Z,1761503312.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250556
2025-10-26T18:28:33.098Z,1761503313.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190161,-0.978701,-0.077349],[0.981670,-0.188531,-0.027929],[0.012751,-0.081242,0.996613]]
2025-10-26T18:28:33.205Z,1761503313.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502106
2025-10-26T18:28:33.456Z,1761503313.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753920
2025-10-26T18:28:33.506Z,1761503313.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184383,-0.980256,-0.071426],[0.982793,-0.183071,-0.024558],[0.010997,-0.074725,0.997144]]
2025-10-26T18:28:33.709Z,1761503313.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006269
2025-10-26T18:28:33.906Z,1761503313.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178638,-0.982814,-0.046532],[0.983912,-0.178557,-0.005937],[-0.002474,-0.046844,0.998899]]
2025-10-26T18:28:33.960Z,1761503313.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257995
2025-10-26T18:28:34.212Z,1761503314.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509889
2025-10-26T18:28:34.311Z,1761503314.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175498,-0.984039,-0.029444],[0.984370,-0.175847,0.009709],[-0.014732,-0.027280,0.999519]]
2025-10-26T18:28:34.464Z,1761503314.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761963
2025-10-26T18:28:34.717Z,1761503314.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014356
2025-10-26T18:28:34.723Z,1761503314.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175606,-0.983512,-0.043194],[0.984258,-0.176290,0.012544],[-0.019952,-0.040311,0.998988]]
2025-10-26T18:28:34.968Z,1761503314.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266058
2025-10-26T18:28:35.122Z,1761503315.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174077,-0.982362,-0.068278],[0.984626,-0.174657,0.002584],[-0.014463,-0.066779,0.997663]]
2025-10-26T18:28:35.224Z,1761503315.224 [DAT](INFO): DAT read: Rx Time:18:28:35.5173

2025-10-26T18:28:35.225Z,1761503315.225 [DAT](INFO): Rx dataTimestamp_ set to:1761503315.224652
2025-10-26T18:28:35.225Z,1761503315.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523097
2025-10-26T18:28:35.476Z,1761503315.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773986
2025-10-26T18:28:35.522Z,1761503315.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168022,-0.983629,-0.065128],[0.985736,-0.166999,-0.020880],[0.009662,-0.067708,0.997658]]
2025-10-26T18:28:35.735Z,1761503315.735 [DAT](INFO): DAT read: 18:28:35.5173 LVL= 19376, 21713, 12978, 18483, AGC= 48, IDX= 408, 0.30, 0.914, 1.616,-3.005, 1.909, PHS=-0.893,-0.248, 1.324, RAW= 226.4,  -1.9, CAL= 223.9,  -2.6, ROT= 286.1,   2.6

2025-10-26T18:28:35.736Z,1761503315.736 [DAT](INFO): got valid direction response:
 18:28:35.5173 LVL= 19376, 21713, 12978, 18483, AGC= 48, IDX= 408, 0.30, 0.914, 1.616,-3.005, 1.909, PHS=-0.893,-0.248, 1.324, RAW= 226.4,  -1.9, CAL= 223.9,  -2.6, ROT= 286.1,   2.6

2025-10-26T18:28:35.737Z,1761503315.737 [DAT](INFO): DAT read: Bearing  16, -12 (Remote)

2025-10-26T18:28:35.738Z,1761503315.738 [DAT](INFO): Remote Bearing received:Bearing  16, -12 (Remote)

2025-10-26T18:28:35.738Z,1761503315.738 [DAT](INFO): DAT read: Bearing 227.4, -72.8 (Local)

2025-10-26T18:28:35.739Z,1761503315.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.4, -72.8 (Local)

2025-10-26T18:28:35.748Z,1761503315.748 [DAT](INFO): DAT read: Range 11 to 20 : 40.6 m  (Round-trip  54.2 ms) speed  0.0 m/s

2025-10-26T18:28:35.749Z,1761503315.749 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:28:35.750Z,1761503315.750 [DAT](INFO): direction in FSK: [0.277029,-0.959790,-0.045363]
2025-10-26T18:28:35.751Z,1761503315.751 [DAT](INFO): publishing direction and range info
2025-10-26T18:28:35.926Z,1761503315.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168254,-0.984621,-0.047036],[0.984929,-0.165984,-0.048613],[0.040058,-0.054506,0.997710]]
2025-10-26T18:28:36.001Z,1761503316.001 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503360.00. Resetting abort timer.
2025-10-26T18:28:36.766Z,1761503316.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164134,-0.986293,-0.016889],[0.985731,-0.163345,-0.040645],[0.037329,-0.023319,0.999031]]
2025-10-26T18:28:37.138Z,1761503317.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157321,-0.987233,-0.024911],[0.987103,-0.156444,-0.033951],[0.029621,-0.029931,0.999113]]
2025-10-26T18:28:37.542Z,1761503317.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164524,-0.984823,-0.055281],[0.986293,-0.163540,-0.021901],[0.012528,-0.058126,0.998231]]
2025-10-26T18:28:37.947Z,1761503317.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174745,-0.980883,-0.085630],[0.984369,-0.175978,0.007007],[-0.021942,-0.083067,0.996302]]
2025-10-26T18:28:38.351Z,1761503318.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184561,-0.977011,-0.106705],[0.981371,-0.189095,0.033979],[-0.053375,-0.098446,0.993710]]
2025-10-26T18:28:38.755Z,1761503318.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188578,-0.976489,-0.104442],[0.979763,-0.194337,0.047937],[-0.067107,-0.093289,0.993375]]
2025-10-26T18:28:39.158Z,1761503319.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181816,-0.980829,-0.070123],[0.981354,-0.185510,0.050302],[-0.062346,-0.059670,0.996269]]
2025-10-26T18:28:39.563Z,1761503319.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173239,-0.984550,-0.025488],[0.984254,-0.173994,0.031165],[-0.035118,-0.019688,0.999189]]
2025-10-26T18:28:39.967Z,1761503319.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172922,-0.984870,-0.011392],[0.984932,-0.172943,0.000873],[-0.002830,-0.011070,0.999935]]
2025-10-26T18:28:40.370Z,1761503320.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179640,-0.982986,-0.038305],[0.983614,-0.178879,-0.022479],[0.015244,-0.041716,0.999013]]
2025-10-26T18:28:40.782Z,1761503320.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178493,-0.981907,-0.063233],[0.983309,-0.175705,-0.047243],[0.035277,-0.070610,0.996880]]
2025-10-26T18:28:41.182Z,1761503321.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171658,-0.982940,-0.066051],[0.983624,-0.167268,-0.067119],[0.054926,-0.076490,0.995556]]
2025-10-26T18:28:41.592Z,1761503321.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167951,-0.984945,-0.040944],[0.983182,-0.164339,-0.079655],[0.071727,-0.053634,0.995981]]
2025-10-26T18:28:41.990Z,1761503321.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162772,-0.986663,0.001160],[0.982064,-0.162126,-0.096258],[0.095162,-0.014528,0.995356]]
2025-10-26T18:28:42.026Z,1761503322.026 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:28:42.026Z,1761503322.026 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:28:42.026Z,1761503322.026 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:28:42.026Z,1761503322.026 [marl:UpdateRudder:A] Stopped
2025-10-26T18:28:42.026Z,1761503322.026 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:28:42.026Z,1761503322.026 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:28:42.027Z,1761503322.027 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:28:42.027Z,1761503322.027 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:28:42.027Z,1761503322.027 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:28:42.027Z,1761503322.027 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:28:42.028Z,1761503322.028 [marl:UpdateCommandMode] Stopped
2025-10-26T18:28:42.028Z,1761503322.028 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:28:42.028Z,1761503322.028 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:28:42.028Z,1761503322.028 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:28:42.028Z,1761503322.028 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:28:42.029Z,1761503322.029 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:28:42.029Z,1761503322.029 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:28:42.029Z,1761503322.029 [marl:UpdateSpeed] Stopped
2025-10-26T18:28:42.029Z,1761503322.029 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:28:42.394Z,1761503322.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165414,-0.986162,0.011096],[0.979254,-0.165569,-0.116825],[0.117046,-0.008459,0.993090]]
2025-10-26T18:28:42.444Z,1761503322.444 [marl:UpdateRudder:B](INFO): Updating rudder angle  0.000000 arcdeg 
2025-10-26T18:28:42.444Z,1761503322.444 [marl:UpdateRudder:B] Stopped
2025-10-26T18:28:42.445Z,1761503322.445 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:28:42.445Z,1761503322.445 [marl:UpdateRudder] Stopped
2025-10-26T18:28:42.445Z,1761503322.445 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:28:42.862Z,1761503322.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168983,-0.985455,-0.017957],[0.978172,-0.165444,-0.125729],[0.120929,-0.038811,0.991902]]
2025-10-26T18:28:42.917Z,1761503322.917 [marl:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.send_observations with code: 2100
2025-10-26T18:28:43.202Z,1761503323.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164620,-0.984109,-0.066551],[0.980330,-0.155794,-0.121166],[0.108873,-0.085188,0.990399]]
2025-10-26T18:28:43.609Z,1761503323.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152847,-0.984028,-0.091247],[0.984847,-0.144014,-0.096622],[0.081938,-0.104633,0.991130]]
2025-10-26T18:28:44.010Z,1761503324.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139821,-0.986725,-0.082610],[0.989111,-0.135314,-0.057870],[0.045923,-0.089802,0.994900]]
2025-10-26T18:28:44.415Z,1761503324.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135647,-0.989419,-0.051473],[0.990626,-0.134599,-0.023319],[0.016144,-0.054154,0.998402]]
2025-10-26T18:28:44.837Z,1761503324.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145673,-0.989252,-0.012626],[0.989333,-0.145660,-0.001947],[0.000087,-0.012775,0.999918]]
2025-10-26T18:28:45.222Z,1761503325.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155937,-0.987767,0.000406],[0.987704,-0.155922,0.011399],[-0.011196,0.002179,0.999935]]
2025-10-26T18:28:45.629Z,1761503325.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156488,-0.987521,-0.017699],[0.987646,-0.156606,0.005467],[-0.008170,-0.016625,0.999828]]
2025-10-26T18:28:46.032Z,1761503326.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154579,-0.987069,-0.042425],[0.987735,-0.153441,-0.028910],[0.022026,-0.046374,0.998681]]
2025-10-26T18:28:46.873Z,1761503326.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160668,-0.984337,-0.072575],[0.984182,-0.154213,-0.087204],[0.074646,-0.085438,0.993543]]
2025-10-26T18:28:47.242Z,1761503327.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165603,-0.984201,-0.062637],[0.983387,-0.160011,-0.085706],[0.074329,-0.075789,0.994350]]
2025-10-26T18:28:47.654Z,1761503327.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164751,-0.984464,-0.060727],[0.984216,-0.160052,-0.075510],[0.064617,-0.072209,0.995294]]
2025-10-26T18:28:48.050Z,1761503328.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158433,-0.985483,-0.061004],[0.985601,-0.154151,-0.069490],[0.059078,-0.071136,0.995716]]
2025-10-26T18:28:48.454Z,1761503328.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149765,-0.987444,-0.050238],[0.987125,-0.146443,-0.064339],[0.056175,-0.059227,0.996663]]
2025-10-26T18:28:48.890Z,1761503328.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142126,-0.989256,-0.034247],[0.988966,-0.140454,-0.047096],[0.041780,-0.040563,0.998303]]
2025-10-26T18:28:49.274Z,1761503329.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143167,-0.989366,-0.025658],[0.989607,-0.142754,-0.017282],[0.013436,-0.027866,0.999521]]
2025-10-26T18:28:49.670Z,1761503329.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146576,-0.988705,-0.031277],[0.989059,-0.147015,0.012224],[-0.016684,-0.029143,0.999436]]
2025-10-26T18:28:50.074Z,1761503330.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143756,-0.988768,-0.040890],[0.989127,-0.144858,0.025387],[-0.031025,-0.036796,0.998841]]
2025-10-26T18:28:50.478Z,1761503330.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139700,-0.989086,-0.046834],[0.989801,-0.140820,0.021531],[-0.027891,-0.043349,0.998671]]
2025-10-26T18:28:50.897Z,1761503330.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143011,-0.988461,-0.049933],[0.989532,-0.143787,0.012287],[-0.019325,-0.047653,0.998677]]
2025-10-26T18:28:51.286Z,1761503331.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152879,-0.986813,-0.053188],[0.988102,-0.153550,0.008740],[-0.016792,-0.051219,0.998546]]
2025-10-26T18:28:51.690Z,1761503331.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164125,-0.985001,-0.053263],[0.986153,-0.165140,0.015226],[-0.023793,-0.050026,0.998464]]
2025-10-26T18:28:52.095Z,1761503332.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170134,-0.983984,-0.053193],[0.984429,-0.172136,0.035623],[-0.044209,-0.046304,0.997949]]
2025-10-26T18:28:52.498Z,1761503332.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167652,-0.984386,-0.053631],[0.983972,-0.170438,0.052432],[-0.060754,-0.043981,0.997183]]
2025-10-26T18:28:52.903Z,1761503332.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168331,-0.984508,-0.049078],[0.984665,-0.170255,0.038046],[-0.045812,-0.041921,0.998070]]
2025-10-26T18:28:53.306Z,1761503333.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173112,-0.983646,-0.049730],[0.984869,-0.173298,-0.000577],[-0.008051,-0.049077,0.998763]]
2025-10-26T18:28:53.726Z,1761503333.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166508,-0.984296,-0.058624],[0.985723,-0.164653,-0.035195],[0.024990,-0.063647,0.997660]]
2025-10-26T18:28:54.114Z,1761503334.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158469,-0.984403,-0.076413],[0.986892,-0.155525,-0.043092],[0.030536,-0.082240,0.996145]]
2025-10-26T18:28:54.170Z,1761503334.170 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:28:54.171Z,1761503334.171 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:28:54.171Z,1761503334.171 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:28:54.171Z,1761503334.171 [marl:UpdateRudder:A] Stopped
2025-10-26T18:28:54.171Z,1761503334.171 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:28:54.191Z,1761503334.191 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:28:54.195Z,1761503334.195 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:28:54.196Z,1761503334.195 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateCommandMode] Stopped
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:28:54.196Z,1761503334.196 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:28:54.197Z,1761503334.197 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:28:54.197Z,1761503334.197 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:28:54.197Z,1761503334.197 [marl:UpdateSpeed] Stopped
2025-10-26T18:28:54.197Z,1761503334.197 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:28:54.518Z,1761503334.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156311,-0.983496,-0.091114],[0.987703,-0.155920,-0.011440],[-0.002955,-0.091782,0.995775]]
2025-10-26T18:28:54.572Z,1761503334.572 [marl:UpdateRudder:B](INFO): Updating rudder angle  1.000000 arcdeg 
2025-10-26T18:28:54.572Z,1761503334.572 [marl:UpdateRudder:B] Stopped
2025-10-26T18:28:54.572Z,1761503334.572 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:28:54.572Z,1761503334.572 [marl:UpdateRudder] Stopped
2025-10-26T18:28:54.572Z,1761503334.572 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:28:54.922Z,1761503334.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157623,-0.984250,-0.080042],[0.986730,-0.160180,0.026563],[-0.038965,-0.074793,0.996438]]
2025-10-26T18:28:55.328Z,1761503335.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160932,-0.985973,-0.044256],[0.985692,-0.162840,0.043534],[-0.050130,-0.036617,0.998071]]
2025-10-26T18:28:55.751Z,1761503335.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171214,-0.985156,-0.012428],[0.983858,-0.171628,0.050677],[-0.052057,-0.003551,0.998638]]
2025-10-26T18:28:56.134Z,1761503336.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179892,-0.983682,-0.002983],[0.981779,-0.179731,0.061695],[-0.061224,0.008170,0.998091]]
2025-10-26T18:28:56.356Z,1761503336.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:28:56.943Z,1761503336.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185600,-0.978927,-0.085175],[0.981951,-0.187985,0.020830],[-0.036403,-0.079772,0.996148]]
2025-10-26T18:28:57.346Z,1761503337.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176643,-0.974959,-0.135099],[0.984226,-0.176326,-0.014404],[-0.009779,-0.135513,0.990727]]
2025-10-26T18:28:57.360Z,1761503337.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:28:57.760Z,1761503337.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168341,-0.975953,-0.138484],[0.985641,-0.164780,-0.036874],[0.013168,-0.142703,0.989678]]
2025-10-26T18:28:58.158Z,1761503338.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180884,-0.979627,-0.087245],[0.983388,-0.178786,-0.031356],[0.015119,-0.091468,0.995693]]
2025-10-26T18:28:58.564Z,1761503338.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183929,-0.982890,-0.009876],[0.982911,-0.183991,0.005810],[-0.007527,-0.008638,0.999934]]
2025-10-26T18:28:58.970Z,1761503338.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178071,-0.983036,0.043941],[0.983814,-0.176947,0.028288],[-0.020033,0.048267,0.998634]]
2025-10-26T18:28:59.377Z,1761503339.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166010,-0.986028,-0.013734],[0.986107,-0.166072,0.003555],[-0.005787,-0.012953,0.999899]]
2025-10-26T18:28:59.781Z,1761503339.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153046,-0.986484,-0.058536],[0.988174,-0.152205,-0.018582],[0.009421,-0.060687,0.998112]]
2025-10-26T18:29:00.185Z,1761503340.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147384,-0.985501,-0.084059],[0.988940,-0.145405,-0.029228],[0.016582,-0.087437,0.996032]]
2025-10-26T18:29:00.586Z,1761503340.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151429,-0.984121,-0.092600],[0.988466,-0.150964,-0.012053],[-0.002118,-0.093357,0.995630]]
2025-10-26T18:29:00.987Z,1761503340.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159864,-0.983396,-0.085882],[0.986931,-0.161009,0.006531],[-0.020251,-0.083716,0.996284]]
2025-10-26T18:29:01.390Z,1761503341.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162615,-0.984844,-0.060314],[0.986588,-0.163170,0.004366],[-0.014141,-0.058795,0.998170]]
2025-10-26T18:29:01.809Z,1761503341.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155463,-0.987409,-0.029230],[0.987839,-0.155469,-0.002068],[-0.002502,-0.029196,0.999571]]
2025-10-26T18:29:02.198Z,1761503342.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146206,-0.989218,-0.008510],[0.989237,-0.146147,-0.007133],[0.005812,-0.009462,0.999938]]
2025-10-26T18:29:02.602Z,1761503342.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135931,-0.990708,-0.004477],[0.990626,-0.135855,-0.014256],[0.013516,-0.006373,0.999888]]
2025-10-26T18:29:02.650Z,1761503342.650 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:29:02.704Z,1761503342.704 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:29:02.705Z,1761503342.705 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:29:02.956Z,1761503342.956 [DAT](INFO): DAT read: user:11>

2025-10-26T18:29:02.957Z,1761503342.957 [DAT](INFO): DAT read: Tx time:18:29:03.6838

2025-10-26T18:29:02.957Z,1761503342.957 [DAT](INFO): Ping request sent.
2025-10-26T18:29:02.957Z,1761503342.957 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:29:02.958Z,1761503342.958 [DAT](INFO): publishing transmit ping time
2025-10-26T18:29:02.958Z,1761503342.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-10-26T18:29:03.006Z,1761503343.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137285,-0.989894,-0.035546],[0.990471,-0.136789,-0.016027],[0.011003,-0.037407,0.999240]]
2025-10-26T18:29:03.209Z,1761503343.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251522
2025-10-26T18:29:03.412Z,1761503343.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147495,-0.986494,-0.071232],[0.989039,-0.146615,-0.017465],[0.006786,-0.073028,0.997307]]
2025-10-26T18:29:03.476Z,1761503343.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519016
2025-10-26T18:29:03.729Z,1761503343.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.771422
2025-10-26T18:29:03.814Z,1761503343.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147834,-0.985748,-0.080287],[0.988830,-0.145761,-0.031135],[0.018988,-0.083993,0.996285]]
2025-10-26T18:29:03.981Z,1761503343.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023291
2025-10-26T18:29:04.219Z,1761503344.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148078,-0.985661,-0.080904],[0.988294,-0.144443,-0.049101],[0.036711,-0.087227,0.995512]]
2025-10-26T18:29:04.233Z,1761503344.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.275762
2025-10-26T18:29:04.484Z,1761503344.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526899
2025-10-26T18:29:04.622Z,1761503344.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153896,-0.984971,-0.078415],[0.987241,-0.149995,-0.053451],[0.040886,-0.085640,0.995487]]
2025-10-26T18:29:04.737Z,1761503344.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779596
2025-10-26T18:29:04.988Z,1761503344.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030981
2025-10-26T18:29:05.033Z,1761503345.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161151,-0.984989,-0.061856],[0.986394,-0.158682,-0.042977],[0.032516,-0.067941,0.997159]]
2025-10-26T18:29:05.241Z,1761503345.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283595
2025-10-26T18:29:05.430Z,1761503345.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160458,-0.986164,-0.041634],[0.986954,-0.159735,-0.020171],[0.013241,-0.044327,0.998929]]
2025-10-26T18:29:05.493Z,1761503345.493 [DAT](INFO): DAT read: Rx Time:18:29:05.7693

2025-10-26T18:29:05.494Z,1761503345.494 [DAT](INFO): Rx dataTimestamp_ set to:1761503345.493262
2025-10-26T18:29:05.494Z,1761503345.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.536679
2025-10-26T18:29:05.745Z,1761503345.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787253
2025-10-26T18:29:05.834Z,1761503345.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153912,-0.987630,-0.029982],[0.988062,-0.154044,0.002130],[-0.006723,-0.029296,0.999548]]
2025-10-26T18:29:06.002Z,1761503346.002 [DAT](INFO): DAT read: 18:29:05.7693 LVL= 32208, 32481, 20914, 32755, AGC= 60, IDX= 461, 0.08, 0.532,-0.374, 1.928, 0.947, PHS=-0.313,-1.276, 0.938, RAW= 184.3,   6.8, CAL= 184.2,   6.4, ROT= 325.8,  -6.4

2025-10-26T18:29:06.003Z,1761503346.003 [DAT](INFO): got valid direction response:
 18:29:05.7693 LVL= 32208, 32481, 20914, 32755, AGC= 60, IDX= 461, 0.08, 0.532,-0.374, 1.928, 0.947, PHS=-0.313,-1.276, 0.938, RAW= 184.3,   6.8, CAL= 184.2,   6.4, ROT= 325.8,  -6.4

2025-10-26T18:29:06.004Z,1761503346.004 [DAT](INFO): DAT read: Bearing  39, -10 (Remote)

2025-10-26T18:29:06.004Z,1761503346.004 [DAT](INFO): Remote Bearing received:Bearing  39, -10 (Remote)

2025-10-26T18:29:06.005Z,1761503346.005 [DAT](INFO): DAT read: Bearing 252.3, -32.3 (Local)

2025-10-26T18:29:06.005Z,1761503346.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.3, -32.3 (Local)

2025-10-26T18:29:06.007Z,1761503346.007 [DAT](INFO): DAT read: Range 11 to 20 : 42.2 m  (Round-trip  56.3 ms) speed  0.2 m/s

2025-10-26T18:29:06.008Z,1761503346.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:29:06.009Z,1761503346.009 [DAT](INFO): direction in FSK: [0.821926,-0.558580,0.111469]
2025-10-26T18:29:06.009Z,1761503346.009 [DAT](INFO): publishing direction and range info
2025-10-26T18:29:06.305Z,1761503346.305 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503360.00. Resetting abort timer.
2025-10-26T18:29:06.642Z,1761503346.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149720,-0.988448,-0.023539],[0.988464,-0.149087,-0.026697],[0.022879,-0.027264,0.999366]]
2025-10-26T18:29:07.046Z,1761503347.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146646,-0.988627,-0.033331],[0.988438,-0.145139,-0.043864],[0.038527,-0.039379,0.998481]]
2025-10-26T18:29:07.103Z,1761503347.103 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:29:07.103Z,1761503347.103 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:29:07.104Z,1761503347.104 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:29:07.104Z,1761503347.104 [marl:UpdateRudder:A] Stopped
2025-10-26T18:29:07.104Z,1761503347.104 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:29:07.104Z,1761503347.104 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:29:07.104Z,1761503347.104 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:29:07.104Z,1761503347.104 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateCommandMode] Stopped
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:29:07.105Z,1761503347.105 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:29:07.106Z,1761503347.106 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:29:07.106Z,1761503347.106 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:29:07.106Z,1761503347.106 [marl:UpdateSpeed] Stopped
2025-10-26T18:29:07.106Z,1761503347.106 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:29:07.450Z,1761503347.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138873,-0.988872,-0.053360],[0.990065,-0.137439,-0.029683],[0.022019,-0.056952,0.998134]]
2025-10-26T18:29:07.511Z,1761503347.511 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:29:07.511Z,1761503347.511 [marl:UpdateRudder:B] Stopped
2025-10-26T18:29:07.511Z,1761503347.511 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:29:07.511Z,1761503347.511 [marl:UpdateRudder] Stopped
2025-10-26T18:29:07.511Z,1761503347.511 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:29:07.858Z,1761503347.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132058,-0.988501,-0.073659],[0.991233,-0.132011,-0.005518],[-0.004269,-0.073742,0.997268]]
2025-10-26T18:29:08.258Z,1761503348.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133756,-0.987464,-0.083806],[0.990879,-0.134658,0.005173],[-0.016393,-0.082350,0.996469]]
2025-10-26T18:29:08.662Z,1761503348.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142788,-0.986557,-0.079472],[0.989667,-0.143372,0.001662],[-0.013034,-0.078414,0.996836]]
2025-10-26T18:29:09.066Z,1761503349.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149226,-0.986795,-0.062984],[0.988802,-0.149022,-0.007952],[-0.001539,-0.063466,0.997983]]
2025-10-26T18:29:09.468Z,1761503349.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153060,-0.987153,-0.045833],[0.988215,-0.152804,-0.009052],[0.001932,-0.046678,0.998908]]
2025-10-26T18:29:09.870Z,1761503349.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154494,-0.987447,-0.032875],[0.987911,-0.154826,0.007804],[-0.012796,-0.031272,0.999429]]
2025-10-26T18:29:10.274Z,1761503350.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158459,-0.987208,-0.017658],[0.987186,-0.158746,0.016231],[-0.018826,-0.014859,0.999712]]
2025-10-26T18:29:10.678Z,1761503350.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165387,-0.986095,-0.016230],[0.986225,-0.165318,-0.005486],[0.002727,-0.016914,0.999853]]
2025-10-26T18:29:11.082Z,1761503351.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170407,-0.984650,-0.037749],[0.984794,-0.168868,-0.040795],[0.033794,-0.044127,0.998454]]
2025-10-26T18:29:11.486Z,1761503351.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169350,-0.983484,-0.063879],[0.984094,-0.165214,-0.065287],[0.053655,-0.073919,0.995820]]
2025-10-26T18:29:11.890Z,1761503351.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169070,-0.981891,-0.085475],[0.983943,-0.163115,-0.072460],[0.057206,-0.096354,0.993702]]
2025-10-26T18:29:12.295Z,1761503352.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171466,-0.980080,-0.100212],[0.984214,-0.165880,-0.061703],[0.043851,-0.109210,0.993051]]
2025-10-26T18:29:12.699Z,1761503352.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176513,-0.978177,-0.109607],[0.984186,-0.173717,-0.034633],[0.014837,-0.113987,0.993371]]
2025-10-26T18:29:13.104Z,1761503353.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177942,-0.976555,-0.121148],[0.983811,-0.179209,-0.000448],[-0.021273,-0.119266,0.992634]]
2025-10-26T18:29:13.507Z,1761503353.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167554,-0.979288,-0.113669],[0.985059,-0.170957,0.020812],[-0.039813,-0.108484,0.993301]]
2025-10-26T18:29:13.910Z,1761503353.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152841,-0.984950,-0.080708],[0.988114,-0.153668,0.004103],[-0.016444,-0.079121,0.996729]]
2025-10-26T18:29:14.314Z,1761503354.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142179,-0.988691,-0.047700],[0.989219,-0.140217,-0.042249],[0.035083,-0.053192,0.997968]]
2025-10-26T18:29:14.726Z,1761503354.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134303,-0.990636,-0.024565],[0.986379,-0.131268,-0.099125],[0.094972,-0.037543,0.994772]]
2025-10-26T18:29:15.124Z,1761503355.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132085,-0.990937,-0.024462],[0.981872,-0.127412,-0.140333],[0.135945,-0.042554,0.989802]]
2025-10-26T18:29:15.526Z,1761503355.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134994,-0.989101,-0.058780],[0.979826,-0.124434,-0.156387],[0.147368,-0.078706,0.985945]]
2025-10-26T18:29:15.930Z,1761503355.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139215,-0.985534,-0.096651],[0.980279,-0.123329,-0.154412],[0.140258,-0.116241,0.983268]]
2025-10-26T18:29:16.744Z,1761503356.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154054,-0.981704,-0.111917],[0.974803,-0.132515,-0.179439],[0.161325,-0.136740,0.977382]]
2025-10-26T18:29:17.142Z,1761503357.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157553,-0.983211,-0.092056],[0.974398,-0.139643,-0.176204],[0.160391,-0.117460,0.980040]]
2025-10-26T18:29:17.546Z,1761503357.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150658,-0.986046,-0.070824],[0.981339,-0.140510,-0.131269],[0.119485,-0.089279,0.988814]]
2025-10-26T18:29:17.954Z,1761503357.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131838,-0.989249,-0.063283],[0.989864,-0.127982,-0.061558],[0.052797,-0.070757,0.996095]]
2025-10-26T18:29:18.355Z,1761503358.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110517,-0.991307,-0.071383],[0.993866,-0.110529,-0.003798],[-0.004125,-0.071365,0.997442]]
2025-10-26T18:29:18.758Z,1761503358.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099903,-0.990828,-0.090994],[0.994613,-0.101988,0.018545],[-0.027656,-0.088652,0.995679]]
2025-10-26T18:29:19.162Z,1761503359.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103793,-0.988054,-0.113909],[0.994438,-0.105154,0.005984],[-0.017890,-0.112654,0.993473]]
2025-10-26T18:29:19.568Z,1761503359.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117038,-0.984455,-0.130960],[0.993026,-0.114118,-0.029603],[0.014198,-0.133512,0.990946]]
2025-10-26T18:29:19.971Z,1761503359.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136463,-0.980679,-0.140167],[0.988746,-0.126074,-0.080541],[0.061313,-0.149580,0.986847]]
2025-10-26T18:29:20.004Z,1761503360.004 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateRudder:A] Stopped
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:29:20.005Z,1761503360.005 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateCommandMode] Stopped
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:29:20.006Z,1761503360.006 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:29:20.007Z,1761503360.007 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:29:20.007Z,1761503360.007 [marl:UpdateSpeed] Stopped
2025-10-26T18:29:20.007Z,1761503360.007 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:29:20.374Z,1761503360.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157547,-0.978303,-0.134544],[0.981470,-0.140075,-0.130752],[0.109069,-0.152650,0.982243]]
2025-10-26T18:29:20.424Z,1761503360.424 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:29:20.424Z,1761503360.424 [marl:UpdateRudder:B] Stopped
2025-10-26T18:29:20.424Z,1761503360.424 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:29:20.424Z,1761503360.424 [marl:UpdateRudder] Stopped
2025-10-26T18:29:20.425Z,1761503360.425 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:29:20.778Z,1761503360.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156158,-0.979653,-0.126075],[0.978715,-0.136259,-0.153461],[0.133159,-0.147355,0.980079]]
2025-10-26T18:29:21.232Z,1761503361.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149741,-0.981456,-0.119677],[0.977326,-0.128599,-0.168213],[0.149704,-0.142152,0.978459]]
2025-10-26T18:29:21.586Z,1761503361.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145468,-0.982153,-0.119224],[0.977091,-0.123696,-0.173181],[0.155342,-0.141685,0.977647]]
2025-10-26T18:29:21.990Z,1761503361.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145157,-0.982133,-0.119771],[0.979120,-0.125178,-0.160172],[0.142317,-0.140520,0.979796]]
2025-10-26T18:29:22.394Z,1761503362.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147274,-0.981655,-0.121091],[0.981850,-0.130304,-0.137810],[0.119504,-0.139189,0.983029]]
2025-10-26T18:29:22.800Z,1761503362.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151457,-0.979851,-0.130199],[0.983667,-0.136448,-0.117397],[0.097266,-0.145853,0.984513]]
2025-10-26T18:29:23.214Z,1761503363.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158387,-0.977376,-0.140180],[0.983024,-0.142774,-0.115237],[0.092616,-0.156052,0.983397]]
2025-10-26T18:29:23.606Z,1761503363.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163135,-0.977342,-0.134865],[0.980526,-0.145459,-0.131947],[0.109340,-0.153764,0.982040]]
2025-10-26T18:29:24.013Z,1761503364.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162532,-0.979537,-0.118700],[0.976514,-0.142442,-0.161652],[0.141436,-0.142185,0.979683]]
2025-10-26T18:29:24.416Z,1761503364.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160615,-0.981280,-0.106263],[0.970002,-0.137024,-0.200799],[0.182480,-0.135327,0.973852]]
2025-10-26T18:29:24.850Z,1761503364.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161162,-0.980517,-0.112311],[0.963309,-0.131535,-0.233955],[0.214624,-0.145895,0.965739]]
2025-10-26T18:29:25.225Z,1761503365.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162998,-0.978098,-0.129445],[0.958226,-0.125685,-0.256917],[0.235020,-0.165915,0.957725]]
2025-10-26T18:29:25.480Z,1761503365.480 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247398
2025-10-26T18:29:25.626Z,1761503365.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162239,-0.976684,-0.140596],[0.953314,-0.118364,-0.277818],[0.254699,-0.179106,0.950289]]
2025-10-26T18:29:26.033Z,1761503366.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156126,-0.978279,-0.136365],[0.948151,-0.109740,-0.298272],[0.276829,-0.175863,0.944689]]
2025-10-26T18:29:26.484Z,1761503366.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:29:26.897Z,1761503366.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140382,-0.982588,-0.121712],[0.945043,-0.096317,-0.312437],[0.295274,-0.158883,0.942109]]
2025-10-26T18:29:27.242Z,1761503367.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138849,-0.980601,-0.138357],[0.949152,-0.091912,-0.301104],[0.282546,-0.173130,0.943501]]
2025-10-26T18:29:27.647Z,1761503367.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135476,-0.978313,-0.156684],[0.954250,-0.086293,-0.286287],[0.266557,-0.188301,0.945246]]
2025-10-26T18:29:28.050Z,1761503368.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129616,-0.976811,-0.170414],[0.956985,-0.078243,-0.279388],[0.259575,-0.199296,0.944935]]
2025-10-26T18:29:28.455Z,1761503368.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125636,-0.974850,-0.184074],[0.956161,-0.069513,-0.284470],[0.264520,-0.211744,0.940847]]
2025-10-26T18:29:28.897Z,1761503368.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119736,-0.975269,-0.185779],[0.954194,-0.061368,-0.292828],[0.274185,-0.212331,0.937943]]
2025-10-26T18:29:29.264Z,1761503369.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115100,-0.977144,-0.178720],[0.953144,-0.057968,-0.296910],[0.279764,-0.204520,0.938032]]
2025-10-26T18:29:29.666Z,1761503369.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114585,-0.977674,-0.176136],[0.954131,-0.058944,-0.293531],[0.276595,-0.201691,0.939583]]
2025-10-26T18:29:30.070Z,1761503370.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122523,-0.976134,-0.179304],[0.955274,-0.066996,-0.288034],[0.269147,-0.206575,0.940684]]
2025-10-26T18:29:30.475Z,1761503370.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132385,-0.974814,-0.179475],[0.956420,-0.078085,-0.281359],[0.260259,-0.208902,0.942669]]
2025-10-26T18:29:30.901Z,1761503370.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138099,-0.974876,-0.174773],[0.957529,-0.086320,-0.275114],[0.253116,-0.205343,0.945392]]
2025-10-26T18:29:31.282Z,1761503371.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141124,-0.975420,-0.169234],[0.957835,-0.091315,-0.272423],[0.250273,-0.200544,0.947178]]
2025-10-26T18:29:31.528Z,1761503371.528 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:29:31.528Z,1761503371.528 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:29:31.694Z,1761503371.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144424,-0.975695,-0.164804],[0.957141,-0.095493,-0.273426],[0.251043,-0.197230,0.947670]]
2025-10-26T18:29:32.090Z,1761503372.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149564,-0.975949,-0.158599],[0.955288,-0.101253,-0.277799],[0.255059,-0.193057,0.947457]]
2025-10-26T18:29:32.494Z,1761503372.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156131,-0.976510,-0.148494],[0.952105,-0.108773,-0.285769],[0.262904,-0.186000,0.946724]]
2025-10-26T18:29:32.901Z,1761503372.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164627,-0.977025,-0.135348],[0.947663,-0.118616,-0.296421],[0.273557,-0.177064,0.945418]]
2025-10-26T18:29:32.965Z,1761503372.965 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:29:32.965Z,1761503372.965 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:29:32.965Z,1761503372.965 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:29:32.965Z,1761503372.965 [marl:UpdateRudder:A] Stopped
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode] Stopped
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:29:32.966Z,1761503372.966 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:29:32.967Z,1761503372.967 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:29:32.967Z,1761503372.967 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:29:32.967Z,1761503372.967 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:29:32.967Z,1761503372.967 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:29:32.983Z,1761503372.983 [marl:UpdateSpeed] Stopped
2025-10-26T18:29:32.984Z,1761503372.984 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:29:32.985Z,1761503372.985 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:29:33.232Z,1761503373.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:29:33.232Z,1761503373.232 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:29:33.302Z,1761503373.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172312,-0.977012,-0.125527],[0.943714,-0.127212,-0.305320],[0.282333,-0.171072,0.943940]]
2025-10-26T18:29:33.361Z,1761503373.361 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:29:33.361Z,1761503373.361 [marl:UpdateRudder:B] Stopped
2025-10-26T18:29:33.361Z,1761503373.361 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:29:33.361Z,1761503373.361 [marl:UpdateRudder] Stopped
2025-10-26T18:29:33.361Z,1761503373.361 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:29:33.484Z,1761503373.484 [DAT](INFO): DAT read: user:12>

2025-10-26T18:29:33.485Z,1761503373.485 [DAT](INFO): DAT read: Tx time:18:29:34.2338

2025-10-26T18:29:33.485Z,1761503373.485 [DAT](INFO): Ping request sent.
2025-10-26T18:29:33.485Z,1761503373.485 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:29:33.486Z,1761503373.486 [DAT](INFO): publishing transmit ping time
2025-10-26T18:29:33.486Z,1761503373.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000913
2025-10-26T18:29:33.714Z,1761503373.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176473,-0.976285,-0.125400],[0.942061,-0.130601,-0.308974],[0.285269,-0.172660,0.942767]]
2025-10-26T18:29:33.736Z,1761503373.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250892
2025-10-26T18:29:33.988Z,1761503373.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502787
2025-10-26T18:29:34.110Z,1761503374.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182719,-0.974164,-0.132732],[0.941161,-0.134272,-0.310139],[0.284305,-0.181591,0.941380]]
2025-10-26T18:29:34.244Z,1761503374.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758739
2025-10-26T18:29:34.492Z,1761503374.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006840
2025-10-26T18:29:34.514Z,1761503374.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191278,-0.970898,-0.144121],[0.940457,-0.139252,-0.310081],[0.280988,-0.194851,0.939723]]
2025-10-26T18:29:34.749Z,1761503374.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263611
2025-10-26T18:29:34.918Z,1761503374.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200961,-0.968012,-0.150222],[0.939351,-0.146920,-0.309893],[0.277909,-0.203388,0.938829]]
2025-10-26T18:29:34.999Z,1761503374.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513435
2025-10-26T18:29:35.248Z,1761503375.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825
2025-10-26T18:29:35.503Z,1761503375.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017549
2025-10-26T18:29:35.740Z,1761503375.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215380,-0.966491,-0.139669],[0.934894,-0.162758,-0.315409],[0.282108,-0.198509,0.938621]]
2025-10-26T18:29:35.752Z,1761503375.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906
2025-10-26T18:29:36.004Z,1761503376.004 [DAT](INFO): DAT read: Rx Time:18:29:36.3071

2025-10-26T18:29:36.005Z,1761503376.005 [DAT](INFO): Rx dataTimestamp_ set to:1761503376.004606
2025-10-26T18:29:36.005Z,1761503376.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519894
2025-10-26T18:29:36.130Z,1761503376.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220557,-0.966591,-0.130599],[0.932196,-0.169497,-0.319815],[0.286994,-0.192281,0.938436]]
2025-10-26T18:29:36.256Z,1761503376.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770773
2025-10-26T18:29:36.514Z,1761503376.514 [DAT](INFO): DAT read: 18:29:36.3071 LVL= 24880, 30193, 21794, 30947, AGC= 35, IDX= 320, 0.17,-2.115,-3.120,-1.413,-2.276, PHS= 0.263,-0.799, 0.819, RAW= 169.8,  -4.0, CAL= 169.8,  -6.0, ROT= 340.2,   6.0

2025-10-26T18:29:36.515Z,1761503376.515 [DAT](INFO): got valid direction response:
 18:29:36.3071 LVL= 24880, 30193, 21794, 30947, AGC= 35, IDX= 320, 0.17,-2.115,-3.120,-1.413,-2.276, PHS= 0.263,-0.799, 0.819, RAW= 169.8,  -4.0, CAL= 169.8,  -6.0, ROT= 340.2,   6.0

2025-10-26T18:29:36.516Z,1761503376.516 [DAT](INFO): DAT read: Bearing  58,  -1 (Remote)

2025-10-26T18:29:36.517Z,1761503376.517 [DAT](INFO): Remote Bearing received:Bearing  58,  -1 (Remote)

2025-10-26T18:29:36.517Z,1761503376.517 [DAT](INFO): DAT read: Bearing 239.5,  -1.9 (Local)

2025-10-26T18:29:36.518Z,1761503376.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.5,  -1.9 (Local)

2025-10-26T18:29:36.519Z,1761503376.519 [DAT](INFO): DAT read: Range 11 to 20 : 33.0 m  (Round-trip  44.1 ms) speed  0.5 m/s

2025-10-26T18:29:36.534Z,1761503376.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:29:36.535Z,1761503376.535 [DAT](INFO): direction in FSK: [0.935727,-0.336882,-0.104528]
2025-10-26T18:29:36.535Z,1761503376.535 [DAT](INFO): publishing direction and range info
2025-10-26T18:29:36.595Z,1761503376.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223160,-0.966796,-0.124523],[0.930965,-0.173513,-0.321243],[0.288970,-0.187615,0.938774]]
2025-10-26T18:29:36.669Z,1761503376.669 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503360.00. Resetting abort timer.
2025-10-26T18:29:36.938Z,1761503376.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223637,-0.967198,-0.120473],[0.930811,-0.175273,-0.320734],[0.289098,-0.183866,0.939476]]
2025-10-26T18:29:37.342Z,1761503377.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222806,-0.967382,-0.120536],[0.931022,-0.174492,-0.320547],[0.289059,-0.183641,0.939532]]
2025-10-26T18:29:37.747Z,1761503377.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220592,-0.967419,-0.124256],[0.931339,-0.171076,-0.321467],[0.289736,-0.186637,0.938733]]
2025-10-26T18:29:38.151Z,1761503378.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218546,-0.966938,-0.131412],[0.931351,-0.166492,-0.323829],[0.291243,-0.193162,0.936945]]
2025-10-26T18:29:38.554Z,1761503378.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217536,-0.966234,-0.138094],[0.930985,-0.162910,-0.326691],[0.293163,-0.199631,0.934988]]
2025-10-26T18:29:38.958Z,1761503378.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216610,-0.966128,-0.140273],[0.931074,-0.161234,-0.327268],[0.293566,-0.201494,0.934462]]
2025-10-26T18:29:39.363Z,1761503379.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214555,-0.966558,-0.140466],[0.932565,-0.159979,-0.323620],[0.290326,-0.200428,0.935703]]
2025-10-26T18:29:39.766Z,1761503379.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213775,-0.967293,-0.136545],[0.934114,-0.161503,-0.318352],[0.285888,-0.195605,0.938087]]
2025-10-26T18:29:40.179Z,1761503380.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213594,-0.967762,-0.133468],[0.935545,-0.163289,-0.313196],[0.281305,-0.191762,0.940263]]
2025-10-26T18:29:40.574Z,1761503380.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213553,-0.967437,-0.135869],[0.936946,-0.163439,-0.308902],[0.276637,-0.193268,0.941339]]
2025-10-26T18:29:40.978Z,1761503380.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214102,-0.966510,-0.141491],[0.938159,-0.163117,-0.305369],[0.272063,-0.198121,0.941663]]
2025-10-26T18:29:41.382Z,1761503381.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215118,-0.965227,-0.148530],[0.938857,-0.162533,-0.303532],[0.268836,-0.204744,0.941173]]
2025-10-26T18:29:41.788Z,1761503381.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215550,-0.964164,-0.154682],[0.939145,-0.161298,-0.303298],[0.267479,-0.210645,0.940257]]
2025-10-26T18:29:42.194Z,1761503382.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213602,-0.963993,-0.158406],[0.939696,-0.158410,-0.303113],[0.267106,-0.213599,0.939697]]
2025-10-26T18:29:42.597Z,1761503382.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210386,-0.963880,-0.163317],[0.940271,-0.153771,-0.303718],[0.267634,-0.217460,0.938660]]
2025-10-26T18:29:42.999Z,1761503382.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206746,-0.964037,-0.167001],[0.940622,-0.148877,-0.305066],[0.269233,-0.220156,0.937574]]
2025-10-26T18:29:43.402Z,1761503383.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202315,-0.964469,-0.169909],[0.940950,-0.143350,-0.306700],[0.271446,-0.221926,0.936518]]
2025-10-26T18:29:43.806Z,1761503383.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196944,-0.965345,-0.171235],[0.941480,-0.137485,-0.307755],[0.273548,-0.221825,0.935930]]
2025-10-26T18:29:44.210Z,1761503384.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191195,-0.966079,-0.173599],[0.942290,-0.131133,-0.308047],[0.274833,-0.222477,0.935399]]
2025-10-26T18:29:44.624Z,1761503384.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179301,-0.967086,-0.180543],[0.944492,-0.117861,-0.306666],[0.275293,-0.225507,0.934537]]
2025-10-26T18:29:45.428Z,1761503385.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171410,-0.966295,-0.192076],[0.949338,-0.109879,-0.294422],[0.263393,-0.232812,0.936175]]
2025-10-26T18:29:45.834Z,1761503385.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169087,-0.965559,-0.197749],[0.953434,-0.109402,-0.281062],[0.249748,-0.236065,0.939095]]
2025-10-26T18:29:45.865Z,1761503385.865 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:29:45.865Z,1761503385.865 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:29:45.866Z,1761503385.866 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:29:45.866Z,1761503385.866 [marl:UpdateRudder:A] Stopped
2025-10-26T18:29:45.866Z,1761503385.866 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:29:45.866Z,1761503385.866 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:29:45.866Z,1761503385.866 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:29:45.866Z,1761503385.866 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateCommandMode] Stopped
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:29:45.867Z,1761503385.867 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:29:45.868Z,1761503385.868 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:29:45.868Z,1761503385.868 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:29:45.868Z,1761503385.868 [marl:UpdateSpeed] Stopped
2025-10-26T18:29:45.868Z,1761503385.868 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:29:46.234Z,1761503386.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168293,-0.964822,-0.201980],[0.958111,-0.111935,-0.263618],[0.231736,-0.237884,0.943244]]
2025-10-26T18:29:46.272Z,1761503386.272 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:29:46.272Z,1761503386.272 [marl:UpdateRudder:B] Stopped
2025-10-26T18:29:46.272Z,1761503386.272 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:29:46.273Z,1761503386.273 [marl:UpdateRudder] Stopped
2025-10-26T18:29:46.273Z,1761503386.273 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:29:46.640Z,1761503386.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169919,-0.964433,-0.202476],[0.962473,-0.118297,-0.244238],[0.211598,-0.236378,0.948341]]
2025-10-26T18:29:47.039Z,1761503387.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173557,-0.963929,-0.201788],[0.966080,-0.126856,-0.224937],[0.191225,-0.233983,0.953250]]
2025-10-26T18:29:47.444Z,1761503387.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178493,-0.963535,-0.199352],[0.968816,-0.136716,-0.206652],[0.171862,-0.230021,0.957890]]
2025-10-26T18:29:47.846Z,1761503387.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184230,-0.963326,-0.195098],[0.970658,-0.147109,-0.190214],[0.154537,-0.224417,0.962162]]
2025-10-26T18:29:48.250Z,1761503388.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190032,-0.963126,-0.190461],[0.971802,-0.156942,-0.175982],[0.139601,-0.218533,0.965792]]
2025-10-26T18:29:48.668Z,1761503388.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193530,-0.962457,-0.190323],[0.972785,-0.163052,-0.164629],[0.127416,-0.217004,0.967819]]
2025-10-26T18:29:49.059Z,1761503389.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191500,-0.960956,-0.199729],[0.974283,-0.161496,-0.157140],[0.118749,-0.224685,0.967169]]
2025-10-26T18:29:49.462Z,1761503389.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182799,-0.957968,-0.221094],[0.976445,-0.150684,-0.154431],[0.114624,-0.244116,0.962948]]
2025-10-26T18:29:49.867Z,1761503389.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167322,-0.953253,-0.251617],[0.979054,-0.130629,-0.156171],[0.116002,-0.272477,0.955144]]
2025-10-26T18:29:50.270Z,1761503390.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146175,-0.947358,-0.284859],[0.981567,-0.103058,-0.160949],[0.123120,-0.303135,0.944961]]
2025-10-26T18:29:50.684Z,1761503390.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122043,-0.939516,-0.320023],[0.983341,-0.070695,-0.167458],[0.134706,-0.335128,0.932493]]
2025-10-26T18:29:51.078Z,1761503391.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095395,-0.930548,-0.353524],[0.984417,-0.035484,-0.172233],[0.147727,-0.364446,0.919433]]
2025-10-26T18:29:51.482Z,1761503391.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063981,-0.919966,-0.386743],[0.985267,0.003361,-0.170993],[0.158607,-0.391985,0.906196]]
2025-10-26T18:29:51.888Z,1761503391.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024730,-0.907807,-0.418658],[0.986142,0.046570,-0.159234],[0.164051,-0.416794,0.894075]]
2025-10-26T18:29:52.292Z,1761503392.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017092,-0.895054,-0.445630],[0.985879,0.089342,-0.141632],[0.166582,-0.436917,0.883942]]
2025-10-26T18:29:52.694Z,1761503392.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057941,-0.880979,-0.469594],[0.984088,0.129544,-0.121609],[0.167969,-0.455076,0.874467]]
2025-10-26T18:29:53.098Z,1761503393.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098785,-0.867814,-0.486970],[0.980830,0.167515,-0.099556],[0.167971,-0.467800,0.867726]]
2025-10-26T18:29:53.502Z,1761503393.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139486,-0.856181,-0.497491],[0.976032,0.203629,-0.076786],[0.167047,-0.474857,0.864064]]
2025-10-26T18:29:53.908Z,1761503393.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178946,-0.844237,-0.505215],[0.969785,0.237899,-0.054044],[0.165816,-0.480279,0.861300]]
2025-10-26T18:29:54.310Z,1761503394.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216683,-0.834437,-0.506719],[0.962235,0.270161,-0.033416],[0.164779,-0.480342,0.861463]]
2025-10-26T18:29:54.721Z,1761503394.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251264,-0.827207,-0.502588],[0.953982,0.299440,-0.015913],[0.163658,-0.475462,0.864380]]
2025-10-26T18:29:55.164Z,1761503395.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282068,-0.820792,-0.496727],[0.945582,0.325383,-0.000712],[0.162211,-0.469496,0.867906]]
2025-10-26T18:29:55.961Z,1761503395.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335763,-0.807645,-0.484739],[0.928837,0.369442,0.027831],[0.156605,-0.459588,0.874216]]
2025-10-26T18:29:56.360Z,1761503396.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360820,-0.800554,-0.478458],[0.920044,0.389555,0.042031],[0.152738,-0.455368,0.877104]]
2025-10-26T18:29:56.604Z,1761503396.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:29:56.762Z,1761503396.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385377,-0.792493,-0.472694],[0.910460,0.409920,0.055028],[0.150157,-0.451576,0.879507]]
2025-10-26T18:29:57.169Z,1761503397.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409330,-0.782092,-0.469874],[0.899905,0.430968,0.066618],[0.150399,-0.450110,0.880216]]
2025-10-26T18:29:57.570Z,1761503397.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433187,-0.769546,-0.469199],[0.888059,0.453344,0.076356],[0.153949,-0.449753,0.879785]]
2025-10-26T18:29:57.608Z,1761503397.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:29:57.983Z,1761503397.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460343,-0.754431,-0.467888],[0.873507,0.478946,0.087159],[0.158338,-0.448826,0.879480]]
2025-10-26T18:29:58.378Z,1761503398.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489949,-0.737409,-0.464950],[0.856512,0.506490,0.099272],[0.162288,-0.446873,0.879754]]
2025-10-26T18:29:58.782Z,1761503398.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520329,-0.719212,-0.460426],[0.837737,0.534507,0.111799],[0.165694,-0.443888,0.880630]]
2025-10-26T18:29:58.872Z,1761503398.872 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:29:58.873Z,1761503398.873 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:29:58.873Z,1761503398.873 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:29:58.874Z,1761503398.874 [marl:UpdateRudder:A] Stopped
2025-10-26T18:29:58.874Z,1761503398.874 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:29:58.874Z,1761503398.874 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:29:58.875Z,1761503398.875 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:29:58.875Z,1761503398.875 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:29:58.876Z,1761503398.876 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:29:58.877Z,1761503398.877 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:29:58.877Z,1761503398.877 [marl:UpdateCommandMode] Stopped
2025-10-26T18:29:58.877Z,1761503398.877 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:29:58.878Z,1761503398.878 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:29:58.878Z,1761503398.878 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:29:58.878Z,1761503398.878 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:29:58.880Z,1761503398.880 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:29:58.880Z,1761503398.880 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:29:58.881Z,1761503398.881 [marl:UpdateSpeed] Stopped
2025-10-26T18:29:58.881Z,1761503398.881 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:29:59.284Z,1761503399.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551052,-0.700969,-0.452752],[0.817474,0.562413,0.124211],[0.167566,-0.438560,0.882942]]
2025-10-26T18:29:59.354Z,1761503399.354 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:29:59.354Z,1761503399.354 [marl:UpdateRudder:B] Stopped
2025-10-26T18:29:59.354Z,1761503399.354 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:29:59.354Z,1761503399.354 [marl:UpdateRudder] Stopped
2025-10-26T18:29:59.354Z,1761503399.354 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:30:00.160Z,1761503400.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611593,-0.664962,-0.428696],[0.774254,0.614495,0.151417],[0.162745,-0.424525,0.890670]]
2025-10-26T18:30:00.550Z,1761503400.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638643,-0.648888,-0.413618],[0.753288,0.636955,0.163848],[0.157137,-0.416213,0.895586]]
2025-10-26T18:30:00.956Z,1761503400.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663564,-0.632812,-0.399038],[0.732854,0.657036,0.176714],[0.150356,-0.409698,0.899745]]
2025-10-26T18:30:01.359Z,1761503401.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687621,-0.613807,-0.387838],[0.711999,0.674689,0.194557],[0.142250,-0.409922,0.900960]]
2025-10-26T18:30:01.765Z,1761503401.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710811,-0.592431,-0.379175],[0.690668,0.689900,0.216829],[0.133136,-0.416008,0.899562]]
2025-10-26T18:30:02.166Z,1761503402.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732804,-0.570315,-0.371133],[0.669091,0.703161,0.240586],[0.123757,-0.424624,0.896872]]
2025-10-26T18:30:02.570Z,1761503402.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753203,-0.547831,-0.364098],[0.647722,0.714162,0.265384],[0.114640,-0.435722,0.892751]]
2025-10-26T18:30:03.059Z,1761503403.059 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:30:03.221Z,1761503403.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:30:03.221Z,1761503403.221 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:30:03.378Z,1761503403.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788575,-0.506417,-0.348843],[0.606730,0.733124,0.307259],[0.100144,-0.453950,0.885382]]
2025-10-26T18:30:03.472Z,1761503403.472 [DAT](INFO): DAT read: user:13>

2025-10-26T18:30:03.473Z,1761503403.473 [DAT](INFO): DAT read: Tx time:18:30:04.2337

2025-10-26T18:30:03.473Z,1761503403.473 [DAT](INFO): Ping request sent.
2025-10-26T18:30:03.473Z,1761503403.473 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:30:03.474Z,1761503403.474 [DAT](INFO): publishing transmit ping time
2025-10-26T18:30:03.474Z,1761503403.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933
2025-10-26T18:30:03.725Z,1761503403.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251500
2025-10-26T18:30:03.785Z,1761503403.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803699,-0.488379,-0.339934],[0.587244,0.743153,0.320730],[0.095985,-0.457394,0.884069]]
2025-10-26T18:30:03.977Z,1761503403.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503383
2025-10-26T18:30:04.186Z,1761503404.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818087,-0.471742,-0.328926],[0.567362,0.755519,0.327554],[0.093989,-0.454588,0.885729]]
2025-10-26T18:30:04.228Z,1761503404.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829
2025-10-26T18:30:04.480Z,1761503404.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006904
2025-10-26T18:30:04.591Z,1761503404.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832545,-0.454685,-0.316435],[0.546074,0.769650,0.330820],[0.093125,-0.448219,0.889060]]
2025-10-26T18:30:04.733Z,1761503404.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259692
2025-10-26T18:30:04.984Z,1761503404.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510985
2025-10-26T18:30:05.010Z,1761503405.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847303,-0.437035,-0.301792],[0.522884,0.786043,0.329740],[0.093114,-0.437191,0.894535]]
2025-10-26T18:30:05.238Z,1761503405.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764196
2025-10-26T18:30:05.398Z,1761503405.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862411,-0.418141,-0.285317],[0.497596,0.803785,0.326080],[0.092986,-0.423187,0.901258]]
2025-10-26T18:30:05.488Z,1761503405.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015061
2025-10-26T18:30:05.740Z,1761503405.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266956
2025-10-26T18:30:05.992Z,1761503405.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518887
2025-10-26T18:30:06.231Z,1761503406.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892873,-0.374165,-0.250557],[0.441005,0.839087,0.318508],[0.091065,-0.394884,0.914207]]
2025-10-26T18:30:06.246Z,1761503406.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772669
2025-10-26T18:30:06.496Z,1761503406.496 [DAT](INFO): DAT read: Rx Time:18:30:06.6587

2025-10-26T18:30:06.497Z,1761503406.497 [DAT](INFO): Rx dataTimestamp_ set to:1761503406.496483
2025-10-26T18:30:06.497Z,1761503406.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023913
2025-10-26T18:30:06.619Z,1761503406.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907773,-0.347819,-0.234455],[0.409922,0.854137,0.320022],[0.088947,-0.386615,0.917942]]
2025-10-26T18:30:06.748Z,1761503406.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274924
2025-10-26T18:30:07.006Z,1761503407.006 [DAT](INFO): DAT read: 18:30:06.6587 LVL= 22992, 19937, 26418, 27635, AGC= 32, IDX= 466,-0.07,-0.578,-0.801,-2.159,-0.861, PHS= 0.385, 0.105,-1.343, RAW=  38.7,  10.6, CAL=  36.6,  11.4, ROT= 113.4, -11.4

2025-10-26T18:30:07.007Z,1761503407.007 [DAT](INFO): got valid direction response:
 18:30:06.6587 LVL= 22992, 19937, 26418, 27635, AGC= 32, IDX= 466,-0.07,-0.578,-0.801,-2.159,-0.861, PHS= 0.385, 0.105,-1.343, RAW=  38.7,  10.6, CAL=  36.6,  11.4, ROT= 113.4, -11.4

2025-10-26T18:30:07.008Z,1761503407.008 [DAT](INFO): DAT read: Bearing 296.9,  44.7 (Local)

2025-10-26T18:30:07.008Z,1761503407.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.9,  44.7 (Local)

2025-10-26T18:30:07.009Z,1761503407.009 [DAT](INFO): DAT read: Range 11 to 20 : 15.6 m  (Round-trip  20.8 ms) speed -0.6 m/s

2025-10-26T18:30:07.010Z,1761503407.010 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:30:07.011Z,1761503407.011 [DAT](INFO): direction in FSK: [-0.389313,0.899648,0.197657]
2025-10-26T18:30:07.016Z,1761503407.016 [DAT](INFO): publishing direction and range info
2025-10-26T18:30:07.116Z,1761503407.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936192,-0.287142,-0.202714],[0.341786,0.878263,0.334418],[0.082011,-0.382365,0.920365]]
2025-10-26T18:30:07.200Z,1761503407.200 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503360.00. Resetting abort timer.
2025-10-26T18:30:07.456Z,1761503407.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947252,-0.258828,-0.189001],[0.310781,0.885881,0.344427],[0.078285,-0.384997,0.919591]]
2025-10-26T18:30:07.855Z,1761503407.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956572,-0.232215,-0.176201],[0.281752,0.891548,0.354624],[0.074743,-0.388869,0.918256]]
2025-10-26T18:30:08.259Z,1761503408.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964882,-0.205630,-0.163458],[0.252787,0.896050,0.364957],[0.071421,-0.393461,0.916563]]
2025-10-26T18:30:08.663Z,1761503408.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972465,-0.177953,-0.150480],[0.223000,0.898104,0.379052],[0.067694,-0.402172,0.913058]]
2025-10-26T18:30:09.086Z,1761503409.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979350,-0.150008,-0.135538],[0.192256,0.898400,0.394862],[0.062535,-0.412766,0.908688]]
2025-10-26T18:30:09.491Z,1761503409.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985382,-0.122751,-0.118131],[0.160922,0.898269,0.408921],[0.055918,-0.421953,0.904892]]
2025-10-26T18:30:09.983Z,1761503409.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990580,-0.094980,-0.098638],[0.128000,0.898183,0.420576],[0.048649,-0.429240,0.901879]]
2025-10-26T18:30:10.378Z,1761503410.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994732,-0.066223,-0.078251],[0.093668,0.897328,0.431311],[0.041654,-0.436369,0.898803]]
2025-10-26T18:30:10.816Z,1761503410.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997653,-0.038286,-0.056763],[0.059275,0.897909,0.436172],[0.034269,-0.438513,0.898071]]
2025-10-26T18:30:11.244Z,1761503411.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999300,-0.011319,-0.035659],[0.025736,0.899768,0.435609],[0.027154,-0.436222,0.899429]]
2025-10-26T18:30:11.632Z,1761503411.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999760,0.014744,-0.016200],[-0.006333,0.902526,0.430589],[0.020970,-0.430383,0.902403]]
2025-10-26T18:30:12.026Z,1761503412.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999137,0.041518,0.001173],[-0.038128,0.905631,0.422350],[0.016473,-0.422030,0.906432]]
2025-10-26T18:30:12.073Z,1761503412.073 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:30:12.073Z,1761503412.073 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:30:12.073Z,1761503412.073 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateRudder:A] Stopped
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:30:12.074Z,1761503412.074 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:30:12.075Z,1761503412.075 [marl:UpdateCommandMode] Stopped
2025-10-26T18:30:12.075Z,1761503412.075 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:30:12.075Z,1761503412.075 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:30:12.075Z,1761503412.075 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:30:12.075Z,1761503412.075 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:30:12.075Z,1761503412.075 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:30:12.076Z,1761503412.076 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:30:12.076Z,1761503412.076 [marl:UpdateSpeed] Stopped
2025-10-26T18:30:12.076Z,1761503412.076 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:30:12.430Z,1761503412.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997410,0.070100,0.016105],[-0.070526,0.909176,0.410397],[0.014127,-0.410470,0.911765]]
2025-10-26T18:30:12.469Z,1761503412.469 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:30:12.469Z,1761503412.469 [marl:UpdateRudder:B] Stopped
2025-10-26T18:30:12.469Z,1761503412.469 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:30:12.469Z,1761503412.469 [marl:UpdateRudder] Stopped
2025-10-26T18:30:12.469Z,1761503412.469 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:30:12.890Z,1761503412.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994369,0.101754,0.029618],[-0.105122,0.911624,0.397355],[0.013432,-0.398230,0.917187]]
2025-10-26T18:30:13.239Z,1761503413.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989933,0.134557,0.043903],[-0.140997,0.910390,0.388986],[0.012372,-0.391260,0.920197]]
2025-10-26T18:30:13.644Z,1761503413.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984415,0.165788,0.058673],[-0.175580,0.907584,0.381396],[0.009980,-0.385754,0.922548]]
2025-10-26T18:30:14.050Z,1761503414.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977980,0.195144,0.073981],[-0.208581,0.902147,0.377656],[0.006955,-0.384771,0.922986]]
2025-10-26T18:30:14.450Z,1761503414.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970796,0.222448,0.089844],[-0.239880,0.894577,0.377079],[0.003508,-0.387619,0.921813]]
2025-10-26T18:30:14.910Z,1761503414.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963150,0.247562,0.105141],[-0.268964,0.886312,0.376973],[0.000136,-0.391361,0.920237]]
2025-10-26T18:30:15.258Z,1761503415.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954889,0.271354,0.120643],[-0.296952,0.876172,0.379660],[-0.002682,-0.398358,0.917226]]
2025-10-26T18:30:15.662Z,1761503415.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945776,0.294566,0.136885],[-0.324784,0.863740,0.385317],[-0.004732,-0.408882,0.912575]]
2025-10-26T18:30:16.073Z,1761503416.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935684,0.317062,0.154816],[-0.352786,0.848361,0.394748],[-0.006180,-0.423976,0.905652]]
2025-10-26T18:30:16.471Z,1761503416.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924531,0.339066,0.174004],[-0.381037,0.831165,0.404938],[-0.007326,-0.440680,0.897634]]
2025-10-26T18:30:16.905Z,1761503416.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912165,0.360444,0.195023],[-0.409724,0.812493,0.414707],[-0.008976,-0.458187,0.888811]]
2025-10-26T18:30:17.278Z,1761503417.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898863,0.380543,0.217330],[-0.438072,0.793536,0.422366],[-0.011731,-0.474855,0.879986]]
2025-10-26T18:30:17.683Z,1761503417.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884822,0.400286,0.238456],[-0.465644,0.777625,0.422464],[-0.016323,-0.484841,0.874450]]
2025-10-26T18:30:18.091Z,1761503418.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870051,0.420199,0.257769],[-0.492439,0.764931,0.415192],[-0.022712,-0.488174,0.872451]]
2025-10-26T18:30:18.490Z,1761503418.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853632,0.444947,0.270803],[-0.520025,0.757718,0.394256],[-0.029769,-0.477373,0.878196]]
2025-10-26T18:30:18.904Z,1761503418.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835192,0.475064,0.277070],[-0.548715,0.753679,0.361772],[-0.036957,-0.454182,0.890142]]
2025-10-26T18:30:19.300Z,1761503419.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815392,0.507657,0.278244],[-0.577210,0.749726,0.323634],[-0.044312,-0.424495,0.904346]]
2025-10-26T18:30:19.709Z,1761503419.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795022,0.539697,0.276887],[-0.604371,0.743709,0.285713],[-0.051725,-0.394491,0.917443]]
2025-10-26T18:30:20.115Z,1761503420.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773993,0.570566,0.274571],[-0.630505,0.734403,0.251230],[-0.058303,-0.367569,0.928167]]
2025-10-26T18:30:20.527Z,1761503420.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752911,0.599123,0.272354],[-0.655068,0.722058,0.222525],[-0.063335,-0.345952,0.936112]]
2025-10-26T18:30:20.933Z,1761503420.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731416,0.624298,0.274379],[-0.678696,0.705571,0.203817],[-0.066351,-0.335295,0.939774]]
2025-10-26T18:30:21.389Z,1761503421.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710866,0.643995,0.282736],[-0.700068,0.686541,0.196385],[-0.067638,-0.337538,0.938879]]
2025-10-26T18:30:21.829Z,1761503421.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691997,0.657953,0.297048],[-0.718703,0.666587,0.197807],[-0.067861,-0.350372,0.934149]]
2025-10-26T18:30:22.638Z,1761503422.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654925,0.677292,0.335187],[-0.752889,0.622979,0.212263],[-0.065050,-0.391374,0.917929]]
2025-10-26T18:30:23.041Z,1761503423.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634645,0.684900,0.357962],[-0.770248,0.598240,0.220970],[-0.062805,-0.415957,0.907213]]
2025-10-26T18:30:23.442Z,1761503423.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613015,0.692207,0.380870],[-0.787728,0.572586,0.227221],[-0.060797,-0.439312,0.896275]]
2025-10-26T18:30:23.846Z,1761503423.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590962,0.699190,0.402364],[-0.804478,0.547785,0.229667],[-0.059828,-0.459417,0.886203]]
2025-10-26T18:30:24.250Z,1761503424.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568589,0.706707,0.421036],[-0.820423,0.524563,0.227464],[-0.060110,-0.474761,0.878060]]
2025-10-26T18:30:24.656Z,1761503424.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545994,0.716107,0.434834],[-0.835514,0.503650,0.219665],[-0.061700,-0.483246,0.873308]]
2025-10-26T18:30:25.058Z,1761503425.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521402,0.729567,0.442574],[-0.850947,0.483136,0.206080],[-0.063475,-0.484057,0.872731]]
2025-10-26T18:30:25.147Z,1761503425.147 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:30:25.147Z,1761503425.147 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:30:25.147Z,1761503425.147 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:30:25.153Z,1761503425.153 [marl:UpdateRudder:A] Stopped
2025-10-26T18:30:25.153Z,1761503425.153 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:30:25.153Z,1761503425.153 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:30:25.153Z,1761503425.153 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:30:25.153Z,1761503425.153 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateCommandMode] Stopped
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:30:25.154Z,1761503425.154 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:30:25.155Z,1761503425.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:30:25.155Z,1761503425.155 [marl:UpdateSpeed] Stopped
2025-10-26T18:30:25.155Z,1761503425.155 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:30:25.467Z,1761503425.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493638,0.749727,0.440715],[-0.867228,0.462292,0.184937],[-0.065087,-0.473493,0.878390]]
2025-10-26T18:30:25.526Z,1761503425.526 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:30:25.526Z,1761503425.526 [marl:UpdateRudder:B] Stopped
2025-10-26T18:30:25.526Z,1761503425.526 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:30:25.526Z,1761503425.526 [marl:UpdateRudder] Stopped
2025-10-26T18:30:25.527Z,1761503425.527 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:30:25.728Z,1761503425.728 [Radio_Surface](INFO): Powering down
2025-10-26T18:30:25.872Z,1761503425.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431902,0.799816,0.416839],[-0.899093,0.418374,0.128823],[-0.071360,-0.430416,0.899806]]
2025-10-26T18:30:26.309Z,1761503426.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401826,0.824498,0.398420],[-0.912411,0.397427,0.097768],[-0.077734,-0.402809,0.911977]]
2025-10-26T18:30:26.716Z,1761503426.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371918,0.848710,0.375990],[-0.924324,0.375887,0.065835],[-0.085455,-0.372022,0.924282]]
2025-10-26T18:30:27.137Z,1761503427.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342452,0.868715,0.357856],[-0.934896,0.352881,0.038015],[-0.093256,-0.347576,0.933003]]
2025-10-26T18:30:27.538Z,1761503427.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312566,0.885029,0.345000],[-0.944698,0.327572,0.015566],[-0.099236,-0.330786,0.938474]]
2025-10-26T18:30:27.748Z,1761503427.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:30:28.752Z,1761503428.752 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T18:30:28.752Z,1761503428.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:30:28.777Z,1761503428.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218651,0.907506,0.358642],[-0.971104,0.238395,-0.011187],[-0.095651,-0.345833,0.933408]]
2025-10-26T18:30:29.174Z,1761503429.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186706,0.905288,0.381569],[-0.978399,0.206433,-0.011029],[-0.088752,-0.371268,0.924274]]
2025-10-26T18:30:29.588Z,1761503429.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156396,0.900657,0.405409],[-0.984337,0.175944,-0.011148],[-0.081370,-0.397316,0.914067]]
2025-10-26T18:30:29.982Z,1761503429.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128778,0.893776,0.429629],[-0.988833,0.148500,-0.012537],[-0.075005,-0.423216,0.902919]]
2025-10-26T18:30:30.387Z,1761503430.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103197,0.885485,0.453064],[-0.992214,0.123575,-0.015516],[-0.069727,-0.447935,0.891343]]
2025-10-26T18:30:30.790Z,1761503430.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077520,0.878159,0.472046],[-0.994895,0.098824,-0.020461],[-0.064618,-0.468050,0.881336]]
2025-10-26T18:30:31.194Z,1761503431.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051011,0.872181,0.486516],[-0.996906,0.073643,-0.027496],[-0.059810,-0.483607,0.873239]]
2025-10-26T18:30:31.599Z,1761503431.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023565,0.869761,0.492911],[-0.998171,0.047925,-0.036845],[-0.055669,-0.491141,0.869299]]
2025-10-26T18:30:31.793Z,1761503431.793 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:30:31.793Z,1761503431.793 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:30:32.004Z,1761503432.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004863,0.870676,0.491833],[-0.998622,0.021471,-0.047885],[-0.052252,-0.491388,0.869372]]
2025-10-26T18:30:32.406Z,1761503432.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034606,0.876962,0.479313],[-0.998199,-0.006809,-0.059611],[-0.049012,-0.480512,0.875617]]
2025-10-26T18:30:32.815Z,1761503432.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066348,0.887248,0.456496],[-0.996760,-0.038093,-0.070834],[-0.045459,-0.459717,0.886901]]
2025-10-26T18:30:33.214Z,1761503433.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098557,0.896286,0.432386],[-0.994250,-0.070401,-0.080695],[-0.041885,-0.437853,0.898071]]
2025-10-26T18:30:33.282Z,1761503433.282 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:30:33.477Z,1761503433.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:30:33.477Z,1761503433.477 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:30:33.619Z,1761503433.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130291,0.904932,0.405121],[-0.990748,-0.103179,-0.088159],[-0.037978,-0.412859,0.910003]]
2025-10-26T18:30:33.725Z,1761503433.725 [DAT](INFO): DAT read: user:14>

2025-10-26T18:30:33.726Z,1761503433.726 [DAT](INFO): DAT read: Tx time:18:30:34.4837

2025-10-26T18:30:33.726Z,1761503433.726 [DAT](INFO): Ping request sent.
2025-10-26T18:30:33.726Z,1761503433.726 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:30:33.727Z,1761503433.727 [DAT](INFO): publishing transmit ping time
2025-10-26T18:30:33.728Z,1761503433.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001861
2025-10-26T18:30:33.976Z,1761503433.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250078
2025-10-26T18:30:34.022Z,1761503434.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161438,0.910335,0.381089],[-0.986291,-0.135451,-0.094253],[-0.034183,-0.391080,0.919722]]
2025-10-26T18:30:34.229Z,1761503434.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502768
2025-10-26T18:30:34.426Z,1761503434.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192074,0.910683,0.365739],[-0.980898,-0.166467,-0.100637],[-0.030765,-0.378082,0.925261]]
2025-10-26T18:30:34.481Z,1761503434.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754927
2025-10-26T18:30:34.734Z,1761503434.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007484
2025-10-26T18:30:34.858Z,1761503434.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222026,0.906448,0.359245],[-0.974632,-0.195648,-0.108696],[-0.028241,-0.374265,0.926892]]
2025-10-26T18:30:34.984Z,1761503434.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258165
2025-10-26T18:30:35.236Z,1761503435.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510111
2025-10-26T18:30:35.489Z,1761503435.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762950
2025-10-26T18:30:35.638Z,1761503435.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278328,0.890420,0.360120],[-0.960142,-0.247904,-0.129113],[-0.025690,-0.381702,0.923928]]
2025-10-26T18:30:35.740Z,1761503435.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014194
2025-10-26T18:30:35.992Z,1761503435.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266042
2025-10-26T18:30:36.043Z,1761503436.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305322,0.879674,0.364626],[-0.951934,-0.272109,-0.140637],[-0.024497,-0.390039,0.920472]]
2025-10-26T18:30:36.245Z,1761503436.245 [DAT](INFO): DAT read: Rx Time:18:30:36.5671

2025-10-26T18:30:36.245Z,1761503436.245 [DAT](INFO): Rx dataTimestamp_ set to:1761503436.245173
2025-10-26T18:30:36.246Z,1761503436.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519775
2025-10-26T18:30:36.446Z,1761503436.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330988,0.867746,0.370761],[-0.943350,-0.294625,-0.152599],[-0.023181,-0.400266,0.916106]]
2025-10-26T18:30:36.497Z,1761503436.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770249
2025-10-26T18:30:36.763Z,1761503436.763 [DAT](INFO): DAT read: 18:30:36.5671 LVL= 32752, 31457, 31634, 30675, AGC= 39, IDX= 505,-0.03, 2.336, 2.829,-2.376, 2.607, PHS=-0.169, 0.267, 1.257, RAW= 227.3, -20.7, CAL= 227.0, -26.1, ROT= 283.0,  26.1

2025-10-26T18:30:36.764Z,1761503436.764 [DAT](INFO): got valid direction response:
 18:30:36.5671 LVL= 32752, 31457, 31634, 30675, AGC= 39, IDX= 505,-0.03, 2.336, 2.829,-2.376, 2.607, PHS=-0.169, 0.267, 1.257, RAW= 227.3, -20.7, CAL= 227.0, -26.1, ROT= 283.0,  26.1

2025-10-26T18:30:36.765Z,1761503436.765 [DAT](INFO): DAT read: Bearing 141,   3 (Remote)

2025-10-26T18:30:36.765Z,1761503436.765 [DAT](INFO): Remote Bearing received:Bearing 141,   3 (Remote)

2025-10-26T18:30:36.766Z,1761503436.766 [DAT](INFO): DAT read: Bearing 316.7, -39.6 (Local)

2025-10-26T18:30:36.766Z,1761503436.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7, -39.6 (Local)

2025-10-26T18:30:36.768Z,1761503436.768 [DAT](INFO): DAT read: Range 11 to 20 : 40.7 m  (Round-trip  54.3 ms) speed -0.4 m/s

2025-10-26T18:30:36.768Z,1761503436.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:30:36.769Z,1761503436.769 [DAT](INFO): direction in FSK: [0.202012,-0.875011,-0.439939]
2025-10-26T18:30:36.770Z,1761503436.770 [DAT](INFO): publishing direction and range info
2025-10-26T18:30:36.909Z,1761503436.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355811,0.854277,0.378958],[-0.934305,-0.315724,-0.165508],[-0.021743,-0.412952,0.910493]]
2025-10-26T18:30:37.025Z,1761503437.025 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503488.00. Resetting abort timer.
2025-10-26T18:30:37.278Z,1761503437.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380039,0.842246,0.382350],[-0.924740,-0.336735,-0.177385],[-0.020651,-0.420988,0.906831]]
2025-10-26T18:30:37.678Z,1761503437.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405321,0.828959,0.385411],[-0.913968,-0.358494,-0.190118],[-0.019433,-0.429312,0.902947]]
2025-10-26T18:30:38.088Z,1761503438.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431037,0.815552,0.386111],[-0.902151,-0.380868,-0.202641],[-0.018207,-0.435676,0.899919]]
2025-10-26T18:30:38.132Z,1761503438.132 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:30:38.132Z,1761503438.132 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:30:38.132Z,1761503438.132 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:30:38.132Z,1761503438.132 [marl:UpdateRudder:A] Stopped
2025-10-26T18:30:38.132Z,1761503438.132 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:30:38.132Z,1761503438.132 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateCommandMode] Stopped
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:30:38.133Z,1761503438.133 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:30:38.134Z,1761503438.134 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:30:38.134Z,1761503438.134 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:30:38.134Z,1761503438.134 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:30:38.134Z,1761503438.134 [marl:UpdateSpeed] Stopped
2025-10-26T18:30:38.134Z,1761503438.134 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:30:38.488Z,1761503438.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458555,0.803925,0.378723],[-0.888503,-0.406593,-0.212708],[-0.017015,-0.434035,0.900735]]
2025-10-26T18:30:38.511Z,1761503438.511 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:30:38.514Z,1761503438.514 [marl:UpdateRudder:B] Stopped
2025-10-26T18:30:38.514Z,1761503438.514 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:30:38.515Z,1761503438.515 [marl:UpdateRudder] Stopped
2025-10-26T18:30:38.515Z,1761503438.515 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:30:38.900Z,1761503438.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486778,0.791600,0.369346],[-0.873387,-0.433518,-0.221940],[-0.015570,-0.430618,0.902400]]
2025-10-26T18:30:39.294Z,1761503439.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515198,0.779265,0.356816],[-0.856953,-0.461454,-0.229546],[-0.014223,-0.424036,0.905534]]
2025-10-26T18:30:39.710Z,1761503439.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543264,0.767587,0.340110],[-0.839465,-0.490485,-0.233928],[-0.012741,-0.412595,0.910826]]
2025-10-26T18:30:40.510Z,1761503440.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599278,0.738919,0.308001],[-0.800487,-0.548636,-0.241289],[-0.009312,-0.391150,0.920280]]
2025-10-26T18:30:40.914Z,1761503440.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627188,0.718811,0.299909],[-0.778833,-0.575159,-0.250223],[-0.007368,-0.390516,0.920567]]
2025-10-26T18:30:41.318Z,1761503441.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654929,0.697061,0.291846],[-0.755670,-0.601311,-0.259592],[-0.005461,-0.390554,0.920564]]
2025-10-26T18:30:41.730Z,1761503441.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682245,0.672095,0.287801],[-0.731113,-0.625095,-0.273366],[-0.003825,-0.396918,0.917846]]
2025-10-26T18:30:42.132Z,1761503442.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709024,0.644700,0.285740],[-0.705181,-0.646955,-0.290119],[-0.002178,-0.407200,0.913336]]
2025-10-26T18:30:42.530Z,1761503442.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735488,0.615500,0.283226],[-0.677538,-0.667948,-0.307876],[-0.000317,-0.418336,0.908292]]
2025-10-26T18:30:42.934Z,1761503442.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761545,0.583991,0.281077],[-0.648107,-0.687857,-0.326818],[0.002482,-0.431054,0.902323]]
2025-10-26T18:30:43.340Z,1761503443.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786497,0.550776,0.279408],[-0.617560,-0.706174,-0.346320],[0.006566,-0.444931,0.895541]]
2025-10-26T18:30:43.746Z,1761503443.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809590,0.518020,0.276078],[-0.586876,-0.723813,-0.362865],[0.011858,-0.455795,0.890006]]
2025-10-26T18:30:44.146Z,1761503444.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829737,0.486930,0.272828],[-0.557867,-0.739166,-0.377384],[0.017905,-0.465331,0.884955]]
2025-10-26T18:30:44.558Z,1761503444.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846590,0.459167,0.269168],[-0.531699,-0.752521,-0.388599],[0.024123,-0.472100,0.881215]]
2025-10-26T18:30:44.955Z,1761503444.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861286,0.435614,0.261584],[-0.507208,-0.767899,-0.391244],[0.030439,-0.469650,0.882328]]
2025-10-26T18:30:45.358Z,1761503445.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874705,0.414730,0.250780],[-0.483244,-0.785786,-0.386025],[0.036964,-0.458846,0.887747]]
2025-10-26T18:30:45.762Z,1761503445.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887256,0.395195,0.237902],[-0.459219,-0.805419,-0.374723],[0.043522,-0.441724,0.896095]]
2025-10-26T18:30:46.174Z,1761503446.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899047,0.375879,0.224565],[-0.434991,-0.825291,-0.360109],[0.049973,-0.421439,0.905479]]
2025-10-26T18:30:46.571Z,1761503446.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910055,0.355946,0.212371],[-0.410699,-0.843491,-0.346192],[0.055908,-0.402274,0.913811]]
2025-10-26T18:30:46.974Z,1761503446.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920168,0.336408,0.200301],[-0.386821,-0.860188,-0.332334],[0.060497,-0.383284,0.921647]]
2025-10-26T18:30:47.378Z,1761503447.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929388,0.317020,0.189042],[-0.363664,-0.874088,-0.322053],[0.063142,-0.368060,0.927656]]
2025-10-26T18:30:47.784Z,1761503447.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937881,0.297283,0.178895],[-0.341029,-0.884781,-0.317588],[0.063869,-0.358868,0.931201]]
2025-10-26T18:30:48.199Z,1761503448.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945726,0.277798,0.168615],[-0.318713,-0.894201,-0.314368],[0.063445,-0.351046,0.934206]]
2025-10-26T18:30:48.590Z,1761503448.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953337,0.256325,0.159519],[-0.295280,-0.901742,-0.315707],[0.062922,-0.348078,0.935351]]
2025-10-26T18:30:48.994Z,1761503448.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960793,0.232023,0.151797],[-0.270026,-0.907319,-0.322270],[0.062954,-0.350624,0.934398]]
2025-10-26T18:30:49.401Z,1761503449.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968183,0.204493,0.144238],[-0.242003,-0.911819,-0.331693],[0.063690,-0.356046,0.932295]]
2025-10-26T18:30:49.802Z,1761503449.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975412,0.172798,0.136794],[-0.210650,-0.913460,-0.348161],[0.064794,-0.368416,0.927400]]
2025-10-26T18:30:50.210Z,1761503450.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982111,0.137955,0.128165],[-0.176332,-0.912581,-0.368920],[0.066066,-0.384920,0.920582]]
2025-10-26T18:30:50.610Z,1761503450.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988007,0.100521,0.117209],[-0.138920,-0.910045,-0.390536],[0.067409,-0.402135,0.913095]]
2025-10-26T18:30:50.653Z,1761503450.653 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:30:50.653Z,1761503450.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:30:50.654Z,1761503450.654 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:30:50.654Z,1761503450.654 [marl:UpdateRudder:A] Stopped
2025-10-26T18:30:50.654Z,1761503450.654 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:30:50.654Z,1761503450.654 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:30:50.654Z,1761503450.654 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:30:50.654Z,1761503450.654 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:30:50.655Z,1761503450.655 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:30:50.655Z,1761503450.655 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:30:50.655Z,1761503450.655 [marl:UpdateCommandMode] Stopped
2025-10-26T18:30:50.655Z,1761503450.655 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:30:50.655Z,1761503450.655 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:30:50.659Z,1761503450.659 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:30:50.659Z,1761503450.659 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:30:50.660Z,1761503450.660 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:30:50.660Z,1761503450.660 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:30:50.660Z,1761503450.660 [marl:UpdateSpeed] Stopped
2025-10-26T18:30:50.660Z,1761503450.660 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:30:51.016Z,1761503451.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992704,0.061545,0.103684],[-0.098935,-0.907303,-0.408671],[0.068921,-0.415948,0.906773]]
2025-10-26T18:30:51.086Z,1761503451.086 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:30:51.086Z,1761503451.086 [marl:UpdateRudder:B] Stopped
2025-10-26T18:30:51.086Z,1761503451.086 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:30:51.087Z,1761503451.087 [marl:UpdateRudder] Stopped
2025-10-26T18:30:51.087Z,1761503451.087 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:30:51.420Z,1761503451.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995765,0.022539,0.089130],[-0.058483,-0.903328,-0.424945],[0.070936,-0.428358,0.900820]]
2025-10-26T18:30:51.822Z,1761503451.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997133,-0.014952,0.074178],[-0.019237,-0.897989,-0.439597],[0.073184,-0.439764,0.895127]]
2025-10-26T18:30:52.226Z,1761503452.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997016,-0.049489,0.059245],[0.017355,-0.891521,-0.452646],[0.075219,-0.450267,0.889720]]
2025-10-26T18:30:52.630Z,1761503452.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995814,-0.079783,0.044595],[0.050337,-0.885970,-0.461003],[0.076290,-0.456828,0.886277]]
2025-10-26T18:30:53.045Z,1761503453.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994078,-0.104162,0.030977],[0.078083,-0.882893,-0.463036],[0.075580,-0.457875,0.885798]]
2025-10-26T18:30:53.438Z,1761503453.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992398,-0.121367,0.020378],[0.099118,-0.886398,-0.452188],[0.072944,-0.446731,0.891690]]
2025-10-26T18:30:53.842Z,1761503453.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991232,-0.131398,0.013912],[0.112818,-0.896442,-0.428561],[0.068783,-0.423234,0.903406]]
2025-10-26T18:30:54.246Z,1761503454.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990851,-0.134485,0.011296],[0.119014,-0.910191,-0.396722],[0.063634,-0.391749,0.917869]]
2025-10-26T18:30:54.651Z,1761503454.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991192,-0.131893,0.011921],[0.118660,-0.924486,-0.362278],[0.058803,-0.357672,0.931994]]
2025-10-26T18:30:55.056Z,1761503455.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991988,-0.125520,0.014300],[0.113684,-0.936300,-0.332292],[0.055099,-0.328004,0.943068]]
2025-10-26T18:30:55.458Z,1761503455.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992966,-0.117092,0.017573],[0.106004,-0.945256,-0.308634],[0.052750,-0.304600,0.951019]]
2025-10-26T18:30:56.302Z,1761503456.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993803,-0.109594,0.018576],[0.100451,-0.957015,-0.272090],[0.047597,-0.268538,0.962093]]
2025-10-26T18:30:56.675Z,1761503456.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993750,-0.110497,0.015839],[0.102723,-0.960763,-0.257647],[0.043686,-0.254410,0.966109]]
2025-10-26T18:30:57.074Z,1761503457.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993628,-0.111999,0.012673],[0.105563,-0.964103,-0.243645],[0.039506,-0.240754,0.969782]]
2025-10-26T18:30:57.478Z,1761503457.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993527,-0.113249,0.008851],[0.108067,-0.966321,-0.233551],[0.035003,-0.231083,0.972304]]
2025-10-26T18:30:57.884Z,1761503457.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993527,-0.113461,0.005552],[0.109255,-0.967793,-0.226803],[0.031107,-0.224728,0.973925]]
2025-10-26T18:30:58.286Z,1761503458.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993559,-0.113290,0.002618],[0.109892,-0.968884,-0.221781],[0.027662,-0.220064,0.975093]]
2025-10-26T18:30:58.691Z,1761503458.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993740,-0.111714,-0.000470],[0.109073,-0.969323,-0.220262],[0.024151,-0.218934,0.975441]]
2025-10-26T18:30:58.875Z,1761503458.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:30:59.094Z,1761503459.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993971,-0.109589,-0.003334],[0.107659,-0.969801,-0.218850],[0.020751,-0.217890,0.975753]]
2025-10-26T18:30:59.508Z,1761503459.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994603,-0.103440,-0.008038],[0.102635,-0.969614,-0.222070],[0.015177,-0.221696,0.974998]]
2025-10-26T18:30:59.876Z,1761503459.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:30:59.909Z,1761503459.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994954,-0.099975,-0.008397],[0.099320,-0.969679,-0.223290],[0.014181,-0.222997,0.974716]]
2025-10-26T18:31:00.311Z,1761503460.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995293,-0.096657,-0.006955],[0.095741,-0.969681,-0.224839],[0.014988,-0.224446,0.974371]]
2025-10-26T18:31:00.721Z,1761503460.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995619,-0.093416,-0.004095],[0.091892,-0.969391,-0.227676],[0.017299,-0.227054,0.973728]]
2025-10-26T18:31:01.119Z,1761503461.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995856,-0.090946,-0.000069],[0.088515,-0.969063,-0.230395],[0.020887,-0.229446,0.973097]]
2025-10-26T18:31:01.527Z,1761503461.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996000,-0.089246,0.004405],[0.085767,-0.968673,-0.233061],[0.025066,-0.231751,0.972452]]
2025-10-26T18:31:01.922Z,1761503461.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995986,-0.089069,0.008893],[0.084476,-0.968156,-0.235665],[0.029600,-0.233967,0.971794]]
2025-10-26T18:31:02.329Z,1761503462.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995842,-0.090134,0.013209],[0.084508,-0.968195,-0.235492],[0.034015,-0.233396,0.971787]]
2025-10-26T18:31:02.737Z,1761503462.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995560,-0.092539,0.017223],[0.085981,-0.968505,-0.233678],[0.038305,-0.231160,0.972161]]
2025-10-26T18:31:03.135Z,1761503463.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995074,-0.097018,0.020366],[0.089658,-0.968423,-0.232633],[0.042292,-0.229661,0.972351]]
2025-10-26T18:31:03.578Z,1761503463.578 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:31:03.578Z,1761503463.578 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:31:03.579Z,1761503463.579 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:31:03.579Z,1761503463.579 [marl:UpdateRudder:A] Stopped
2025-10-26T18:31:03.580Z,1761503463.580 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:31:03.580Z,1761503463.580 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:31:03.581Z,1761503463.581 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:31:03.581Z,1761503463.581 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateCommandMode] Stopped
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:31:03.584Z,1761503463.584 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:31:03.585Z,1761503463.585 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:31:03.585Z,1761503463.585 [marl:UpdateSpeed] Stopped
2025-10-26T18:31:03.585Z,1761503463.585 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:31:03.586Z,1761503463.586 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:31:03.729Z,1761503463.729 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:31:03.729Z,1761503463.729 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:31:03.942Z,1761503463.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993725,-0.108473,0.027278],[0.099356,-0.968076,-0.230126],[0.051369,-0.225972,0.972778]]
2025-10-26T18:31:03.980Z,1761503463.980 [DAT](INFO): DAT read: user:15>

2025-10-26T18:31:03.981Z,1761503463.981 [DAT](INFO): DAT read: Tx time:18:31:04.7335

2025-10-26T18:31:03.981Z,1761503463.981 [DAT](INFO): Ping request sent.
2025-10-26T18:31:03.981Z,1761503463.981 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:31:03.982Z,1761503463.982 [DAT](INFO): publishing transmit ping time
2025-10-26T18:31:03.982Z,1761503463.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936
2025-10-26T18:31:03.997Z,1761503463.997 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:31:03.997Z,1761503463.997 [marl:UpdateRudder:B] Stopped
2025-10-26T18:31:03.997Z,1761503463.997 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:31:03.997Z,1761503463.997 [marl:UpdateRudder] Stopped
2025-10-26T18:31:03.997Z,1761503463.997 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:31:04.232Z,1761503464.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250846
2025-10-26T18:31:04.346Z,1761503464.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993075,-0.113184,0.031484],[0.102899,-0.967310,-0.231782],[0.056689,-0.226937,0.972258]]
2025-10-26T18:31:04.487Z,1761503464.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504815
2025-10-26T18:31:04.736Z,1761503464.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754790
2025-10-26T18:31:04.757Z,1761503464.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992425,-0.117525,0.035778],[0.106019,-0.966467,-0.233882],[0.062065,-0.228318,0.971606]]
2025-10-26T18:31:04.991Z,1761503464.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009030
2025-10-26T18:31:05.154Z,1761503465.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991837,-0.121400,0.039004],[0.108723,-0.964972,-0.238764],[0.066624,-0.232574,0.970294]]
2025-10-26T18:31:05.240Z,1761503465.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995
2025-10-26T18:31:05.493Z,1761503465.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511901
2025-10-26T18:31:05.558Z,1761503465.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991407,-0.124176,0.041138],[0.110661,-0.963829,-0.242462],[0.069758,-0.235826,0.969288]]
2025-10-26T18:31:05.744Z,1761503465.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762913
2025-10-26T18:31:05.962Z,1761503465.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991302,-0.124065,0.043903],[0.109731,-0.963368,-0.244706],[0.072654,-0.237760,0.968603]]
2025-10-26T18:31:05.998Z,1761503465.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015862
2025-10-26T18:31:06.248Z,1761503466.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266819
2025-10-26T18:31:06.368Z,1761503466.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991752,-0.118306,0.049306],[0.102819,-0.964048,-0.245031],[0.076522,-0.237940,0.968261]]
2025-10-26T18:31:06.502Z,1761503466.502 [DAT](INFO): DAT read: Rx Time:18:31:06.7976

2025-10-26T18:31:06.503Z,1761503466.503 [DAT](INFO): Rx dataTimestamp_ set to:1761503466.502553
2025-10-26T18:31:06.504Z,1761503466.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522566
2025-10-26T18:31:06.752Z,1761503466.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918
2025-10-26T18:31:06.770Z,1761503466.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992459,-0.108175,0.057646],[0.092110,-0.968458,-0.231528],[0.080873,-0.224472,0.971119]]
2025-10-26T18:31:07.012Z,1761503467.012 [DAT](INFO): DAT read: 18:31:06.7976 LVL= 32752, 32753, 32754, 32755, AGC= 39, IDX= 228,-0.05,-0.792,-2.155,-0.705,-1.146, PHS= 0.456,-0.964, 0.397, RAW= 147.9,   1.6, CAL= 147.1,   1.5, ROT=   2.9,  -1.5

2025-10-26T18:31:07.014Z,1761503467.014 [DAT](INFO): got valid direction response:
 18:31:06.7976 LVL= 32752, 32753, 32754, 32755, AGC= 39, IDX= 228,-0.05,-0.792,-2.155,-0.705,-1.146, PHS= 0.456,-0.964, 0.397, RAW= 147.9,   1.6, CAL= 147.1,   1.5, ROT=   2.9,  -1.5

2025-10-26T18:31:07.014Z,1761503467.014 [DAT](INFO): DAT read: Bearing 142,   4 (Remote)

2025-10-26T18:31:07.015Z,1761503467.015 [DAT](INFO): Remote Bearing received:Bearing 142,   4 (Remote)

2025-10-26T18:31:07.016Z,1761503467.016 [DAT](INFO): DAT read: Bearing 316.2,   7.1 (Local)

2025-10-26T18:31:07.016Z,1761503467.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.2,   7.1 (Local)

2025-10-26T18:31:07.018Z,1761503467.018 [DAT](INFO): DAT read: Range 11 to 20 : 26.1 m  (Round-trip  34.9 ms) speed  0.8 m/s

2025-10-26T18:31:07.018Z,1761503467.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:31:07.019Z,1761503467.019 [DAT](INFO): direction in FSK: [0.998377,0.050576,0.026177]
2025-10-26T18:31:07.020Z,1761503467.020 [DAT](INFO): publishing direction and range info
2025-10-26T18:31:07.174Z,1761503467.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993141,-0.095198,0.067879],[0.079701,-0.975993,-0.202693],[0.085546,-0.195893,0.976887]]
2025-10-26T18:31:07.244Z,1761503467.244 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503488.00. Resetting abort timer.
2025-10-26T18:31:07.579Z,1761503467.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993697,-0.079969,0.078561],[0.066010,-0.983827,-0.166517],[0.090607,-0.160281,0.982904]]
2025-10-26T18:31:07.992Z,1761503467.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994050,-0.063913,0.088205],[0.052270,-0.990329,-0.128518],[0.095566,-0.123143,0.987777]]
2025-10-26T18:31:08.386Z,1761503468.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994248,-0.047317,0.096085],[0.038111,-0.994702,-0.095481],[0.100094,-0.091269,0.990783]]
2025-10-26T18:31:08.790Z,1761503468.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994350,-0.029251,0.102041],[0.022266,-0.997373,-0.068936],[0.103789,-0.066274,0.992389]]
2025-10-26T18:31:09.196Z,1761503469.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994239,-0.008944,0.106815],[0.003577,-0.998726,-0.050335],[0.107129,-0.049663,0.993004]]
2025-10-26T18:31:09.598Z,1761503469.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993713,0.012990,0.111200],[-0.017270,-0.999143,-0.037618],[0.110616,-0.039302,0.993086]]
2025-10-26T18:31:10.007Z,1761503470.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992699,0.035469,0.115284],[-0.038872,-0.998868,-0.027403],[0.114181,-0.031684,0.992955]]
2025-10-26T18:31:10.414Z,1761503470.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991179,0.057900,0.119216],[-0.060640,-0.997970,-0.019480],[0.117846,-0.026538,0.992677]]
2025-10-26T18:31:10.815Z,1761503470.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989077,0.080854,0.123243],[-0.082956,-0.996481,-0.012013],[0.121838,-0.022105,0.992304]]
2025-10-26T18:31:11.214Z,1761503471.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986368,0.104261,0.127311],[-0.105678,-0.994391,-0.004409],[0.126137,-0.017803,0.991853]]
2025-10-26T18:31:11.618Z,1761503471.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982937,0.128725,0.131397],[-0.129438,-0.991583,0.003139],[0.130695,-0.013922,0.991325]]
2025-10-26T18:31:12.023Z,1761503472.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978779,0.153995,0.135193],[-0.154183,-0.988000,0.009144],[0.134979,-0.011895,0.990777]]
2025-10-26T18:31:12.428Z,1761503472.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974388,0.177120,0.138549],[-0.176860,-0.984132,0.014279],[0.138879,-0.010590,0.990253]]
2025-10-26T18:31:12.864Z,1761503472.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970605,0.194614,0.141606],[-0.193707,-0.980849,0.020296],[0.142844,-0.007730,0.989715]]
2025-10-26T18:31:13.234Z,1761503473.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967417,0.207764,0.144701],[-0.206207,-0.978167,0.025845],[0.146911,-0.004835,0.989138]]
2025-10-26T18:31:13.638Z,1761503473.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964363,0.219385,0.147901],[-0.217538,-0.975628,0.028753],[0.150605,-0.004446,0.988584]]
2025-10-26T18:31:14.044Z,1761503474.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961260,0.230389,0.151327],[-0.228359,-0.973086,0.030900],[0.154373,-0.004854,0.988001]]
2025-10-26T18:31:14.446Z,1761503474.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958168,0.240346,0.155396],[-0.238358,-0.970664,0.031586],[0.158428,-0.006775,0.987347]]
2025-10-26T18:31:14.890Z,1761503474.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955171,0.248831,0.160413],[-0.246924,-0.968505,0.032040],[0.163333,-0.009006,0.986530]]
2025-10-26T18:31:15.254Z,1761503475.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951975,0.257218,0.166077],[-0.255302,-0.966293,0.033154],[0.169007,-0.010838,0.985555]]
2025-10-26T18:31:15.660Z,1761503475.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948626,0.265700,0.171790],[-0.263879,-0.963964,0.033778],[0.174574,-0.013289,0.984554]]
2025-10-26T18:31:16.062Z,1761503476.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944966,0.275471,0.176507],[-0.273567,-0.961197,0.035521],[0.179443,-0.014720,0.983658]]
2025-10-26T18:31:16.476Z,1761503476.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940594,0.287386,0.180808],[-0.285585,-0.957658,0.036491],[0.183639,-0.017313,0.982841]]
2025-10-26T18:31:16.523Z,1761503476.523 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:31:16.527Z,1761503476.527 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateRudder:A] Stopped
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:31:16.528Z,1761503476.528 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateCommandMode] Stopped
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:31:16.529Z,1761503476.529 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:31:16.530Z,1761503476.530 [marl:UpdateSpeed] Stopped
2025-10-26T18:31:16.530Z,1761503476.530 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:31:16.893Z,1761503476.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935552,0.300976,0.184814],[-0.299442,-0.953403,0.036836],[0.187289,-0.020879,0.982083]]
2025-10-26T18:31:16.949Z,1761503476.949 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:31:16.949Z,1761503476.949 [marl:UpdateRudder:B] Stopped
2025-10-26T18:31:16.949Z,1761503476.949 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:31:16.949Z,1761503476.949 [marl:UpdateRudder] Stopped
2025-10-26T18:31:16.950Z,1761503476.950 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:31:17.274Z,1761503477.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930059,0.315539,0.188217],[-0.313867,-0.948648,0.039426],[0.190992,-0.022407,0.981336]]
2025-10-26T18:31:17.678Z,1761503477.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924424,0.330117,0.190954],[-0.328157,-0.943656,0.042735],[0.194302,-0.023158,0.980668]]
2025-10-26T18:31:18.082Z,1761503478.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918086,0.345799,0.193755],[-0.343661,-0.937984,0.045646],[0.197523,-0.024679,0.979988]]
2025-10-26T18:31:18.490Z,1761503478.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910882,0.363200,0.195909],[-0.360722,-0.931360,0.049486],[0.200435,-0.025593,0.979373]]
2025-10-26T18:31:18.899Z,1761503478.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902941,0.381691,0.197509],[-0.378708,-0.923928,0.054194],[0.203170,-0.025865,0.978802]]
2025-10-26T18:31:19.294Z,1761503479.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894183,0.401328,0.198427],[-0.397850,-0.915558,0.058902],[0.205310,-0.026275,0.978344]]
2025-10-26T18:31:19.701Z,1761503479.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884511,0.421969,0.198954],[-0.417894,-0.906226,0.064178],[0.207379,-0.026376,0.977905]]
2025-10-26T18:31:20.104Z,1761503480.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874163,0.443002,0.198968],[-0.438336,-0.896127,0.069405],[0.209048,-0.026543,0.977545]]
2025-10-26T18:31:20.506Z,1761503480.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863724,0.463166,0.198641],[-0.457761,-0.885890,0.075184],[0.210797,-0.025992,0.977184]]
2025-10-26T18:31:20.910Z,1761503480.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853670,0.481654,0.198135],[-0.475402,-0.876009,0.081245],[0.212700,-0.024838,0.976802]]
2025-10-26T18:31:21.319Z,1761503481.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843888,0.498778,0.197672],[-0.491578,-0.866418,0.087588],[0.214954,-0.023257,0.976347]]
2025-10-26T18:31:21.726Z,1761503481.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834732,0.514021,0.197494],[-0.505623,-0.857528,0.094823],[0.218098,-0.020706,0.975707]]
2025-10-26T18:31:22.122Z,1761503482.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826627,0.526400,0.198977],[-0.517001,-0.850015,0.100920],[0.222257,-0.019448,0.974794]]
2025-10-26T18:31:22.526Z,1761503482.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819145,0.537276,0.200840],[-0.526774,-0.843215,0.107224],[0.226960,-0.017965,0.973738]]
2025-10-26T18:31:22.931Z,1761503482.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812319,0.546923,0.202516],[-0.535339,-0.837020,0.113175],[0.231408,-0.016481,0.972717]]
2025-10-26T18:31:23.342Z,1761503483.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805125,0.556922,0.203991],[-0.544561,-0.830406,0.117809],[0.235006,-0.016234,0.971858]]
2025-10-26T18:31:23.740Z,1761503483.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796859,0.567960,0.206003],[-0.555096,-0.822869,0.121469],[0.238503,-0.017558,0.970983]]
2025-10-26T18:31:24.142Z,1761503484.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787069,0.581001,0.207265],[-0.567649,-0.813680,0.125297],[0.241445,-0.019037,0.970228]]
2025-10-26T18:31:24.546Z,1761503484.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775379,0.596614,0.206977],[-0.582602,-0.802285,0.130052],[0.243645,-0.019745,0.969663]]
2025-10-26T18:31:24.958Z,1761503484.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762075,0.613924,0.205763],[-0.599374,-0.789090,0.134490],[0.244932,-0.020837,0.969316]]
2025-10-26T18:31:25.358Z,1761503485.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747523,0.632313,0.203444],[-0.617237,-0.774409,0.138957],[0.245413,-0.021700,0.969176]]
2025-10-26T18:31:25.760Z,1761503485.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732591,0.651040,0.198639],[-0.635179,-0.758768,0.144290],[0.244659,-0.020466,0.969393]]
2025-10-26T18:31:26.167Z,1761503486.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718045,0.668785,0.192711],[-0.652182,-0.743225,0.149249],[0.243043,-0.018515,0.969839]]
2025-10-26T18:31:26.566Z,1761503486.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705218,0.684218,0.185776],[-0.666842,-0.729117,0.153980],[0.240809,-0.015294,0.970452]]
2025-10-26T18:31:26.970Z,1761503486.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694321,0.697123,0.178714],[-0.678989,-0.716862,0.158377],[0.238521,-0.011380,0.971071]]
2025-10-26T18:31:27.381Z,1761503487.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685643,0.707380,0.171777],[-0.688312,-0.706806,0.163255],[0.236896,-0.006302,0.971515]]
2025-10-26T18:31:27.779Z,1761503487.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678600,0.715281,0.166957],[-0.695473,-0.698831,0.167190],[0.236263,-0.002659,0.971686]]
2025-10-26T18:31:28.183Z,1761503488.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672665,0.721539,0.164021],[-0.700975,-0.692373,0.171035],[0.236972,0.000075,0.971516]]
2025-10-26T18:31:28.586Z,1761503488.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667860,0.726313,0.162577],[-0.704916,-0.687360,0.175014],[0.238864,0.002282,0.971050]]
2025-10-26T18:31:28.992Z,1761503488.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663754,0.730129,0.162304],[-0.707874,-0.683298,0.178935],[0.241547,0.003878,0.970381]]
2025-10-26T18:31:29.394Z,1761503489.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659596,0.733583,0.163672],[-0.710742,-0.679590,0.181665],[0.244497,0.003497,0.969644]]
2025-10-26T18:31:29.442Z,1761503489.442 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:31:29.442Z,1761503489.442 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:31:29.442Z,1761503489.442 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:31:29.443Z,1761503489.443 [marl:UpdateRudder:A] Stopped
2025-10-26T18:31:29.443Z,1761503489.443 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:31:29.443Z,1761503489.443 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:31:29.443Z,1761503489.443 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:31:29.443Z,1761503489.443 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateCommandMode] Stopped
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:31:29.444Z,1761503489.444 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:31:29.445Z,1761503489.445 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:31:29.445Z,1761503489.445 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:31:29.445Z,1761503489.445 [marl:UpdateSpeed] Stopped
2025-10-26T18:31:29.445Z,1761503489.445 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:31:29.834Z,1761503489.834 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:31:29.835Z,1761503489.835 [marl:UpdateRudder:B] Stopped
2025-10-26T18:31:29.835Z,1761503489.835 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:31:29.835Z,1761503489.835 [marl:UpdateRudder] Stopped
2025-10-26T18:31:29.835Z,1761503489.835 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:31:29.996Z,1761503489.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:31:30.203Z,1761503490.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647497,0.743149,0.168751],[-0.720077,-0.669121,0.183757],[0.249474,-0.002532,0.968378]]
2025-10-26T18:31:30.606Z,1761503490.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639227,0.749657,0.171475],[-0.726683,-0.661792,0.184293],[0.251637,-0.006803,0.967798]]
2025-10-26T18:31:30.000Z,1761503491.000 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:31:31.014Z,1761503491.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629334,0.757345,0.174261],[-0.734537,-0.652910,0.184835],[0.253761,-0.011679,0.967196]]
2025-10-26T18:31:31.421Z,1761503491.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617989,0.766265,0.175863],[-0.743632,-0.642323,0.185559],[0.255148,-0.016104,0.966768]]
2025-10-26T18:31:31.818Z,1761503491.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604907,0.776323,0.177231],[-0.754105,-0.629973,0.185632],[0.255761,-0.021360,0.966504]]
2025-10-26T18:31:31.957Z,1761503491.957 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:31:31.957Z,1761503491.957 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:31:32.223Z,1761503492.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590133,0.787668,0.176979],[-0.765838,-0.615559,0.185954],[0.255411,-0.025800,0.966488]]
2025-10-26T18:31:32.628Z,1761503492.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573424,0.800748,0.173168],[-0.779007,-0.598371,0.187351],[0.253640,-0.027467,0.966909]]
2025-10-26T18:31:33.034Z,1761503493.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554981,0.814847,0.167394],[-0.793247,-0.578991,0.188490],[0.250510,-0.028177,0.967704]]
2025-10-26T18:31:33.439Z,1761503493.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534926,0.829546,0.160337],[-0.808187,-0.557716,0.189171],[0.246349,-0.028390,0.968765]]
2025-10-26T18:31:33.839Z,1761503493.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513884,0.844357,0.151604],[-0.823203,-0.535086,0.189791],[0.241373,-0.027271,0.970049]]
2025-10-26T18:31:33.924Z,1761503493.924 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:31:33.972Z,1761503493.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:31:33.972Z,1761503493.972 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:31:34.224Z,1761503494.224 [DAT](INFO): DAT read: user:16>

2025-10-26T18:31:34.225Z,1761503494.225 [DAT](INFO): DAT read: Tx time:18:31:34.9835

2025-10-26T18:31:34.225Z,1761503494.225 [DAT](INFO): Ping request sent.
2025-10-26T18:31:34.225Z,1761503494.225 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:31:34.226Z,1761503494.226 [DAT](INFO): publishing transmit ping time
2025-10-26T18:31:34.226Z,1761503494.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000927
2025-10-26T18:31:34.243Z,1761503494.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493093,0.858454,0.141123],[-0.837468,-0.512310,0.190224],[0.235598,-0.024388,0.971545]]
2025-10-26T18:31:34.476Z,1761503494.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862
2025-10-26T18:31:34.646Z,1761503494.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473466,0.870970,0.131304],[-0.850323,-0.490852,0.189776],[0.229741,-0.021798,0.973008]]
2025-10-26T18:31:34.729Z,1761503494.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503477
2025-10-26T18:31:34.980Z,1761503494.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754782
2025-10-26T18:31:35.050Z,1761503495.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455026,0.882318,0.120276],[-0.861926,-0.470329,0.189403],[0.223683,-0.017486,0.974505]]
2025-10-26T18:31:35.233Z,1761503495.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007603
2025-10-26T18:31:35.456Z,1761503495.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438464,0.892000,0.109928],[-0.872005,-0.451839,0.188278],[0.217614,-0.013305,0.975944]]
2025-10-26T18:31:35.485Z,1761503495.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258977
2025-10-26T18:31:35.736Z,1761503495.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510864
2025-10-26T18:31:35.858Z,1761503495.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423042,0.900392,0.101637],[-0.881041,-0.434944,0.185986],[0.211667,-0.010866,0.977281]]
2025-10-26T18:31:35.988Z,1761503495.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762784
2025-10-26T18:31:36.241Z,1761503496.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015314
2025-10-26T18:31:36.262Z,1761503496.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409106,0.907699,0.093354],[-0.888964,-0.419548,0.183636],[0.205853,-0.007862,0.978551]]
2025-10-26T18:31:36.493Z,1761503496.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267681
2025-10-26T18:31:36.669Z,1761503496.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396438,0.913927,0.087033],[-0.895973,-0.405827,0.180380],[0.200175,-0.006470,0.979739]]
2025-10-26T18:31:36.746Z,1761503496.746 [DAT](INFO): DAT read: Rx Time:18:31:37.0309

2025-10-26T18:31:36.746Z,1761503496.746 [DAT](INFO): Rx dataTimestamp_ set to:1761503496.745785
2025-10-26T18:31:36.747Z,1761503496.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521106
2025-10-26T18:31:36.996Z,1761503496.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770835
2025-10-26T18:31:37.080Z,1761503497.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384961,0.919278,0.082060],[-0.902108,-0.393565,0.176940],[0.194953,-0.005912,0.980795]]
2025-10-26T18:31:37.254Z,1761503497.254 [DAT](INFO): DAT read: 18:31:37.0309 LVL= 32752, 32753, 32754, 20179, AGC= 40, IDX= 262, 0.07, 0.312, 1.155, 0.788,-0.481, PHS= 0.895, 1.681, 1.225, RAW= 305.3, -63.0, CAL= 300.5, -64.4, ROT= 209.5,  64.4

2025-10-26T18:31:37.255Z,1761503497.255 [DAT](INFO): got valid direction response:
 18:31:37.0309 LVL= 32752, 32753, 32754, 20179, AGC= 40, IDX= 262, 0.07, 0.312, 1.155, 0.788,-0.481, PHS= 0.895, 1.681, 1.225, RAW= 305.3, -63.0, CAL= 300.5, -64.4, ROT= 209.5,  64.4

2025-10-26T18:31:37.256Z,1761503497.256 [DAT](INFO): DAT read: Bearing 118,  72 (Remote)

2025-10-26T18:31:37.256Z,1761503497.256 [DAT](INFO): Remote Bearing received:Bearing 118,  72 (Remote)

2025-10-26T18:31:37.257Z,1761503497.257 [DAT](INFO): DAT read: Bearing 275.2, -15.9 (Local)

2025-10-26T18:31:37.258Z,1761503497.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.2, -15.9 (Local)

2025-10-26T18:31:37.259Z,1761503497.259 [DAT](INFO): DAT read: Range 11 to 20 : 13.6 m  (Round-trip  18.2 ms) speed  0.2 m/s

2025-10-26T18:31:37.260Z,1761503497.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:31:37.261Z,1761503497.261 [DAT](INFO): direction in FSK: [-0.376068,-0.212769,-0.901833]
2025-10-26T18:31:37.261Z,1761503497.261 [DAT](INFO): publishing direction and range info
2025-10-26T18:31:37.474Z,1761503497.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374939,0.923833,0.077158],[-0.907330,-0.382765,0.173906],[0.190193,-0.004803,0.981735]]
2025-10-26T18:31:37.535Z,1761503497.535 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503488.00. Resetting abort timer.
2025-10-26T18:31:37.878Z,1761503497.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365726,0.927743,0.074412],[-0.911929,-0.373180,0.170650],[0.186089,-0.005447,0.982518]]
2025-10-26T18:31:38.284Z,1761503498.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355824,0.931706,0.072895],[-0.916539,-0.363143,0.167582],[0.182609,-0.007181,0.983159]]
2025-10-26T18:31:38.686Z,1761503498.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344459,0.936110,0.071042],[-0.921441,-0.351605,0.165290],[0.179708,-0.008525,0.983683]]
2025-10-26T18:31:39.093Z,1761503499.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330374,0.941297,0.069379],[-0.927115,-0.337419,0.163111],[0.176946,-0.010434,0.984165]]
2025-10-26T18:31:39.496Z,1761503499.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313824,0.947135,0.066707],[-0.933413,-0.320621,0.161063],[0.173937,-0.011720,0.984687]]
2025-10-26T18:31:39.909Z,1761503499.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295116,0.953274,0.064614],[-0.940048,-0.301788,0.158848],[0.170926,-0.013861,0.985186]]
2025-10-26T18:31:40.302Z,1761503500.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274203,0.959657,0.062215],[-0.946968,-0.280715,0.156369],[0.167525,-0.016039,0.985737]]
2025-10-26T18:31:40.710Z,1761503500.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251594,0.966122,0.057521],[-0.953975,-0.257575,0.153583],[0.163196,-0.016233,0.986460]]
2025-10-26T18:31:41.113Z,1761503501.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227849,0.972302,0.052088],[-0.960808,-0.233186,0.149904],[0.157899,-0.015891,0.987327]]
2025-10-26T18:31:41.516Z,1761503501.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204015,0.977890,0.045917],[-0.967133,-0.208598,0.145397],[0.151760,-0.014745,0.988307]]
2025-10-26T18:31:41.918Z,1761503501.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182597,0.982449,0.038105],[-0.972345,-0.186188,0.140993],[0.145613,-0.011307,0.989277]]
2025-10-26T18:31:42.322Z,1761503502.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163830,0.986011,0.030697],[-0.976613,-0.166503,0.136026],[0.139234,-0.007695,0.990230]]
2025-10-26T18:31:42.375Z,1761503502.375 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:31:42.379Z,1761503502.379 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:31:42.380Z,1761503502.380 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:31:42.381Z,1761503502.381 [marl:UpdateRudder:A] Stopped
2025-10-26T18:31:42.381Z,1761503502.381 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:31:42.381Z,1761503502.381 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:31:42.381Z,1761503502.381 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:31:42.381Z,1761503502.381 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:31:42.382Z,1761503502.382 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:31:42.382Z,1761503502.382 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:31:42.382Z,1761503502.382 [marl:UpdateCommandMode] Stopped
2025-10-26T18:31:42.382Z,1761503502.382 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:31:42.382Z,1761503502.382 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:31:42.382Z,1761503502.382 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:31:42.383Z,1761503502.383 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:31:42.383Z,1761503502.383 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:31:42.388Z,1761503502.388 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:31:42.389Z,1761503502.389 [marl:UpdateSpeed] Stopped
2025-10-26T18:31:42.389Z,1761503502.389 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:31:42.730Z,1761503502.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146993,0.988860,0.023442],[-0.980230,-0.148802,0.130412],[0.132447,-0.003809,0.991183]]
2025-10-26T18:31:42.777Z,1761503502.777 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:31:42.777Z,1761503502.777 [marl:UpdateRudder:B] Stopped
2025-10-26T18:31:42.777Z,1761503502.777 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:31:42.777Z,1761503502.777 [marl:UpdateRudder] Stopped
2025-10-26T18:31:42.777Z,1761503502.777 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:31:43.133Z,1761503503.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132248,0.991081,0.016390],[-0.983295,-0.133260,0.123986],[0.125064,0.000281,0.992149]]
2025-10-26T18:31:43.534Z,1761503503.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119095,0.992831,0.010112],[-0.985915,-0.119457,0.117058],[0.117427,0.003972,0.993074]]
2025-10-26T18:31:43.938Z,1761503503.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107594,0.994156,0.008804],[-0.988073,-0.107909,0.109850],[0.110158,0.003120,0.993909]]
2025-10-26T18:31:44.343Z,1761503504.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097708,0.995167,0.009805],[-0.989755,-0.098198,0.103648],[0.104110,0.000423,0.994566]]
2025-10-26T18:31:44.747Z,1761503504.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088733,0.995970,0.013028],[-0.991041,-0.089589,0.099057],[0.099825,-0.004122,0.994996]]
2025-10-26T18:31:45.158Z,1761503505.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072090,0.997159,0.021844],[-0.992632,-0.073867,0.096053],[0.097394,-0.014759,0.995136]]
2025-10-26T18:31:45.559Z,1761503505.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062255,0.997725,0.025851],[-0.993179,-0.064488,0.097142],[0.098588,-0.019627,0.994935]]
2025-10-26T18:31:45.965Z,1761503505.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049309,0.998418,0.027007],[-0.993745,-0.051755,0.098956],[0.100198,-0.021958,0.994725]]
2025-10-26T18:31:46.377Z,1761503506.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031408,0.999127,0.027560],[-0.994391,-0.034021,0.100141],[0.100992,-0.024260,0.994591]]
2025-10-26T18:31:46.770Z,1761503506.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009761,0.999549,0.028398],[-0.994787,-0.012589,0.101191],[0.101503,-0.027263,0.994462]]
2025-10-26T18:31:47.170Z,1761503507.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013930,0.999539,0.026976],[-0.994667,0.011095,0.102542],[0.102195,-0.028261,0.994363]]
2025-10-26T18:31:47.575Z,1761503507.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038472,0.998916,0.026204],[-0.993959,0.035557,0.103833],[0.102789,-0.030041,0.994250]]
2025-10-26T18:31:47.978Z,1761503507.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063549,0.997678,0.024483],[-0.992665,0.060664,0.104572],[0.102844,-0.030949,0.994216]]
2025-10-26T18:31:48.387Z,1761503508.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088903,0.995834,0.020254],[-0.990860,0.086351,0.103638],[0.101457,-0.029283,0.994409]]
2025-10-26T18:31:48.786Z,1761503508.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114135,0.993363,0.014252],[-0.988585,0.112143,0.100615],[0.098349,-0.025573,0.994823]]
2025-10-26T18:31:49.194Z,1761503509.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139292,0.990204,0.009729],[-0.985857,0.137743,0.095466],[0.093191,-0.022889,0.995385]]
2025-10-26T18:31:49.594Z,1761503509.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164060,0.986421,0.007681],[-0.982749,0.162765,0.087818],[0.085375,-0.021956,0.996107]]
2025-10-26T18:31:49.998Z,1761503509.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188058,0.982122,0.008367],[-0.979241,0.186836,0.078615],[0.075646,-0.022978,0.996870]]
2025-10-26T18:31:50.402Z,1761503510.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209278,0.977801,0.010401],[-0.975647,0.208079,0.069394],[0.065689,-0.024670,0.997535]]
2025-10-26T18:31:50.811Z,1761503510.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225795,0.974095,0.012487],[-0.972497,0.224635,0.061554],[0.057155,-0.026042,0.998026]]
2025-10-26T18:31:51.213Z,1761503511.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239143,0.970865,0.015232],[-0.969697,0.237989,0.055218],[0.049985,-0.027975,0.998358]]
2025-10-26T18:31:51.614Z,1761503511.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250938,0.967862,0.016543],[-0.967017,0.249875,0.049408],[0.043686,-0.028396,0.998642]]
2025-10-26T18:31:52.018Z,1761503512.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261991,0.964923,0.016866],[-0.964307,0.261048,0.044347],[0.038388,-0.027882,0.998874]]
2025-10-26T18:31:52.424Z,1761503512.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272426,0.962043,0.016034],[-0.961564,0.271620,0.040223],[0.034341,-0.026376,0.999062]]
2025-10-26T18:31:52.857Z,1761503512.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281604,0.959421,0.014492],[-0.958987,0.280903,0.037913],[0.032304,-0.024574,0.999176]]
2025-10-26T18:31:53.233Z,1761503513.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290290,0.956872,0.011262],[-0.956392,0.289707,0.037212],[0.032344,-0.021574,0.999244]]
2025-10-26T18:31:53.636Z,1761503513.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299048,0.954195,0.009034],[-0.953637,0.298510,0.038309],[0.033858,-0.020071,0.999225]]
2025-10-26T18:31:54.040Z,1761503514.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309916,0.950747,0.005674],[-0.950112,0.309477,0.038868],[0.035198,-0.017436,0.999228]]
2025-10-26T18:31:54.442Z,1761503514.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324179,0.945993,0.002519],[-0.945340,0.323854,0.038093],[0.035220,-0.014730,0.999271]]
2025-10-26T18:31:54.886Z,1761503514.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340736,0.940159,0.000279],[-0.939519,0.340494,0.036981],[0.034673,-0.012863,0.999316]]
2025-10-26T18:31:55.253Z,1761503515.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358157,0.933661,-0.000690],[-0.933049,0.357948,0.035952],[0.033814,-0.012232,0.999353]]
2025-10-26T18:31:55.290Z,1761503515.290 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:31:55.290Z,1761503515.290 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:31:55.290Z,1761503515.290 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:31:55.290Z,1761503515.290 [marl:UpdateRudder:A] Stopped
2025-10-26T18:31:55.290Z,1761503515.290 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:31:55.290Z,1761503515.290 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:31:55.291Z,1761503515.291 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateCommandMode] Stopped
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:31:55.292Z,1761503515.292 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:31:55.293Z,1761503515.293 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:31:55.293Z,1761503515.293 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:31:55.293Z,1761503515.293 [marl:UpdateSpeed] Stopped
2025-10-26T18:31:55.293Z,1761503515.293 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:31:55.657Z,1761503515.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376172,0.926549,-0.001033],[-0.925970,0.375976,0.034938],[0.032760,-0.012186,0.999389]]
2025-10-26T18:31:55.680Z,1761503515.680 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:31:55.680Z,1761503515.680 [marl:UpdateRudder:B] Stopped
2025-10-26T18:31:55.680Z,1761503515.680 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:31:55.681Z,1761503515.681 [marl:UpdateRudder] Stopped
2025-10-26T18:31:55.681Z,1761503515.681 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:31:56.058Z,1761503516.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394678,0.918816,-0.002754],[-0.918290,0.394550,0.032775],[0.031200,-0.010407,0.999459]]
2025-10-26T18:31:56.462Z,1761503516.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413238,0.910616,-0.003485],[-0.910143,0.413141,0.030888],[0.029567,-0.009592,0.999517]]
2025-10-26T18:31:56.890Z,1761503516.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432205,0.901772,-0.002570],[-0.901349,0.432086,0.029514],[0.027726,-0.010439,0.999561]]
2025-10-26T18:31:57.276Z,1761503517.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450771,0.892636,-0.002419],[-0.892264,0.450658,0.027778],[0.025886,-0.010363,0.999611]]
2025-10-26T18:31:57.678Z,1761503517.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468324,0.883555,-0.001517],[-0.883221,0.468193,0.026755],[0.024350,-0.011190,0.999641]]
2025-10-26T18:31:58.078Z,1761503518.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484409,0.874841,-0.001430],[-0.874532,0.484280,0.025840],[0.023298,-0.011266,0.999665]]
2025-10-26T18:31:58.486Z,1761503518.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499766,0.866159,-0.001418],[-0.865873,0.499642,0.024924],[0.022296,-0.011229,0.999688]]
2025-10-26T18:31:58.898Z,1761503518.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514136,0.857708,-0.000874],[-0.857436,0.513997,0.024713],[0.021646,-0.011957,0.999694]]
2025-10-26T18:31:59.290Z,1761503519.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527599,0.849492,-0.001436],[-0.849228,0.527476,0.024101],[0.021231,-0.011496,0.999708]]
2025-10-26T18:31:59.696Z,1761503519.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540848,0.841116,-0.002702],[-0.840863,0.540759,0.022996],[0.020804,-0.010166,0.999732]]
2025-10-26T18:32:00.098Z,1761503520.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553862,0.832606,-0.001924],[-0.832346,0.553744,0.023810],[0.020890,-0.011586,0.999715]]
2025-10-26T18:32:00.508Z,1761503520.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567159,0.823605,-0.002411],[-0.823348,0.567051,0.023475],[0.020701,-0.011329,0.999722]]
2025-10-26T18:32:00.906Z,1761503520.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580158,0.814499,-0.002679],[-0.814254,0.580059,0.022853],[0.020167,-0.011077,0.999735]]
2025-10-26T18:32:01.120Z,1761503521.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:32:01.351Z,1761503521.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592820,0.805327,-0.003609],[-0.805100,0.592749,0.021486],[0.019443,-0.009832,0.999763]]
2025-10-26T18:32:01.723Z,1761503521.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605541,0.795793,-0.005775],[-0.795593,0.605528,0.019175],[0.018756,-0.007017,0.999799]]
2025-10-26T18:32:02.120Z,1761503522.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617731,0.786359,-0.006937],[-0.786173,0.617744,0.018013],[0.018450,-0.005674,0.999814]]
2025-10-26T18:32:02.124Z,1761503522.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:32:02.522Z,1761503522.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630135,0.776452,-0.007257],[-0.776281,0.630155,0.017089],[0.017842,-0.005135,0.999828]]
2025-10-26T18:32:02.926Z,1761503522.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641891,0.766771,-0.006118],[-0.766606,0.641890,0.017110],[0.017046,-0.006293,0.999835]]
2025-10-26T18:32:03.340Z,1761503523.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653330,0.757057,-0.004936],[-0.756899,0.653305,0.017213],[0.016256,-0.007510,0.999840]]
2025-10-26T18:32:03.738Z,1761503523.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664200,0.747549,-0.002961],[-0.747395,0.664136,0.018008],[0.015428,-0.009748,0.999833]]
2025-10-26T18:32:04.139Z,1761503524.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675388,0.737461,-0.001649],[-0.737328,0.675305,0.017625],[0.014112,-0.010688,0.999843]]
2025-10-26T18:32:04.191Z,1761503524.191 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:32:04.216Z,1761503524.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:32:04.217Z,1761503524.217 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:32:04.468Z,1761503524.468 [DAT](INFO): DAT read: user:17>

2025-10-26T18:32:04.469Z,1761503524.469 [DAT](INFO): DAT read: Tx time:18:32:05.1834

2025-10-26T18:32:04.469Z,1761503524.469 [DAT](INFO): Ping request sent.
2025-10-26T18:32:04.469Z,1761503524.469 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:32:04.470Z,1761503524.470 [DAT](INFO): publishing transmit ping time
2025-10-26T18:32:04.470Z,1761503524.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946
2025-10-26T18:32:04.562Z,1761503524.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686969,0.726687,-0.000769],[-0.726568,0.686875,0.017368],[0.013149,-0.011372,0.999849]]
2025-10-26T18:32:04.721Z,1761503524.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251288
2025-10-26T18:32:04.946Z,1761503524.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698193,0.715909,-0.000294],[-0.715800,0.698095,0.017135],[0.012472,-0.011753,0.999853]]
2025-10-26T18:32:04.972Z,1761503524.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502887
2025-10-26T18:32:05.224Z,1761503525.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754893
2025-10-26T18:32:05.350Z,1761503525.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709424,0.704782,-0.000592],[-0.704675,0.709330,0.016828],[0.012280,-0.011521,0.999858]]
2025-10-26T18:32:05.478Z,1761503525.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008361
2025-10-26T18:32:05.729Z,1761503525.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259264
2025-10-26T18:32:05.754Z,1761503525.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721739,0.692164,-0.001463],[-0.692060,0.721663,0.015977],[0.012115,-0.010519,0.999871]]
2025-10-26T18:32:05.980Z,1761503525.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510963
2025-10-26T18:32:06.158Z,1761503526.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734078,0.679062,-0.002008],[-0.678964,0.734017,0.015085],[0.011717,-0.009710,0.999884]]
2025-10-26T18:32:06.232Z,1761503526.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943
2025-10-26T18:32:06.484Z,1761503526.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968
2025-10-26T18:32:06.568Z,1761503526.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746708,0.665145,-0.003151],[-0.665060,0.746675,0.013122],[0.011081,-0.007702,0.999909]]
2025-10-26T18:32:06.736Z,1761503526.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965
2025-10-26T18:32:06.966Z,1761503526.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758993,0.651090,-0.003327],[-0.651014,0.758967,0.012273],[0.010516,-0.007149,0.999919]]
2025-10-26T18:32:06.989Z,1761503526.989 [DAT](INFO): DAT read: Rx Time:18:32:07.2391

2025-10-26T18:32:06.990Z,1761503526.990 [DAT](INFO): Rx dataTimestamp_ set to:1761503526.989277
2025-10-26T18:32:06.990Z,1761503526.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520709
2025-10-26T18:32:07.240Z,1761503527.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770960
2025-10-26T18:32:07.377Z,1761503527.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770674,0.637223,-0.002965],[-0.637153,0.770645,0.011906],[0.009872,-0.007286,0.999925]]
2025-10-26T18:32:07.498Z,1761503527.498 [DAT](INFO): DAT read: 18:32:07.2391 LVL= 32752, 32753, 32754, 29107, AGC= 44, IDX=  12, 0.08,-1.190,-0.754,-1.884,-2.128, PHS= 1.040, 1.419, 0.200, RAW=  12.3, -41.0, CAL=  13.6, -40.9, ROT= 136.4,  40.9

2025-10-26T18:32:07.500Z,1761503527.500 [DAT](INFO): got valid direction response:
 18:32:07.2391 LVL= 32752, 32753, 32754, 29107, AGC= 44, IDX=  12, 0.08,-1.190,-0.754,-1.884,-2.128, PHS= 1.040, 1.419, 0.200, RAW=  12.3, -41.0, CAL=  13.6, -40.9, ROT= 136.4,  40.9

2025-10-26T18:32:07.501Z,1761503527.501 [DAT](INFO): DAT read: Bearing  64,  50 (Remote)

2025-10-26T18:32:07.501Z,1761503527.501 [DAT](INFO): Remote Bearing received:Bearing  64,  50 (Remote)

2025-10-26T18:32:07.502Z,1761503527.502 [DAT](INFO): DAT read: Bearing 327.5,  32.0 (Local)

2025-10-26T18:32:07.502Z,1761503527.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5,  32.0 (Local)

2025-10-26T18:32:07.504Z,1761503527.504 [DAT](INFO): DAT read: Range 11 to 20 : 19.8 m  (Round-trip  26.5 ms) speed -0.4 m/s

2025-10-26T18:32:07.504Z,1761503527.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:32:07.505Z,1761503527.505 [DAT](INFO): direction in FSK: [-0.547368,0.521251,-0.654741]
2025-10-26T18:32:07.505Z,1761503527.505 [DAT](INFO): publishing direction and range info
2025-10-26T18:32:07.774Z,1761503527.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781810,0.623506,-0.003607],[-0.623449,0.781797,0.010205],[0.009182,-0.005730,0.999941]]
2025-10-26T18:32:07.842Z,1761503527.842 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503488.00. Resetting abort timer.
2025-10-26T18:32:08.180Z,1761503528.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792321,0.610100,-0.002420],[-0.610052,0.792298,0.010043],[0.008044,-0.006481,0.999947]]
2025-10-26T18:32:08.204Z,1761503528.204 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:32:08.204Z,1761503528.204 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:32:08.204Z,1761503528.204 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateRudder:A] Stopped
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:32:08.205Z,1761503528.205 [marl:UpdateCommandMode] Stopped
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed] Stopped
2025-10-26T18:32:08.206Z,1761503528.206 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:32:08.582Z,1761503528.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801315,0.598241,-0.001232],[-0.598196,0.801277,0.010793],[0.007444,-0.007911,0.999941]]
2025-10-26T18:32:08.617Z,1761503528.617 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T18:32:08.617Z,1761503528.617 [marl:UpdateRudder:B] Stopped
2025-10-26T18:32:08.617Z,1761503528.617 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:32:08.617Z,1761503528.617 [marl:UpdateRudder] Stopped
2025-10-26T18:32:08.617Z,1761503528.617 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:32:08.986Z,1761503528.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809495,0.587127,-0.000548],[-0.587085,0.809448,0.011176],[0.007005,-0.008725,0.999937]]
2025-10-26T18:32:09.391Z,1761503529.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817081,0.576523,0.000513],[-0.576487,0.817019,0.011939],[0.006464,-0.010051,0.999929]]
2025-10-26T18:32:09.806Z,1761503529.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824407,0.565996,0.001267],[-0.565966,0.824336,0.012360],[0.005951,-0.010907,0.999923]]
2025-10-26T18:32:10.198Z,1761503530.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831717,0.555196,0.001936],[-0.555173,0.831640,0.012569],[0.005369,-0.011529,0.999919]]
2025-10-26T18:32:10.602Z,1761503530.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839380,0.543540,0.002331],[-0.543525,0.839302,0.012393],[0.004779,-0.011669,0.999920]]
2025-10-26T18:32:11.006Z,1761503531.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847144,0.531361,0.001410],[-0.531344,0.847088,0.010724],[0.004504,-0.009834,0.999942]]
2025-10-26T18:32:11.417Z,1761503531.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856898,0.515463,-0.004844],[-0.515468,0.856909,0.000369],[0.004341,0.002181,0.999988]]
2025-10-26T18:32:11.820Z,1761503531.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869683,0.493317,-0.017044],[-0.493591,0.869439,-0.021066],[0.004426,0.026734,0.999633]]
2025-10-26T18:32:12.218Z,1761503532.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884848,0.464670,-0.033558],[-0.465854,0.883266,-0.053112],[0.004961,0.062629,0.998025]]
2025-10-26T18:32:12.622Z,1761503532.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900987,0.431041,-0.049250],[-0.433803,0.896661,-0.088401],[0.006056,0.101014,0.994867]]
2025-10-26T18:32:13.028Z,1761503533.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916807,0.394848,-0.059668],[-0.399260,0.909166,-0.118354],[0.007516,0.132331,0.991177]]
2025-10-26T18:32:13.430Z,1761503533.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931314,0.358274,-0.065534],[-0.364098,0.920442,-0.142195],[0.009375,0.156289,0.987667]]
2025-10-26T18:32:13.834Z,1761503533.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944136,0.322732,-0.066725],[-0.329353,0.931138,-0.156553],[0.011605,0.169784,0.985413]]
2025-10-26T18:32:14.238Z,1761503534.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955002,0.289298,-0.065401],[-0.296263,0.940934,-0.163927],[0.014114,0.175927,0.984302]]
2025-10-26T18:32:15.046Z,1761503535.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971831,0.228189,-0.058935],[-0.234894,0.958195,-0.163362],[0.019194,0.172604,0.984804]]
2025-10-26T18:32:15.450Z,1761503535.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978235,0.200056,-0.055077],[-0.206377,0.965612,-0.158119],[0.021550,0.166045,0.985883]]
2025-10-26T18:32:15.854Z,1761503535.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983678,0.172333,-0.051753],[-0.178337,0.971997,-0.153031],[0.023931,0.159763,0.986865]]
2025-10-26T18:32:16.258Z,1761503536.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988323,0.144300,-0.048943],[-0.150112,0.977203,-0.150138],[0.026162,0.155732,0.987453]]
2025-10-26T18:32:16.663Z,1761503536.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992331,0.114783,-0.045865],[-0.120440,0.981336,-0.149913],[0.027801,0.154288,0.987635]]
2025-10-26T18:32:17.066Z,1761503537.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995637,0.082964,-0.042701],[-0.088546,0.984413,-0.151956],[0.029429,0.155074,0.987464]]
2025-10-26T18:32:17.470Z,1761503537.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998041,0.048936,-0.038979],[-0.054445,0.986285,-0.155815],[0.030819,0.157632,0.987017]]
2025-10-26T18:32:17.875Z,1761503537.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999303,0.013634,-0.034751],[-0.019012,0.987019,-0.159477],[0.032125,0.160026,0.986590]]
2025-10-26T18:32:18.287Z,1761503538.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999292,-0.022103,-0.030441],[0.016917,0.986783,-0.161162],[0.033601,0.160533,0.986458]]
2025-10-26T18:32:18.682Z,1761503538.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997979,-0.057930,-0.026108],[0.053045,0.985753,-0.159614],[0.034983,0.157906,0.986834]]
2025-10-26T18:32:19.086Z,1761503539.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995361,-0.093621,-0.022162],[0.089144,0.984109,-0.153567],[0.036187,0.150879,0.987890]]
2025-10-26T18:32:19.492Z,1761503539.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991462,-0.129052,-0.018663],[0.124960,0.981246,-0.146771],[0.037254,0.143186,0.988994]]
2025-10-26T18:32:19.895Z,1761503539.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986400,-0.163565,-0.016162],[0.159807,0.977408,-0.138330],[0.038423,0.133866,0.990254]]
2025-10-26T18:32:20.298Z,1761503540.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980380,-0.196598,-0.014283],[0.193008,0.972143,-0.132989],[0.040030,0.127623,0.991015]]
2025-10-26T18:32:20.705Z,1761503540.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973717,-0.227446,-0.011965],[0.223975,0.965750,-0.131004],[0.041351,0.124881,0.991310]]
2025-10-26T18:32:21.107Z,1761503541.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966592,-0.256137,-0.009661],[0.252760,0.958754,-0.130008],[0.042562,0.123223,0.991466]]
2025-10-26T18:32:21.170Z,1761503541.170 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:32:21.170Z,1761503541.170 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:32:21.170Z,1761503541.170 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:32:21.170Z,1761503541.170 [marl:UpdateRudder:A] Stopped
2025-10-26T18:32:21.170Z,1761503541.170 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:32:21.170Z,1761503541.170 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:32:21.171Z,1761503541.171 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:32:21.171Z,1761503541.171 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:32:21.171Z,1761503541.171 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:32:21.171Z,1761503541.171 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:32:21.171Z,1761503541.171 [marl:UpdateCommandMode] Stopped
2025-10-26T18:32:21.171Z,1761503541.171 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed] Stopped
2025-10-26T18:32:21.172Z,1761503541.172 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:32:21.574Z,1761503541.574 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T18:32:21.574Z,1761503541.574 [marl:UpdateRudder:B] Stopped
2025-10-26T18:32:21.574Z,1761503541.574 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:32:21.574Z,1761503541.574 [marl:UpdateRudder] Stopped
2025-10-26T18:32:21.574Z,1761503541.574 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:32:21.916Z,1761503541.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951279,-0.308328,-0.001581],[0.305181,0.942274,-0.137785],[0.043972,0.130590,0.990461]]
2025-10-26T18:32:22.318Z,1761503542.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943160,-0.332317,0.003761],[0.329437,0.933376,-0.142406],[0.043813,0.135551,0.989801]]
2025-10-26T18:32:22.729Z,1761503542.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934665,-0.355406,0.009352],[0.352869,0.924139,-0.146459],[0.043410,0.140190,0.989173]]
2025-10-26T18:32:23.127Z,1761503543.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925848,-0.377586,0.015323],[0.375492,0.914634,-0.149834],[0.042560,0.144477,0.988592]]
2025-10-26T18:32:23.535Z,1761503543.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916329,-0.399843,0.021620],[0.398284,0.904519,-0.152362],[0.041365,0.148225,0.988088]]
2025-10-26T18:32:23.955Z,1761503543.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905965,-0.422442,0.027763],[0.421456,0.893762,-0.153503],[0.040032,0.150769,0.987758]]
2025-10-26T18:32:24.370Z,1761503544.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894370,-0.446010,0.034323],[0.445672,0.881835,-0.154091],[0.038459,0.153111,0.987460]]
2025-10-26T18:32:25.147Z,1761503545.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864530,-0.500232,0.048540],[0.501355,0.851645,-0.152787],[0.035090,0.156425,0.987066]]
2025-10-26T18:32:25.550Z,1761503545.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846354,-0.529751,0.055218],[0.531520,0.833391,-0.151478],[0.034227,0.157554,0.986917]]
2025-10-26T18:32:25.954Z,1761503545.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826658,-0.559419,0.060728],[0.561662,0.813735,-0.149571],[0.034256,0.157753,0.986884]]
2025-10-26T18:32:26.362Z,1761503546.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805936,-0.588467,0.064600],[0.590995,0.793397,-0.145759],[0.034521,0.155651,0.987209]]
2025-10-26T18:32:26.768Z,1761503546.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784180,-0.616866,0.067366],[0.619528,0.772109,-0.141536],[0.035295,0.152725,0.987638]]
2025-10-26T18:32:27.167Z,1761503547.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761907,-0.643884,0.070079],[0.646657,0.750131,-0.138343],[0.036508,0.150721,0.987902]]
2025-10-26T18:32:27.570Z,1761503547.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739392,-0.669305,0.073011],[0.672199,0.727730,-0.136226],[0.038044,0.149802,0.987984]]
2025-10-26T18:32:27.975Z,1761503547.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717158,-0.692713,0.076369],[0.695771,0.705411,-0.135271],[0.039833,0.150146,0.987861]]
2025-10-26T18:32:28.379Z,1761503548.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695418,-0.714287,0.078664],[0.717398,0.683733,-0.133599],[0.041643,0.149341,0.987909]]
2025-10-26T18:32:28.782Z,1761503548.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673800,-0.734409,0.081463],[0.737659,0.662134,-0.132052],[0.043041,0.149069,0.987890]]
2025-10-26T18:32:29.186Z,1761503549.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653203,-0.752394,0.085023],[0.755931,0.641543,-0.130348],[0.043527,0.149415,0.987816]]
2025-10-26T18:32:29.597Z,1761503549.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632540,-0.769497,0.088139],[0.773289,0.620992,-0.128032],[0.043786,0.149143,0.987846]]
2025-10-26T18:32:29.996Z,1761503549.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611712,-0.785730,0.091848],[0.789885,0.600276,-0.125500],[0.043475,0.149319,0.987833]]
2025-10-26T18:32:30.401Z,1761503550.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589974,-0.801726,0.095740],[0.806279,0.578674,-0.122680],[0.042954,0.149571,0.987818]]
2025-10-26T18:32:30.811Z,1761503550.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544282,-0.832546,0.103075],[0.837892,0.533482,-0.115469],[0.041144,0.149213,0.987949]]
2025-10-26T18:32:31.213Z,1761503551.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519750,-0.847752,0.105723],[0.853370,0.509352,-0.110998],[0.040249,0.147912,0.988181]]
2025-10-26T18:32:31.625Z,1761503551.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493710,-0.862858,0.108293],[0.868739,0.483740,-0.106250],[0.039293,0.146536,0.988425]]
2025-10-26T18:32:32.019Z,1761503552.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466613,-0.877612,0.109856],[0.883646,0.457242,-0.100494],[0.037964,0.143966,0.988854]]
2025-10-26T18:32:32.147Z,1761503552.147 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:32:32.147Z,1761503552.147 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:32:32.244Z,1761503552.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:32:32.420Z,1761503552.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437837,-0.892133,0.111343],[0.898306,0.429051,-0.094665],[0.036682,0.141468,0.989263]]
2025-10-26T18:32:32.837Z,1761503552.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408050,-0.905771,0.114343],[0.912272,0.399674,-0.089555],[0.035417,0.140855,0.989397]]
2025-10-26T18:32:33.237Z,1761503553.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377932,-0.918160,0.118948],[0.925211,0.369837,-0.084886],[0.033947,0.142133,0.989265]]
2025-10-26T18:32:33.248Z,1761503553.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:32:33.634Z,1761503553.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347138,-0.929728,0.122884],[0.937245,0.339374,-0.079980],[0.032656,0.142936,0.989193]]
2025-10-26T18:32:34.034Z,1761503554.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316926,-0.939804,0.127776],[0.947942,0.309461,-0.075095],[0.031033,0.144924,0.988956]]
2025-10-26T18:32:34.058Z,1761503554.058 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:32:34.058Z,1761503554.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:32:34.058Z,1761503554.058 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:32:34.059Z,1761503554.059 [marl:UpdateRudder:A] Stopped
2025-10-26T18:32:34.059Z,1761503554.059 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:32:34.059Z,1761503554.059 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:32:34.059Z,1761503554.059 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:32:34.075Z,1761503554.075 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateCommandMode] Stopped
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:32:34.076Z,1761503554.076 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:32:34.077Z,1761503554.077 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:32:34.077Z,1761503554.077 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:32:34.077Z,1761503554.077 [marl:UpdateSpeed] Stopped
2025-10-26T18:32:34.077Z,1761503554.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:32:34.439Z,1761503554.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286502,-0.948794,0.133067],[0.957617,0.279275,-0.070533],[0.029759,0.147635,0.988594]]
2025-10-26T18:32:34.462Z,1761503554.462 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:32:34.462Z,1761503554.462 [marl:UpdateRudder:B] Stopped
2025-10-26T18:32:34.462Z,1761503554.462 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:32:34.462Z,1761503554.462 [marl:UpdateRudder] Stopped
2025-10-26T18:32:34.462Z,1761503554.462 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:32:34.464Z,1761503554.464 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:32:34.476Z,1761503554.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:32:34.476Z,1761503554.476 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:32:34.725Z,1761503554.725 [DAT](INFO): DAT read: user:18>

2025-10-26T18:32:34.727Z,1761503554.727 [DAT](INFO): DAT read: Tx time:18:32:35.4833

2025-10-26T18:32:34.727Z,1761503554.727 [DAT](INFO): Ping request sent.
2025-10-26T18:32:34.728Z,1761503554.728 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:32:34.728Z,1761503554.728 [DAT](INFO): publishing transmit ping time
2025-10-26T18:32:34.729Z,1761503554.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001722
2025-10-26T18:32:34.880Z,1761503554.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256811,-0.956727,0.136825],[0.966049,0.249979,-0.065266],[0.028239,0.148941,0.988443]]
2025-10-26T18:32:34.976Z,1761503554.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249112
2025-10-26T18:32:35.229Z,1761503555.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501395
2025-10-26T18:32:35.246Z,1761503555.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228014,-0.963614,0.139487],[0.973283,0.221600,-0.060116],[0.027018,0.149468,0.988397]]
2025-10-26T18:32:35.480Z,1761503555.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753086
2025-10-26T18:32:35.654Z,1761503555.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200305,-0.969370,0.142128],[0.979413,0.194410,-0.054363],[0.025067,0.150091,0.988354]]
2025-10-26T18:32:35.733Z,1761503555.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005877
2025-10-26T18:32:35.985Z,1761503555.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257660
2025-10-26T18:32:36.055Z,1761503556.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172490,-0.974575,0.143008],[0.984736,0.167180,-0.048443],[0.023304,0.149181,0.988535]]
2025-10-26T18:32:36.237Z,1761503556.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509571
2025-10-26T18:32:36.459Z,1761503556.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144448,-0.978917,0.144420],[0.989285,0.139739,-0.042290],[0.021217,0.148981,0.988612]]
2025-10-26T18:32:36.488Z,1761503556.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761160
2025-10-26T18:32:36.740Z,1761503556.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013050
2025-10-26T18:32:36.889Z,1761503556.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117068,-0.982648,0.143867],[0.992945,0.113063,-0.035734],[0.018848,0.147036,0.988952]]
2025-10-26T18:32:36.993Z,1761503556.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265328
2025-10-26T18:32:37.244Z,1761503557.244 [DAT](INFO): DAT read: Rx Time:18:32:37.5358

2025-10-26T18:32:37.245Z,1761503557.245 [DAT](INFO): Rx dataTimestamp_ set to:1761503557.244542
2025-10-26T18:32:37.245Z,1761503557.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518105
2025-10-26T18:32:37.267Z,1761503557.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091702,-0.986957,0.132313],[0.995651,0.088686,-0.028526],[0.016420,0.134353,0.990797]]
2025-10-26T18:32:37.496Z,1761503557.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768991
2025-10-26T18:32:37.733Z,1761503557.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070878,-0.991257,0.111295],[0.997397,0.068943,-0.021146],[0.013288,0.112504,0.993562]]
2025-10-26T18:32:37.754Z,1761503557.754 [DAT](INFO): DAT read: 18:32:37.5358 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 410,-0.01, 0.213, 0.703, 0.163,-1.145, PHS= 1.461, 1.894, 1.264, RAW= 347.8, -71.1, CAL= 348.9, -72.0, ROT= 161.1,  72.0

2025-10-26T18:32:37.759Z,1761503557.759 [DAT](INFO): got valid direction response:
 18:32:37.5358 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 410,-0.01, 0.213, 0.703, 0.163,-1.145, PHS= 1.461, 1.894, 1.264, RAW= 347.8, -71.1, CAL= 348.9, -72.0, ROT= 161.1,  72.0

2025-10-26T18:32:37.760Z,1761503557.760 [DAT](INFO): DAT read: Bearing 193,  62 (Remote)

2025-10-26T18:32:37.761Z,1761503557.761 [DAT](INFO): Remote Bearing received:Bearing 193,  62 (Remote)

2025-10-26T18:32:37.761Z,1761503557.761 [DAT](INFO): DAT read: Bearing 116.5,  -2.1 (Local)

2025-10-26T18:32:37.762Z,1761503557.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.5,  -2.1 (Local)

2025-10-26T18:32:37.763Z,1761503557.763 [DAT](INFO): DAT read: Range 11 to 20 : 17.4 m  (Round-trip  23.3 ms) speed -0.2 m/s

2025-10-26T18:32:37.764Z,1761503557.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:32:37.765Z,1761503557.765 [DAT](INFO): direction in FSK: [-0.292356,0.100096,-0.951057]
2025-10-26T18:32:37.765Z,1761503557.765 [DAT](INFO): publishing direction and range info
2025-10-26T18:32:37.806Z,1761503557.806 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503616.00. Resetting abort timer.
2025-10-26T18:32:38.074Z,1761503558.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052513,-0.995024,0.084676],[0.998562,0.051405,-0.015211],[0.010783,0.085353,0.996292]]
2025-10-26T18:32:38.478Z,1761503558.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035581,-0.997399,0.062686],[0.999331,0.034977,-0.010717],[0.008497,0.063026,0.997976]]
2025-10-26T18:32:38.894Z,1761503558.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019364,-0.998779,0.045446],[0.999790,0.019042,-0.007506],[0.006631,0.045582,0.998939]]
2025-10-26T18:32:39.288Z,1761503559.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004115,-0.999481,0.031962],[0.999981,0.003967,-0.004691],[0.004562,0.031980,0.999478]]
2025-10-26T18:32:39.707Z,1761503559.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010387,-0.999695,0.022415],[0.999943,-0.010438,-0.002182],[0.002415,0.022391,0.999746]]
2025-10-26T18:32:40.094Z,1761503560.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024574,-0.999571,0.015928],[0.999698,-0.024570,0.000406],[-0.000014,0.015933,0.999873]]
2025-10-26T18:32:40.498Z,1761503560.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038651,-0.999195,0.010714],[0.999248,-0.038617,0.003364],[-0.002948,0.010835,0.999937]]
2025-10-26T18:32:40.903Z,1761503560.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052239,-0.998612,0.006795],[0.998613,-0.052191,0.007018],[-0.006653,0.007152,0.999952]]
2025-10-26T18:32:41.308Z,1761503561.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065174,-0.997864,0.004498],[0.997809,-0.065118,0.011667],[-0.011349,0.005248,0.999922]]
2025-10-26T18:32:41.717Z,1761503561.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078718,-0.996892,0.003041],[0.996760,-0.078656,0.016817],[-0.016526,0.004355,0.999854]]
2025-10-26T18:32:42.114Z,1761503562.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092947,-0.995664,0.003660],[0.995430,-0.092843,0.022355],[-0.021919,0.005721,0.999743]]
2025-10-26T18:32:42.519Z,1761503562.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107210,-0.994230,0.003609],[0.993857,-0.107068,0.028030],[-0.027482,0.006592,0.999601]]
2025-10-26T18:32:42.924Z,1761503562.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122815,-0.992424,0.003295],[0.991866,-0.122633,0.034093],[-0.033431,0.007455,0.999413]]
2025-10-26T18:32:43.326Z,1761503563.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139856,-0.990165,0.003688],[0.989384,-0.139595,0.040411],[-0.039498,0.009301,0.999176]]
2025-10-26T18:32:43.735Z,1761503563.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158895,-0.987286,0.004372],[0.986254,-0.158523,0.046629],[-0.045343,0.011721,0.998903]]
2025-10-26T18:32:44.134Z,1761503564.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179172,-0.983800,0.005939],[0.982490,-0.178613,0.053020],[-0.051100,0.015335,0.998576]]
2025-10-26T18:32:44.540Z,1761503564.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200960,-0.979581,0.006008],[0.977974,-0.200270,0.058806],[-0.056402,0.017693,0.998251]]
2025-10-26T18:32:44.942Z,1761503564.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223483,-0.974679,0.007435],[0.972793,-0.222560,0.064343],[-0.061059,0.021612,0.997900]]
2025-10-26T18:32:45.346Z,1761503565.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246349,-0.969138,0.009155],[0.967017,-0.245157,0.069104],[-0.064727,0.025877,0.997567]]
2025-10-26T18:32:45.758Z,1761503565.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269201,-0.963046,0.008604],[0.960744,-0.267914,0.072066],[-0.067097,0.027666,0.997363]]
2025-10-26T18:32:46.155Z,1761503566.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291939,-0.956410,0.007111],[0.954013,-0.290663,0.073306],[-0.068044,0.028185,0.997284]]
2025-10-26T18:32:46.558Z,1761503566.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314150,-0.949351,0.006513],[0.946939,-0.312846,0.073716],[-0.067944,0.029325,0.997258]]
2025-10-26T18:32:46.962Z,1761503566.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335004,-0.942201,0.005426],[0.939814,-0.333733,0.073298],[-0.067251,0.029655,0.997295]]
2025-10-26T18:32:47.026Z,1761503567.026 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:32:47.027Z,1761503567.027 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:32:47.027Z,1761503567.027 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:32:47.027Z,1761503567.027 [marl:UpdateRudder:A] Stopped
2025-10-26T18:32:47.028Z,1761503567.028 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:32:47.028Z,1761503567.028 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:32:47.028Z,1761503567.028 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:32:47.028Z,1761503567.028 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:32:47.028Z,1761503567.028 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateCommandMode] Stopped
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:32:47.029Z,1761503567.029 [marl:UpdateSpeed] Stopped
2025-10-26T18:32:47.030Z,1761503567.030 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:32:47.366Z,1761503567.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353637,-0.935370,0.004781],[0.933008,-0.352371,0.073007],[-0.066604,0.030279,0.997320]]
2025-10-26T18:32:47.418Z,1761503567.418 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:32:47.418Z,1761503567.418 [marl:UpdateRudder:B] Stopped
2025-10-26T18:32:47.418Z,1761503567.418 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:32:47.419Z,1761503567.419 [marl:UpdateRudder] Stopped
2025-10-26T18:32:47.419Z,1761503567.419 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:32:47.770Z,1761503567.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370388,-0.928874,0.002437],[0.926504,-0.369253,0.072408],[-0.066358,0.029077,0.997372]]
2025-10-26T18:32:48.183Z,1761503568.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385618,-0.922658,-0.000250],[0.920263,-0.384636,0.071908],[-0.066442,0.027499,0.997411]]
2025-10-26T18:32:48.579Z,1761503568.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399668,-0.916657,-0.002245],[0.914200,-0.398774,0.072238],[-0.067113,0.026819,0.997385]]
2025-10-26T18:32:48.983Z,1761503568.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413337,-0.910562,-0.005375],[0.908031,-0.412615,0.072304],[-0.068055,0.025006,0.997368]]
2025-10-26T18:32:49.386Z,1761503569.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425767,-0.904797,-0.008071],[0.902119,-0.425163,0.073611],[-0.070035,0.024060,0.997254]]
2025-10-26T18:32:49.790Z,1761503569.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436640,-0.899535,-0.013501],[0.896702,-0.436378,0.074162],[-0.072602,0.020276,0.997155]]
2025-10-26T18:32:50.197Z,1761503570.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444233,-0.895555,-0.025257],[0.892723,-0.444853,0.071780],[-0.075519,0.009340,0.997101]]
2025-10-26T18:32:50.598Z,1761503570.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447703,-0.893156,-0.042820],[0.890707,-0.449669,0.066628],[-0.078764,-0.008311,0.996859]]
2025-10-26T18:32:51.002Z,1761503571.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448278,-0.891334,-0.067604],[0.890138,-0.452042,0.057557],[-0.081863,-0.034375,0.996051]]
2025-10-26T18:32:51.406Z,1761503571.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447206,-0.889202,-0.096580],[0.890409,-0.452820,0.046099],[-0.084725,-0.065380,0.994257]]
2025-10-26T18:32:51.817Z,1761503571.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445620,-0.886691,-0.123297],[0.891002,-0.452650,0.034981],[-0.086828,-0.094270,0.991753]]
2025-10-26T18:32:52.214Z,1761503572.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443437,-0.883785,-0.149292],[0.891911,-0.451572,0.024019],[-0.088644,-0.122504,0.988501]]
2025-10-26T18:32:52.618Z,1761503572.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441184,-0.880928,-0.171242],[0.892861,-0.450081,0.015024],[-0.090308,-0.146267,0.985114]]
2025-10-26T18:32:53.022Z,1761503573.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439004,-0.878209,-0.189801],[0.893789,-0.448424,0.007550],[-0.091741,-0.166328,0.981794]]
2025-10-26T18:32:53.428Z,1761503573.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436497,-0.876124,-0.204639],[0.894876,-0.446311,0.002020],[-0.093102,-0.182245,0.978835]]
2025-10-26T18:32:53.830Z,1761503573.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434637,-0.874707,-0.214426],[0.895635,-0.444790,-0.001007],[-0.094494,-0.192485,0.976740]]
2025-10-26T18:32:54.234Z,1761503574.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433592,-0.873670,-0.220677],[0.895966,-0.444118,-0.002136],[-0.096140,-0.198645,0.975345]]
2025-10-26T18:32:54.641Z,1761503574.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433482,-0.872787,-0.224359],[0.895819,-0.444415,-0.001970],[-0.097989,-0.201839,0.974505]]
2025-10-26T18:32:55.042Z,1761503575.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434434,-0.872041,-0.225417],[0.895135,-0.445795,-0.000556],[-0.100005,-0.202020,0.974262]]
2025-10-26T18:32:55.446Z,1761503575.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436107,-0.870991,-0.226240],[0.894048,-0.447970,0.001229],[-0.102419,-0.201734,0.974071]]
2025-10-26T18:32:55.851Z,1761503575.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439412,-0.869463,-0.225723],[0.892161,-0.451707,0.003171],[-0.104717,-0.199988,0.974186]]
2025-10-26T18:32:56.255Z,1761503576.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442974,-0.867972,-0.224496],[0.890120,-0.455693,0.005473],[-0.107052,-0.197404,0.974460]]
2025-10-26T18:32:56.667Z,1761503576.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446621,-0.866358,-0.223504],[0.888002,-0.459775,0.007738],[-0.109465,-0.195016,0.974672]]
2025-10-26T18:32:57.062Z,1761503577.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451073,-0.864074,-0.223405],[0.885523,-0.464514,0.008677],[-0.111272,-0.193917,0.974687]]
2025-10-26T18:32:57.466Z,1761503577.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456532,-0.861671,-0.221589],[0.882664,-0.469923,0.008819],[-0.111729,-0.191563,0.975100]]
2025-10-26T18:32:57.870Z,1761503577.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462524,-0.858832,-0.220180],[0.879612,-0.475633,0.007483],[-0.111151,-0.190212,0.975431]]
2025-10-26T18:32:58.276Z,1761503578.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468491,-0.856237,-0.217656],[0.876654,-0.481089,0.005612],[-0.109517,-0.188180,0.976009]]
2025-10-26T18:32:58.678Z,1761503578.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474164,-0.853938,-0.214381],[0.873913,-0.486072,0.003253],[-0.106982,-0.185807,0.976745]]
2025-10-26T18:32:59.082Z,1761503579.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479224,-0.851834,-0.211479],[0.871563,-0.490284,-0.000161],[-0.103548,-0.184394,0.977382]]
2025-10-26T18:32:59.487Z,1761503579.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483632,-0.849867,-0.209348],[0.869581,-0.493771,-0.004387],[-0.099642,-0.184167,0.977831]]
2025-10-26T18:32:59.511Z,1761503579.511 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:32:59.511Z,1761503579.511 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:32:59.511Z,1761503579.511 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:32:59.512Z,1761503579.512 [marl:UpdateRudder:A] Stopped
2025-10-26T18:32:59.512Z,1761503579.512 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:32:59.512Z,1761503579.512 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:32:59.512Z,1761503579.512 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:32:59.512Z,1761503579.512 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateCommandMode] Stopped
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:32:59.513Z,1761503579.513 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:32:59.514Z,1761503579.514 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:32:59.514Z,1761503579.514 [marl:UpdateSpeed] Stopped
2025-10-26T18:32:59.514Z,1761503579.514 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:32:59.890Z,1761503579.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487658,-0.848473,-0.205627],[0.867810,-0.496831,-0.008010],[-0.095365,-0.182352,0.978598]]
2025-10-26T18:32:59.930Z,1761503579.930 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:32:59.930Z,1761503579.930 [marl:UpdateRudder:B] Stopped
2025-10-26T18:32:59.930Z,1761503579.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:32:59.931Z,1761503579.931 [marl:UpdateRudder] Stopped
2025-10-26T18:32:59.931Z,1761503579.931 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:33:00.294Z,1761503580.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490564,-0.847399,-0.203131],[0.866616,-0.498834,-0.011908],[-0.091237,-0.181878,0.979079]]
2025-10-26T18:33:00.701Z,1761503580.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492208,-0.847182,-0.200036],[0.866094,-0.499657,-0.014989],[-0.087251,-0.180627,0.979674]]
2025-10-26T18:33:01.103Z,1761503581.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492846,-0.847437,-0.197367],[0.866089,-0.499577,-0.017674],[-0.083622,-0.179648,0.980170]]
2025-10-26T18:33:01.506Z,1761503581.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492660,-0.848083,-0.195042],[0.866481,-0.498821,-0.019682],[-0.080599,-0.178697,0.980597]]
2025-10-26T18:33:01.910Z,1761503581.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491767,-0.849219,-0.192335],[0.867232,-0.497467,-0.020889],[-0.077941,-0.177072,0.981107]]
2025-10-26T18:33:02.315Z,1761503582.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491392,-0.850002,-0.189817],[0.867657,-0.496675,-0.022044],[-0.075540,-0.175528,0.981572]]
2025-10-26T18:33:02.728Z,1761503582.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493388,-0.849927,-0.184913],[0.866703,-0.498340,-0.021999],[-0.073452,-0.171119,0.982509]]
2025-10-26T18:33:03.372Z,1761503583.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:33:03.931Z,1761503583.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518871,-0.846849,-0.116702],[0.852065,-0.523353,0.009341],[-0.068987,-0.094591,0.993123]]
2025-10-26T18:33:04.334Z,1761503584.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531890,-0.842247,-0.087820],[0.844118,-0.535606,0.024313],[-0.067515,-0.061198,0.995840]]
2025-10-26T18:33:04.376Z,1761503584.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:33:04.742Z,1761503584.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545069,-0.836028,-0.062902],[0.835750,-0.547772,0.038327],[-0.066498,-0.031679,0.997284]]
2025-10-26T18:33:04.786Z,1761503584.786 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:33:04.992Z,1761503584.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:33:04.992Z,1761503584.992 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:33:05.146Z,1761503585.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558299,-0.828517,-0.043146],[0.827038,-0.559910,0.050087],[-0.065656,-0.007720,0.997812]]
2025-10-26T18:33:05.249Z,1761503585.249 [DAT](INFO): DAT read: user:19>

2025-10-26T18:33:05.251Z,1761503585.251 [DAT](INFO): DAT read: Tx time:18:33:05.9833

2025-10-26T18:33:05.251Z,1761503585.251 [DAT](INFO): Ping request sent.
2025-10-26T18:33:05.251Z,1761503585.251 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:33:05.252Z,1761503585.252 [DAT](INFO): publishing transmit ping time
2025-10-26T18:33:05.253Z,1761503585.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001550
2025-10-26T18:33:05.501Z,1761503585.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249684
2025-10-26T18:33:05.546Z,1761503585.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571804,-0.819903,-0.028260],[0.817795,-0.572395,0.059794],[-0.065201,0.011079,0.997811]]
2025-10-26T18:33:05.752Z,1761503585.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501453
2025-10-26T18:33:05.950Z,1761503585.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585667,-0.810367,-0.017302],[0.807988,-0.585377,0.067006],[-0.064427,0.025264,0.997603]]
2025-10-26T18:33:06.004Z,1761503586.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753367
2025-10-26T18:33:06.257Z,1761503586.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005911
2025-10-26T18:33:06.379Z,1761503586.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599242,-0.800503,-0.010211],[0.798043,-0.598316,0.071735],[-0.063534,0.034838,0.997371]]
2025-10-26T18:33:06.509Z,1761503586.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257979
2025-10-26T18:33:06.759Z,1761503586.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613450,-0.789705,-0.006648],[0.787301,-0.612200,0.073271],[-0.061933,0.039714,0.997290]]
2025-10-26T18:33:06.760Z,1761503586.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509431
2025-10-26T18:33:07.012Z,1761503587.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761361
2025-10-26T18:33:07.162Z,1761503587.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627735,-0.778409,-0.005304],[0.776129,-0.626391,0.072510],[-0.059765,0.041400,0.997354]]
2025-10-26T18:33:07.265Z,1761503587.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013958
2025-10-26T18:33:07.516Z,1761503587.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265316
2025-10-26T18:33:07.566Z,1761503587.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641958,-0.766723,-0.005106],[0.764599,-0.640648,0.070414],[-0.057259,0.041299,0.997505]]
2025-10-26T18:33:07.768Z,1761503587.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517310
2025-10-26T18:33:07.970Z,1761503587.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656353,-0.754429,-0.006162],[0.752523,-0.655235,0.066154],[-0.053946,0.038784,0.997790]]
2025-10-26T18:33:08.021Z,1761503588.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769518
2025-10-26T18:33:08.272Z,1761503588.272 [DAT](INFO): DAT read: Rx Time:18:33:08.4419

2025-10-26T18:33:08.273Z,1761503588.273 [DAT](INFO): Rx dataTimestamp_ set to:1761503588.272558
2025-10-26T18:33:08.273Z,1761503588.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022410
2025-10-26T18:33:08.375Z,1761503588.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670780,-0.741632,-0.006069],[0.740000,-0.669806,0.061324],[-0.049545,0.036643,0.998100]]
2025-10-26T18:33:08.524Z,1761503588.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273379
2025-10-26T18:33:08.782Z,1761503588.782 [DAT](INFO): DAT read: 18:33:08.4419 LVL= 32752, 32161, 32754, 32755, AGC= 44, IDX= 491,-0.08, 1.113, 2.354, 0.877, 1.263, PHS=-0.048, 1.136,-0.430, RAW= 343.5,  -9.3, CAL= 343.2, -12.4, ROT= 166.8,  12.4

2025-10-26T18:33:08.783Z,1761503588.783 [DAT](INFO): got valid direction response:
 18:33:08.4419 LVL= 32752, 32161, 32754, 32755, AGC= 44, IDX= 491,-0.08, 1.113, 2.354, 0.877, 1.263, PHS=-0.048, 1.136,-0.430, RAW= 343.5,  -9.3, CAL= 343.2, -12.4, ROT= 166.8,  12.4

2025-10-26T18:33:08.784Z,1761503588.784 [DAT](INFO): DAT read: Bearing 107.0,  15.3 (Local)

2025-10-26T18:33:08.784Z,1761503588.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.0,  15.3 (Local)

2025-10-26T18:33:08.786Z,1761503588.786 [DAT](INFO): DAT read: Range 11 to 20 : 40.8 m  (Round-trip  54.5 ms) speed -0.9 m/s

2025-10-26T18:33:08.786Z,1761503588.786 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:33:08.792Z,1761503588.792 [DAT](INFO): direction in FSK: [-0.950868,0.223024,-0.214735]
2025-10-26T18:33:08.792Z,1761503588.792 [DAT](INFO): publishing direction and range info
2025-10-26T18:33:08.850Z,1761503588.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684954,-0.728566,-0.005428],[0.727225,-0.684111,0.055998],[-0.044512,0.034409,0.998416]]
2025-10-26T18:33:08.990Z,1761503588.990 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503616.00. Resetting abort timer.
2025-10-26T18:33:09.183Z,1761503589.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698990,-0.715128,-0.002082],[0.714093,-0.698130,0.051830],[-0.038518,0.034742,0.998654]]
2025-10-26T18:33:09.588Z,1761503589.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712238,-0.701935,0.002181],[0.701216,-0.711360,0.047568],[-0.031838,0.035409,0.998866]]
2025-10-26T18:33:09.990Z,1761503589.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724114,-0.689664,0.004814],[0.689212,-0.723347,0.041901],[-0.025415,0.033659,0.999110]]
2025-10-26T18:33:10.395Z,1761503590.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734301,-0.678777,0.008051],[0.678547,-0.733609,0.037305],[-0.019415,0.032856,0.999272]]
2025-10-26T18:33:10.811Z,1761503590.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743130,-0.669065,0.010478],[0.668994,-0.742535,0.033001],[-0.014300,0.031534,0.999400]]
2025-10-26T18:33:11.202Z,1761503591.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751507,-0.659571,0.014255],[0.659654,-0.750935,0.030876],[-0.009660,0.032606,0.999422]]
2025-10-26T18:33:11.613Z,1761503591.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759361,-0.650459,0.016541],[0.650645,-0.758867,0.027955],[-0.005631,0.031991,0.999472]]
2025-10-26T18:33:12.011Z,1761503592.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766974,-0.641435,0.017679],[0.641674,-0.766571,0.024978],[-0.002470,0.030502,0.999532]]
2025-10-26T18:33:12.425Z,1761503592.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774665,-0.632108,0.018233],[0.632371,-0.774370,0.021396],[0.000594,0.028105,0.999605]]
2025-10-26T18:33:12.488Z,1761503592.488 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:33:12.488Z,1761503592.488 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:33:12.488Z,1761503592.488 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:33:12.489Z,1761503592.489 [marl:UpdateRudder:A] Stopped
2025-10-26T18:33:12.489Z,1761503592.489 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:33:12.489Z,1761503592.489 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:33:12.489Z,1761503592.489 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:33:12.489Z,1761503592.489 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:33:12.489Z,1761503592.489 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateCommandMode] Stopped
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:33:12.490Z,1761503592.490 [marl:UpdateSpeed] Stopped
2025-10-26T18:33:12.491Z,1761503592.491 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:33:12.886Z,1761503592.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791007,-0.611548,0.017822],[0.611783,-0.790898,0.014206],[0.005408,0.022141,0.999740]]
2025-10-26T18:33:12.962Z,1761503592.962 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:33:12.962Z,1761503592.962 [marl:UpdateRudder:B] Stopped
2025-10-26T18:33:12.962Z,1761503592.962 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:33:12.962Z,1761503592.962 [marl:UpdateRudder] Stopped
2025-10-26T18:33:12.963Z,1761503592.963 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:33:13.626Z,1761503593.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799488,-0.600409,0.018086],[0.600634,-0.799443,0.011421],[0.007601,0.019994,0.999771]]
2025-10-26T18:33:14.030Z,1761503594.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808218,-0.588586,0.018740],[0.588803,-0.808225,0.009115],[0.009781,0.018401,0.999783]]
2025-10-26T18:33:14.438Z,1761503594.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817077,-0.576140,0.021164],[0.576392,-0.817132,0.008209],[0.012564,0.018906,0.999742]]
2025-10-26T18:33:14.892Z,1761503594.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834115,-0.551036,0.024724],[0.551300,-0.834292,0.004964],[0.017892,0.017771,0.999682]]
2025-10-26T18:33:15.646Z,1761503595.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840959,-0.540553,0.024301],[0.540728,-0.841197,0.000724],[0.020051,0.013750,0.999704]]
2025-10-26T18:33:16.070Z,1761503596.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848417,-0.529186,0.012290],[0.528727,-0.848331,-0.027989],[0.025238,-0.017248,0.999533]]
2025-10-26T18:33:16.473Z,1761503596.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850175,-0.526500,-0.000694],[0.525771,-0.848928,-0.053724],[0.027697,-0.046039,0.998556]]
2025-10-26T18:33:17.270Z,1761503597.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851499,-0.523558,-0.028899],[0.523383,-0.845273,-0.107631],[0.031923,-0.106773,0.993771]]
2025-10-26T18:33:17.674Z,1761503597.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851893,-0.522060,-0.041615],[0.522605,-0.842224,-0.132444],[0.034095,-0.134576,0.990317]]
2025-10-26T18:33:18.088Z,1761503598.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851890,-0.521068,-0.052646],[0.522484,-0.838673,-0.153748],[0.035961,-0.158483,0.986707]]
2025-10-26T18:33:18.488Z,1761503598.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851609,-0.520677,-0.060471],[0.522836,-0.835511,-0.169009],[0.037475,-0.175546,0.983758]]
2025-10-26T18:33:18.895Z,1761503598.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851184,-0.520695,-0.066055],[0.523405,-0.832675,-0.180829],[0.039154,-0.188492,0.981294]]
2025-10-26T18:33:19.290Z,1761503599.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849875,-0.522464,-0.068874],[0.525431,-0.830075,-0.186811],[0.040431,-0.194954,0.979979]]
2025-10-26T18:33:19.695Z,1761503599.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848545,-0.524400,-0.070549],[0.527471,-0.827809,-0.191067],[0.041794,-0.199342,0.979038]]
2025-10-26T18:33:20.101Z,1761503600.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847158,-0.526597,-0.070844],[0.529588,-0.826003,-0.193019],[0.043126,-0.201036,0.978634]]
2025-10-26T18:33:20.502Z,1761503600.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845802,-0.528821,-0.070477],[0.531646,-0.824491,-0.193820],[0.044389,-0.201402,0.978502]]
2025-10-26T18:33:20.906Z,1761503600.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844689,-0.530864,-0.068440],[0.533314,-0.823825,-0.192062],[0.045576,-0.198733,0.978993]]
2025-10-26T18:33:21.310Z,1761503601.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843944,-0.532229,-0.067010],[0.534428,-0.823422,-0.190690],[0.046313,-0.196743,0.979361]]
2025-10-26T18:33:21.721Z,1761503601.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843795,-0.532727,-0.064896],[0.534639,-0.823942,-0.187834],[0.046594,-0.193189,0.980055]]
2025-10-26T18:33:22.118Z,1761503602.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844518,-0.531814,-0.062953],[0.533516,-0.825338,-0.184872],[0.046360,-0.189714,0.980744]]
2025-10-26T18:33:22.522Z,1761503602.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846213,-0.529351,-0.060922],[0.530838,-0.827581,-0.182538],[0.046209,-0.186805,0.981310]]
2025-10-26T18:33:22.927Z,1761503602.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848569,-0.525878,-0.058157],[0.527065,-0.830614,-0.179676],[0.046182,-0.183120,0.982005]]
2025-10-26T18:33:23.331Z,1761503603.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851320,-0.521587,-0.056579],[0.522613,-0.833586,-0.178911],[0.046154,-0.181880,0.982237]]
2025-10-26T18:33:23.737Z,1761503603.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854217,-0.517022,-0.054779],[0.517866,-0.836765,-0.177874],[0.046128,-0.180311,0.982527]]
2025-10-26T18:33:24.138Z,1761503604.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856900,-0.512643,-0.054032],[0.513450,-0.839522,-0.177683],[0.045727,-0.179999,0.982603]]
2025-10-26T18:33:24.554Z,1761503604.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859184,-0.508820,-0.053889],[0.509660,-0.841739,-0.178104],[0.045263,-0.180489,0.982535]]
2025-10-26T18:33:24.946Z,1761503604.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861079,-0.505600,-0.053958],[0.506479,-0.843475,-0.178970],[0.044975,-0.181436,0.982374]]
2025-10-26T18:33:25.350Z,1761503605.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862392,-0.503335,-0.054160],[0.504228,-0.844503,-0.180469],[0.045098,-0.182944,0.982089]]
2025-10-26T18:33:25.393Z,1761503605.393 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateRudder:A] Stopped
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:33:25.394Z,1761503605.394 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateCommandMode] Stopped
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:33:25.395Z,1761503605.395 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:33:25.396Z,1761503605.396 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:33:25.396Z,1761503605.396 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:33:25.396Z,1761503605.396 [marl:UpdateSpeed] Stopped
2025-10-26T18:33:25.396Z,1761503605.396 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:33:25.754Z,1761503605.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863173,-0.501937,-0.054701],[0.502862,-0.844870,-0.182548],[0.045412,-0.185078,0.981674]]
2025-10-26T18:33:25.805Z,1761503605.805 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:33:25.805Z,1761503605.805 [marl:UpdateRudder:B] Stopped
2025-10-26T18:33:25.805Z,1761503605.805 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:33:25.805Z,1761503605.805 [marl:UpdateRudder] Stopped
2025-10-26T18:33:25.805Z,1761503605.805 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:33:26.159Z,1761503606.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863288,-0.501637,-0.055619],[0.502619,-0.844450,-0.185145],[0.045908,-0.187789,0.981136]]
2025-10-26T18:33:26.574Z,1761503606.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862781,-0.502354,-0.057001],[0.503472,-0.843429,-0.187467],[0.046099,-0.190442,0.980615]]
2025-10-26T18:33:26.966Z,1761503606.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862315,-0.502885,-0.059322],[0.504297,-0.842273,-0.190421],[0.045795,-0.194119,0.979909]]
2025-10-26T18:33:27.370Z,1761503607.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861377,-0.504220,-0.061584],[0.505970,-0.840923,-0.191945],[0.044995,-0.196496,0.979472]]
2025-10-26T18:33:27.774Z,1761503607.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860197,-0.505969,-0.063691],[0.508059,-0.839496,-0.192672],[0.044017,-0.198095,0.979194]]
2025-10-26T18:33:28.178Z,1761503608.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857824,-0.509603,-0.066651],[0.512128,-0.836684,-0.194129],[0.043163,-0.200662,0.978709]]
2025-10-26T18:33:28.582Z,1761503608.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853199,-0.516494,-0.072703],[0.519802,-0.830464,-0.200340],[0.043097,-0.208721,0.977025]]
2025-10-26T18:33:28.988Z,1761503608.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845887,-0.526643,-0.084394],[0.531557,-0.819401,-0.214545],[0.043836,-0.226341,0.973061]]
2025-10-26T18:33:29.392Z,1761503609.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836247,-0.538958,-0.101068],[0.546509,-0.804056,-0.234141],[0.044928,-0.251035,0.966935]]
2025-10-26T18:33:29.794Z,1761503609.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825067,-0.552074,-0.120323],[0.563139,-0.786013,-0.255065],[0.046240,-0.278204,0.959408]]
2025-10-26T18:33:30.198Z,1761503610.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812935,-0.565219,-0.140231],[0.580391,-0.766589,-0.274750],[0.047795,-0.304742,0.951235]]
2025-10-26T18:33:30.607Z,1761503610.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800208,-0.578297,-0.158870],[0.597668,-0.747065,-0.291011],[0.049605,-0.327821,0.943437]]
2025-10-26T18:33:31.413Z,1761503611.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774214,-0.602843,-0.192804],[0.630706,-0.709353,-0.314687],[0.052941,-0.365238,0.929408]]
2025-10-26T18:33:31.814Z,1761503611.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761503,-0.614621,-0.205802],[0.645853,-0.692748,-0.320896],[0.054660,-0.377281,0.924484]]
2025-10-26T18:33:32.220Z,1761503612.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749473,-0.625597,-0.216607],[0.659653,-0.677942,-0.324426],[0.056112,-0.386034,0.920776]]
2025-10-26T18:33:32.451Z,1761503612.451 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:33:32.451Z,1761503612.451 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:33:32.622Z,1761503612.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738046,-0.636224,-0.224740],[0.672282,-0.664890,-0.325513],[0.057672,-0.391332,0.918441]]
2025-10-26T18:33:33.045Z,1761503613.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727704,-0.645920,-0.230726],[0.683347,-0.653803,-0.324928],[0.059028,-0.394118,0.917162]]
2025-10-26T18:33:33.430Z,1761503613.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717969,-0.655506,-0.234165],[0.693465,-0.644482,-0.322102],[0.060225,-0.393644,0.917288]]
2025-10-26T18:33:33.837Z,1761503613.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708142,-0.664838,-0.237752],[0.703440,-0.635267,-0.318761],[0.060889,-0.392972,0.917532]]
2025-10-26T18:33:34.337Z,1761503614.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699268,-0.673489,-0.239659],[0.712230,-0.627646,-0.314308],[0.061262,-0.390478,0.918572]]
2025-10-26T18:33:34.512Z,1761503614.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:33:34.741Z,1761503614.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689864,-0.682479,-0.241474],[0.721301,-0.619539,-0.309671],[0.061741,-0.387806,0.919671]]
2025-10-26T18:33:35.150Z,1761503615.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679852,-0.691338,-0.244650],[0.730693,-0.610214,-0.306147],[0.062362,-0.386899,0.920011]]
2025-10-26T18:33:35.153Z,1761503615.153 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-10-26T18:33:35.221Z,1761503615.221 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:33:35.257Z,1761503615.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:33:35.257Z,1761503615.257 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:33:35.509Z,1761503615.509 [DAT](INFO): DAT read: user:20>

2025-10-26T18:33:35.511Z,1761503615.511 [DAT](INFO): DAT read: Tx time:18:33:36.2332

2025-10-26T18:33:35.512Z,1761503615.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:33:35.513Z,1761503615.513 [DAT](INFO): Ping request sent.
2025-10-26T18:33:35.513Z,1761503615.513 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:33:35.514Z,1761503615.514 [DAT](INFO): publishing transmit ping time
2025-10-26T18:33:35.516Z,1761503615.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001844
2025-10-26T18:33:35.557Z,1761503615.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669424,-0.700636,-0.246942],[0.740166,-0.600663,-0.302254],[0.063440,-0.385114,0.920686]]
2025-10-26T18:33:35.762Z,1761503615.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248133
2025-10-26T18:33:35.950Z,1761503615.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658384,-0.710118,-0.249525],[0.749833,-0.589981,-0.299453],[0.065432,-0.384257,0.920904]]
2025-10-26T18:33:36.013Z,1761503616.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499382
2025-10-26T18:33:36.264Z,1761503616.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750885
2025-10-26T18:33:36.355Z,1761503616.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646976,-0.719418,-0.252706],[0.759465,-0.578384,-0.297799],[0.068081,-0.384590,0.920574]]
2025-10-26T18:33:36.517Z,1761503616.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003544
2025-10-26T18:33:36.759Z,1761503616.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634750,-0.728751,-0.256933],[0.769438,-0.565489,-0.296963],[0.071120,-0.386192,0.919673]]
2025-10-26T18:33:36.769Z,1761503616.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255140
2025-10-26T18:33:37.022Z,1761503617.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508455
2025-10-26T18:33:37.277Z,1761503617.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762663
2025-10-26T18:33:37.526Z,1761503617.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012315
2025-10-26T18:33:37.566Z,1761503617.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607419,-0.748796,-0.265230],[0.790621,-0.537400,-0.293461],[0.077208,-0.387950,0.918441]]
2025-10-26T18:33:37.776Z,1761503617.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262955
2025-10-26T18:33:38.006Z,1761503618.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591028,-0.760201,-0.269780],[0.802792,-0.521655,-0.288792],[0.078808,-0.387261,0.918596]]
2025-10-26T18:33:38.029Z,1761503618.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515785
2025-10-26T18:33:38.280Z,1761503618.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766967
2025-10-26T18:33:38.458Z,1761503618.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573297,-0.772098,-0.274218],[0.815527,-0.505435,-0.281870],[0.079032,-0.385228,0.919431]]
2025-10-26T18:33:38.525Z,1761503618.525 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:33:38.526Z,1761503618.526 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:33:38.526Z,1761503618.526 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:33:38.526Z,1761503618.526 [marl:UpdateRudder:A] Stopped
2025-10-26T18:33:38.526Z,1761503618.526 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:33:38.527Z,1761503618.527 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:33:38.527Z,1761503618.527 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:33:38.527Z,1761503618.527 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:33:38.527Z,1761503618.527 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:33:38.527Z,1761503618.527 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateCommandMode] Stopped
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:33:38.528Z,1761503618.528 [marl:UpdateSpeed] Stopped
2025-10-26T18:33:38.529Z,1761503618.529 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:33:38.532Z,1761503618.532 [DAT](INFO): DAT read: Rx Time:18:33:38.7384

2025-10-26T18:33:38.533Z,1761503618.533 [DAT](INFO): Rx dataTimestamp_ set to:1761503618.532644
2025-10-26T18:33:38.533Z,1761503618.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020062
2025-10-26T18:33:38.785Z,1761503618.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271612
2025-10-26T18:33:38.990Z,1761503618.990 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:33:38.990Z,1761503618.990 [marl:UpdateRudder:B] Stopped
2025-10-26T18:33:38.991Z,1761503618.991 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:33:38.991Z,1761503618.991 [marl:UpdateRudder] Stopped
2025-10-26T18:33:38.991Z,1761503618.991 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:33:39.042Z,1761503619.042 [DAT](INFO): DAT read: 18:33:38.7384 LVL= 32752, 26609, 32754, 32755, AGC= 51, IDX= 391, 0.20,-2.031,-0.153,-1.639,-1.395, PHS=-0.534, 1.287,-0.289, RAW= 322.9,  -5.5, CAL= 322.2,  -8.7, ROT= 187.8,   8.7

2025-10-26T18:33:39.043Z,1761503619.043 [DAT](INFO): got valid direction response:
 18:33:38.7384 LVL= 32752, 26609, 32754, 32755, AGC= 51, IDX= 391, 0.20,-2.031,-0.153,-1.639,-1.395, PHS=-0.534, 1.287,-0.289, RAW= 322.9,  -5.5, CAL= 322.2,  -8.7, ROT= 187.8,   8.7

2025-10-26T18:33:39.044Z,1761503619.044 [DAT](INFO): DAT read: Bearing 104.4,  -7.9 (Local)

2025-10-26T18:33:39.045Z,1761503619.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.4,  -7.9 (Local)

2025-10-26T18:33:39.046Z,1761503619.046 [DAT](INFO): DAT read: Range 11 to 20 : 75.8 m  (Round-trip  101.1 ms) speed -0.9 m/s

2025-10-26T18:33:39.047Z,1761503619.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:33:39.048Z,1761503619.048 [DAT](INFO): direction in FSK: [-0.979348,-0.134154,-0.151261]
2025-10-26T18:33:39.048Z,1761503619.048 [DAT](INFO): publishing direction and range info
2025-10-26T18:33:39.323Z,1761503619.323 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503616.00. Resetting abort timer.
2025-10-26T18:33:39.666Z,1761503619.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517466,-0.805434,-0.288973],[0.852459,-0.455840,-0.255975],[0.074446,-0.378796,0.922481]]
2025-10-26T18:33:40.125Z,1761503620.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480511,-0.823677,-0.301105],[0.874401,-0.423616,-0.236583],[0.067315,-0.376968,0.923777]]
2025-10-26T18:33:40.969Z,1761503620.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445474,-0.839141,-0.312084],[0.893466,-0.394407,-0.214853],[0.057204,-0.374547,0.925442]]
2025-10-26T18:33:41.431Z,1761503621.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430396,-0.845195,-0.316866],[0.901132,-0.382045,-0.204948],[0.052164,-0.373747,0.926063]]
2025-10-26T18:33:41.835Z,1761503621.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416372,-0.851244,-0.319401],[0.907962,-0.371020,-0.194806],[0.047324,-0.371116,0.927380]]
2025-10-26T18:33:42.238Z,1761503622.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403362,-0.855938,-0.323525],[0.914032,-0.360298,-0.186362],[0.042949,-0.370884,0.927686]]
2025-10-26T18:33:42.642Z,1761503622.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390957,-0.860441,-0.326795],[0.919572,-0.350016,-0.178537],[0.039237,-0.370311,0.928079]]
2025-10-26T18:33:43.046Z,1761503623.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378543,-0.864722,-0.330092],[0.924892,-0.339597,-0.171023],[0.035789,-0.370039,0.928326]]
2025-10-26T18:33:43.452Z,1761503623.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365934,-0.869153,-0.332663],[0.930065,-0.328967,-0.163586],[0.032746,-0.369260,0.928749]]
2025-10-26T18:33:43.854Z,1761503623.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352693,-0.873567,-0.335394],[0.935254,-0.317547,-0.156409],[0.030130,-0.368843,0.929003]]
2025-10-26T18:33:44.260Z,1761503624.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338570,-0.877882,-0.338664],[0.940527,-0.305063,-0.149485],[0.027916,-0.369134,0.928957]]
2025-10-26T18:33:44.662Z,1761503624.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323302,-0.882842,-0.340684],[0.945945,-0.291702,-0.141769],[0.025782,-0.368102,0.929428]]
2025-10-26T18:33:45.470Z,1761503625.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289317,-0.892241,-0.346700],[0.957005,-0.261707,-0.125102],[0.020887,-0.367988,0.929596]]
2025-10-26T18:33:45.876Z,1761503625.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271631,-0.896203,-0.350767],[0.962230,-0.246016,-0.116577],[0.018183,-0.369184,0.929178]]
2025-10-26T18:33:46.278Z,1761503626.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253506,-0.900589,-0.353092],[0.967215,-0.230265,-0.107113],[0.015161,-0.368670,0.929437]]
2025-10-26T18:33:46.682Z,1761503626.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235214,-0.904462,-0.355841],[0.971872,-0.214409,-0.097438],[0.011834,-0.368751,0.929453]]
2025-10-26T18:33:47.086Z,1761503627.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217011,-0.907780,-0.358946],[0.976134,-0.198687,-0.087667],[0.008265,-0.369404,0.929232]]
2025-10-26T18:33:47.501Z,1761503627.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198930,-0.910944,-0.361397],[0.980003,-0.183150,-0.077789],[0.004671,-0.369644,0.929162]]
2025-10-26T18:33:47.894Z,1761503627.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181934,-0.913735,-0.363301],[0.983310,-0.168596,-0.068386],[0.001236,-0.369679,0.929159]]
2025-10-26T18:33:48.298Z,1761503628.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165457,-0.915614,-0.366436],[0.986215,-0.154466,-0.059339],[-0.002270,-0.371202,0.928549]]
2025-10-26T18:33:48.709Z,1761503628.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148941,-0.917774,-0.368114],[0.988830,-0.140360,-0.050144],[-0.005648,-0.371470,0.928428]]
2025-10-26T18:33:49.108Z,1761503629.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133309,-0.919385,-0.370082],[0.991036,-0.126966,-0.041570],[-0.008769,-0.372306,0.928069]]
2025-10-26T18:33:49.510Z,1761503629.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118880,-0.920666,-0.371810],[0.992839,-0.114663,-0.033516],[-0.011776,-0.373131,0.927704]]
2025-10-26T18:33:49.914Z,1761503629.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104895,-0.921727,-0.373384],[0.994376,-0.102724,-0.025767],[-0.014605,-0.373987,0.927319]]
2025-10-26T18:33:50.318Z,1761503630.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090886,-0.922566,-0.374981],[0.995712,-0.090706,-0.018171],[-0.017249,-0.375025,0.926854]]
2025-10-26T18:33:51.126Z,1761503631.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064270,-0.925096,-0.374254],[0.997669,-0.068187,-0.002781],[-0.022946,-0.373560,0.927322]]
2025-10-26T18:33:51.530Z,1761503631.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051815,-0.925875,-0.374261],[0.998322,-0.057725,0.004591],[-0.025855,-0.373395,0.927312]]
2025-10-26T18:33:51.575Z,1761503631.575 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:33:51.575Z,1761503631.575 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:33:51.575Z,1761503631.575 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateRudder:A] Stopped
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:33:51.580Z,1761503631.580 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateCommandMode] Stopped
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:33:51.581Z,1761503631.581 [marl:UpdateSpeed] Stopped
2025-10-26T18:33:51.582Z,1761503631.582 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:33:51.934Z,1761503631.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039752,-0.926952,-0.373069],[0.998805,-0.047480,0.011545],[-0.028415,-0.372164,0.927732]]
2025-10-26T18:33:52.017Z,1761503632.017 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:33:52.018Z,1761503632.018 [marl:UpdateRudder:B] Stopped
2025-10-26T18:33:52.018Z,1761503632.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:33:52.018Z,1761503632.018 [marl:UpdateRudder] Stopped
2025-10-26T18:33:52.018Z,1761503632.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:33:52.340Z,1761503632.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028015,-0.928051,-0.371398],[0.999138,-0.037389,0.018062],[-0.030648,-0.370571,0.928298]]
2025-10-26T18:33:52.747Z,1761503632.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016615,-0.928818,-0.370163],[0.999343,-0.027355,0.023785],[-0.032218,-0.369524,0.928662]]
2025-10-26T18:33:53.146Z,1761503633.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004898,-0.929546,-0.368674],[0.999432,-0.016848,0.029201],[-0.033355,-0.368321,0.929100]]
2025-10-26T18:33:53.552Z,1761503633.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006216,-0.930923,-0.365162],[0.999380,-0.006867,0.034519],[-0.034642,-0.365151,0.930304]]
2025-10-26T18:33:53.965Z,1761503633.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014736,-0.934454,-0.355778],[0.999222,0.000748,0.039423],[-0.036573,-0.356082,0.933739]]
2025-10-26T18:33:54.358Z,1761503634.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021013,-0.940581,-0.338919],[0.999009,0.006449,0.044042],[-0.039240,-0.339509,0.939784]]
2025-10-26T18:33:54.765Z,1761503634.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026533,-0.947509,-0.318626],[0.998751,0.011628,0.048590],[-0.042335,-0.319517,0.946634]]
2025-10-26T18:33:55.169Z,1761503635.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031958,-0.953953,-0.298248],[0.998447,0.016849,0.053094],[-0.045624,-0.299481,0.953011]]
2025-10-26T18:33:55.570Z,1761503635.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037908,-0.959329,-0.279734],[0.998084,0.022650,0.057577],[-0.048899,-0.281381,0.958350]]
2025-10-26T18:33:55.978Z,1761503635.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044167,-0.963825,-0.262851],[0.997680,0.028911,0.061630],[-0.051801,-0.264963,0.962866]]
2025-10-26T18:33:56.379Z,1761503636.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050944,-0.967318,-0.248397],[0.997184,0.035561,0.066031],[-0.055040,-0.251061,0.966405]]
2025-10-26T18:33:56.788Z,1761503636.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058251,-0.969569,-0.237788],[0.996549,0.042365,0.071384],[-0.059138,-0.241126,0.968690]]
2025-10-26T18:33:57.187Z,1761503637.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066066,-0.970942,-0.230016],[0.995716,0.049207,0.078282],[-0.064689,-0.234203,0.970033]]
2025-10-26T18:33:57.590Z,1761503637.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074533,-0.971520,-0.224932],[0.994615,0.056134,0.087120],[-0.072012,-0.230214,0.970472]]
2025-10-26T18:33:57.999Z,1761503637.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083347,-0.971632,-0.221326],[0.993174,0.062806,0.098290],[-0.081601,-0.228007,0.970234]]
2025-10-26T18:33:58.400Z,1761503638.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092188,-0.971313,-0.219208],[0.991351,0.068879,0.111708],[-0.093405,-0.227610,0.969262]]
2025-10-26T18:33:58.806Z,1761503638.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100196,-0.971067,-0.216772],[0.989196,0.073788,0.126678],[-0.107018,-0.227123,0.967968]]
2025-10-26T18:33:59.208Z,1761503639.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105730,-0.970882,-0.214963],[0.986952,0.076058,0.141919],[-0.121437,-0.227164,0.966255]]
2025-10-26T18:33:59.611Z,1761503639.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106834,-0.970757,-0.214980],[0.985139,0.074102,0.154950],[-0.134489,-0.228339,0.964248]]
2025-10-26T18:34:00.020Z,1761503640.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105043,-0.970832,-0.215526],[0.983815,0.069812,0.165025],[-0.145166,-0.229372,0.962453]]
2025-10-26T18:34:00.418Z,1761503640.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100735,-0.971411,-0.214974],[0.983021,0.063871,0.172019],[-0.153371,-0.228652,0.961351]]
2025-10-26T18:34:00.854Z,1761503640.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095457,-0.972038,-0.214545],[0.982635,0.057565,0.176391],[-0.159109,-0.227657,0.960654]]
2025-10-26T18:34:01.227Z,1761503641.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089476,-0.973108,-0.212261],[0.982702,0.051559,0.177872],[-0.162144,-0.224505,0.960889]]
2025-10-26T18:34:01.632Z,1761503641.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083028,-0.974115,-0.210254],[0.983230,0.045697,0.176554],[-0.162376,-0.221387,0.961573]]
2025-10-26T18:34:02.035Z,1761503642.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076440,-0.974681,-0.210128],[0.984193,0.039992,0.172526],[-0.159754,-0.219994,0.962331]]
2025-10-26T18:34:02.446Z,1761503642.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069956,-0.975046,-0.210693],[0.985439,0.034737,0.166441],[-0.154968,-0.219269,0.963279]]
2025-10-26T18:34:02.887Z,1761503642.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064307,-0.975017,-0.212618],[0.986881,0.030517,0.158538],[-0.148089,-0.220024,0.964188]]
2025-10-26T18:34:03.247Z,1761503643.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061350,-0.975019,-0.213480],[0.988142,0.029170,0.150745],[-0.140752,-0.220197,0.965247]]
2025-10-26T18:34:03.651Z,1761503643.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062645,-0.974521,-0.215370],[0.988909,0.031493,0.145144],[-0.134663,-0.222074,0.965686]]
2025-10-26T18:34:04.054Z,1761503644.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067073,-0.973611,-0.218136],[0.989232,0.036388,0.141759],[-0.130081,-0.225295,0.965568]]
2025-10-26T18:34:04.458Z,1761503644.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073103,-0.972379,-0.221664],[0.989223,0.042423,0.140137],[-0.126863,-0.229520,0.965001]]
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateRudder:A] Stopped
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:34:04.521Z,1761503644.521 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateCommandMode] Stopped
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:34:04.522Z,1761503644.522 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:34:04.523Z,1761503644.523 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:34:04.523Z,1761503644.523 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:34:04.523Z,1761503644.523 [marl:UpdateSpeed] Stopped
2025-10-26T18:34:04.523Z,1761503644.523 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:34:04.893Z,1761503644.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080404,-0.971153,-0.224494],[0.988886,0.049462,0.140206],[-0.125058,-0.233272,0.964336]]
2025-10-26T18:34:04.972Z,1761503644.972 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:34:04.972Z,1761503644.972 [marl:UpdateRudder:B] Stopped
2025-10-26T18:34:04.973Z,1761503644.973 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:34:04.973Z,1761503644.973 [marl:UpdateRudder] Stopped
2025-10-26T18:34:04.973Z,1761503644.973 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:34:05.267Z,1761503645.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087400,-0.970079,-0.226512],[0.988379,0.056056,0.141299],[-0.124374,-0.236229,0.963705]]
2025-10-26T18:34:05.335Z,1761503645.335 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:34:05.496Z,1761503645.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:34:05.496Z,1761503645.496 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:34:05.636Z,1761503645.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:34:05.670Z,1761503645.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093112,-0.968972,-0.228963],[0.987891,0.061245,0.142553],[-0.124107,-0.239464,0.962941]]
2025-10-26T18:34:05.748Z,1761503645.748 [DAT](INFO): DAT read: user:21>

2025-10-26T18:34:05.749Z,1761503645.749 [DAT](INFO): DAT read: Tx time:18:34:06.4831

2025-10-26T18:34:05.749Z,1761503645.749 [DAT](INFO): Ping request sent.
2025-10-26T18:34:05.749Z,1761503645.749 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:34:05.750Z,1761503645.750 [DAT](INFO): publishing transmit ping time
2025-10-26T18:34:05.750Z,1761503645.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000940
2025-10-26T18:34:06.001Z,1761503646.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251528
2025-10-26T18:34:06.075Z,1761503646.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097890,-0.967571,-0.232860],[0.987411,0.065217,0.144101],[-0.124242,-0.244035,0.961775]]
2025-10-26T18:34:06.253Z,1761503646.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503999
2025-10-26T18:34:06.478Z,1761503646.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101989,-0.966420,-0.235861],[0.986967,0.068635,0.145553],[-0.124478,-0.247632,0.960824]]
2025-10-26T18:34:06.508Z,1761503646.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757403
2025-10-26T18:34:06.640Z,1761503646.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:34:06.756Z,1761503646.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006883
2025-10-26T18:34:06.899Z,1761503646.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104918,-0.965936,-0.236560],[0.986681,0.071372,0.146175],[-0.124312,-0.248746,0.960558]]
2025-10-26T18:34:07.009Z,1761503647.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259716
2025-10-26T18:34:07.260Z,1761503647.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885
2025-10-26T18:34:07.512Z,1761503647.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762919
2025-10-26T18:34:07.690Z,1761503647.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109038,-0.964534,-0.240386],[0.986554,0.075388,0.145009],[-0.121744,-0.252965,0.959785]]
2025-10-26T18:34:07.777Z,1761503647.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027879
2025-10-26T18:34:08.029Z,1761503648.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279327
2025-10-26T18:34:08.101Z,1761503648.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113749,-0.962106,-0.247819],[0.986398,0.079573,0.143830],[-0.118660,-0.260809,0.958070]]
2025-10-26T18:34:08.281Z,1761503648.281 [DAT](INFO): DAT read: Rx Time:18:34:08.6526

2025-10-26T18:34:08.281Z,1761503648.281 [DAT](INFO): Rx dataTimestamp_ set to:1761503648.281137
2025-10-26T18:34:08.282Z,1761503648.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532560
2025-10-26T18:34:08.500Z,1761503648.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121721,-0.956729,-0.264297],[0.985970,0.085903,0.143125],[-0.114228,-0.278010,0.953762]]
2025-10-26T18:34:08.532Z,1761503648.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783051
2025-10-26T18:34:08.787Z,1761503648.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036952
2025-10-26T18:34:08.975Z,1761503648.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143452,-0.939630,-0.310673],[0.984419,0.103224,0.142351],[-0.101689,-0.326253,0.939797]]
2025-10-26T18:34:09.042Z,1761503649.042 [DAT](INFO): DAT read: 18:34:08.6526 LVL= 13968, 11665, 14034, 11379, AGC= 46, IDX=  58,-0.01, 1.058, 2.821, 2.328, 1.780, PHS=-0.620, 1.085, 0.504, RAW= 289.6, -12.9, CAL= 290.7, -18.1, ROT= 219.3,  18.1

2025-10-26T18:34:09.043Z,1761503649.043 [DAT](INFO): got valid direction response:
 18:34:08.6526 LVL= 13968, 11665, 14034, 11379, AGC= 46, IDX=  58,-0.01, 1.058, 2.821, 2.328, 1.780, PHS=-0.620, 1.085, 0.504, RAW= 289.6, -12.9, CAL= 290.7, -18.1, ROT= 219.3,  18.1

2025-10-26T18:34:09.044Z,1761503649.044 [DAT](INFO): DAT read: Bearing 301, -10 (Remote)

2025-10-26T18:34:09.045Z,1761503649.045 [DAT](INFO): Remote Bearing received:Bearing 301, -10 (Remote)

2025-10-26T18:34:09.046Z,1761503649.046 [DAT](INFO): DAT read: Bearing  84.4, -24.3 (Local)

2025-10-26T18:34:09.046Z,1761503649.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.4, -24.3 (Local)

2025-10-26T18:34:09.047Z,1761503649.047 [DAT](INFO): DAT read: Range 11 to 20 : 105.3 m  (Round-trip  140.4 ms) speed -0.4 m/s

2025-10-26T18:34:09.048Z,1761503649.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:34:09.049Z,1761503649.049 [DAT](INFO): direction in FSK: [-0.735547,-0.602038,-0.310676]
2025-10-26T18:34:09.049Z,1761503649.049 [DAT](INFO): publishing direction and range info
2025-10-26T18:34:09.217Z,1761503649.217 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503616.00. Resetting abort timer.
2025-10-26T18:34:09.469Z,1761503649.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156562,-0.929959,-0.332662],[0.983112,0.114420,0.142824],[-0.094758,-0.349405,0.932168]]
2025-10-26T18:34:09.872Z,1761503649.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170331,-0.920642,-0.351291],[0.981499,0.126875,0.143393],[-0.087443,-0.369217,0.925220]]
2025-10-26T18:34:10.274Z,1761503650.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184469,-0.912225,-0.365811],[0.979595,0.140437,0.143775],[-0.079781,-0.384868,0.919517]]
2025-10-26T18:34:10.678Z,1761503650.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198919,-0.905561,-0.374688],[0.977341,0.155078,0.144065],[-0.072354,-0.394855,0.915890]]
2025-10-26T18:34:11.083Z,1761503651.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213894,-0.900143,-0.379462],[0.974686,0.170775,0.144305],[-0.065092,-0.400722,0.913884]]
2025-10-26T18:34:11.496Z,1761503651.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229119,-0.895334,-0.381944],[0.971633,0.186742,0.145110],[-0.058597,-0.404356,0.912722]]
2025-10-26T18:34:11.907Z,1761503651.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244434,-0.891537,-0.381330],[0.968261,0.203252,0.145464],[-0.052181,-0.404784,0.912922]]
2025-10-26T18:34:12.298Z,1761503652.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259788,-0.888200,-0.378959],[0.964547,0.219785,0.146097],[-0.046474,-0.403478,0.913808]]
2025-10-26T18:34:12.705Z,1761503652.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274643,-0.885566,-0.374626],[0.960672,0.236101,0.146171],[-0.040995,-0.400037,0.915582]]
2025-10-26T18:34:13.106Z,1761503653.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288587,-0.882813,-0.370619],[0.956786,0.251446,0.146069],[-0.035761,-0.396756,0.917227]]
2025-10-26T18:34:13.512Z,1761503653.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302520,-0.879966,-0.366254],[0.952644,0.266717,0.146053],[-0.030835,-0.393094,0.918981]]
2025-10-26T18:34:14.009Z,1761503654.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316464,-0.876471,-0.362834],[0.948248,0.281800,0.146338],[-0.026014,-0.390368,0.920291]]
2025-10-26T18:34:14.318Z,1761503654.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329908,-0.872531,-0.360348],[0.943780,0.296373,0.146432],[-0.020969,-0.388398,0.921253]]
2025-10-26T18:34:14.728Z,1761503654.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342564,-0.868532,-0.358194],[0.939359,0.310163,0.146301],[-0.015968,-0.386590,0.922113]]
2025-10-26T18:34:15.126Z,1761503655.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355492,-0.863400,-0.358002],[0.934615,0.323883,0.146949],[-0.010925,-0.386834,0.922085]]
2025-10-26T18:34:15.532Z,1761503655.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368464,-0.857818,-0.358304],[0.929624,0.337591,0.147757],[-0.005788,-0.387531,0.921839]]
2025-10-26T18:34:15.937Z,1761503655.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381431,-0.852059,-0.358477],[0.924397,0.351397,0.148357],[-0.000441,-0.387963,0.921675]]
2025-10-26T18:34:16.338Z,1761503656.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395127,-0.845861,-0.358322],[0.918614,0.365860,0.149314],[0.004797,-0.388157,0.921581]]
2025-10-26T18:34:16.744Z,1761503656.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408631,-0.839735,-0.357582],[0.912642,0.380336,0.149763],[0.010240,-0.387543,0.921795]]
2025-10-26T18:34:17.189Z,1761503657.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422051,-0.833358,-0.356914],[0.906435,0.394767,0.150117],[0.015797,-0.386876,0.921997]]
2025-10-26T18:34:17.590Z,1761503657.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436083,-0.826460,-0.356082],[0.899657,0.409700,0.150877],[0.021193,-0.386147,0.922194]]
2025-10-26T18:34:17.644Z,1761503657.644 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:34:17.644Z,1761503657.644 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:34:17.644Z,1761503657.644 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:34:17.644Z,1761503657.644 [marl:UpdateRudder:A] Stopped
2025-10-26T18:34:17.644Z,1761503657.644 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:34:17.644Z,1761503657.644 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateCommandMode] Stopped
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:34:17.645Z,1761503657.645 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:34:17.646Z,1761503657.646 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:34:17.646Z,1761503657.646 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:34:17.646Z,1761503657.646 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:34:17.646Z,1761503657.646 [marl:UpdateSpeed] Stopped
2025-10-26T18:34:17.646Z,1761503657.646 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:34:17.999Z,1761503657.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450706,-0.819346,-0.354312],[0.892292,0.425094,0.152020],[0.026059,-0.384666,0.922688]]
2025-10-26T18:34:18.022Z,1761503658.022 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:34:18.022Z,1761503658.022 [marl:UpdateRudder:B] Stopped
2025-10-26T18:34:18.022Z,1761503658.022 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:34:18.022Z,1761503658.022 [marl:UpdateRudder] Stopped
2025-10-26T18:34:18.023Z,1761503658.023 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:34:18.405Z,1761503658.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465781,-0.811975,-0.351773],[0.884379,0.440787,0.153562],[0.030369,-0.382627,0.923404]]
2025-10-26T18:34:18.806Z,1761503658.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480575,-0.804478,-0.349089],[0.876281,0.456107,0.155234],[0.034339,-0.380501,0.924143]]
2025-10-26T18:34:19.206Z,1761503659.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495813,-0.796339,-0.346430],[0.867618,0.471470,0.157972],[0.037532,-0.378893,0.924679]]
2025-10-26T18:34:19.610Z,1761503659.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510364,-0.788131,-0.344062],[0.859005,0.486054,0.160816],[0.040489,-0.377626,0.925073]]
2025-10-26T18:34:20.022Z,1761503660.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524905,-0.779789,-0.341180],[0.850081,0.500465,0.164004],[0.042860,-0.376117,0.925580]]
2025-10-26T18:34:20.506Z,1761503660.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538410,-0.771532,-0.338898],[0.841480,0.513727,0.167319],[0.045009,-0.375263,0.925825]]
2025-10-26T18:34:20.905Z,1761503660.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551252,-0.762945,-0.337692],[0.832995,0.526232,0.170880],[0.047333,-0.375494,0.925615]]
2025-10-26T18:34:21.370Z,1761503661.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576139,-0.745942,-0.334116],[0.815700,0.550716,0.177048],[0.051935,-0.374543,0.925754]]
2025-10-26T18:34:21.765Z,1761503661.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588580,-0.736828,-0.332653],[0.806641,0.562680,0.180891],[0.053892,-0.374801,0.925538]]
2025-10-26T18:34:22.166Z,1761503662.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601092,-0.727723,-0.330315],[0.797218,0.574948,0.184061],[0.055968,-0.373970,0.925750]]
2025-10-26T18:34:22.571Z,1761503662.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614082,-0.717889,-0.327932],[0.787109,0.587586,0.187622],[0.057996,-0.373333,0.925883]]
2025-10-26T18:34:22.976Z,1761503662.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627522,-0.707443,-0.325178],[0.776286,0.600649,0.191315],[0.059974,-0.372485,0.926098]]
2025-10-26T18:34:23.384Z,1761503663.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641556,-0.695819,-0.322865],[0.764585,0.613966,0.196104],[0.061775,-0.372669,0.925906]]
2025-10-26T18:34:23.782Z,1761503663.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655666,-0.684108,-0.319527],[0.752393,0.627448,0.200534],[0.063300,-0.371894,0.926115]]
2025-10-26T18:34:24.186Z,1761503664.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669707,-0.672483,-0.315055],[0.739853,0.640810,0.204888],[0.064107,-0.370309,0.926694]]
2025-10-26T18:34:24.591Z,1761503664.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683870,-0.659601,-0.311847],[0.726731,0.653716,0.210992],[0.064689,-0.370920,0.926409]]
2025-10-26T18:34:24.994Z,1761503664.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697332,-0.647265,-0.307857],[0.713798,0.666068,0.216440],[0.064960,-0.370678,0.926487]]
2025-10-26T18:34:25.398Z,1761503665.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709705,-0.635308,-0.304471],[0.701472,0.677273,0.221897],[0.065237,-0.371060,0.926315]]
2025-10-26T18:34:25.799Z,1761503665.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721471,-0.623264,-0.301697],[0.689365,0.687551,0.228146],[0.065236,-0.372580,0.925704]]
2025-10-26T18:34:26.265Z,1761503666.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732274,-0.612258,-0.298184],[0.677952,0.696837,0.234092],[0.064461,-0.373574,0.925358]]
2025-10-26T18:34:26.686Z,1761503666.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742040,-0.602431,-0.294030],[0.667342,0.705401,0.238881],[0.063499,-0.373478,0.925463]]
2025-10-26T18:34:27.082Z,1761503667.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750965,-0.593187,-0.290139],[0.657358,0.713272,0.243153],[0.062713,-0.373324,0.925579]]
2025-10-26T18:34:27.486Z,1761503667.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759550,-0.583992,-0.286421],[0.647471,0.720911,0.247119],[0.062168,-0.373149,0.925686]]
2025-10-26T18:34:27.892Z,1761503667.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767631,-0.575231,-0.282580],[0.637919,0.728207,0.250545],[0.061655,-0.372589,0.925946]]
2025-10-26T18:34:28.295Z,1761503668.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776000,-0.565993,-0.278346],[0.627737,0.736003,0.253466],[0.061404,-0.371418,0.926433]]
2025-10-26T18:34:28.701Z,1761503668.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784631,-0.556186,-0.273882],[0.616940,0.744053,0.256456],[0.061145,-0.370192,0.926941]]
2025-10-26T18:34:29.102Z,1761503669.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793714,-0.545627,-0.268904],[0.605243,0.752582,0.259427],[0.060822,-0.368663,0.927571]]
2025-10-26T18:34:29.506Z,1761503669.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802788,-0.534906,-0.263450],[0.593198,0.761226,0.262014],[0.060392,-0.366619,0.928409]]
2025-10-26T18:34:29.912Z,1761503669.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811798,-0.523467,-0.258777],[0.580864,0.769312,0.266001],[0.059838,-0.366254,0.928589]]
2025-10-26T18:34:30.314Z,1761503670.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820309,-0.512406,-0.254034],[0.568846,0.776990,0.269629],[0.059222,-0.365686,0.928852]]
2025-10-26T18:34:30.725Z,1761503670.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828792,-0.500766,-0.249674],[0.556494,0.784275,0.274276],[0.058465,-0.366260,0.928674]]
2025-10-26T18:34:30.766Z,1761503670.766 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:34:30.766Z,1761503670.766 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:34:30.766Z,1761503670.766 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:34:30.766Z,1761503670.766 [marl:UpdateRudder:A] Stopped
2025-10-26T18:34:30.767Z,1761503670.767 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:34:30.767Z,1761503670.767 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:34:30.767Z,1761503670.767 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:34:30.767Z,1761503670.767 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:34:30.767Z,1761503670.767 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:34:30.767Z,1761503670.767 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateCommandMode] Stopped
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:34:30.768Z,1761503670.768 [marl:UpdateSpeed] Stopped
2025-10-26T18:34:30.769Z,1761503670.769 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:34:31.127Z,1761503671.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836892,-0.489266,-0.245421],[0.544361,0.790885,0.279594],[0.057304,-0.367588,0.928222]]
2025-10-26T18:34:31.189Z,1761503671.189 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:34:31.189Z,1761503671.189 [marl:UpdateRudder:B] Stopped
2025-10-26T18:34:31.189Z,1761503671.189 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:34:31.189Z,1761503671.189 [marl:UpdateRudder] Stopped
2025-10-26T18:34:31.189Z,1761503671.189 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:34:31.526Z,1761503671.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844064,-0.478806,-0.241456],[0.533311,0.796553,0.284749],[0.055993,-0.369118,0.927694]]
2025-10-26T18:34:31.930Z,1761503671.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851327,-0.467819,-0.237462],[0.521746,0.802392,0.289737],[0.054993,-0.370556,0.927181]]
2025-10-26T18:34:32.343Z,1761503672.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859018,-0.455460,-0.233762],[0.509061,0.808335,0.295721],[0.054269,-0.373029,0.926231]]
2025-10-26T18:34:32.480Z,1761503672.480 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:34:32.480Z,1761503672.480 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:34:32.744Z,1761503672.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867417,-0.441364,-0.229751],[0.494646,0.814961,0.301933],[0.053975,-0.375548,0.925230]]
2025-10-26T18:34:33.147Z,1761503673.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875748,-0.426802,-0.225621],[0.479793,0.821262,0.308753],[0.053517,-0.378641,0.923995]]
2025-10-26T18:34:33.601Z,1761503673.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884629,-0.411280,-0.219727],[0.463254,0.828899,0.313565],[0.053169,-0.379178,0.923795]]
2025-10-26T18:34:34.005Z,1761503674.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893667,-0.394956,-0.213001],[0.445612,0.836969,0.317668],[0.052810,-0.378805,0.923969]]
2025-10-26T18:34:34.422Z,1761503674.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902508,-0.378707,-0.205084],[0.427541,0.845158,0.320807],[0.051836,-0.377213,0.924675]]
2025-10-26T18:34:34.878Z,1761503674.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911677,-0.361414,-0.195509],[0.407823,0.854029,0.322977],[0.050242,-0.374184,0.925992]]
2025-10-26T18:34:35.236Z,1761503675.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920764,-0.343484,-0.184967],[0.387177,0.862709,0.325311],[0.047834,-0.371149,0.927340]]
2025-10-26T18:34:35.638Z,1761503675.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929331,-0.325512,-0.174314],[0.366514,0.870529,0.328400],[0.044848,-0.369081,0.928315]]
2025-10-26T18:34:35.683Z,1761503675.683 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:34:35.756Z,1761503675.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:34:35.756Z,1761503675.756 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:34:36.008Z,1761503676.008 [DAT](INFO): DAT read: user:22>

2025-10-26T18:34:36.009Z,1761503676.009 [DAT](INFO): DAT read: Tx time:18:34:36.7330

2025-10-26T18:34:36.009Z,1761503676.009 [DAT](INFO): Ping request sent.
2025-10-26T18:34:36.009Z,1761503676.009 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:34:36.010Z,1761503676.010 [DAT](INFO): publishing transmit ping time
2025-10-26T18:34:36.010Z,1761503676.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000914
2025-10-26T18:34:36.056Z,1761503676.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936694,-0.309408,-0.163925],[0.347673,0.877438,0.330495],[0.041576,-0.366565,0.929463]]
2025-10-26T18:34:36.260Z,1761503676.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251013
2025-10-26T18:34:36.469Z,1761503676.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942758,-0.295530,-0.154500],[0.331323,0.882671,0.333344],[0.037859,-0.365452,0.930060]]
2025-10-26T18:34:36.513Z,1761503676.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503129
2025-10-26T18:34:36.764Z,1761503676.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754926
2025-10-26T18:34:36.776Z,1761503676.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:34:36.886Z,1761503676.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947905,-0.283260,-0.145737],[0.316727,0.886965,0.336120],[0.034055,-0.364769,0.930475]]
2025-10-26T18:34:37.016Z,1761503677.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007055
2025-10-26T18:34:37.254Z,1761503677.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952271,-0.272344,-0.137874],[0.303750,0.890204,0.339518],[0.030271,-0.365192,0.930440]]
2025-10-26T18:34:37.270Z,1761503677.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260228
2025-10-26T18:34:37.520Z,1761503677.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510926
2025-10-26T18:34:37.658Z,1761503677.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956028,-0.262329,-0.131126],[0.292044,0.892493,0.343754],[0.026852,-0.366933,0.929860]]
2025-10-26T18:34:37.773Z,1761503677.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763586
2025-10-26T18:34:37.780Z,1761503677.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:34:38.024Z,1761503678.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014997
2025-10-26T18:34:38.064Z,1761503678.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959359,-0.252969,-0.125050],[0.281179,0.894399,0.347834],[0.023853,-0.368859,0.929179]]
2025-10-26T18:34:38.280Z,1761503678.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270546
2025-10-26T18:34:38.466Z,1761503678.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962350,-0.244214,-0.119343],[0.271001,0.895995,0.351784],[0.021020,-0.370882,0.928442]]
2025-10-26T18:34:38.529Z,1761503678.529 [DAT](INFO): DAT read: Rx Time:18:34:38.9177

2025-10-26T18:34:38.529Z,1761503678.529 [DAT](INFO): Rx dataTimestamp_ set to:1761503678.529077
2025-10-26T18:34:38.530Z,1761503678.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520520
2025-10-26T18:34:38.780Z,1761503678.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771047
2025-10-26T18:34:38.891Z,1761503678.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965212,-0.235496,-0.113613],[0.260818,0.897816,0.354825],[0.018444,-0.372113,0.928004]]
2025-10-26T18:34:39.032Z,1761503679.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039
2025-10-26T18:34:39.274Z,1761503679.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968154,-0.225993,-0.107725],[0.249829,0.899970,0.357267],[0.016209,-0.372803,0.927769]]
2025-10-26T18:34:39.290Z,1761503679.290 [DAT](INFO): DAT read: 18:34:38.9177 LVL= 24752, 20369, 19890, 26595, AGC= 49, IDX=  70, 0.13,-1.612,-1.180,-0.084,-1.442, PHS=-0.069, 0.307, 1.313, RAW= 225.2, -23.9, CAL= 224.9, -28.5, ROT= 285.1,  28.5

2025-10-26T18:34:39.291Z,1761503679.291 [DAT](INFO): got valid direction response:
 18:34:38.9177 LVL= 24752, 20369, 19890, 26595, AGC= 49, IDX=  70, 0.13,-1.612,-1.180,-0.084,-1.442, PHS=-0.069, 0.307, 1.313, RAW= 225.2, -23.9, CAL= 224.9, -28.5, ROT= 285.1,  28.5

2025-10-26T18:34:39.292Z,1761503679.292 [DAT](INFO): DAT read: Bearing 296, -11 (Remote)

2025-10-26T18:34:39.292Z,1761503679.292 [DAT](INFO): Remote Bearing received:Bearing 296, -11 (Remote)

2025-10-26T18:34:39.293Z,1761503679.293 [DAT](INFO): DAT read: Bearing  92.3, -36.9 (Local)

2025-10-26T18:34:39.293Z,1761503679.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.3, -36.9 (Local)

2025-10-26T18:34:39.295Z,1761503679.295 [DAT](INFO): DAT read: Range 11 to 20 : 116.7 m  (Round-trip  155.6 ms) speed -0.4 m/s

2025-10-26T18:34:39.295Z,1761503679.295 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:34:39.297Z,1761503679.297 [DAT](INFO): direction in FSK: [0.228936,-0.848474,-0.477159]
2025-10-26T18:34:39.297Z,1761503679.297 [DAT](INFO): publishing direction and range info
2025-10-26T18:34:39.388Z,1761503679.388 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503616.00. Resetting abort timer.
2025-10-26T18:34:39.678Z,1761503679.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971365,-0.214811,-0.101518],[0.237157,0.902443,0.359656],[0.014356,-0.373433,0.927546]]
2025-10-26T18:34:40.082Z,1761503680.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974701,-0.202389,-0.094847],[0.223158,0.905018,0.362136],[0.012546,-0.374141,0.927287]]
2025-10-26T18:34:40.898Z,1761503680.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981322,-0.175019,-0.079843],[0.192171,0.910780,0.365445],[0.008760,-0.373963,0.927402]]
2025-10-26T18:34:41.303Z,1761503681.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984365,-0.160757,-0.071998],[0.176010,0.913605,0.366533],[0.006855,-0.373474,0.927615]]
2025-10-26T18:34:41.700Z,1761503681.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987189,-0.146132,-0.064064],[0.159479,0.916294,0.367386],[0.005014,-0.372896,0.927860]]
2025-10-26T18:34:42.102Z,1761503682.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989864,-0.130517,-0.055988],[0.141983,0.918273,0.369615],[0.003171,-0.373818,0.927497]]
2025-10-26T18:34:42.507Z,1761503682.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992259,-0.114672,-0.047671],[0.124180,0.920083,0.371519],[0.001258,-0.374563,0.927201]]
2025-10-26T18:34:42.912Z,1761503682.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994456,-0.097804,-0.038624],[0.105151,0.922147,0.372274],[-0.000792,-0.374272,0.927319]]
2025-10-26T18:34:43.324Z,1761503683.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996351,-0.080120,-0.029403],[0.085296,0.923122,0.374927],[-0.002896,-0.376067,0.926588]]
2025-10-26T18:34:43.724Z,1761503683.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997916,-0.061444,-0.019701],[0.064333,0.923922,0.377132],[-0.004970,-0.377614,0.925950]]
2025-10-26T18:34:43.770Z,1761503683.770 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:34:43.770Z,1761503683.770 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:34:43.770Z,1761503683.770 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:34:43.771Z,1761503683.771 [marl:UpdateRudder:A] Stopped
2025-10-26T18:34:43.771Z,1761503683.771 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:34:43.771Z,1761503683.771 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:34:43.771Z,1761503683.771 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:34:43.771Z,1761503683.771 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateCommandMode] Stopped
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:34:43.772Z,1761503683.772 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:34:43.773Z,1761503683.773 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:34:43.773Z,1761503683.773 [marl:UpdateSpeed] Stopped
2025-10-26T18:34:43.773Z,1761503683.773 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:34:44.122Z,1761503684.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999040,-0.042681,-0.009854],[0.043227,0.924243,0.379350],[-0.007083,-0.379412,0.925201]]
2025-10-26T18:34:44.189Z,1761503684.189 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:34:44.189Z,1761503684.189 [marl:UpdateRudder:B] Stopped
2025-10-26T18:34:44.190Z,1761503684.190 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:34:44.190Z,1761503684.190 [marl:UpdateRudder] Stopped
2025-10-26T18:34:44.190Z,1761503684.190 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:34:44.527Z,1761503684.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999717,-0.023800,0.000121],[0.021973,0.924878,0.379627],[-0.009147,-0.379517,0.925139]]
2025-10-26T18:34:44.930Z,1761503684.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999937,-0.005259,0.009920],[0.001097,0.925073,0.379788],[-0.011174,-0.379754,0.925020]]
2025-10-26T18:34:45.334Z,1761503685.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999741,0.012479,0.019023],[-0.018745,0.925648,0.377922],[-0.012893,-0.378181,0.925642]]
2025-10-26T18:34:45.740Z,1761503685.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999244,0.027965,0.027013],[-0.036050,0.926614,0.374281],[-0.014563,-0.374972,0.926922]]
2025-10-26T18:34:46.144Z,1761503686.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998578,0.041154,0.033883],[-0.050807,0.927135,0.371268],[-0.016135,-0.372462,0.927907]]
2025-10-26T18:34:46.546Z,1761503686.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997816,0.052562,0.039996],[-0.063635,0.927256,0.368980],[-0.017692,-0.370719,0.928576]]
2025-10-26T18:34:46.955Z,1761503686.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996952,0.063277,0.045648],[-0.075640,0.927330,0.366522],[-0.019138,-0.368858,0.929289]]
2025-10-26T18:34:47.360Z,1761503687.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994903,0.083153,0.057046],[-0.098381,0.924550,0.368141],[-0.022129,-0.371877,0.928018]]
2025-10-26T18:34:47.764Z,1761503687.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993696,0.093000,0.062602],[-0.109607,0.923230,0.368282],[-0.023546,-0.372822,0.927604]]
2025-10-26T18:34:48.166Z,1761503688.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992324,0.102932,0.068542],[-0.121098,0.921164,0.369855],[-0.025068,-0.375317,0.926558]]
2025-10-26T18:34:48.570Z,1761503688.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990467,0.115016,0.075808],[-0.135123,0.918210,0.372334],[-0.026783,-0.379028,0.924998]]
2025-10-26T18:34:48.971Z,1761503688.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988043,0.129502,0.083663],[-0.151553,0.915480,0.372730],[-0.028323,-0.380952,0.924161]]
2025-10-26T18:34:49.376Z,1761503689.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984945,0.146004,0.092549],[-0.170255,0.912023,0.373132],[-0.029928,-0.383271,0.923151]]
2025-10-26T18:34:49.794Z,1761503689.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981349,0.163124,0.101707],[-0.189611,0.908476,0.372451],[-0.031643,-0.384789,0.922462]]
2025-10-26T18:34:50.182Z,1761503690.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977450,0.179897,0.110583],[-0.208485,0.905332,0.370010],[-0.033551,-0.384721,0.922423]]
2025-10-26T18:34:50.586Z,1761503690.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973591,0.195100,0.118557],[-0.225496,0.902925,0.365894],[-0.035662,-0.382966,0.923074]]
2025-10-26T18:34:50.990Z,1761503690.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969754,0.209174,0.125792],[-0.241163,0.900610,0.361584],[-0.037656,-0.380984,0.923815]]
2025-10-26T18:34:51.395Z,1761503691.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965950,0.222189,0.132561],[-0.255694,0.898044,0.357962],[-0.039510,-0.379669,0.924278]]
2025-10-26T18:34:52.208Z,1761503692.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958095,0.246604,0.145740],[-0.283288,0.891111,0.354500],[-0.042450,-0.380931,0.923629]]
2025-10-26T18:34:52.606Z,1761503692.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953554,0.259599,0.152783],[-0.298001,0.886970,0.352818],[-0.043923,-0.381960,0.923134]]
2025-10-26T18:34:53.010Z,1761503693.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948400,0.273366,0.160653],[-0.313815,0.881740,0.352214],[-0.045371,-0.384455,0.922028]]
2025-10-26T18:34:53.414Z,1761503693.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942272,0.288636,0.169741],[-0.331516,0.875483,0.351607],[-0.047119,-0.387581,0.920631]]
2025-10-26T18:34:53.820Z,1761503693.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935434,0.304796,0.179060],[-0.350039,0.869374,0.348801],[-0.049357,-0.388958,0.919932]]
2025-10-26T18:34:54.224Z,1761503694.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928128,0.321567,0.187547],[-0.368630,0.864115,0.342661],[-0.051874,-0.387169,0.920548]]
2025-10-26T18:34:54.622Z,1761503694.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920518,0.338531,0.195048],[-0.386895,0.859339,0.334437],[-0.054395,-0.383318,0.922013]]
2025-10-26T18:34:55.026Z,1761503695.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912542,0.355754,0.201758],[-0.405036,0.854486,0.325267],[-0.056685,-0.378539,0.923848]]
2025-10-26T18:34:55.432Z,1761503695.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904273,0.373474,0.206902],[-0.422937,0.849882,0.314365],[-0.058435,-0.371778,0.926481]]
2025-10-26T18:34:56.239Z,1761503696.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886759,0.409594,0.214222],[-0.458492,0.838259,0.295140],[-0.058686,-0.359937,0.931129]]
2025-10-26T18:34:56.642Z,1761503696.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877981,0.426629,0.217111],[-0.475238,0.831252,0.288392],[-0.057438,-0.356382,0.932573]]
2025-10-26T18:34:56.667Z,1761503696.667 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:34:56.667Z,1761503696.667 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:34:56.667Z,1761503696.667 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateRudder:A] Stopped
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode] Stopped
2025-10-26T18:34:56.668Z,1761503696.668 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed] Stopped
2025-10-26T18:34:56.669Z,1761503696.669 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:34:57.046Z,1761503697.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870544,0.440317,0.219711],[-0.488894,0.824700,0.284346],[-0.055993,-0.354952,0.933206]]
2025-10-26T18:34:57.094Z,1761503697.094 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:34:57.094Z,1761503697.094 [marl:UpdateRudder:B] Stopped
2025-10-26T18:34:57.095Z,1761503697.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:34:57.095Z,1761503697.095 [marl:UpdateRudder] Stopped
2025-10-26T18:34:57.095Z,1761503697.095 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:34:57.450Z,1761503697.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864188,0.451471,0.222156],[-0.500227,0.818536,0.282439],[-0.054330,-0.355209,0.933207]]
2025-10-26T18:34:57.854Z,1761503697.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858295,0.461237,0.224923],[-0.510501,0.811998,0.282928],[-0.052140,-0.357659,0.932395]]
2025-10-26T18:34:58.287Z,1761503698.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852315,0.470209,0.229046],[-0.520681,0.804244,0.286500],[-0.049494,-0.363448,0.930299]]
2025-10-26T18:34:58.662Z,1761503698.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845948,0.478905,0.234566],[-0.531245,0.795088,0.292600],[-0.046373,-0.372136,0.927019]]
2025-10-26T18:34:59.066Z,1761503699.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839295,0.486920,0.241853],[-0.541963,0.784598,0.301134],[-0.043129,-0.383815,0.922402]]
2025-10-26T18:34:59.470Z,1761503699.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831511,0.495430,0.251273],[-0.554042,0.772462,0.310386],[-0.040324,-0.397306,0.916800]]
2025-10-26T18:34:59.877Z,1761503699.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823616,0.503074,0.261865],[-0.565811,0.760526,0.318525],[-0.038914,-0.410508,0.911026]]
2025-10-26T18:35:00.278Z,1761503700.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815556,0.510254,0.272962],[-0.577341,0.749507,0.323909],[-0.039311,-0.421758,0.905856]]
2025-10-26T18:35:00.682Z,1761503700.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807472,0.517072,0.283948],[-0.588412,0.740226,0.325326],[-0.041969,-0.429770,0.901963]]
2025-10-26T18:35:01.086Z,1761503701.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798833,0.525253,0.293215],[-0.599779,0.732858,0.321222],[-0.046162,-0.432467,0.900467]]
2025-10-26T18:35:01.506Z,1761503701.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788718,0.536685,0.299821],[-0.612665,0.726397,0.311430],[-0.050649,-0.429320,0.901731]]
2025-10-26T18:35:01.895Z,1761503701.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776857,0.551469,0.303932],[-0.627288,0.719791,0.297338],[-0.054795,-0.421642,0.905105]]
2025-10-26T18:35:02.298Z,1761503702.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764554,0.567777,0.305101],[-0.641907,0.713601,0.280586],[-0.058410,-0.410370,0.910047]]
2025-10-26T18:35:02.705Z,1761503702.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751525,0.585832,0.303334],[-0.656899,0.706895,0.262266],[-0.060782,-0.396359,0.916081]]
2025-10-26T18:35:03.108Z,1761503703.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738040,0.604088,0.300626],[-0.671933,0.698700,0.245611],[-0.061676,-0.383271,0.921574]]
2025-10-26T18:35:03.550Z,1761503703.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724799,0.621348,0.297646],[-0.686263,0.689303,0.232173],[-0.060908,-0.372543,0.926014]]
2025-10-26T18:35:04.370Z,1761503704.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703343,0.646432,0.295694],[-0.708379,0.672042,0.215776],[-0.059235,-0.361228,0.930594]]
2025-10-26T18:35:04.770Z,1761503704.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694217,0.654835,0.298755],[-0.717383,0.663247,0.213226],[-0.058520,-0.362347,0.930204]]
2025-10-26T18:35:05.174Z,1761503705.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685059,0.661283,0.305613],[-0.726173,0.653301,0.214173],[-0.058028,-0.368649,0.927756]]
2025-10-26T18:35:05.578Z,1761503705.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675585,0.667033,0.314089],[-0.734986,0.642905,0.215566],[-0.058140,-0.376485,0.924597]]
2025-10-26T18:35:05.984Z,1761503705.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665276,0.671693,0.325938],[-0.744271,0.631100,0.218570],[-0.058888,-0.387996,0.919778]]
2025-10-26T18:35:06.014Z,1761503706.014 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:35:06.032Z,1761503706.032 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:35:06.033Z,1761503706.033 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:35:06.284Z,1761503706.284 [DAT](INFO): DAT read: user:23>

2025-10-26T18:35:06.285Z,1761503706.285 [DAT](INFO): DAT read: Tx time:18:35:07.0329

2025-10-26T18:35:06.285Z,1761503706.285 [DAT](INFO): Ping request sent.
2025-10-26T18:35:06.285Z,1761503706.285 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:35:06.286Z,1761503706.286 [DAT](INFO): publishing transmit ping time
2025-10-26T18:35:06.286Z,1761503706.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946
2025-10-26T18:35:06.386Z,1761503706.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652711,0.678783,0.336486],[-0.755253,0.617967,0.218424],[-0.059674,-0.396700,0.916007]]
2025-10-26T18:35:06.536Z,1761503706.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250860
2025-10-26T18:35:06.788Z,1761503706.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502870
2025-10-26T18:35:06.792Z,1761503706.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638433,0.686867,0.347299],[-0.767310,0.603358,0.217245],[-0.060327,-0.405182,0.912243]]
2025-10-26T18:35:07.044Z,1761503707.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758537
2025-10-26T18:35:07.195Z,1761503707.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623223,0.696944,0.354771],[-0.779659,0.589114,0.212312],[-0.061031,-0.408918,0.910528]]
2025-10-26T18:35:07.293Z,1761503707.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007661
2025-10-26T18:35:07.545Z,1761503707.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259078
2025-10-26T18:35:07.604Z,1761503707.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607924,0.707410,0.360555],[-0.791611,0.575168,0.206236],[-0.061487,-0.410795,0.909652]]
2025-10-26T18:35:07.796Z,1761503707.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511069
2025-10-26T18:35:07.906Z,1761503707.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:35:08.002Z,1761503708.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593308,0.717828,0.364292],[-0.802579,0.562396,0.198942],[-0.062070,-0.410407,0.909788]]
2025-10-26T18:35:08.048Z,1761503708.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763035
2025-10-26T18:35:08.300Z,1761503708.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958
2025-10-26T18:35:08.406Z,1761503708.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579294,0.728543,0.365572],[-0.812747,0.550449,0.190916],[-0.062139,-0.407714,0.910993]]
2025-10-26T18:35:08.552Z,1761503708.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267009
2025-10-26T18:35:08.807Z,1761503708.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521000
2025-10-26T18:35:08.828Z,1761503708.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566153,0.738407,0.366367],[-0.821984,0.539030,0.183818],[-0.061750,-0.405217,0.912133]]
2025-10-26T18:35:08.908Z,1761503708.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:35:09.056Z,1761503709.056 [DAT](INFO): DAT read: Rx Time:18:35:09.1968

2025-10-26T18:35:09.057Z,1761503709.057 [DAT](INFO): Rx dataTimestamp_ set to:1761503709.056635
2025-10-26T18:35:09.057Z,1761503709.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772042
2025-10-26T18:35:09.237Z,1761503709.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554038,0.747094,0.367277],[-0.830238,0.528295,0.177788],[-0.061206,-0.403429,0.912962]]
2025-10-26T18:35:09.308Z,1761503709.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022992
2025-10-26T18:35:09.567Z,1761503709.567 [DAT](INFO): DAT read: 18:35:09.1968 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 225,-0.41,-0.967,-2.691,-0.946,-1.229, PHS= 0.364,-1.417, 0.239, RAW= 146.4,   9.5, CAL= 146.0,  10.3, ROT=   4.0, -10.3

2025-10-26T18:35:09.568Z,1761503709.568 [DAT](INFO): got valid direction response:
 18:35:09.1968 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 225,-0.41,-0.967,-2.691,-0.946,-1.229, PHS= 0.364,-1.417, 0.239, RAW= 146.4,   9.5, CAL= 146.0,  10.3, ROT=   4.0, -10.3

2025-10-26T18:35:09.569Z,1761503709.569 [DAT](INFO): DAT read: Bearing 297,  -6 (Remote)

2025-10-26T18:35:09.569Z,1761503709.569 [DAT](INFO): Remote Bearing received:Bearing 297,  -6 (Remote)

2025-10-26T18:35:09.570Z,1761503709.570 [DAT](INFO): DAT read: Bearing 104.6,  -4.3 (Local)

2025-10-26T18:35:09.570Z,1761503709.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing 104.6,  -4.3 (Local)

2025-10-26T18:35:09.572Z,1761503709.572 [DAT](INFO): DAT read: Range 11 to 20 : 101.1 m  (Round-trip  134.8 ms) speed  0.4 m/s

2025-10-26T18:35:09.572Z,1761503709.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:35:09.573Z,1761503709.573 [DAT](INFO): direction in FSK: [0.981488,0.068632,0.178802]
2025-10-26T18:35:09.573Z,1761503709.573 [DAT](INFO): publishing direction and range info
2025-10-26T18:35:09.646Z,1761503709.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542935,0.754138,0.369457],[-0.837578,0.518091,0.173332],[-0.060696,-0.403557,0.912939]]
2025-10-26T18:35:09.722Z,1761503709.722 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:35:09.723Z,1761503709.723 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:35:09.723Z,1761503709.723 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:35:09.724Z,1761503709.724 [marl:UpdateRudder:A] Stopped
2025-10-26T18:35:09.724Z,1761503709.724 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:35:09.724Z,1761503709.724 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:35:09.724Z,1761503709.724 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:35:09.725Z,1761503709.725 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:35:09.725Z,1761503709.725 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:35:09.725Z,1761503709.725 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:35:09.726Z,1761503709.726 [marl:UpdateCommandMode] Stopped
2025-10-26T18:35:09.726Z,1761503709.726 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:35:09.726Z,1761503709.726 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:35:09.726Z,1761503709.726 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:35:09.726Z,1761503709.726 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:35:09.727Z,1761503709.727 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:35:09.727Z,1761503709.727 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:35:09.727Z,1761503709.727 [marl:UpdateSpeed] Stopped
2025-10-26T18:35:09.731Z,1761503709.731 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:35:09.746Z,1761503709.746 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503744.00. Resetting abort timer.
2025-10-26T18:35:10.039Z,1761503710.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531865,0.760705,0.372086],[-0.844684,0.507819,0.169201],[-0.060240,-0.404287,0.912646]]
2025-10-26T18:35:10.062Z,1761503710.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:35:10.062Z,1761503710.062 [marl:UpdateRudder:B] Stopped
2025-10-26T18:35:10.062Z,1761503710.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:35:10.062Z,1761503710.062 [marl:UpdateRudder] Stopped
2025-10-26T18:35:10.062Z,1761503710.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:35:10.442Z,1761503710.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520584,0.766862,0.375386],[-0.851693,0.497357,0.165091],[-0.060099,-0.405658,0.912047]]
2025-10-26T18:35:10.888Z,1761503710.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509049,0.773529,0.377520],[-0.858642,0.486947,0.160053],[-0.060026,-0.405630,0.912064]]
2025-10-26T18:35:11.250Z,1761503711.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496980,0.780960,0.378302],[-0.865662,0.476496,0.153560],[-0.060335,-0.403798,0.912857]]
2025-10-26T18:35:11.654Z,1761503711.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485662,0.789028,0.376254],[-0.872010,0.467378,0.145453],[-0.061087,-0.398738,0.915028]]
2025-10-26T18:35:12.058Z,1761503712.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477572,0.796978,0.369799],[-0.876315,0.462371,0.135219],[-0.063218,-0.388638,0.919219]]
2025-10-26T18:35:12.465Z,1761503712.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473221,0.805501,0.356693],[-0.878460,0.461859,0.122454],[-0.066105,-0.371289,0.926161]]
2025-10-26T18:35:12.893Z,1761503712.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471632,0.813552,0.340142],[-0.879080,0.464042,0.109014],[-0.069152,-0.350426,0.934034]]
2025-10-26T18:35:13.270Z,1761503713.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472234,0.820065,0.323246],[-0.878504,0.467928,0.096299],[-0.072285,-0.329449,0.941402]]
2025-10-26T18:35:13.674Z,1761503713.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473955,0.825096,0.307545],[-0.877340,0.472279,0.085011],[-0.075105,-0.310113,0.947729]]
2025-10-26T18:35:14.079Z,1761503714.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476635,0.828202,0.294790],[-0.875641,0.476995,0.075689],[-0.077927,-0.294206,0.952560]]
2025-10-26T18:35:14.482Z,1761503714.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479394,0.830396,0.283944],[-0.873917,0.481314,0.067865],[-0.080311,-0.280678,0.956436]]
2025-10-26T18:35:14.894Z,1761503714.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481440,0.832450,0.274303],[-0.872592,0.484668,0.060660],[-0.082449,-0.268559,0.959728]]
2025-10-26T18:35:15.290Z,1761503715.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482905,0.833600,0.268166],[-0.871605,0.487052,0.055548],[-0.084306,-0.260559,0.961770]]
2025-10-26T18:35:15.707Z,1761503715.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483170,0.835004,0.263278],[-0.871302,0.488089,0.051014],[-0.085906,-0.254043,0.963370]]
2025-10-26T18:35:16.098Z,1761503716.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482880,0.836686,0.258423],[-0.871340,0.488451,0.046717],[-0.087139,-0.247733,0.964902]]
2025-10-26T18:35:16.504Z,1761503716.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481242,0.838709,0.254899],[-0.872215,0.487159,0.043789],[-0.087450,-0.243400,0.965976]]
2025-10-26T18:35:16.907Z,1761503716.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479388,0.840844,0.251332],[-0.873299,0.485384,0.041843],[-0.086809,-0.239548,0.966996]]
2025-10-26T18:35:17.316Z,1761503717.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477643,0.842183,0.250171],[-0.874376,0.483430,0.041983],[-0.085582,-0.238796,0.967291]]
2025-10-26T18:35:17.722Z,1761503717.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475638,0.843404,0.249876],[-0.875671,0.480944,0.043510],[-0.083480,-0.239504,0.967300]]
2025-10-26T18:35:18.118Z,1761503718.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473980,0.844210,0.250306],[-0.876826,0.478578,0.046252],[-0.080745,-0.241397,0.967061]]
2025-10-26T18:35:18.522Z,1761503718.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473114,0.844730,0.250189],[-0.877568,0.476915,0.049263],[-0.077705,-0.242864,0.966943]]
2025-10-26T18:35:18.927Z,1761503718.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472890,0.844295,0.252074],[-0.877967,0.475689,0.053793],[-0.074492,-0.246751,0.966212]]
2025-10-26T18:35:19.340Z,1761503719.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472736,0.843519,0.254946],[-0.878338,0.474361,0.059187],[-0.071011,-0.251908,0.965142]]
2025-10-26T18:35:19.737Z,1761503719.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472594,0.843096,0.256600],[-0.878692,0.473088,0.063938],[-0.067488,-0.255689,0.964400]]
2025-10-26T18:35:20.138Z,1761503720.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472687,0.842721,0.257658],[-0.878891,0.472121,0.068205],[-0.064168,-0.258693,0.963826]]
2025-10-26T18:35:20.542Z,1761503720.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472771,0.842135,0.259416],[-0.879065,0.471145,0.072579],[-0.061101,-0.262357,0.963035]]
2025-10-26T18:35:20.950Z,1761503720.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472089,0.842672,0.258911],[-0.879634,0.469643,0.075358],[-0.058093,-0.263323,0.962957]]
2025-10-26T18:35:21.350Z,1761503721.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470773,0.844026,0.256890],[-0.880500,0.467833,0.076501],[-0.055612,-0.262207,0.963408]]
2025-10-26T18:35:21.754Z,1761503721.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468559,0.846337,0.253310],[-0.881810,0.465431,0.076064],[-0.053523,-0.259011,0.964390]]
2025-10-26T18:35:22.159Z,1761503722.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466117,0.849039,0.248733],[-0.883216,0.462958,0.074833],[-0.051617,-0.254566,0.965677]]
2025-10-26T18:35:22.563Z,1761503722.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463294,0.851829,0.244429],[-0.884809,0.460096,0.073656],[-0.049719,-0.250397,0.966866]]
2025-10-26T18:35:22.611Z,1761503722.611 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateRudder:A] Stopped
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:35:22.628Z,1761503722.628 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateCommandMode] Stopped
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:35:22.629Z,1761503722.629 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:35:22.630Z,1761503722.630 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:35:22.630Z,1761503722.630 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:35:22.630Z,1761503722.630 [marl:UpdateSpeed] Stopped
2025-10-26T18:35:22.630Z,1761503722.630 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:35:22.969Z,1761503722.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460442,0.854873,0.239136],[-0.886408,0.457250,0.072129],[-0.047683,-0.245183,0.968303]]
2025-10-26T18:35:23.042Z,1761503723.042 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:35:23.042Z,1761503723.042 [marl:UpdateRudder:B] Stopped
2025-10-26T18:35:23.042Z,1761503723.042 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:35:23.042Z,1761503723.042 [marl:UpdateRudder] Stopped
2025-10-26T18:35:23.042Z,1761503723.042 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:35:23.378Z,1761503723.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457684,0.857527,0.234887],[-0.887966,0.454282,0.071731],[-0.045193,-0.241402,0.969372]]
2025-10-26T18:35:23.774Z,1761503723.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455745,0.859912,0.229887],[-0.889108,0.452040,0.071743],[-0.042226,-0.237091,0.970569]]
2025-10-26T18:35:24.186Z,1761503724.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454985,0.861512,0.225357],[-0.889641,0.450858,0.072567],[-0.039087,-0.233503,0.971570]]
2025-10-26T18:35:24.582Z,1761503724.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455414,0.861802,0.223373],[-0.889549,0.450650,0.074951],[-0.036070,-0.232835,0.971847]]
2025-10-26T18:35:24.992Z,1761503724.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457337,0.860725,0.223597],[-0.888663,0.451797,0.078468],[-0.033481,-0.234588,0.971518]]
2025-10-26T18:35:25.402Z,1761503725.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461096,0.858315,0.225136],[-0.886878,0.454052,0.085353],[-0.028964,-0.239024,0.970582]]
2025-10-26T18:35:26.204Z,1761503726.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454082,0.854926,0.250821],[-0.890676,0.442684,0.103571],[-0.022489,-0.270429,0.962477]]
2025-10-26T18:35:26.608Z,1761503726.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446063,0.852048,0.273938],[-0.894821,0.430710,0.117405],[-0.017953,-0.297495,0.954554]]
2025-10-26T18:35:27.020Z,1761503727.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436159,0.849229,0.297618],[-0.899784,0.416148,0.131187],[-0.012445,-0.325010,0.945629]]
2025-10-26T18:35:27.475Z,1761503727.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425635,0.845972,0.321193],[-0.904873,0.400348,0.144656],[-0.006214,-0.352210,0.935900]]
2025-10-26T18:35:27.874Z,1761503727.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414753,0.842864,0.342870],[-0.909934,0.383892,0.156996],[0.000701,-0.377103,0.926171]]
2025-10-26T18:35:28.278Z,1761503728.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404138,0.840547,0.360768],[-0.914659,0.367692,0.167935],[0.008506,-0.397849,0.917412]]
2025-10-26T18:35:28.684Z,1761503728.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393939,0.838299,0.376918],[-0.918982,0.351696,0.178278],[0.016890,-0.416611,0.908928]]
2025-10-26T18:35:29.086Z,1761503729.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384043,0.837065,0.389658],[-0.922972,0.336527,0.186742],[0.025185,-0.431360,0.901828]]
2025-10-26T18:35:29.491Z,1761503729.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374273,0.836715,0.399784],[-0.926727,0.322095,0.193473],[0.033113,-0.442903,0.895958]]
2025-10-26T18:35:29.894Z,1761503729.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364196,0.837950,0.406450],[-0.930439,0.308366,0.197975],[0.040558,-0.450279,0.891966]]
2025-10-26T18:35:30.299Z,1761503730.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353513,0.841090,0.409385],[-0.934223,0.295227,0.200172],[0.047501,-0.453220,0.890132]]
2025-10-26T18:35:30.709Z,1761503730.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341880,0.845761,0.409641],[-0.938195,0.282168,0.200428],[0.053927,-0.452846,0.889957]]
2025-10-26T18:35:31.106Z,1761503731.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329400,0.851749,0.407456],[-0.942308,0.269322,0.198798],[0.059589,-0.449433,0.891324]]
2025-10-26T18:35:31.573Z,1761503731.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316412,0.859392,0.401656],[-0.946419,0.257144,0.195369],[0.064615,-0.441952,0.894709]]
2025-10-26T18:35:31.972Z,1761503731.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303212,0.868404,0.392348],[-0.950427,0.245812,0.190436],[0.068932,-0.430640,0.899887]]
2025-10-26T18:35:32.405Z,1761503732.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289896,0.877643,0.381711],[-0.954313,0.234889,0.184702],[0.072442,-0.417816,0.905639]]
2025-10-26T18:35:32.743Z,1761503732.743 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:35:32.743Z,1761503732.743 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:35:32.889Z,1761503732.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276260,0.886931,0.370180],[-0.958137,0.224031,0.178277],[0.075188,-0.403934,0.911693]]
2025-10-26T18:35:33.234Z,1761503733.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262451,0.896175,0.357757],[-0.961841,0.213247,0.171428],[0.077338,-0.389096,0.917945]]
2025-10-26T18:35:33.661Z,1761503733.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248050,0.904758,0.346242],[-0.965527,0.201777,0.164450],[0.078924,-0.375098,0.923619]]
2025-10-26T18:35:34.041Z,1761503734.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232853,0.912719,0.335742],[-0.969184,0.189252,0.157690],[0.080387,-0.362115,0.928661]]
2025-10-26T18:35:34.444Z,1761503734.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216601,0.919404,0.328298],[-0.972809,0.175013,0.151702],[0.082019,-0.352230,0.932313]]
2025-10-26T18:35:34.889Z,1761503734.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199282,0.924314,0.325469],[-0.976299,0.158658,0.147200],[0.084421,-0.347089,0.934025]]
2025-10-26T18:35:35.333Z,1761503735.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180589,0.927486,0.327348],[-0.979622,0.139865,0.144145],[0.087908,-0.346709,0.933844]]
2025-10-26T18:35:35.740Z,1761503735.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160327,0.928712,0.334348],[-0.982653,0.118190,0.142909],[0.093205,-0.351461,0.931551]]
2025-10-26T18:35:35.769Z,1761503735.769 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:35:35.769Z,1761503735.769 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:35:35.770Z,1761503735.770 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:35:35.770Z,1761503735.770 [marl:UpdateRudder:A] Stopped
2025-10-26T18:35:35.770Z,1761503735.770 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:35:35.770Z,1761503735.770 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:35:35.770Z,1761503735.770 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:35:35.771Z,1761503735.771 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:35:35.771Z,1761503735.771 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:35:35.771Z,1761503735.771 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:35:35.771Z,1761503735.771 [marl:UpdateCommandMode] Stopped
2025-10-26T18:35:35.771Z,1761503735.771 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:35:35.771Z,1761503735.771 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:35:35.772Z,1761503735.772 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:35:35.772Z,1761503735.772 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:35:35.772Z,1761503735.772 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:35:35.772Z,1761503735.772 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:35:35.772Z,1761503735.772 [marl:UpdateSpeed] Stopped
2025-10-26T18:35:35.772Z,1761503735.772 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:35:36.150Z,1761503736.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139856,0.928002,0.345330],[-0.985069,0.095039,0.143548],[0.100393,-0.360250,0.927438]]
2025-10-26T18:35:36.173Z,1761503736.173 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:35:36.173Z,1761503736.173 [marl:UpdateRudder:B] Stopped
2025-10-26T18:35:36.173Z,1761503736.173 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:35:36.173Z,1761503736.173 [marl:UpdateRudder] Stopped
2025-10-26T18:35:36.174Z,1761503736.174 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:35:36.175Z,1761503736.175 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:35:36.297Z,1761503736.297 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:35:36.297Z,1761503736.297 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:35:36.542Z,1761503736.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119241,0.926143,0.357829],[-0.986824,0.070853,0.145459],[0.109363,-0.370458,0.922388]]
2025-10-26T18:35:36.548Z,1761503736.548 [DAT](INFO): DAT read: user:24>

2025-10-26T18:35:36.549Z,1761503736.549 [DAT](INFO): DAT read: Tx time:18:35:37.2827

2025-10-26T18:35:36.549Z,1761503736.549 [DAT](INFO): Ping request sent.
2025-10-26T18:35:36.549Z,1761503736.549 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:35:36.550Z,1761503736.550 [DAT](INFO): publishing transmit ping time
2025-10-26T18:35:36.550Z,1761503736.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000936
2025-10-26T18:35:36.805Z,1761503736.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255408
2025-10-26T18:35:36.946Z,1761503736.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098422,0.922393,0.373503],[-0.987933,0.045463,0.148059],[0.119588,-0.383568,0.915737]]
2025-10-26T18:35:37.052Z,1761503737.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502945
2025-10-26T18:35:37.304Z,1761503737.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754769
2025-10-26T18:35:37.356Z,1761503737.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078409,0.917471,0.390000],[-0.988360,0.020382,0.150759],[0.130368,-0.397281,0.908390]]
2025-10-26T18:35:37.556Z,1761503737.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006764
2025-10-26T18:35:37.754Z,1761503737.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061544,0.911918,0.405730],[-0.988194,-0.001471,0.153201],[0.140304,-0.410369,0.901062]]
2025-10-26T18:35:37.812Z,1761503737.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262761
2025-10-26T18:35:38.064Z,1761503738.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514887
2025-10-26T18:35:38.158Z,1761503738.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052012,0.908054,0.415610],[-0.987752,-0.014527,0.155352],[0.147106,-0.418600,0.896177]]
2025-10-26T18:35:38.316Z,1761503738.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766859
2025-10-26T18:35:38.568Z,1761503738.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018860
2025-10-26T18:35:38.824Z,1761503738.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273535
2025-10-26T18:35:38.967Z,1761503738.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057280,0.916188,0.396634],[-0.987332,-0.006899,0.158521],[0.147971,-0.400689,0.904186]]
2025-10-26T18:35:39.048Z,1761503739.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:35:39.072Z,1761503739.072 [DAT](INFO): DAT read: Rx Time:18:35:39.4205

2025-10-26T18:35:39.073Z,1761503739.073 [DAT](INFO): Rx dataTimestamp_ set to:1761503739.072647
2025-10-26T18:35:39.073Z,1761503739.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523958
2025-10-26T18:35:39.324Z,1761503739.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774783
2025-10-26T18:35:39.374Z,1761503739.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065575,0.924073,0.376549],[-0.987333,0.005448,0.158571],[0.144479,-0.382178,0.912724]]
2025-10-26T18:35:39.579Z,1761503739.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028924
2025-10-26T18:35:39.774Z,1761503739.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074851,0.933143,0.351626],[-0.987368,0.019971,0.157182],[0.139651,-0.358949,0.922851]]
2025-10-26T18:35:39.834Z,1761503739.834 [DAT](INFO): DAT read: 18:35:39.4205 LVL= 13424, 22641, 22434, 28819, AGC= 53, IDX= 182,-0.29,-1.915, 2.318, 2.879,-2.650, PHS= 0.837,-1.270,-0.798, RAW= 102.3,  12.8, CAL= 103.5,  14.8, ROT=  46.5, -14.8

2025-10-26T18:35:39.836Z,1761503739.836 [DAT](INFO): got valid direction response:
 18:35:39.4205 LVL= 13424, 22641, 22434, 28819, AGC= 53, IDX= 182,-0.29,-1.915, 2.318, 2.879,-2.650, PHS= 0.837,-1.270,-0.798, RAW= 102.3,  12.8, CAL= 103.5,  14.8, ROT=  46.5, -14.8

2025-10-26T18:35:39.836Z,1761503739.836 [DAT](INFO): DAT read: Bearing 315,  -1 (Remote)

2025-10-26T18:35:39.837Z,1761503739.837 [DAT](INFO): Remote Bearing received:Bearing 315,  -1 (Remote)

2025-10-26T18:35:39.838Z,1761503739.838 [DAT](INFO): DAT read: Bearing 106.8,  39.4 (Local)

2025-10-26T18:35:39.838Z,1761503739.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.8,  39.4 (Local)

2025-10-26T18:35:39.839Z,1761503739.839 [DAT](INFO): DAT read: Range 11 to 20 : 81.4 m  (Round-trip  108.6 ms) speed -0.2 m/s

2025-10-26T18:35:39.840Z,1761503739.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:35:39.841Z,1761503739.841 [DAT](INFO): direction in FSK: [0.665517,0.701309,0.255446]
2025-10-26T18:35:39.841Z,1761503739.841 [DAT](INFO): publishing direction and range info
2025-10-26T18:35:39.867Z,1761503739.867 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503744.00. Resetting abort timer.
2025-10-26T18:35:40.052Z,1761503740.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:35:40.180Z,1761503740.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084268,0.941928,0.325070],[-0.987419,0.035131,0.154173],[0.133800,-0.333972,0.933038]]
2025-10-26T18:35:40.583Z,1761503740.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093450,0.949206,0.300458],[-0.987397,0.049641,0.150277],[0.127729,-0.310714,0.941882]]
2025-10-26T18:35:40.986Z,1761503740.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102665,0.954997,0.278281],[-0.987268,0.063657,0.145774],[0.121499,-0.289703,0.949373]]
2025-10-26T18:35:41.390Z,1761503741.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111403,0.959772,0.257736],[-0.987129,0.076927,0.140207],[0.114740,-0.270039,0.955988]]
2025-10-26T18:35:41.795Z,1761503741.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119077,0.963190,0.241011],[-0.987062,0.088588,0.133643],[0.107373,-0.253806,0.961277]]
2025-10-26T18:35:42.198Z,1761503742.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124833,0.965809,0.227221],[-0.987155,0.097885,0.126270],[0.099711,-0.240065,0.965622]]
2025-10-26T18:35:42.609Z,1761503742.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128603,0.967800,0.216390],[-0.987462,0.104825,0.118031],[0.091547,-0.228856,0.969146]]
2025-10-26T18:35:43.007Z,1761503743.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130710,0.969192,0.208760],[-0.987946,0.109717,0.109205],[0.082936,-0.220518,0.971851]]
2025-10-26T18:35:43.417Z,1761503743.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131178,0.970120,0.204108],[-0.988621,0.112723,0.099609],[0.073625,-0.214852,0.973868]]
2025-10-26T18:35:43.821Z,1761503743.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128591,0.972016,0.196597],[-0.990190,0.114919,0.079481],[0.054664,-0.204888,0.977258]]
2025-10-26T18:35:44.223Z,1761503744.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125908,0.973116,0.192854],[-0.990998,0.114459,0.069441],[0.045500,-0.199861,0.978767]]
2025-10-26T18:35:44.630Z,1761503744.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121994,0.974484,0.188408],[-0.991834,0.112583,0.059913],[0.037173,-0.194179,0.980262]]
2025-10-26T18:35:45.033Z,1761503745.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117119,0.975392,0.186800],[-0.992668,0.109316,0.051575],[0.029886,-0.191471,0.981043]]
2025-10-26T18:35:45.433Z,1761503745.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111013,0.976356,0.185485],[-0.993526,0.104501,0.044555],[0.024118,-0.189230,0.981637]]
2025-10-26T18:35:45.834Z,1761503745.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103889,0.976986,0.186295],[-0.994392,0.098304,0.038996],[0.019785,-0.189302,0.981720]]
2025-10-26T18:35:46.238Z,1761503746.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095833,0.976732,0.191860],[-0.995255,0.090759,0.035086],[0.016857,-0.194312,0.980795]]
2025-10-26T18:35:46.262Z,1761503746.262 [marl:SendObservationData] Running Loop=1
2025-10-26T18:35:46.262Z,1761503746.262 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T18:35:46.262Z,1761503746.262 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T18:35:46.264Z,1761503746.264 [marl:SendObservationData:A] Running Loop=1
2025-10-26T18:35:46.264Z,1761503746.264 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T18:35:46.265Z,1761503746.265 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9a800000004051400000000000404263263c47ff3dc05e775892428b0a402d7344600000004059466660000000 n/a str  and temp var is  nan n/a str 
2025-10-26T18:35:46.265Z,1761503746.265 [marl:SendObservationData:A] Stopped
2025-10-26T18:35:46.266Z,1761503746.266 [marl:SendObservationData:B] Running Loop=1
2025-10-26T18:35:46.393Z,1761503746.393 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:35:46.393Z,1761503746.393 [DAT](INFO): #Outgoing data=1
2025-10-26T18:35:46.393Z,1761503746.393 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:35:46.644Z,1761503746.644 [DAT](INFO): setting remote address to 6
2025-10-26T18:35:46.648Z,1761503746.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087134,0.976362,0.197801],[-0.996081,0.082364,0.032231],[0.015177,-0.199835,0.979712]]
2025-10-26T18:35:46.736Z,1761503746.736 [marl:SendObservationData:B] Stopped
2025-10-26T18:35:46.736Z,1761503746.736 [marl:SendObservationData:C] Running Loop=1
2025-10-26T18:35:46.896Z,1761503746.896 [DAT](INFO): DAT read: user:25>

2025-10-26T18:35:46.897Z,1761503746.897 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:35:46.898Z,1761503746.898 [DAT](INFO): set remote address to 6
2025-10-26T18:35:46.898Z,1761503746.898 [DAT](INFO): entering online mode
2025-10-26T18:35:47.046Z,1761503747.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078456,0.975342,0.206284],[-0.996817,0.073810,0.030138],[0.014169,-0.207992,0.978028]]
2025-10-26T18:35:47.137Z,1761503747.137 [marl:SendObservationData:C] Stopped
2025-10-26T18:35:47.137Z,1761503747.137 [marl:SendObservationData:E] Running Loop=1
2025-10-26T18:35:47.148Z,1761503747.148 [DAT](INFO): DAT read: user:26>

2025-10-26T18:35:47.149Z,1761503747.149 [DAT](INFO): DAT read: 

2025-10-26T18:35:47.150Z,1761503747.150 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:35:47.150Z,1761503747.150 [DAT](INFO): commRate: 600
2025-10-26T18:35:47.150Z,1761503747.150 [DAT](INFO): online mode acknowledged
2025-10-26T18:35:47.151Z,1761503747.151 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:35:47.454Z,1761503747.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070296,0.974065,0.215073],[-0.997433,0.065694,0.028478],[0.013610,-0.216523,0.976183]]
2025-10-26T18:35:47.506Z,1761503747.506 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.009685 min 
2025-10-26T18:35:47.506Z,1761503747.506 [marl:SendObservationData:E] Stopped
2025-10-26T18:35:47.507Z,1761503747.507 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T18:35:47.507Z,1761503747.507 [marl:SendObservationData] Stopped
2025-10-26T18:35:47.507Z,1761503747.507 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T18:35:47.507Z,1761503747.507 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T18:35:47.854Z,1761503747.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063922,0.972367,0.224536],[-0.997878,0.059488,0.026469],[0.012380,-0.225752,0.974106]]
2025-10-26T18:35:48.259Z,1761503748.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060929,0.970425,0.233588],[-0.998092,0.056878,0.024047],[0.010050,-0.234607,0.972038]]
2025-10-26T18:35:48.663Z,1761503748.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060010,0.968564,0.241417],[-0.998175,0.056584,0.021106],[0.006783,-0.242243,0.970192]]
2025-10-26T18:35:48.709Z,1761503748.709 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:35:48.709Z,1761503748.709 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:35:48.709Z,1761503748.709 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:35:48.709Z,1761503748.709 [marl:UpdateRudder:A] Stopped
2025-10-26T18:35:48.709Z,1761503748.709 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:35:48.709Z,1761503748.709 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:35:48.710Z,1761503748.710 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:35:48.710Z,1761503748.710 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:35:48.710Z,1761503748.710 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:35:48.710Z,1761503748.710 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:35:48.710Z,1761503748.710 [marl:UpdateCommandMode] Stopped
2025-10-26T18:35:48.711Z,1761503748.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:35:48.711Z,1761503748.711 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:35:48.711Z,1761503748.711 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:35:48.711Z,1761503748.711 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:35:48.712Z,1761503748.712 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:35:48.712Z,1761503748.712 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:35:48.712Z,1761503748.712 [marl:UpdateSpeed] Stopped
2025-10-26T18:35:48.712Z,1761503748.712 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:35:49.066Z,1761503749.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060255,0.966826,0.248228],[-0.998179,0.057627,0.017847],[0.002950,-0.248851,0.968537]]
2025-10-26T18:35:49.130Z,1761503749.130 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:35:49.130Z,1761503749.130 [marl:UpdateRudder:B] Stopped
2025-10-26T18:35:49.130Z,1761503749.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:35:49.130Z,1761503749.130 [marl:UpdateRudder] Stopped
2025-10-26T18:35:49.130Z,1761503749.130 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:35:49.479Z,1761503749.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060261,0.965533,0.253208],[-0.998183,0.058413,0.014818],[-0.000483,-0.253641,0.967298]]
2025-10-26T18:35:49.874Z,1761503749.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060650,0.964890,0.255557],[-0.998152,0.059603,0.011846],[-0.003801,-0.255803,0.966721]]
2025-10-26T18:35:50.278Z,1761503750.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061537,0.964596,0.256454],[-0.998080,0.061265,0.009056],[-0.006976,-0.256519,0.966514]]
2025-10-26T18:35:50.425Z,1761503750.425 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:35:51.2315

2025-10-26T18:35:50.425Z,1761503750.425 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:35:50.683Z,1761503750.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062889,0.964483,0.256550],[-0.997974,0.063266,0.006793],[-0.009680,-0.256457,0.966507]]
2025-10-26T18:35:51.098Z,1761503751.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065476,0.965076,0.253656],[-0.997780,0.066424,0.004837],[-0.012180,-0.253409,0.967283]]
2025-10-26T18:35:51.490Z,1761503751.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068051,0.965676,0.250677],[-0.997584,0.069388,0.003513],[-0.014002,-0.250310,0.968064]]
2025-10-26T18:35:51.894Z,1761503751.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067956,0.964920,0.253597],[-0.997578,0.069492,0.002904],[-0.014821,-0.253180,0.967306]]
2025-10-26T18:35:52.299Z,1761503752.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063856,0.961571,0.267029],[-0.997856,0.065377,0.003202],[-0.014379,-0.266661,0.963683]]
2025-10-26T18:35:52.718Z,1761503752.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057239,0.955390,0.289749],[-0.998270,0.058679,0.003723],[-0.013446,-0.289461,0.957095]]
2025-10-26T18:35:53.106Z,1761503753.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048270,0.947192,0.317012],[-0.998758,0.049686,0.003619],[-0.012323,-0.316794,0.948415]]
2025-10-26T18:35:53.510Z,1761503753.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036850,0.938237,0.344025],[-0.999259,0.038410,0.002283],[-0.011072,-0.343855,0.938958]]
2025-10-26T18:35:53.914Z,1761503753.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023078,0.929784,0.367382],[-0.999688,0.024978,-0.000418],[-0.009565,-0.367258,0.930070]]
2025-10-26T18:35:54.743Z,1761503754.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011769,0.915731,0.401618],[-0.999913,-0.008363,-0.010232],[-0.006011,-0.401704,0.915750]]
2025-10-26T18:35:55.126Z,1761503755.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031606,0.911473,0.410143],[-0.999493,-0.027295,-0.016365],[-0.003721,-0.410453,0.911874]]
2025-10-26T18:35:55.532Z,1761503755.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052178,0.908871,0.413800],[-0.998637,-0.047116,-0.022437],[-0.000896,-0.414407,0.910091]]
2025-10-26T18:35:55.934Z,1761503755.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072802,0.907351,0.414021],[-0.997343,-0.067328,-0.027820],[0.002633,-0.414946,0.909842]]
2025-10-26T18:35:56.338Z,1761503756.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092753,0.906165,0.412628],[-0.995667,-0.087156,-0.032410],[0.006594,-0.413846,0.910323]]
2025-10-26T18:35:56.747Z,1761503756.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110351,0.904838,0.411207],[-0.993840,-0.104719,-0.036277],[0.010236,-0.412677,0.910820]]
2025-10-26T18:35:57.148Z,1761503757.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125525,0.903365,0.410092],[-0.991998,-0.119916,-0.039485],[0.013507,-0.411767,0.911189]]
2025-10-26T18:35:57.558Z,1761503757.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138749,0.901971,0.408897],[-0.990192,-0.133173,-0.042236],[0.016359,-0.410747,0.911602]]
2025-10-26T18:35:57.954Z,1761503757.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150858,0.899671,0.409676],[-0.988375,-0.145189,-0.045112],[0.018894,-0.411719,0.911115]]
2025-10-26T18:35:58.358Z,1761503758.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163182,0.897840,0.408969],[-0.986369,-0.157354,-0.048118],[0.021151,-0.411247,0.911279]]
2025-10-26T18:35:58.768Z,1761503758.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175824,0.895834,0.408126],[-0.984155,-0.169607,-0.051694],[0.022912,-0.410748,0.911461]]
2025-10-26T18:35:59.166Z,1761503759.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189705,0.894476,0.404876],[-0.981543,-0.182941,-0.055738],[0.024212,-0.407977,0.912671]]
2025-10-26T18:35:59.576Z,1761503759.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205206,0.892765,0.401076],[-0.978390,-0.197739,-0.060430],[0.025358,-0.404809,0.914050]]
2025-10-26T18:35:59.974Z,1761503759.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221840,0.890377,0.397512],[-0.974724,-0.213559,-0.065620],[0.026466,-0.402022,0.915248]]
2025-10-26T18:36:00.379Z,1761503760.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240112,0.887467,0.393381],[-0.970360,-0.230839,-0.071515],[0.027340,-0.398893,0.916590]]
2025-10-26T18:36:00.504Z,1761503760.504 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:36:00.757Z,1761503760.757 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:36:00.757Z,1761503760.757 [DAT](INFO): #Outgoing data=1
2025-10-26T18:36:00.757Z,1761503760.757 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:36:00.785Z,1761503760.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258332,0.884939,0.387489],[-0.965644,-0.248253,-0.076824],[0.028210,-0.394022,0.918668]]
2025-10-26T18:36:01.008Z,1761503761.008 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:36:01.186Z,1761503761.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277342,0.881282,0.382653],[-0.960323,-0.266444,-0.082387],[0.029349,-0.390320,0.920211]]
2025-10-26T18:36:01.590Z,1761503761.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297006,0.876684,0.378435],[-0.954375,-0.285371,-0.087927],[0.030911,-0.387284,0.921442]]
2025-10-26T18:36:01.646Z,1761503761.647 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:36:01.647Z,1761503761.647 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:36:01.647Z,1761503761.647 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:36:01.647Z,1761503761.647 [marl:UpdateRudder:A] Stopped
2025-10-26T18:36:01.647Z,1761503761.647 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:36:01.647Z,1761503761.647 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateCommandMode] Stopped
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:36:01.648Z,1761503761.648 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:36:01.649Z,1761503761.649 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:36:01.649Z,1761503761.649 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:36:01.649Z,1761503761.649 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:36:01.649Z,1761503761.649 [marl:UpdateSpeed] Stopped
2025-10-26T18:36:01.649Z,1761503761.649 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:36:01.996Z,1761503761.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316400,0.870898,0.376068],[-0.948049,-0.304124,-0.093339],[0.033082,-0.386063,0.921879]]
2025-10-26T18:36:02.079Z,1761503762.079 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:36:02.079Z,1761503762.079 [marl:UpdateRudder:B] Stopped
2025-10-26T18:36:02.079Z,1761503762.079 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:36:02.083Z,1761503762.083 [marl:UpdateRudder] Stopped
2025-10-26T18:36:02.083Z,1761503762.083 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:36:02.398Z,1761503762.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334402,0.864946,0.374225],[-0.941771,-0.321552,-0.098349],[0.035266,-0.385322,0.922108]]
2025-10-26T18:36:02.810Z,1761503762.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351345,0.857782,0.375190],[-0.935499,-0.337646,-0.104096],[0.037390,-0.387564,0.921084]]
2025-10-26T18:36:03.207Z,1761503763.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366119,0.850862,0.376818],[-0.929755,-0.351393,-0.109903],[0.038899,-0.390586,0.919744]]
2025-10-26T18:36:03.610Z,1761503763.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379334,0.843754,0.379718],[-0.924392,-0.363366,-0.116039],[0.040068,-0.395025,0.917796]]
2025-10-26T18:36:04.014Z,1761503764.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392017,0.835800,0.384397],[-0.919034,-0.374518,-0.122933],[0.041217,-0.401466,0.914946]]
2025-10-26T18:36:04.297Z,1761503764.297 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:36:05.0815

2025-10-26T18:36:04.297Z,1761503764.297 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:36:04.418Z,1761503764.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404178,0.828751,0.387056],[-0.913695,-0.385450,-0.128801],[0.042446,-0.405710,0.913016]]
2025-10-26T18:36:04.857Z,1761503764.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416450,0.822204,0.388007],[-0.908104,-0.396734,-0.133977],[0.043779,-0.408145,0.911867]]
2025-10-26T18:36:05.226Z,1761503765.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428445,0.816085,0.387866],[-0.902441,-0.407915,-0.138586],[0.045118,-0.409402,0.911238]]
2025-10-26T18:36:05.630Z,1761503765.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439442,0.810274,0.387745],[-0.897078,-0.418106,-0.142964],[0.046278,-0.410662,0.910612]]
2025-10-26T18:36:06.059Z,1761503766.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449151,0.805215,0.387160],[-0.892195,-0.427235,-0.146487],[0.047455,-0.411217,0.910302]]
2025-10-26T18:36:06.458Z,1761503766.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458482,0.801129,0.384691],[-0.887390,-0.436222,-0.149165],[0.048310,-0.409760,0.910913]]
2025-10-26T18:36:06.503Z,1761503766.503 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:36:06.572Z,1761503766.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:36:06.624Z,1761503766.624 [DAT](INFO): entering command mode
2025-10-26T18:36:06.829Z,1761503766.829 [DAT](INFO): DAT read: 

2025-10-26T18:36:06.831Z,1761503766.831 [DAT](INFO): DAT read: user:27>

2025-10-26T18:36:06.853Z,1761503766.853 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:36:06.854Z,1761503766.854 [DAT](INFO): setting remote address to 0
2025-10-26T18:36:06.930Z,1761503766.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467344,0.797183,0.382216],[-0.882716,-0.444727,-0.151755],[0.049005,-0.408311,0.911527]]
2025-10-26T18:36:07.080Z,1761503767.080 [DAT](INFO): DAT read: user:27>

2025-10-26T18:36:07.081Z,1761503767.081 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:36:07.082Z,1761503767.082 [DAT](INFO): set remote address to 0
2025-10-26T18:36:07.082Z,1761503767.082 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:36:07.082Z,1761503767.082 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:36:07.332Z,1761503767.332 [DAT](INFO): DAT read: user:28>

2025-10-26T18:36:07.333Z,1761503767.333 [DAT](INFO): DAT read: Tx time:18:36:08.0826

2025-10-26T18:36:07.333Z,1761503767.333 [DAT](INFO): Ping request sent.
2025-10-26T18:36:07.334Z,1761503767.334 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:36:07.334Z,1761503767.334 [DAT](INFO): publishing transmit ping time
2025-10-26T18:36:07.335Z,1761503767.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000981
2025-10-26T18:36:07.348Z,1761503767.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476203,0.793303,0.379342],[-0.877921,-0.453377,-0.153958],[0.049849,-0.406348,0.912358]]
2025-10-26T18:36:07.584Z,1761503767.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250717
2025-10-26T18:36:07.745Z,1761503767.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485654,0.789560,0.375147],[-0.872676,-0.462838,-0.155618],[0.050762,-0.402958,0.913810]]
2025-10-26T18:36:07.837Z,1761503767.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503173
2025-10-26T18:36:08.088Z,1761503768.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754858
2025-10-26T18:36:08.146Z,1761503768.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495698,0.786230,0.368953],[-0.866965,-0.473155,-0.156510],[0.051519,-0.397451,0.916176]]
2025-10-26T18:36:08.340Z,1761503768.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006849
2025-10-26T18:36:08.555Z,1761503768.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506597,0.781826,0.363465],[-0.860606,-0.484029,-0.158348],[0.052127,-0.393019,0.918052]]
2025-10-26T18:36:08.593Z,1761503768.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259380
2025-10-26T18:36:08.848Z,1761503768.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513400
2025-10-26T18:36:09.097Z,1761503769.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763769
2025-10-26T18:36:09.348Z,1761503769.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014844
2025-10-26T18:36:09.372Z,1761503769.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532207,0.770226,0.351437],[-0.844874,-0.509794,-0.162165],[0.054257,-0.383226,0.922060]]
2025-10-26T18:36:09.600Z,1761503769.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266937
2025-10-26T18:36:09.762Z,1761503769.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545981,0.762686,0.346720],[-0.835957,-0.523354,-0.165155],[0.055496,-0.380014,0.923314]]
2025-10-26T18:36:09.852Z,1761503769.852 [DAT](INFO): DAT read: Rx Time:18:36:10.2195

2025-10-26T18:36:09.853Z,1761503769.853 [DAT](INFO): Rx dataTimestamp_ set to:1761503769.852656
2025-10-26T18:36:09.854Z,1761503769.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519976
2025-10-26T18:36:10.104Z,1761503770.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770769
2025-10-26T18:36:10.166Z,1761503770.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560404,0.754521,0.341534],[-0.826280,-0.537545,-0.168245],[0.056646,-0.376488,0.924688]]
2025-10-26T18:36:10.196Z,1761503770.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:36:10.360Z,1761503770.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025978
2025-10-26T18:36:10.570Z,1761503770.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575658,0.744536,0.338059],[-0.815644,-0.552080,-0.173012],[0.057822,-0.375331,0.925086]]
2025-10-26T18:36:10.614Z,1761503770.614 [DAT](INFO): DAT read: 18:36:10.2195 LVL= 21744, 16225, 27586, 30707, AGC= 47, IDX= 345, 0.01,-1.120,-0.951,-2.646,-0.992, PHS=-0.026, 0.086,-1.698, RAW=  26.8,  18.5, CAL=  24.6,  21.7, ROT= 125.4, -21.7

2025-10-26T18:36:10.616Z,1761503770.616 [DAT](INFO): got valid direction response:
 18:36:10.2195 LVL= 21744, 16225, 27586, 30707, AGC= 47, IDX= 345, 0.01,-1.120,-0.951,-2.646,-0.992, PHS=-0.026, 0.086,-1.698, RAW=  26.8,  18.5, CAL=  24.6,  21.7, ROT= 125.4, -21.7

2025-10-26T18:36:10.617Z,1761503770.617 [DAT](INFO): DAT read: Bearing 344, -13 (Remote)

2025-10-26T18:36:10.617Z,1761503770.617 [DAT](INFO): Remote Bearing received:Bearing 344, -13 (Remote)

2025-10-26T18:36:10.618Z,1761503770.618 [DAT](INFO): DAT read: Bearing 161.8,  32.3 (Local)

2025-10-26T18:36:10.618Z,1761503770.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.8,  32.3 (Local)

2025-10-26T18:36:10.619Z,1761503770.619 [DAT](INFO): DAT read: Range 11 to 20 : 80.8 m  (Round-trip  107.8 ms) speed -0.6 m/s

2025-10-26T18:36:10.620Z,1761503770.620 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:36:10.621Z,1761503770.621 [DAT](INFO): direction in FSK: [-0.538229,0.757362,0.369747]
2025-10-26T18:36:10.621Z,1761503770.621 [DAT](INFO): publishing direction and range info
2025-10-26T18:36:10.691Z,1761503770.691 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503744.00. Resetting abort timer.
2025-10-26T18:36:11.132Z,1761503771.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606074,0.723084,0.331396],[-0.793166,-0.580677,-0.183583],[0.059688,-0.374117,0.925459]]
2025-10-26T18:36:11.200Z,1761503771.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:36:11.574Z,1761503771.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620974,0.712005,0.327781],[-0.781549,-0.594319,-0.189650],[0.059774,-0.373944,0.925523]]
2025-10-26T18:36:12.042Z,1761503772.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635038,0.701182,0.324146],[-0.770235,-0.606720,-0.196541],[0.058854,-0.374480,0.925365]]
2025-10-26T18:36:12.430Z,1761503772.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649294,0.690169,0.319508],[-0.758350,-0.619367,-0.203199],[0.057652,-0.374234,0.925540]]
2025-10-26T18:36:12.814Z,1761503772.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663960,0.678666,0.313958],[-0.745662,-0.632398,-0.209909],[0.056088,-0.373477,0.925942]]
2025-10-26T18:36:13.214Z,1761503773.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678586,0.666925,0.307784],[-0.732508,-0.645448,-0.216400],[0.054336,-0.372301,0.926520]]
2025-10-26T18:36:13.625Z,1761503773.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693801,0.654381,0.300708],[-0.718228,-0.659343,-0.222296],[0.052804,-0.370206,0.927448]]
2025-10-26T18:36:14.030Z,1761503774.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709413,0.641084,0.292821],[-0.702918,-0.673858,-0.227644],[0.051381,-0.367323,0.928673]]
2025-10-26T18:36:14.420Z,1761503774.420 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:36:14.425Z,1761503774.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724786,0.626488,0.286703],[-0.687152,-0.687555,-0.234713],[0.050079,-0.367126,0.928822]]
2025-10-26T18:36:14.673Z,1761503774.673 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:36:14.673Z,1761503774.673 [DAT](INFO): #Outgoing data=2
2025-10-26T18:36:14.673Z,1761503774.673 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:36:14.885Z,1761503774.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739758,0.611201,0.281409],[-0.671049,-0.700912,-0.241695],[0.049519,-0.367635,0.928651]]
2025-10-26T18:36:14.924Z,1761503774.924 [DAT](INFO): setting remote address to 6
2025-10-26T18:36:14.950Z,1761503774.950 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:36:14.950Z,1761503774.950 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:36:14.950Z,1761503774.950 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:36:14.951Z,1761503774.951 [marl:UpdateRudder:A] Stopped
2025-10-26T18:36:14.951Z,1761503774.951 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:36:14.951Z,1761503774.951 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:36:14.951Z,1761503774.951 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:36:14.967Z,1761503774.967 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateCommandMode] Stopped
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:36:14.968Z,1761503774.968 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:36:14.969Z,1761503774.969 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:36:14.969Z,1761503774.969 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:36:14.969Z,1761503774.969 [marl:UpdateSpeed] Stopped
2025-10-26T18:36:14.969Z,1761503774.969 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:36:15.177Z,1761503775.177 [DAT](INFO): DAT read: user:29>

2025-10-26T18:36:15.178Z,1761503775.178 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:36:15.178Z,1761503775.178 [DAT](INFO): set remote address to 6
2025-10-26T18:36:15.179Z,1761503775.179 [DAT](INFO): entering online mode
2025-10-26T18:36:15.272Z,1761503775.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753622,0.595574,0.278111],[-0.655459,-0.712640,-0.250036],[0.049278,-0.370723,0.927435]]
2025-10-26T18:36:15.295Z,1761503775.295 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:36:15.295Z,1761503775.295 [marl:UpdateRudder:B] Stopped
2025-10-26T18:36:15.296Z,1761503775.296 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:36:15.296Z,1761503775.296 [marl:UpdateRudder] Stopped
2025-10-26T18:36:15.296Z,1761503775.296 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:36:15.428Z,1761503775.428 [DAT](INFO): DAT read: user:30>

2025-10-26T18:36:15.429Z,1761503775.429 [DAT](INFO): DAT read: 

2025-10-26T18:36:15.430Z,1761503775.430 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:36:15.430Z,1761503775.430 [DAT](INFO): commRate: 600
2025-10-26T18:36:15.430Z,1761503775.430 [DAT](INFO): online mode acknowledged
2025-10-26T18:36:15.431Z,1761503775.431 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:36:15.667Z,1761503775.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765841,0.580426,0.276756],[-0.641131,-0.722290,-0.259322],[0.049381,-0.376037,0.925288]]
2025-10-26T18:36:16.062Z,1761503776.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775797,0.567442,0.275950],[-0.629047,-0.729764,-0.267851],[0.049389,-0.381383,0.923097]]
2025-10-26T18:36:16.472Z,1761503776.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783477,0.556960,0.275607],[-0.619484,-0.735004,-0.275696],[0.049021,-0.386736,0.920887]]
2025-10-26T18:36:16.903Z,1761503776.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788688,0.550756,0.273203],[-0.612935,-0.738932,-0.279804],[0.047775,-0.388134,0.920364]]
2025-10-26T18:36:17.301Z,1761503777.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790786,0.551731,0.265046],[-0.610436,-0.742707,-0.275236],[0.044996,-0.379447,0.924119]]
2025-10-26T18:36:17.733Z,1761503777.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790124,0.559270,0.250841],[-0.611632,-0.746172,-0.262933],[0.040121,-0.361172,0.931636]]
2025-10-26T18:36:18.127Z,1761503778.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787896,0.570110,0.232796],[-0.614878,-0.749092,-0.246548],[0.033826,-0.337396,0.940755]]
2025-10-26T18:36:18.530Z,1761503778.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785190,0.581431,0.213109],[-0.618687,-0.751289,-0.229762],[0.026516,-0.312254,0.949628]]
2025-10-26T18:36:18.709Z,1761503778.709 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:36:19.5328

2025-10-26T18:36:18.710Z,1761503778.710 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:36:18.934Z,1761503778.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783278,0.591164,0.192353],[-0.621384,-0.753894,-0.213365],[0.018880,-0.286650,0.957849]]
2025-10-26T18:36:19.338Z,1761503779.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782288,0.598685,0.172050],[-0.622808,-0.756870,-0.198135],[0.011599,-0.262152,0.964957]]
2025-10-26T18:36:19.745Z,1761503779.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782905,0.603197,0.152357],[-0.622124,-0.760830,-0.184658],[0.004533,-0.239354,0.970922]]
2025-10-26T18:36:20.146Z,1761503780.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784760,0.604999,0.134637],[-0.619795,-0.765218,-0.174058],[-0.002279,-0.220041,0.975488]]
2025-10-26T18:36:20.550Z,1761503780.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786960,0.605275,0.119733],[-0.616934,-0.768998,-0.167435],[-0.009270,-0.205632,0.978585]]
2025-10-26T18:36:20.958Z,1761503780.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789950,0.603610,0.107864],[-0.612972,-0.772894,-0.164011],[-0.015631,-0.195678,0.980544]]
2025-10-26T18:36:21.359Z,1761503781.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792867,0.601125,0.100049],[-0.609004,-0.775732,-0.165393],[-0.021811,-0.192065,0.981140]]
2025-10-26T18:36:21.762Z,1761503781.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795305,0.598851,0.094167],[-0.605573,-0.777706,-0.168687],[-0.027784,-0.191183,0.981161]]
2025-10-26T18:36:22.166Z,1761503782.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797450,0.596617,0.090126],[-0.602445,-0.778936,-0.174126],[-0.033684,-0.193153,0.980590]]
2025-10-26T18:36:22.570Z,1761503782.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798864,0.595143,0.087298],[-0.600226,-0.779234,-0.180341],[-0.039303,-0.196467,0.979722]]
2025-10-26T18:36:22.988Z,1761503782.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799280,0.594747,0.086182],[-0.599279,-0.778094,-0.188242],[-0.044899,-0.202105,0.978334]]
2025-10-26T18:36:23.378Z,1761503783.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799844,0.594239,0.084433],[-0.598119,-0.777410,-0.194645],[-0.050027,-0.206186,0.977233]]
2025-10-26T18:36:23.783Z,1761503783.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800335,0.593882,0.082269],[-0.597022,-0.776823,-0.200275],[-0.055031,-0.209403,0.976279]]
2025-10-26T18:36:24.186Z,1761503784.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801407,0.592771,0.079811],[-0.595114,-0.776890,-0.205623],[-0.059882,-0.212284,0.975371]]
2025-10-26T18:36:24.591Z,1761503784.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802990,0.591188,0.075523],[-0.592489,-0.778112,-0.208563],[-0.064534,-0.212220,0.975089]]
2025-10-26T18:36:25.003Z,1761503785.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805196,0.588788,0.070633],[-0.588945,-0.780063,-0.211296],[-0.069310,-0.211733,0.974867]]
2025-10-26T18:36:25.398Z,1761503785.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808017,0.585610,0.064570],[-0.584485,-0.783002,-0.212802],[-0.074060,-0.209688,0.974959]]
2025-10-26T18:36:25.802Z,1761503785.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811122,0.581898,0.058956],[-0.579542,-0.786045,-0.215091],[-0.078819,-0.208633,0.974813]]
2025-10-26T18:36:26.207Z,1761503786.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814279,0.577994,0.053599],[-0.574417,-0.789038,-0.217863],[-0.083632,-0.208190,0.974506]]
2025-10-26T18:36:26.629Z,1761503786.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817413,0.573973,0.048894],[-0.569285,-0.791923,-0.220843],[-0.088037,-0.208355,0.974083]]
2025-10-26T18:36:27.018Z,1761503787.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819844,0.570748,0.045858],[-0.565143,-0.793713,-0.225018],[-0.092031,-0.210396,0.973275]]
2025-10-26T18:36:27.419Z,1761503787.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821350,0.568731,0.043922],[-0.562330,-0.794363,-0.229722],[-0.095760,-0.213381,0.972265]]
2025-10-26T18:36:27.822Z,1761503787.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821984,0.567849,0.043474],[-0.560865,-0.793891,-0.234879],[-0.098862,-0.217449,0.971052]]
2025-10-26T18:36:27.854Z,1761503787.854 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:36:27.854Z,1761503787.854 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:36:27.854Z,1761503787.854 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:36:27.854Z,1761503787.854 [marl:UpdateRudder:A] Stopped
2025-10-26T18:36:27.854Z,1761503787.854 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:36:27.854Z,1761503787.854 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:36:27.855Z,1761503787.855 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:36:27.855Z,1761503787.855 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:36:27.855Z,1761503787.855 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:36:27.855Z,1761503787.855 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:36:27.855Z,1761503787.855 [marl:UpdateCommandMode] Stopped
2025-10-26T18:36:27.855Z,1761503787.855 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed] Stopped
2025-10-26T18:36:27.856Z,1761503787.856 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:36:28.226Z,1761503788.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821853,0.568000,0.043980],[-0.560583,-0.792532,-0.240082],[-0.101511,-0.221966,0.969756]]
2025-10-26T18:36:28.257Z,1761503788.257 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:36:28.257Z,1761503788.257 [marl:UpdateRudder:B] Stopped
2025-10-26T18:36:28.257Z,1761503788.257 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:36:28.257Z,1761503788.257 [marl:UpdateRudder] Stopped
2025-10-26T18:36:28.257Z,1761503788.257 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:36:28.631Z,1761503788.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820954,0.569273,0.044292],[-0.561467,-0.790715,-0.243975],[-0.103867,-0.225161,0.968769]]
2025-10-26T18:36:28.796Z,1761503788.796 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:36:29.040Z,1761503789.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819234,0.571638,0.045656],[-0.563582,-0.787856,-0.248310],[-0.105973,-0.229154,0.967604]]
2025-10-26T18:36:29.049Z,1761503789.049 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:36:29.049Z,1761503789.049 [DAT](INFO): #Outgoing data=3
2025-10-26T18:36:29.049Z,1761503789.049 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:36:29.301Z,1761503789.301 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:36:29.439Z,1761503789.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816605,0.575273,0.047084],[-0.567122,-0.784503,-0.250854],[-0.107373,-0.231551,0.966879]]
2025-10-26T18:36:30.246Z,1761503790.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810519,0.583383,0.052189],[-0.575576,-0.776818,-0.255473],[-0.108497,-0.237105,0.965406]]
2025-10-26T18:36:30.650Z,1761503790.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807685,0.587114,0.054234],[-0.579668,-0.773873,-0.255158],[-0.107837,-0.237525,0.965377]]
2025-10-26T18:36:31.060Z,1761503791.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805765,0.589624,0.055553],[-0.582556,-0.772213,-0.253606],[-0.106633,-0.236710,0.965711]]
2025-10-26T18:36:31.473Z,1761503791.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805151,0.590588,0.054204],[-0.583623,-0.772761,-0.249450],[-0.105435,-0.232480,0.966869]]
2025-10-26T18:36:31.906Z,1761503791.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807847,0.587229,0.050451],[-0.580255,-0.777391,-0.242831],[-0.103377,-0.225444,0.968756]]
2025-10-26T18:36:32.308Z,1761503792.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810510,0.583658,0.049165],[-0.576796,-0.780737,-0.240324],[-0.101882,-0.223143,0.969447]]
2025-10-26T18:36:32.577Z,1761503792.577 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:36:33.3813

2025-10-26T18:36:32.577Z,1761503792.577 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:36:32.717Z,1761503792.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814149,0.578635,0.048401],[-0.571923,-0.784711,-0.239025],[-0.100327,-0.222284,0.969806]]
2025-10-26T18:36:32.920Z,1761503792.920 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:36:32.920Z,1761503792.920 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:36:33.114Z,1761503793.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818591,0.572278,0.049058],[-0.565893,-0.788928,-0.239492],[-0.098353,-0.223808,0.969658]]
2025-10-26T18:36:33.518Z,1761503793.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823100,0.565551,0.051552],[-0.559803,-0.792750,-0.241181],[-0.095532,-0.227375,0.969110]]
2025-10-26T18:36:33.923Z,1761503793.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826455,0.560257,0.055539],[-0.555411,-0.795188,-0.243300],[-0.092147,-0.231923,0.968360]]
2025-10-26T18:36:34.326Z,1761503794.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827905,0.557443,0.061892],[-0.553850,-0.795148,-0.246962],[-0.088454,-0.238740,0.967047]]
2025-10-26T18:36:34.734Z,1761503794.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828077,0.556351,0.069003],[-0.554172,-0.793733,-0.250760],[-0.084740,-0.245889,0.965587]]
2025-10-26T18:36:35.138Z,1761503795.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826499,0.557586,0.077435],[-0.557155,-0.790569,-0.254122],[-0.080477,-0.253175,0.964067]]
2025-10-26T18:36:35.540Z,1761503795.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823590,0.560529,0.086645],[-0.562081,-0.786149,-0.256973],[-0.075924,-0.260342,0.962527]]
2025-10-26T18:36:35.953Z,1761503795.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819446,0.565352,0.094260],[-0.568688,-0.781492,-0.256641],[-0.071429,-0.263908,0.961900]]
2025-10-26T18:36:36.346Z,1761503796.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814664,0.571349,0.099409],[-0.576002,-0.777243,-0.253209],[-0.067405,-0.263540,0.962290]]
2025-10-26T18:36:36.750Z,1761503796.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809886,0.577557,0.102534],[-0.583105,-0.773662,-0.247863],[-0.063828,-0.260529,0.963354]]
2025-10-26T18:36:36.781Z,1761503796.781 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:36:36.863Z,1761503796.863 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:36:36.916Z,1761503796.916 [DAT](INFO): entering command mode
2025-10-26T18:36:37.112Z,1761503797.112 [DAT](INFO): DAT read: 

2025-10-26T18:36:37.113Z,1761503797.113 [DAT](INFO): DAT read: user:31>

2025-10-26T18:36:37.113Z,1761503797.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:36:37.113Z,1761503797.113 [DAT](INFO): setting remote address to 0
2025-10-26T18:36:37.154Z,1761503797.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806212,0.582662,0.102599],[-0.588497,-0.771984,-0.240232],[-0.060770,-0.254057,0.965278]]
2025-10-26T18:36:37.364Z,1761503797.364 [DAT](INFO): DAT read: user:31>

2025-10-26T18:36:37.365Z,1761503797.365 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:36:37.365Z,1761503797.365 [DAT](INFO): set remote address to 0
2025-10-26T18:36:37.366Z,1761503797.366 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:36:37.366Z,1761503797.366 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:36:37.558Z,1761503797.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804030,0.586148,0.099834],[-0.591763,-0.772499,-0.230352],[-0.057899,-0.244288,0.967973]]
2025-10-26T18:36:37.617Z,1761503797.617 [DAT](INFO): DAT read: user:32>

2025-10-26T18:36:37.618Z,1761503797.618 [DAT](INFO): DAT read: Tx time:18:36:38.3325

2025-10-26T18:36:37.618Z,1761503797.618 [DAT](INFO): Ping request sent.
2025-10-26T18:36:37.618Z,1761503797.618 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:36:37.618Z,1761503797.618 [DAT](INFO): publishing transmit ping time
2025-10-26T18:36:37.619Z,1761503797.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000953
2025-10-26T18:36:37.868Z,1761503797.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250312
2025-10-26T18:36:37.962Z,1761503797.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803935,0.586931,0.095918],[-0.592158,-0.775051,-0.220555],[-0.055110,-0.234110,0.970647]]
2025-10-26T18:36:38.121Z,1761503798.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502718
2025-10-26T18:36:38.368Z,1761503798.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805110,0.586172,0.090559],[-0.590833,-0.779182,-0.209267],[-0.052104,-0.221988,0.973656]]
2025-10-26T18:36:38.373Z,1761503798.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754980
2025-10-26T18:36:38.624Z,1761503798.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006197
2025-10-26T18:36:38.770Z,1761503798.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807500,0.583491,0.086497],[-0.587851,-0.783924,-0.199737],[-0.048738,-0.212135,0.976024]]
2025-10-26T18:36:38.880Z,1761503798.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260869
2025-10-26T18:36:39.128Z,1761503799.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510241
2025-10-26T18:36:39.174Z,1761503799.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810833,0.579102,0.084797],[-0.583552,-0.788792,-0.193067],[-0.044919,-0.206029,0.977515]]
2025-10-26T18:36:39.380Z,1761503799.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762304
2025-10-26T18:36:39.578Z,1761503799.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814773,0.573682,0.083866],[-0.578312,-0.793879,-0.187913],[-0.041223,-0.201608,0.978598]]
2025-10-26T18:36:39.632Z,1761503799.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014329
2025-10-26T18:36:39.884Z,1761503799.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266139
2025-10-26T18:36:39.982Z,1761503799.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818388,0.568182,0.086078],[-0.573449,-0.797705,-0.186609],[-0.037363,-0.202080,0.978656]]
2025-10-26T18:36:40.136Z,1761503800.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518306
2025-10-26T18:36:40.386Z,1761503800.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821668,0.562948,0.089170],[-0.568980,-0.800945,-0.186410],[-0.033519,-0.203903,0.978417]]
2025-10-26T18:36:40.388Z,1761503800.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770304
2025-10-26T18:36:40.640Z,1761503800.640 [DAT](INFO): DAT read: Rx Time:18:36:40.8844

2025-10-26T18:36:40.641Z,1761503800.641 [DAT](INFO): Rx dataTimestamp_ set to:1761503800.640515
2025-10-26T18:36:40.641Z,1761503800.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023274
2025-10-26T18:36:40.790Z,1761503800.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824849,0.557620,0.093189],[-0.564548,-0.803615,-0.188384],[-0.030159,-0.207998,0.977664]]
2025-10-26T18:36:40.893Z,1761503800.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274437
2025-10-26T18:36:40.898Z,1761503800.898 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:36:40.898Z,1761503800.898 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:36:40.898Z,1761503800.898 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:36:40.899Z,1761503800.899 [marl:UpdateRudder:A] Stopped
2025-10-26T18:36:40.899Z,1761503800.899 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:36:40.899Z,1761503800.899 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:36:40.899Z,1761503800.899 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:36:40.899Z,1761503800.899 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:36:40.899Z,1761503800.899 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateCommandMode] Stopped
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:36:40.900Z,1761503800.900 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:36:40.900Z,1761503800.901 [marl:UpdateSpeed] Stopped
2025-10-26T18:36:40.901Z,1761503800.901 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:36:41.150Z,1761503801.150 [DAT](INFO): DAT read: 18:36:40.8844 LVL= 30304, 23025, 32754, 32755, AGC= 55, IDX=   6, 0.14,-0.648, 0.701,-1.247,-0.207, PHS=-0.339, 0.953,-1.084, RAW= 351.2,   5.3, CAL= 351.0,   3.6, ROT= 159.0,  -3.6

2025-10-26T18:36:41.151Z,1761503801.151 [DAT](INFO): got valid direction response:
 18:36:40.8844 LVL= 30304, 23025, 32754, 32755, AGC= 55, IDX=   6, 0.14,-0.648, 0.701,-1.247,-0.207, PHS=-0.339, 0.953,-1.084, RAW= 351.2,   5.3, CAL= 351.0,   3.6, ROT= 159.0,  -3.6

2025-10-26T18:36:41.152Z,1761503801.152 [DAT](INFO): DAT read: Bearing 179.8,  21.9 (Local)

2025-10-26T18:36:41.152Z,1761503801.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.8,  21.9 (Local)

2025-10-26T18:36:41.153Z,1761503801.153 [DAT](INFO): DAT read: Range 11 to 20 : 110.8 m  (Round-trip  147.8 ms) speed -1.2 m/s

2025-10-26T18:36:41.154Z,1761503801.154 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:36:41.155Z,1761503801.155 [DAT](INFO): direction in FSK: [-0.931738,0.357661,0.062791]
2025-10-26T18:36:41.155Z,1761503801.155 [DAT](INFO): publishing direction and range info
2025-10-26T18:36:41.197Z,1761503801.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827890,0.552157,0.098589],[-0.560230,-0.805519,-0.193083],[-0.027196,-0.215084,0.976217]]
2025-10-26T18:36:41.303Z,1761503801.303 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:36:41.307Z,1761503801.307 [marl:UpdateRudder:B] Stopped
2025-10-26T18:36:41.307Z,1761503801.307 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:36:41.308Z,1761503801.308 [marl:UpdateRudder] Stopped
2025-10-26T18:36:41.308Z,1761503801.308 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:36:41.316Z,1761503801.316 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503744.00. Resetting abort timer.
2025-10-26T18:36:41.320Z,1761503801.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:36:41.598Z,1761503801.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830857,0.546826,0.103239],[-0.555956,-0.807553,-0.196902],[-0.024300,-0.220994,0.974972]]
2025-10-26T18:36:42.003Z,1761503802.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833138,0.542368,0.108244],[-0.552647,-0.808808,-0.201023],[-0.021480,-0.227301,0.973588]]
2025-10-26T18:36:42.324Z,1761503802.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:36:42.416Z,1761503802.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835223,0.538064,0.113531],[-0.549587,-0.809665,-0.205905],[-0.018868,-0.234372,0.971964]]
2025-10-26T18:36:42.656Z,1761503802.656 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T18:36:42.656Z,1761503802.656 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T18:36:42.814Z,1761503802.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836513,0.534995,0.118431],[-0.547708,-0.810009,-0.209527],[-0.016165,-0.240138,0.970604]]
2025-10-26T18:36:42.909Z,1761503802.909 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:36:43.160Z,1761503803.160 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:36:43.214Z,1761503803.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836620,0.533732,0.123277],[-0.547617,-0.809348,-0.212303],[-0.013539,-0.245125,0.969397]]
2025-10-26T18:36:43.413Z,1761503803.413 [DAT](INFO): setting remote address to 6
2025-10-26T18:36:43.618Z,1761503803.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835696,0.534177,0.127541],[-0.549083,-0.808068,-0.213386],[-0.010924,-0.248357,0.968607]]
2025-10-26T18:36:43.665Z,1761503803.665 [DAT](INFO): DAT read: user:33>

2025-10-26T18:36:43.666Z,1761503803.666 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:36:43.666Z,1761503803.666 [DAT](INFO): set remote address to 6
2025-10-26T18:36:43.666Z,1761503803.666 [DAT](INFO): entering online mode
2025-10-26T18:36:43.917Z,1761503803.917 [DAT](INFO): DAT read: user:34>

2025-10-26T18:36:43.918Z,1761503803.918 [DAT](INFO): DAT read: 

2025-10-26T18:36:43.920Z,1761503803.920 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:36:43.920Z,1761503803.920 [DAT](INFO): commRate: 600
2025-10-26T18:36:43.920Z,1761503803.920 [DAT](INFO): online mode acknowledged
2025-10-26T18:36:43.921Z,1761503803.921 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:36:44.022Z,1761503804.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833683,0.536350,0.131533],[-0.552175,-0.805836,-0.213851],[-0.008705,-0.250913,0.967970]]
2025-10-26T18:36:44.434Z,1761503804.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830602,0.540213,0.135169],[-0.556826,-0.802735,-0.213452],[-0.006805,-0.252559,0.967558]]
2025-10-26T18:36:44.875Z,1761503804.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826856,0.545347,0.137499],[-0.562389,-0.799427,-0.211270],[-0.005295,-0.252018,0.967708]]
2025-10-26T18:36:45.236Z,1761503805.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822829,0.550988,0.139155],[-0.568276,-0.796118,-0.207988],[-0.003815,-0.250217,0.968182]]
2025-10-26T18:36:45.639Z,1761503805.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818691,0.557062,0.139381],[-0.574229,-0.793180,-0.202796],[-0.002416,-0.246064,0.969251]]
2025-10-26T18:36:46.042Z,1761503806.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815129,0.562466,0.138552],[-0.579279,-0.791149,-0.196262],[-0.000775,-0.240239,0.970713]]
2025-10-26T18:36:46.447Z,1761503806.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811695,0.567525,0.138084],[-0.584080,-0.789296,-0.189373],[0.001515,-0.234365,0.972148]]
2025-10-26T18:36:46.882Z,1761503806.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808867,0.571695,0.137474],[-0.587978,-0.788028,-0.182466],[0.004018,-0.228423,0.973554]]
2025-10-26T18:36:47.197Z,1761503807.197 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:36:48.0313

2025-10-26T18:36:47.197Z,1761503807.197 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:36:47.255Z,1761503807.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806166,0.575312,0.138249],[-0.591653,-0.786411,-0.177494],[0.006606,-0.224885,0.974363]]
2025-10-26T18:36:47.658Z,1761503807.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803314,0.579039,0.139288],[-0.595478,-0.784721,-0.172100],[0.009650,-0.221194,0.975182]]
2025-10-26T18:36:48.062Z,1761503808.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800833,0.582216,0.140322],[-0.598761,-0.783186,-0.167646],[0.012292,-0.218276,0.975810]]
2025-10-26T18:36:48.467Z,1761503808.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799603,0.583510,0.141956],[-0.600341,-0.782609,-0.164664],[0.015013,-0.216888,0.976081]]
2025-10-26T18:36:48.902Z,1761503808.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799197,0.583899,0.142641],[-0.600815,-0.782941,-0.161322],[0.017484,-0.214629,0.976539]]
2025-10-26T18:36:49.274Z,1761503809.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799652,0.582877,0.144261],[-0.600123,-0.783880,-0.159323],[0.020218,-0.213978,0.976629]]
2025-10-26T18:36:49.678Z,1761503809.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801107,0.580761,0.144722],[-0.598092,-0.785938,-0.156804],[0.022677,-0.212174,0.976969]]
2025-10-26T18:36:50.083Z,1761503810.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803277,0.577635,0.145206],[-0.595085,-0.788557,-0.155090],[0.024918,-0.210990,0.977171]]
2025-10-26T18:36:50.491Z,1761503810.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806266,0.573129,0.146485],[-0.590939,-0.791626,-0.155303],[0.026952,-0.211779,0.976946]]
2025-10-26T18:36:50.905Z,1761503810.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809560,0.567991,0.148319],[-0.586336,-0.794700,-0.157039],[0.028672,-0.214097,0.976391]]
2025-10-26T18:36:51.294Z,1761503811.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813575,0.561899,0.149549],[-0.580662,-0.798600,-0.158333],[0.030462,-0.215653,0.975995]]
2025-10-26T18:36:51.699Z,1761503811.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817952,0.554905,0.151774],[-0.574349,-0.802744,-0.160391],[0.032834,-0.218363,0.975315]]
2025-10-26T18:36:52.104Z,1761503812.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822337,0.547814,0.153826],[-0.567900,-0.806996,-0.162009],[0.035386,-0.220584,0.974726]]
2025-10-26T18:36:52.506Z,1761503812.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825369,0.542593,0.156072],[-0.563340,-0.809860,-0.163632],[0.037611,-0.222979,0.974097]]
2025-10-26T18:36:52.911Z,1761503812.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827273,0.538664,0.159563],[-0.560380,-0.811379,-0.166245],[0.039916,-0.226946,0.973089]]
2025-10-26T18:36:53.314Z,1761503813.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828506,0.536136,0.161663],[-0.558414,-0.812583,-0.166979],[0.041841,-0.228619,0.972617]]
2025-10-26T18:36:53.725Z,1761503813.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829589,0.533663,0.164273],[-0.556659,-0.813478,-0.168475],[0.043723,-0.231209,0.971921]]
2025-10-26T18:36:53.769Z,1761503813.769 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:36:53.769Z,1761503813.769 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:36:53.770Z,1761503813.770 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:36:53.770Z,1761503813.770 [marl:UpdateRudder:A] Stopped
2025-10-26T18:36:53.770Z,1761503813.770 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:36:53.770Z,1761503813.770 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:36:53.770Z,1761503813.770 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:36:53.771Z,1761503813.771 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:36:53.771Z,1761503813.771 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:36:53.771Z,1761503813.771 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:36:53.771Z,1761503813.771 [marl:UpdateCommandMode] Stopped
2025-10-26T18:36:53.771Z,1761503813.771 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:36:53.771Z,1761503813.771 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:36:53.772Z,1761503813.772 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:36:53.772Z,1761503813.772 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:36:53.772Z,1761503813.772 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:36:53.772Z,1761503813.772 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:36:53.772Z,1761503813.772 [marl:UpdateSpeed] Stopped
2025-10-26T18:36:53.772Z,1761503813.772 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:36:54.122Z,1761503814.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830118,0.531925,0.167211],[-0.555743,-0.813666,-0.170582],[0.045317,-0.234529,0.971052]]
2025-10-26T18:36:54.174Z,1761503814.174 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:36:54.174Z,1761503814.174 [marl:UpdateRudder:B] Stopped
2025-10-26T18:36:54.174Z,1761503814.174 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:36:54.174Z,1761503814.174 [marl:UpdateRudder] Stopped
2025-10-26T18:36:54.174Z,1761503814.174 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:36:54.527Z,1761503814.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830004,0.531115,0.170322],[-0.555777,-0.813261,-0.172393],[0.046956,-0.237748,0.970191]]
2025-10-26T18:36:54.933Z,1761503814.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828690,0.531924,0.174155],[-0.557609,-0.811524,-0.174646],[0.048432,-0.241838,0.969107]]
2025-10-26T18:36:55.334Z,1761503815.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826531,0.534017,0.177968],[-0.560675,-0.809075,-0.176187],[0.049903,-0.245406,0.968135]]
2025-10-26T18:36:55.745Z,1761503815.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823735,0.537324,0.180951],[-0.564688,-0.806142,-0.176811],[0.050867,-0.247826,0.967468]]
2025-10-26T18:36:56.142Z,1761503816.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820405,0.541624,0.183245],[-0.569444,-0.802908,-0.176271],[0.051656,-0.248962,0.967135]]
2025-10-26T18:36:56.547Z,1761503816.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816787,0.546498,0.184930],[-0.574558,-0.799589,-0.174759],[0.052362,-0.248994,0.967088]]
2025-10-26T18:36:56.950Z,1761503816.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811912,0.554950,0.181188],[-0.581421,-0.796569,-0.165610],[0.052423,-0.239807,0.969404]]
2025-10-26T18:36:57.285Z,1761503817.285 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:36:57.398Z,1761503817.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805126,0.568856,0.167851],[-0.590899,-0.793717,-0.144403],[0.051081,-0.215445,0.975179]]
2025-10-26T18:36:57.536Z,1761503817.536 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:36:57.788Z,1761503817.788 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:36:57.824Z,1761503817.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797409,0.585562,0.145794],[-0.601439,-0.790876,-0.113077],[0.049091,-0.177854,0.982832]]
2025-10-26T18:36:58.202Z,1761503818.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789892,0.601112,0.121387],[-0.611438,-0.787170,-0.080669],[0.047061,-0.137941,0.989322]]
2025-10-26T18:36:58.606Z,1761503818.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782124,0.615359,0.098055],[-0.621460,-0.781807,-0.050658],[0.045487,-0.100558,0.993891]]
2025-10-26T18:36:59.010Z,1761503819.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774543,0.627806,0.077083],[-0.630953,-0.775440,-0.024321],[0.044504,-0.067474,0.996728]]
2025-10-26T18:36:59.416Z,1761503819.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766838,0.638854,0.061847],[-0.640302,-0.768108,-0.004849],[0.044407,-0.043319,0.998074]]
2025-10-26T18:36:59.822Z,1761503819.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758753,0.649389,0.050869],[-0.649835,-0.760016,0.009471],[0.044811,-0.025870,0.998660]]
2025-10-26T18:37:00.222Z,1761503820.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749528,0.660519,0.043860],[-0.660422,-0.750661,0.018731],[0.045296,-0.014926,0.998862]]
2025-10-26T18:37:00.627Z,1761503820.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738751,0.672797,0.039882],[-0.672427,-0.739772,0.024073],[0.045700,-0.009034,0.998914]]
2025-10-26T18:37:01.032Z,1761503821.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726478,0.686175,0.037330],[-0.685647,-0.727415,0.027491],[0.046018,-0.005624,0.998925]]
2025-10-26T18:37:01.069Z,1761503821.069 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:37:01.8813

2025-10-26T18:37:01.069Z,1761503821.069 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:37:01.434Z,1761503821.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712802,0.700376,0.037236],[-0.699822,-0.713751,0.028444],[0.046498,-0.005784,0.998902]]
2025-10-26T18:37:01.850Z,1761503821.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697915,0.715223,0.037011],[-0.714628,-0.698873,0.029723],[0.047125,-0.005705,0.998873]]
2025-10-26T18:37:02.242Z,1761503822.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681718,0.730627,0.038011],[-0.730055,-0.682737,0.029839],[0.047753,-0.007408,0.998832]]
2025-10-26T18:37:02.648Z,1761503822.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664380,0.746377,0.039005],[-0.745834,-0.665460,0.029908],[0.048279,-0.009221,0.998791]]
2025-10-26T18:37:03.050Z,1761503823.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646116,0.762229,0.039260],[-0.761707,-0.647223,0.030083],[0.048340,-0.010467,0.998776]]
2025-10-26T18:37:03.454Z,1761503823.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627298,0.777864,0.037750],[-0.777317,-0.628353,0.030828],[0.047700,-0.010005,0.998812]]
2025-10-26T18:37:03.871Z,1761503823.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608573,0.792667,0.036304],[-0.792109,-0.609577,0.031284],[0.046928,-0.009718,0.998851]]
2025-10-26T18:37:04.263Z,1761503824.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590658,0.806179,0.034629],[-0.805612,-0.591600,0.031604],[0.045965,-0.009231,0.998900]]
2025-10-26T18:37:04.666Z,1761503824.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574239,0.818035,0.032702],[-0.817452,-0.575108,0.031983],[0.044970,-0.008367,0.998953]]
2025-10-26T18:37:05.070Z,1761503825.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559653,0.828214,0.029154],[-0.827560,-0.560385,0.033359],[0.043966,-0.005457,0.999018]]
2025-10-26T18:37:05.475Z,1761503825.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547163,0.836672,0.024357],[-0.835908,-0.547704,0.035742],[0.043245,-0.000803,0.999064]]
2025-10-26T18:37:05.889Z,1761503825.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536407,0.843700,0.020917],[-0.842896,-0.536810,0.036903],[0.042364,0.002164,0.999100]]
2025-10-26T18:37:06.282Z,1761503826.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527177,0.849537,0.019262],[-0.848730,-0.527519,0.037154],[0.041725,0.003238,0.999124]]
2025-10-26T18:37:06.686Z,1761503826.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518920,0.854618,0.018696],[-0.853827,-0.519247,0.036888],[0.041233,0.003179,0.999144]]
2025-10-26T18:37:06.750Z,1761503826.750 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:37:06.750Z,1761503826.750 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:37:06.750Z,1761503826.750 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:37:06.751Z,1761503826.751 [marl:UpdateRudder:A] Stopped
2025-10-26T18:37:06.751Z,1761503826.751 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:37:06.751Z,1761503826.751 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:37:06.751Z,1761503826.751 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:37:06.751Z,1761503826.751 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:37:06.755Z,1761503826.755 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateCommandMode] Stopped
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:37:06.756Z,1761503826.756 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:37:06.757Z,1761503826.757 [marl:UpdateSpeed] Stopped
2025-10-26T18:37:06.757Z,1761503826.757 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:37:07.090Z,1761503827.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511437,0.859053,0.021443],[-0.858336,-0.511887,0.035088],[0.041119,-0.000460,0.999154]]
2025-10-26T18:37:07.147Z,1761503827.147 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:37:07.147Z,1761503827.147 [marl:UpdateRudder:B] Stopped
2025-10-26T18:37:07.163Z,1761503827.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:37:07.163Z,1761503827.163 [marl:UpdateRudder] Stopped
2025-10-26T18:37:07.164Z,1761503827.164 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:37:07.165Z,1761503827.165 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:37:07.372Z,1761503827.372 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:37:07.423Z,1761503827.423 [DAT](INFO): entering command mode
2025-10-26T18:37:07.494Z,1761503827.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504627,0.863005,0.023956],[-0.862330,-0.505184,0.034288],[0.041693,-0.003355,0.999125]]
2025-10-26T18:37:07.624Z,1761503827.624 [DAT](INFO): DAT read: 

2025-10-26T18:37:07.625Z,1761503827.625 [DAT](INFO): DAT read: user:35>

2025-10-26T18:37:07.625Z,1761503827.625 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:37:07.625Z,1761503827.625 [DAT](INFO): setting remote address to 0
2025-10-26T18:37:07.876Z,1761503827.876 [DAT](INFO): DAT read: user:35>

2025-10-26T18:37:07.877Z,1761503827.877 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:37:07.877Z,1761503827.877 [DAT](INFO): set remote address to 0
2025-10-26T18:37:07.878Z,1761503827.878 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:37:07.878Z,1761503827.878 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:37:07.898Z,1761503827.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498138,0.866674,0.027113],[-0.866030,-0.498833,0.034018],[0.043007,-0.006535,0.999053]]
2025-10-26T18:37:08.128Z,1761503828.128 [DAT](INFO): DAT read: user:36>

2025-10-26T18:37:08.129Z,1761503828.129 [DAT](INFO): DAT read: Tx time:18:37:08.8824

2025-10-26T18:37:08.129Z,1761503828.129 [DAT](INFO): Ping request sent.
2025-10-26T18:37:08.130Z,1761503828.130 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:37:08.130Z,1761503828.130 [DAT](INFO): publishing transmit ping time
2025-10-26T18:37:08.131Z,1761503828.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000956
2025-10-26T18:37:08.302Z,1761503828.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492175,0.869907,0.032032],[-0.869314,-0.493091,0.033992],[0.045365,-0.011116,0.998909]]
2025-10-26T18:37:08.392Z,1761503828.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261917
2025-10-26T18:37:08.644Z,1761503828.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514717
2025-10-26T18:37:08.724Z,1761503828.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475632,0.878736,0.039961],[-0.878242,-0.476948,0.034812],[0.049650,-0.018538,0.998595]]
2025-10-26T18:37:08.897Z,1761503828.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766902
2025-10-26T18:37:09.116Z,1761503829.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461744,0.885930,0.043818],[-0.885573,-0.463245,0.034121],[0.050527,-0.023049,0.998457]]
2025-10-26T18:37:09.148Z,1761503829.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018863
2025-10-26T18:37:09.400Z,1761503829.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270851
2025-10-26T18:37:09.519Z,1761503829.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445544,0.894022,0.047066],[-0.893807,-0.447200,0.033487],[0.050985,-0.027148,0.998330]]
2025-10-26T18:37:09.652Z,1761503829.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522809
2025-10-26T18:37:09.913Z,1761503829.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.783273
2025-10-26T18:37:09.925Z,1761503829.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428674,0.902181,0.048030],[-0.902012,-0.430391,0.033750],[0.051121,-0.028856,0.998276]]
2025-10-26T18:37:10.164Z,1761503830.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034759
2025-10-26T18:37:10.335Z,1761503830.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411292,0.910221,0.048347],[-0.910084,-0.413032,0.033926],[0.050850,-0.030047,0.998254]]
2025-10-26T18:37:10.417Z,1761503830.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286927
2025-10-26T18:37:10.668Z,1761503830.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.538743
2025-10-26T18:37:10.734Z,1761503830.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393545,0.918048,0.048057],[-0.917902,-0.395294,0.034610],[0.050771,-0.030491,0.998245]]
2025-10-26T18:37:10.920Z,1761503830.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790790
2025-10-26T18:37:11.130Z,1761503831.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375617,0.925636,0.045937],[-0.925388,-0.377305,0.036031],[0.050683,-0.028976,0.998294]]
2025-10-26T18:37:11.172Z,1761503831.172 [DAT](INFO): DAT read: Rx Time:18:37:11.4821

2025-10-26T18:37:11.173Z,1761503831.173 [DAT](INFO): Rx dataTimestamp_ set to:1761503831.172655
2025-10-26T18:37:11.173Z,1761503831.173 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:37:11.174Z,1761503831.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044027
2025-10-26T18:37:11.424Z,1761503831.424 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:37:11.424Z,1761503831.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294875
2025-10-26T18:37:11.534Z,1761503831.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357710,0.932797,0.043979],[-0.932459,-0.359341,0.037347],[0.050641,-0.027649,0.998334]]
2025-10-26T18:37:11.686Z,1761503831.686 [DAT](INFO): DAT read: 18:37:11.4821 LVL= 29040, 20785, 32754, 32755, AGC= 55, IDX= 335, 0.40, 0.236, 1.077,-0.745, 0.469, PHS=-0.131, 0.652,-1.258, RAW=   5.9,   8.9, CAL=   5.9,   9.5, ROT= 144.1,  -9.5

2025-10-26T18:37:11.687Z,1761503831.687 [DAT](INFO): got valid direction response:
 18:37:11.4821 LVL= 29040, 20785, 32754, 32755, AGC= 55, IDX= 335, 0.40, 0.236, 1.077,-0.745, 0.469, PHS=-0.131, 0.652,-1.258, RAW=   5.9,   8.9, CAL=   5.9,   9.5, ROT= 144.1,  -9.5

2025-10-26T18:37:11.688Z,1761503831.688 [DAT](INFO): DAT read: Bearing 206.5,  32.9 (Local)

2025-10-26T18:37:11.688Z,1761503831.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.5,  32.9 (Local)

2025-10-26T18:37:11.690Z,1761503831.690 [DAT](INFO): DAT read: Range 11 to 20 : 146.7 m  (Round-trip  195.6 ms) speed -1.0 m/s

2025-10-26T18:37:11.690Z,1761503831.690 [DAT](INFO): setting remote address to 6
2025-10-26T18:37:11.697Z,1761503831.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:37:11.704Z,1761503831.704 [DAT](INFO): direction in FSK: [-0.798933,0.578330,0.165048]
2025-10-26T18:37:11.705Z,1761503831.705 [DAT](INFO): publishing direction and range info
2025-10-26T18:37:11.928Z,1761503831.928 [DAT](INFO): DAT read: user:37>

2025-10-26T18:37:11.929Z,1761503831.929 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:37:11.929Z,1761503831.929 [DAT](INFO): set remote address to 6
2025-10-26T18:37:11.930Z,1761503831.930 [DAT](INFO): entering online mode
2025-10-26T18:37:11.947Z,1761503831.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339478,0.939668,0.042171],[-0.939259,-0.341054,0.038404],[0.050469,-0.026572,0.998372]]
2025-10-26T18:37:12.037Z,1761503832.037 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761503872.00. Resetting abort timer.
2025-10-26T18:37:12.181Z,1761503832.181 [DAT](INFO): DAT read: user:38>

2025-10-26T18:37:12.182Z,1761503832.182 [DAT](INFO): DAT read: 

2025-10-26T18:37:12.183Z,1761503832.183 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:37:12.183Z,1761503832.183 [DAT](INFO): commRate: 600
2025-10-26T18:37:12.183Z,1761503832.183 [DAT](INFO): online mode acknowledged
2025-10-26T18:37:12.184Z,1761503832.184 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:37:12.345Z,1761503832.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321012,0.946196,0.040794],[-0.945772,-0.322532,0.038588],[0.049669,-0.026195,0.998422]]
2025-10-26T18:37:12.444Z,1761503832.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:37:12.748Z,1761503832.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302705,0.952271,0.039363],[-0.951856,-0.304153,0.038233],[0.048381,-0.025894,0.998493]]
2025-10-26T18:37:13.150Z,1761503833.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285022,0.957767,0.038017],[-0.957382,-0.286392,0.037402],[0.046710,-0.025737,0.998577]]
2025-10-26T18:37:13.448Z,1761503833.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:37:13.555Z,1761503833.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268269,0.962545,0.039230],[-0.962290,-0.269658,0.035817],[0.045054,-0.028142,0.998588]]
2025-10-26T18:37:13.963Z,1761503833.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253542,0.966560,0.038434],[-0.966353,-0.254868,0.034699],[0.043334,-0.028343,0.998658]]
2025-10-26T18:37:14.363Z,1761503834.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238660,0.970386,0.037323],[-0.970216,-0.239909,0.033544],[0.041505,-0.028205,0.998740]]
2025-10-26T18:37:14.766Z,1761503834.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223627,0.973993,0.036456],[-0.973853,-0.224818,0.032676],[0.040022,-0.028195,0.998801]]
2025-10-26T18:37:15.170Z,1761503835.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207956,0.977443,0.036874],[-0.977358,-0.209147,0.032065],[0.039054,-0.029371,0.998805]]
2025-10-26T18:37:15.461Z,1761503835.461 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:37:16.2812

2025-10-26T18:37:15.461Z,1761503835.461 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:37:15.574Z,1761503835.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191369,0.980833,0.036664],[-0.980760,-0.192556,0.032127],[0.038571,-0.029810,0.998811]]
2025-10-26T18:37:15.986Z,1761503835.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172721,0.984295,0.036477],[-0.984224,-0.173914,0.032524],[0.038357,-0.030283,0.998805]]
2025-10-26T18:37:16.382Z,1761503836.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151718,0.987797,0.035190],[-0.987697,-0.152875,0.032915],[0.037893,-0.029763,0.998838]]
2025-10-26T18:37:16.786Z,1761503836.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129169,0.991057,0.033499],[-0.990915,-0.130279,0.033388],[0.037453,-0.028882,0.998881]]
2025-10-26T18:37:17.190Z,1761503837.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106391,0.993799,0.032316],[-0.993650,-0.107460,0.033347],[0.036613,-0.028563,0.998921]]
2025-10-26T18:37:17.595Z,1761503837.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083598,0.996027,0.030668],[-0.995864,-0.084605,0.033124],[0.035587,-0.027772,0.998981]]
2025-10-26T18:37:17.998Z,1761503837.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061286,0.997724,0.028108],[-0.997560,-0.062171,0.031757],[0.033432,-0.026093,0.999100]]
2025-10-26T18:37:18.402Z,1761503838.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040700,0.998882,0.024034],[-0.998700,-0.041408,0.029722],[0.030684,-0.022793,0.999269]]
2025-10-26T18:37:18.848Z,1761503838.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023160,0.999482,0.022347],[-0.999340,-0.023771,0.027480],[0.027997,-0.021696,0.999373]]
2025-10-26T18:37:19.211Z,1761503839.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008653,0.999739,0.021150],[-0.999649,-0.009178,0.024863],[0.025050,-0.020928,0.999467]]
2025-10-26T18:37:19.616Z,1761503839.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003840,0.999797,0.019754],[-0.999758,0.003410,0.021736],[0.021664,-0.019833,0.999569]]
2025-10-26T18:37:19.658Z,1761503839.658 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:37:19.658Z,1761503839.658 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:37:19.658Z,1761503839.658 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:37:19.659Z,1761503839.659 [marl:UpdateRudder:A] Stopped
2025-10-26T18:37:19.659Z,1761503839.659 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:37:19.659Z,1761503839.659 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:37:19.659Z,1761503839.659 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:37:19.659Z,1761503839.659 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:37:19.659Z,1761503839.659 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateCommandMode] Stopped
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:37:19.660Z,1761503839.660 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:37:19.661Z,1761503839.661 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:37:19.661Z,1761503839.661 [marl:UpdateSpeed] Stopped
2025-10-26T18:37:19.661Z,1761503839.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:37:20.018Z,1761503840.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015126,0.999688,0.019856],[-0.999728,0.014768,0.018041],[0.017742,-0.020124,0.999640]]
2025-10-26T18:37:20.097Z,1761503840.097 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:37:20.097Z,1761503840.097 [marl:UpdateRudder:B] Stopped
2025-10-26T18:37:20.097Z,1761503840.097 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:37:20.098Z,1761503840.098 [marl:UpdateRudder] Stopped
2025-10-26T18:37:20.098Z,1761503840.098 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:37:20.422Z,1761503840.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025469,0.999443,0.021566],[-0.999580,0.025162,0.014361],[0.013811,-0.021923,0.999664]]
2025-10-26T18:37:20.883Z,1761503840.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035177,0.999091,0.024070],[-0.999325,0.034909,0.011431],[0.010580,-0.024456,0.999645]]
2025-10-26T18:37:21.231Z,1761503841.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044676,0.998652,0.026411],[-0.998966,0.044435,0.009655],[0.008468,-0.026815,0.999605]]
2025-10-26T18:37:21.634Z,1761503841.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054345,0.998164,0.026759],[-0.998490,0.054109,0.009453],[0.007988,-0.027232,0.999597]]
2025-10-26T18:37:22.038Z,1761503842.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064776,0.997510,0.027882],[-0.997857,0.064489,0.011073],[0.009247,-0.028540,0.999550]]
2025-10-26T18:37:22.442Z,1761503842.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076970,0.996593,0.029628],[-0.996964,0.076580,0.014076],[0.011759,-0.030621,0.999462]]
2025-10-26T18:37:22.890Z,1761503842.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092240,0.995233,0.031667],[-0.995623,0.091702,0.018028],[0.015038,-0.033191,0.999336]]
2025-10-26T18:37:23.250Z,1761503843.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110658,0.993279,0.033929],[-0.993692,0.109949,0.022099],[0.018220,-0.036161,0.999180]]
2025-10-26T18:37:23.654Z,1761503843.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131816,0.990681,0.034278],[-0.991050,0.130973,0.025784],[0.021054,-0.037370,0.999080]]
2025-10-26T18:37:24.058Z,1761503844.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154852,0.987336,0.034465],[-0.987666,0.153897,0.028838],[0.023169,-0.038505,0.998990]]
2025-10-26T18:37:24.462Z,1761503844.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178919,0.983264,0.034355],[-0.983578,0.177916,0.030347],[0.023726,-0.039221,0.998949]]
2025-10-26T18:37:24.888Z,1761503844.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203482,0.978408,0.036244],[-0.978833,0.202462,0.029908],[0.021924,-0.041563,0.998895]]
2025-10-26T18:37:25.278Z,1761503845.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227347,0.973011,0.039539],[-0.973650,0.226378,0.027535],[0.017841,-0.044757,0.998839]]
2025-10-26T18:37:25.540Z,1761503845.540 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:37:25.674Z,1761503845.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248824,0.967708,0.040357],[-0.968470,0.248056,0.023119],[0.012361,-0.044837,0.998918]]
2025-10-26T18:37:25.792Z,1761503845.792 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:37:26.045Z,1761503846.045 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:37:26.079Z,1761503846.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266444,0.963049,0.039284],[-0.963828,0.265942,0.017597],[0.006499,-0.042551,0.999073]]
2025-10-26T18:37:26.482Z,1761503846.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280960,0.958953,0.038337],[-0.959719,0.280710,0.011853],[0.000605,-0.040123,0.999195]]
2025-10-26T18:37:26.898Z,1761503846.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293513,0.955184,0.038397],[-0.955943,0.293470,0.006884],[-0.004693,-0.038726,0.999239]]
2025-10-26T18:37:27.294Z,1761503847.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304640,0.951746,0.037060],[-0.952428,0.304752,0.002730],[-0.008695,-0.036129,0.999309]]
2025-10-26T18:37:27.694Z,1761503847.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314534,0.948600,0.035029],[-0.949184,0.314723,0.000116],[-0.010915,-0.033286,0.999386]]
2025-10-26T18:37:28.101Z,1761503848.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323167,0.945770,0.032896],[-0.946280,0.323348,-0.000171],[-0.010798,-0.031073,0.999459]]
2025-10-26T18:37:28.504Z,1761503848.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333085,0.942409,0.030333],[-0.942853,0.333208,0.001071],[-0.009097,-0.028956,0.999539]]
2025-10-26T18:37:28.906Z,1761503848.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345675,0.937942,0.027804],[-0.938326,0.345744,0.002451],[-0.007314,-0.026937,0.999610]]
2025-10-26T18:37:29.310Z,1761503849.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360640,0.932365,0.025180],[-0.932683,0.360687,0.002808],[-0.006463,-0.024497,0.999679]]
2025-10-26T18:37:29.321Z,1761503849.321 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:37:30.1311

2025-10-26T18:37:29.321Z,1761503849.321 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:37:29.727Z,1761503849.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377990,0.925502,0.023872],[-0.925788,0.378031,0.002969],[-0.006277,-0.023223,0.999711]]
2025-10-26T18:37:30.122Z,1761503850.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396326,0.917805,0.023640],[-0.918084,0.396376,0.002771],[-0.006827,-0.022802,0.999717]]
2025-10-26T18:37:30.523Z,1761503850.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414858,0.909551,0.024698],[-0.909850,0.414930,0.002388],[-0.008076,-0.023462,0.999692]]
2025-10-26T18:37:30.926Z,1761503850.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433150,0.900899,0.027584],[-0.901270,0.433250,0.002553],[-0.009651,-0.025967,0.999616]]
2025-10-26T18:37:31.330Z,1761503851.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450739,0.892156,0.029858],[-0.892589,0.450862,0.002850],[-0.010919,-0.027936,0.999550]]
2025-10-26T18:37:31.739Z,1761503851.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468114,0.883077,0.032303],[-0.883590,0.468247,0.003784],[-0.011784,-0.030314,0.999471]]
2025-10-26T18:37:32.138Z,1761503852.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485166,0.873763,0.033956],[-0.874338,0.485291,0.005015],[-0.012097,-0.032122,0.999411]]
2025-10-26T18:37:32.543Z,1761503852.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501582,0.864391,0.035263],[-0.865029,0.501677,0.006733],[-0.011870,-0.033881,0.999355]]
2025-10-26T18:37:32.597Z,1761503852.597 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:37:32.597Z,1761503852.597 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:37:32.598Z,1761503852.598 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:37:32.598Z,1761503852.598 [marl:UpdateRudder:A] Stopped
2025-10-26T18:37:32.598Z,1761503852.598 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:37:32.598Z,1761503852.598 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:37:32.598Z,1761503852.598 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:37:32.598Z,1761503852.598 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:37:32.599Z,1761503852.599 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:37:32.599Z,1761503852.599 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:37:32.599Z,1761503852.599 [marl:UpdateCommandMode] Stopped
2025-10-26T18:37:32.599Z,1761503852.599 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:37:32.599Z,1761503852.599 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:37:32.599Z,1761503852.599 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:37:32.600Z,1761503852.600 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:37:32.600Z,1761503852.600 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:37:32.600Z,1761503852.600 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:37:32.600Z,1761503852.600 [marl:UpdateSpeed] Stopped
2025-10-26T18:37:32.600Z,1761503852.600 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:37:32.946Z,1761503852.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518016,0.854627,0.035660],[-0.855294,0.518079,0.008169],[-0.011493,-0.034731,0.999331]]
2025-10-26T18:37:33.008Z,1761503853.008 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:37:33.008Z,1761503853.008 [marl:UpdateRudder:B] Stopped
2025-10-26T18:37:33.008Z,1761503853.008 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:37:33.008Z,1761503853.008 [marl:UpdateRudder] Stopped
2025-10-26T18:37:33.008Z,1761503853.008 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:37:33.221Z,1761503853.221 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:37:33.221Z,1761503853.221 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:37:33.350Z,1761503853.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534586,0.844324,0.036526],[-0.845041,0.534609,0.009943],[-0.011132,-0.036181,0.999283]]
2025-10-26T18:37:33.762Z,1761503853.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550472,0.834030,0.037076],[-0.834784,0.550456,0.011559],[-0.010768,-0.037313,0.999246]]
2025-10-26T18:37:34.158Z,1761503854.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565300,0.823987,0.038491],[-0.824814,0.565248,0.013263],[-0.010829,-0.039246,0.999171]]
2025-10-26T18:37:34.564Z,1761503854.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578538,0.814680,0.039879],[-0.815578,0.578466,0.014495],[-0.011260,-0.040910,0.999099]]
2025-10-26T18:37:34.966Z,1761503854.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590603,0.805921,0.040983],[-0.806874,0.590528,0.015215],[-0.011939,-0.042054,0.999044]]
2025-10-26T18:37:35.370Z,1761503855.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601449,0.797724,0.043529],[-0.798804,0.601367,0.016416],[-0.013081,-0.044644,0.998917]]
2025-10-26T18:37:35.775Z,1761503855.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611590,0.789920,0.044541],[-0.791044,0.611544,0.016256],[-0.014398,-0.045176,0.998875]]
2025-10-26T18:37:36.179Z,1761503856.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621376,0.782260,0.044294],[-0.783353,0.621398,0.014938],[-0.015839,-0.043980,0.998907]]
2025-10-26T18:37:36.582Z,1761503856.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630943,0.774598,0.043692],[-0.775644,0.631021,0.013750],[-0.016920,-0.042565,0.998950]]
2025-10-26T18:37:36.986Z,1761503856.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640374,0.766945,0.041422],[-0.767862,0.640510,0.011664],[-0.017586,-0.039276,0.999074]]
2025-10-26T18:37:37.390Z,1761503857.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650201,0.758788,0.038463],[-0.759550,0.650383,0.009288],[-0.017968,-0.035254,0.999217]]
2025-10-26T18:37:37.458Z,1761503857.458 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:37:37.648Z,1761503857.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:37:37.700Z,1761503857.700 [DAT](INFO): entering command mode
2025-10-26T18:37:37.796Z,1761503857.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661078,0.749473,0.035574],[-0.750091,0.661299,0.006842],[-0.018397,-0.031207,0.999344]]
2025-10-26T18:37:37.900Z,1761503857.900 [DAT](INFO): DAT read: 

2025-10-26T18:37:37.901Z,1761503857.901 [DAT](INFO): DAT read: user:39>

2025-10-26T18:37:37.901Z,1761503857.901 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:37:37.901Z,1761503857.901 [DAT](INFO): setting remote address to 0
2025-10-26T18:37:38.152Z,1761503858.152 [DAT](INFO): DAT read: user:39>

2025-10-26T18:37:38.153Z,1761503858.153 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:37:38.153Z,1761503858.153 [DAT](INFO): set remote address to 0
2025-10-26T18:37:38.154Z,1761503858.154 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:37:38.154Z,1761503858.154 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:37:38.203Z,1761503858.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672825,0.739030,0.033768],[-0.739552,0.673083,0.004738],[-0.019228,-0.028161,0.999418]]
2025-10-26T18:37:38.404Z,1761503858.404 [DAT](INFO): DAT read: user:40>

2025-10-26T18:37:38.405Z,1761503858.405 [DAT](INFO): DAT read: Tx time:18:37:39.1323

2025-10-26T18:37:38.405Z,1761503858.405 [DAT](INFO): Ping request sent.
2025-10-26T18:37:38.405Z,1761503858.405 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:37:38.406Z,1761503858.406 [DAT](INFO): publishing transmit ping time
2025-10-26T18:37:38.406Z,1761503858.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000976
2025-10-26T18:37:38.602Z,1761503858.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684996,0.727844,0.032001],[-0.728272,0.685283,0.002650],[-0.020001,-0.025120,0.999484]]
2025-10-26T18:37:38.656Z,1761503858.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952
2025-10-26T18:37:38.909Z,1761503858.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503505
2025-10-26T18:37:39.006Z,1761503859.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697517,0.715927,0.030303],[-0.716263,0.697830,0.000333],[-0.020908,-0.021937,0.999541]]
2025-10-26T18:37:39.160Z,1761503859.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754929
2025-10-26T18:37:39.412Z,1761503859.412 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T18:37:39.412Z,1761503859.412 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T18:37:39.413Z,1761503859.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007203
2025-10-26T18:37:39.414Z,1761503859.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710246,0.703304,0.030240],[-0.703610,0.710586,-0.000728],[-0.022000,-0.020760,0.999542]]
2025-10-26T18:37:39.664Z,1761503859.664 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:37:39.664Z,1761503859.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258989
2025-10-26T18:37:39.814Z,1761503859.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722296,0.690907,0.030597],[-0.691210,0.722653,-0.000907],[-0.022737,-0.020494,0.999531]]
2025-10-26T18:37:39.917Z,1761503859.917 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:37:39.918Z,1761503859.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512200
2025-10-26T18:37:40.168Z,1761503860.168 [DAT](INFO): setting remote address to 6
2025-10-26T18:37:40.169Z,1761503860.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763147
2025-10-26T18:37:40.227Z,1761503860.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734487,0.677906,0.031176],[-0.678205,0.734872,-0.001338],[-0.023818,-0.020161,0.999513]]
2025-10-26T18:37:40.420Z,1761503860.420 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:37:40.420Z,1761503860.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998
2025-10-26T18:37:40.623Z,1761503860.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746509,0.664630,0.031481],[-0.664907,0.746923,-0.002141],[-0.024937,-0.019333,0.999502]]
2025-10-26T18:37:40.672Z,1761503860.672 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:37:40.673Z,1761503860.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267134
2025-10-26T18:37:40.924Z,1761503860.924 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:37:40.924Z,1761503860.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518994
2025-10-26T18:37:41.028Z,1761503861.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757941,0.651498,0.032792],[-0.651820,0.758372,-0.001108],[-0.025590,-0.020534,0.999462]]
2025-10-26T18:37:41.177Z,1761503861.177 [DAT](INFO): DAT read: Rx Time:18:37:41.3774

2025-10-26T18:37:41.178Z,1761503861.178 [DAT](INFO): Rx dataTimestamp_ set to:1761503861.177239
2025-10-26T18:37:41.178Z,1761503861.178 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:37:41.178Z,1761503861.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772730
2025-10-26T18:37:41.428Z,1761503861.428 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:37:41.429Z,1761503861.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023130
2025-10-26T18:37:41.432Z,1761503861.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769526,0.637685,0.034474],[-0.638077,0.769972,0.000496],[-0.026228,-0.022379,0.999405]]
2025-10-26T18:37:41.687Z,1761503861.687 [DAT](INFO): DAT read: 18:37:41.3774 LVL= 22048, 32753, 29602, 32611, AGC= 57, IDX= 320,-0.00, 0.553,-0.764,-1.185,-0.073, PHS= 0.728,-0.646,-1.156, RAW=  74.8,  12.7, CAL=  74.0,  17.4, ROT=  76.0, -17.4

2025-10-26T18:37:41.688Z,1761503861.688 [DAT](INFO): got valid direction response:
 18:37:41.3774 LVL= 22048, 32753, 29602, 32611, AGC= 57, IDX= 320,-0.00, 0.553,-0.764,-1.185,-0.073, PHS= 0.728,-0.646,-1.156, RAW=  74.8,  12.7, CAL=  74.0,  17.4, ROT=  76.0, -17.4

2025-10-26T18:37:41.689Z,1761503861.689 [DAT](INFO): DAT read: Bearing  25, -17 (Remote)

2025-10-26T18:37:41.689Z,1761503861.689 [DAT](INFO): Remote Bearing received:Bearing  25, -17 (Remote)

2025-10-26T18:37:41.690Z,1761503861.690 [DAT](INFO): DAT read: Bearing 167.4,  65.1 (Local)

2025-10-26T18:37:41.690Z,1761503861.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.4,  65.1 (Local)

2025-10-26T18:37:41.696Z,1761503861.696 [DAT](INFO): DAT read: Range 11 to 20 : 162.0 m  (Round-trip  216.0 ms) speed  0.0 m/s

2025-10-26T18:37:41.697Z,1761503861.697 [DAT](INFO): DAT read: user:41>

2025-10-26T18:37:41.698Z,1761503861.698 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:37:41.699Z,1761503861.699 [DAT](INFO): set remote address to 6
2025-10-26T18:37:41.700Z,1761503861.700 [DAT](INFO): entering online mode
2025-10-26T18:37:41.834Z,1761503861.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781217,0.623269,0.035145],[-0.623687,0.781673,0.001200],[-0.026724,-0.022857,0.999382]]
2025-10-26T18:37:41.932Z,1761503861.932 [DAT](INFO): DAT read: user:42>

2025-10-26T18:37:41.933Z,1761503861.933 [DAT](INFO): DAT read: 

2025-10-26T18:37:41.934Z,1761503861.934 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:37:41.934Z,1761503861.934 [DAT](INFO): commRate: 600
2025-10-26T18:37:41.935Z,1761503861.935 [DAT](INFO): online mode acknowledged
2025-10-26T18:37:41.935Z,1761503861.935 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:37:41.937Z,1761503861.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530368
2025-10-26T18:37:42.184Z,1761503862.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778898
2025-10-26T18:37:42.251Z,1761503862.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792783,0.608466,0.035562],[-0.608909,0.793237,0.002125],[-0.026916,-0.023338,0.999365]]
2025-10-26T18:37:42.437Z,1761503862.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031236
2025-10-26T18:37:42.642Z,1761503862.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803770,0.593859,0.035834],[-0.594311,0.804231,0.002496],[-0.027336,-0.023302,0.999355]]
2025-10-26T18:37:42.689Z,1761503862.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283582
2025-10-26T18:37:42.940Z,1761503862.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534908
2025-10-26T18:37:43.046Z,1761503863.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814535,0.578928,0.037072],[-0.579443,0.815003,0.004017],[-0.027888,-0.024753,0.999304]]
2025-10-26T18:37:43.192Z,1761503863.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786851
2025-10-26T18:37:43.449Z,1761503863.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043539
2025-10-26T18:37:43.455Z,1761503863.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824349,0.564698,0.039562],[-0.565369,0.824804,0.007473],[-0.028411,-0.028528,0.999189]]
2025-10-26T18:37:43.568Z,1761503863.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:37:43.701Z,1761503863.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295578
2025-10-26T18:37:43.855Z,1761503863.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833027,0.551667,0.041597],[-0.552477,0.833463,0.010441],[-0.028909,-0.031679,0.999080]]
2025-10-26T18:37:43.952Z,1761503863.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546838
2025-10-26T18:37:44.205Z,1761503864.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799566
2025-10-26T18:37:44.258Z,1761503864.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840700,0.539714,0.043963],[-0.540686,0.841117,0.013463],[-0.029712,-0.035089,0.998942]]
2025-10-26T18:37:44.457Z,1761503864.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051051
2025-10-26T18:37:44.572Z,1761503864.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:37:44.662Z,1761503864.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847641,0.528538,0.046393],[-0.529699,0.848017,0.016929],[-0.030395,-0.038924,0.998780]]
2025-10-26T18:37:44.709Z,1761503864.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303439
2025-10-26T18:37:44.961Z,1761503864.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555625
2025-10-26T18:37:45.067Z,1761503865.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854314,0.517641,0.046859],[-0.518826,0.854705,0.017274],[-0.031109,-0.039069,0.998752]]
2025-10-26T18:37:45.214Z,1761503865.214 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:37:46.0311

2025-10-26T18:37:45.214Z,1761503865.214 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:37:45.215Z,1761503865.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809520
2025-10-26T18:37:45.464Z,1761503865.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058773
2025-10-26T18:37:45.478Z,1761503865.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860900,0.506643,0.046516],[-0.507765,0.861350,0.015870],[-0.032026,-0.037282,0.998791]]
2025-10-26T18:37:45.502Z,1761503865.502 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:37:45.502Z,1761503865.502 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:37:45.502Z,1761503865.502 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:37:45.502Z,1761503865.502 [marl:UpdateRudder:A] Stopped
2025-10-26T18:37:45.502Z,1761503865.502 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:37:45.503Z,1761503865.503 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:37:45.503Z,1761503865.503 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:37:45.503Z,1761503865.503 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:37:45.503Z,1761503865.503 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:37:45.503Z,1761503865.503 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateCommandMode] Stopped
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:37:45.504Z,1761503865.504 [marl:UpdateSpeed] Stopped
2025-10-26T18:37:45.505Z,1761503865.505 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:37:45.717Z,1761503865.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311902
2025-10-26T18:37:45.874Z,1761503865.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867446,0.495473,0.045207],[-0.496450,0.867968,0.013026],[-0.032784,-0.033743,0.998893]]
2025-10-26T18:37:45.922Z,1761503865.922 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:37:45.922Z,1761503865.922 [marl:UpdateRudder:B] Stopped
2025-10-26T18:37:45.922Z,1761503865.922 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:37:45.922Z,1761503865.922 [marl:UpdateRudder] Stopped
2025-10-26T18:37:45.922Z,1761503865.922 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:37:45.969Z,1761503865.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563027
2025-10-26T18:37:46.221Z,1761503866.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815766
2025-10-26T18:37:46.279Z,1761503866.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874216,0.483552,0.043873],[-0.484390,0.874791,0.010360],[-0.033370,-0.030308,0.998983]]
2025-10-26T18:37:46.472Z,1761503866.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066882
2025-10-26T18:37:46.684Z,1761503866.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881418,0.470455,0.042127],[-0.471117,0.882044,0.006856],[-0.033933,-0.025890,0.999089]]
2025-10-26T18:37:46.736Z,1761503866.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330380
2025-10-26T18:37:46.980Z,1761503866.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574880
2025-10-26T18:37:47.086Z,1761503867.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889590,0.455082,0.039116],[-0.455474,0.890248,0.001248],[-0.034255,-0.018926,0.999234]]
2025-10-26T18:37:47.233Z,1761503867.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827024
2025-10-26T18:37:47.484Z,1761503867.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078956
2025-10-26T18:37:47.616Z,1761503867.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907077,0.419684,0.032798],[-0.419659,0.907647,-0.007968],[-0.033113,-0.006537,0.999430]]
2025-10-26T18:37:47.737Z,1761503867.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331404
2025-10-26T18:37:47.988Z,1761503867.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582887
2025-10-26T18:37:48.014Z,1761503868.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915528,0.401117,0.030219],[-0.400989,0.916023,-0.010462],[-0.031878,-0.002539,0.999489]]
2025-10-26T18:37:48.240Z,1761503868.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834808
2025-10-26T18:37:48.418Z,1761503868.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923300,0.382983,0.028991],[-0.382876,0.923752,-0.009356],[-0.030364,-0.002461,0.999536]]
2025-10-26T18:37:48.493Z,1761503868.493 [DAT](INFO): Reached modem response timeout
2025-10-26T18:37:48.850Z,1761503868.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929495,0.367560,0.030637],[-0.367679,0.929951,-0.001841],[-0.029168,-0.009553,0.999529]]
2025-10-26T18:37:49.240Z,1761503869.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933761,0.356130,0.035528],[-0.356808,0.934061,0.014807],[-0.027912,-0.026503,0.999259]]
2025-10-26T18:37:49.630Z,1761503869.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936398,0.348227,0.043561],[-0.349929,0.935896,0.040590],[-0.026634,-0.053251,0.998226]]
2025-10-26T18:37:50.034Z,1761503870.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937315,0.344402,0.053180],[-0.347592,0.934873,0.072054],[-0.024901,-0.086022,0.995982]]
2025-10-26T18:37:50.438Z,1761503870.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936783,0.343967,0.064226],[-0.349146,0.930987,0.106583],[-0.023133,-0.122269,0.992227]]
2025-10-26T18:37:50.878Z,1761503870.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935352,0.345649,0.075123],[-0.353050,0.925336,0.138236],[-0.021733,-0.155822,0.987546]]
2025-10-26T18:37:51.249Z,1761503871.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933723,0.348026,0.083897],[-0.357426,0.919490,0.163663],[-0.020184,-0.182803,0.982942]]
2025-10-26T18:37:51.653Z,1761503871.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932398,0.350134,0.089665],[-0.360971,0.914627,0.182092],[-0.018254,-0.202148,0.979185]]
2025-10-26T18:37:52.054Z,1761503872.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931761,0.351492,0.090967],[-0.362717,0.912243,0.190390],[-0.016063,-0.210393,0.977485]]
2025-10-26T18:37:52.460Z,1761503872.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932325,0.350269,0.089900],[-0.361355,0.911935,0.194413],[-0.013886,-0.213741,0.976792]]
2025-10-26T18:37:52.887Z,1761503872.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933824,0.346800,0.087764],[-0.357550,0.912665,0.197993],[-0.011435,-0.216270,0.976267]]
2025-10-26T18:37:53.269Z,1761503873.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936044,0.341763,0.083788],[-0.351781,0.914624,0.199281],[-0.008527,-0.216011,0.976354]]
2025-10-26T18:37:53.672Z,1761503873.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938719,0.335475,0.079142],[-0.344641,0.917150,0.200146],[-0.005441,-0.215156,0.976564]]
2025-10-26T18:37:54.075Z,1761503874.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941276,0.329313,0.074513],[-0.337631,0.919499,0.201311],[-0.002220,-0.214647,0.976689]]
2025-10-26T18:37:54.478Z,1761503874.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943526,0.323496,0.071480],[-0.331299,0.921010,0.204894],[0.000448,-0.217004,0.976171]]
2025-10-26T18:37:54.892Z,1761503874.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945488,0.317935,0.070489],[-0.325649,0.921727,0.210644],[0.002000,-0.222116,0.975018]]
2025-10-26T18:37:55.296Z,1761503875.296 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:37:55.300Z,1761503875.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946890,0.313594,0.071121],[-0.321547,0.921542,0.217640],[0.002709,-0.228950,0.973434]]
2025-10-26T18:37:55.548Z,1761503875.548 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:37:55.703Z,1761503875.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947465,0.311167,0.074059],[-0.319851,0.920088,0.226129],[0.002224,-0.237937,0.971278]]
2025-10-26T18:37:55.802Z,1761503875.802 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:37:56.094Z,1761503876.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947478,0.310298,0.077461],[-0.319819,0.918602,0.232134],[0.000875,-0.244715,0.969595]]
2025-10-26T18:37:56.498Z,1761503876.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947529,0.309686,0.079272],[-0.319668,0.918948,0.230968],[-0.001320,-0.244189,0.969727]]
2025-10-26T18:37:56.903Z,1761503876.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947736,0.308754,0.080422],[-0.319028,0.920365,0.226164],[-0.004188,-0.240000,0.970764]]
2025-10-26T18:37:57.310Z,1761503877.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948283,0.307137,0.080159],[-0.317341,0.923110,0.217169],[-0.007295,-0.231375,0.972837]]
2025-10-26T18:37:57.715Z,1761503877.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949229,0.304787,0.077901],[-0.314422,0.927148,0.203801],[-0.010110,-0.217947,0.975908]]
2025-10-26T18:37:58.116Z,1761503878.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950240,0.302682,0.073677],[-0.311292,0.931652,0.187409],[-0.011916,-0.201019,0.979515]]
2025-10-26T18:37:58.519Z,1761503878.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951197,0.301023,0.067896],[-0.308343,0.935868,0.170515],[-0.012213,-0.183128,0.983013]]
2025-10-26T18:37:58.562Z,1761503878.562 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:37:58.562Z,1761503878.562 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:37:58.562Z,1761503878.562 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:37:58.562Z,1761503878.562 [marl:UpdateRudder:A] Stopped
2025-10-26T18:37:58.563Z,1761503878.563 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:37:58.563Z,1761503878.563 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:37:58.563Z,1761503878.563 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:37:58.563Z,1761503878.563 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:37:58.563Z,1761503878.563 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateCommandMode] Stopped
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:37:58.564Z,1761503878.564 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:37:58.565Z,1761503878.565 [marl:UpdateSpeed] Stopped
2025-10-26T18:37:58.565Z,1761503878.565 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:37:58.923Z,1761503878.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951933,0.300172,0.060998],[-0.306124,0.939183,0.155637],[-0.010570,-0.166829,0.985929]]
2025-10-26T18:37:59.008Z,1761503879.008 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:37:59.008Z,1761503879.008 [marl:UpdateRudder:B] Stopped
2025-10-26T18:37:59.008Z,1761503879.008 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:37:59.008Z,1761503879.008 [marl:UpdateRudder] Stopped
2025-10-26T18:37:59.008Z,1761503879.008 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:37:59.089Z,1761503879.089 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:37:59.8811

2025-10-26T18:37:59.089Z,1761503879.089 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:37:59.326Z,1761503879.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952552,0.299585,0.053792],[-0.304283,0.941644,0.143942],[-0.007530,-0.153480,0.988123]]
2025-10-26T18:37:59.736Z,1761503879.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953465,0.297746,0.047452],[-0.301481,0.943427,0.138037],[-0.003667,-0.145919,0.989290]]
2025-10-26T18:38:00.134Z,1761503880.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954897,0.293824,0.042896],[-0.296938,0.944703,0.139158],[0.000364,-0.145619,0.989341]]
2025-10-26T18:38:00.538Z,1761503880.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956789,0.288204,0.038656],[-0.290752,0.946187,0.142105],[0.004380,-0.147204,0.989096]]
2025-10-26T18:38:00.944Z,1761503880.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958780,0.281953,0.035273],[-0.284016,0.947084,0.149556],[0.008762,-0.153410,0.988124]]
2025-10-26T18:38:01.346Z,1761503881.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960562,0.276062,0.033329],[-0.277764,0.947001,0.161355],[0.012981,-0.164249,0.986333]]
2025-10-26T18:38:01.750Z,1761503881.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962080,0.270795,0.032756],[-0.272252,0.945928,0.176349],[0.016770,-0.178580,0.983783]]
2025-10-26T18:38:02.162Z,1761503882.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963407,0.265966,0.033316],[-0.267297,0.944000,0.193430],[0.019995,-0.195257,0.980548]]
2025-10-26T18:38:02.558Z,1761503882.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964695,0.261127,0.034286],[-0.262426,0.942054,0.208967],[0.022268,-0.210587,0.977322]]
2025-10-26T18:38:02.962Z,1761503882.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966010,0.255974,0.036089],[-0.257436,0.939912,0.224259],[0.023484,-0.225927,0.973861]]
2025-10-26T18:38:03.368Z,1761503883.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967101,0.251407,0.038867],[-0.253271,0.937188,0.239859],[0.023876,-0.241812,0.970029]]
2025-10-26T18:38:03.772Z,1761503883.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968188,0.246806,0.041220],[-0.249108,0.935153,0.251860],[0.023613,-0.254116,0.966885]]
2025-10-26T18:38:04.177Z,1761503884.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969205,0.242317,0.043854],[-0.245199,0.933169,0.262817],[0.022762,-0.265477,0.963848]]
2025-10-26T18:38:04.578Z,1761503884.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969755,0.239794,0.045543],[-0.243105,0.932256,0.267953],[0.021796,-0.270920,0.962355]]
2025-10-26T18:38:04.982Z,1761503884.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969735,0.239599,0.046962],[-0.243302,0.932195,0.267985],[0.020431,-0.271301,0.962278]]
2025-10-26T18:38:05.395Z,1761503885.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969474,0.240436,0.048068],[-0.244467,0.932757,0.264953],[0.018869,-0.268616,0.963062]]
2025-10-26T18:38:05.790Z,1761503885.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969472,0.240565,0.047470],[-0.244618,0.935486,0.255008],[0.016939,-0.258835,0.965773]]
2025-10-26T18:38:06.194Z,1761503886.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969470,0.240900,0.045779],[-0.244757,0.939305,0.240415],[0.014915,-0.244280,0.969590]]
2025-10-26T18:38:06.599Z,1761503886.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969617,0.240728,0.043515],[-0.244302,0.943681,0.223120],[0.012646,-0.226971,0.973819]]
2025-10-26T18:38:07.002Z,1761503887.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969803,0.240452,0.040812],[-0.243664,0.948020,0.204659],[0.010520,-0.208423,0.977982]]
2025-10-26T18:38:07.406Z,1761503887.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969995,0.240094,0.038270],[-0.242965,0.951550,0.188467],[0.008835,-0.192111,0.981333]]
2025-10-26T18:38:07.810Z,1761503887.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970140,0.239939,0.035461],[-0.242408,0.954266,0.174970],[0.008143,-0.178341,0.983935]]
2025-10-26T18:38:07.869Z,1761503887.869 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:38:07.912Z,1761503887.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:38:07.963Z,1761503887.963 [DAT](INFO): entering command mode
2025-10-26T18:38:08.165Z,1761503888.165 [DAT](INFO): DAT read: 

2025-10-26T18:38:08.165Z,1761503888.165 [DAT](INFO): DAT read: user:43>

2025-10-26T18:38:08.166Z,1761503888.166 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:38:08.166Z,1761503888.166 [DAT](INFO): setting remote address to 0
2025-10-26T18:38:08.239Z,1761503888.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970146,0.240234,0.033227],[-0.242378,0.955745,0.166748],[0.008302,-0.169824,0.985439]]
2025-10-26T18:38:08.416Z,1761503888.416 [DAT](INFO): DAT read: user:43>

2025-10-26T18:38:08.417Z,1761503888.417 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:38:08.417Z,1761503888.417 [DAT](INFO): set remote address to 0
2025-10-26T18:38:08.418Z,1761503888.418 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:38:08.418Z,1761503888.418 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:38:08.618Z,1761503888.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970108,0.240835,0.029801],[-0.242476,0.957057,0.158895],[0.009746,-0.161371,0.986846]]
2025-10-26T18:38:08.668Z,1761503888.668 [DAT](INFO): DAT read: user:44>

2025-10-26T18:38:08.669Z,1761503888.669 [DAT](INFO): DAT read: Tx time:18:38:09.3822

2025-10-26T18:38:08.669Z,1761503888.669 [DAT](INFO): Ping request sent.
2025-10-26T18:38:08.669Z,1761503888.669 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:38:08.670Z,1761503888.670 [DAT](INFO): publishing transmit ping time
2025-10-26T18:38:08.670Z,1761503888.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000979
2025-10-26T18:38:08.920Z,1761503888.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864
2025-10-26T18:38:09.022Z,1761503889.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970323,0.240432,0.025803],[-0.241505,0.958178,0.153526],[0.012189,-0.155202,0.987808]]
2025-10-26T18:38:09.175Z,1761503889.175 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:38:09.177Z,1761503889.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507865
2025-10-26T18:38:09.424Z,1761503889.424 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:38:09.424Z,1761503889.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754925
2025-10-26T18:38:09.440Z,1761503889.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971223,0.237086,0.022729],[-0.237730,0.959169,0.153228],[0.014528,-0.154222,0.987929]]
2025-10-26T18:38:09.676Z,1761503889.676 [DAT](INFO): setting remote address to 6
2025-10-26T18:38:09.677Z,1761503889.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007102
2025-10-26T18:38:09.831Z,1761503889.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972879,0.230464,0.019826],[-0.230708,0.960551,0.155292],[0.016745,-0.155654,0.987670]]
2025-10-26T18:38:09.928Z,1761503889.928 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:09.929Z,1761503889.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259091
2025-10-26T18:38:10.180Z,1761503890.180 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:10.180Z,1761503890.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510938
2025-10-26T18:38:10.234Z,1761503890.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974726,0.222760,0.016966],[-0.222586,0.961849,0.159067],[0.019115,-0.158824,0.987122]]
2025-10-26T18:38:10.433Z,1761503890.433 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:10.433Z,1761503890.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763700
2025-10-26T18:38:10.645Z,1761503890.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976458,0.215202,0.014757],[-0.214661,0.962710,0.164650],[0.021226,-0.163942,0.986242]]
2025-10-26T18:38:10.684Z,1761503890.684 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:10.685Z,1761503890.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015144
2025-10-26T18:38:10.936Z,1761503890.936 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:10.937Z,1761503890.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267103
2025-10-26T18:38:11.046Z,1761503891.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978009,0.208129,0.013429],[-0.207305,0.963041,0.171979],[0.022861,-0.170981,0.985009]]
2025-10-26T18:38:11.189Z,1761503891.189 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:11.189Z,1761503891.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519794
2025-10-26T18:38:11.441Z,1761503891.441 [DAT](INFO): DAT read: Rx Time:18:38:11.6248

2025-10-26T18:38:11.441Z,1761503891.441 [DAT](INFO): Rx dataTimestamp_ set to:1761503891.440733
2025-10-26T18:38:11.441Z,1761503891.441 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:11.442Z,1761503891.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772175
2025-10-26T18:38:11.454Z,1761503891.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979432,0.201356,0.012998],[-0.200340,0.962776,0.181458],[0.024024,-0.180330,0.983313]]
2025-10-26T18:38:11.519Z,1761503891.519 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:38:11.520Z,1761503891.520 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:38:11.521Z,1761503891.521 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:38:11.521Z,1761503891.521 [marl:UpdateRudder:A] Stopped
2025-10-26T18:38:11.521Z,1761503891.521 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:38:11.521Z,1761503891.521 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:38:11.521Z,1761503891.521 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:38:11.521Z,1761503891.521 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:38:11.522Z,1761503891.522 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:38:11.523Z,1761503891.523 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:38:11.523Z,1761503891.523 [marl:UpdateCommandMode] Stopped
2025-10-26T18:38:11.524Z,1761503891.524 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:38:11.524Z,1761503891.524 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:38:11.526Z,1761503891.526 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:38:11.526Z,1761503891.526 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:38:11.527Z,1761503891.527 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:38:11.527Z,1761503891.527 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:38:11.527Z,1761503891.527 [marl:UpdateSpeed] Stopped
2025-10-26T18:38:11.527Z,1761503891.527 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:38:11.692Z,1761503891.692 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:11.692Z,1761503891.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022955
2025-10-26T18:38:11.850Z,1761503891.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980898,0.194094,0.012938],[-0.192942,0.962293,0.191745],[0.024766,-0.190579,0.981359]]
2025-10-26T18:38:11.887Z,1761503891.887 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:38:11.887Z,1761503891.887 [marl:UpdateRudder:B] Stopped
2025-10-26T18:38:11.888Z,1761503891.888 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:38:11.888Z,1761503891.888 [marl:UpdateRudder] Stopped
2025-10-26T18:38:11.888Z,1761503891.888 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:38:11.953Z,1761503891.953 [DAT](INFO): DAT read: 18:38:11.6248 LVL= 21792, 32753, 32754, 32755, AGC= 54, IDX= 358, 0.03,-1.079,-3.102,-2.583,-1.816, PHS= 0.839,-1.242,-0.811, RAW= 101.3,  12.7, CAL= 102.3,  14.7, ROT=  47.7, -14.7

2025-10-26T18:38:11.954Z,1761503891.954 [DAT](INFO): got valid direction response:
 18:38:11.6248 LVL= 21792, 32753, 32754, 32755, AGC= 54, IDX= 358, 0.03,-1.079,-3.102,-2.583,-1.816, PHS= 0.839,-1.242,-0.811, RAW= 101.3,  12.7, CAL= 102.3,  14.7, ROT=  47.7, -14.7

2025-10-26T18:38:11.956Z,1761503891.956 [DAT](INFO): DAT read: Bearing  40, -19 (Remote)

2025-10-26T18:38:11.957Z,1761503891.957 [DAT](INFO): Remote Bearing received:Bearing  40, -19 (Remote)

2025-10-26T18:38:11.958Z,1761503891.958 [DAT](INFO): DAT read: Bearing 176.1,  42.6 (Local)

2025-10-26T18:38:11.958Z,1761503891.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.1,  42.6 (Local)

2025-10-26T18:38:11.960Z,1761503891.960 [DAT](INFO): DAT read: Range 11 to 20 : 160.0 m  (Round-trip  213.4 ms) speed  0.7 m/s

2025-10-26T18:38:11.961Z,1761503891.961 [DAT](INFO): DAT read: user:45>

2025-10-26T18:38:11.962Z,1761503891.962 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:38:11.962Z,1761503891.962 [DAT](INFO): set remote address to 6
2025-10-26T18:38:11.963Z,1761503891.963 [DAT](INFO): entering online mode
2025-10-26T18:38:12.196Z,1761503892.196 [DAT](INFO): DAT read: user:46>

2025-10-26T18:38:12.197Z,1761503892.197 [DAT](INFO): DAT read: 

2025-10-26T18:38:12.198Z,1761503892.198 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:38:12.198Z,1761503892.198 [DAT](INFO): commRate: 600
2025-10-26T18:38:12.198Z,1761503892.198 [DAT](INFO): online mode acknowledged
2025-10-26T18:38:12.199Z,1761503892.199 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:38:12.200Z,1761503892.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529645
2025-10-26T18:38:12.265Z,1761503892.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982250,0.187116,0.013136],[-0.185906,0.961780,0.201042],[0.024984,-0.199916,0.979495]]
2025-10-26T18:38:12.448Z,1761503892.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778825
2025-10-26T18:38:12.658Z,1761503892.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983637,0.179738,0.012373],[-0.178379,0.961956,0.206933],[0.025292,-0.205754,0.978277]]
2025-10-26T18:38:12.702Z,1761503892.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032476
2025-10-26T18:38:12.952Z,1761503892.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282876
2025-10-26T18:38:13.070Z,1761503893.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984818,0.173202,0.011626],[-0.171652,0.961640,0.213971],[0.025880,-0.212718,0.976771]]
2025-10-26T18:38:13.204Z,1761503893.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534778
2025-10-26T18:38:13.456Z,1761503893.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786879
2025-10-26T18:38:13.468Z,1761503893.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985416,0.169821,0.010758],[-0.167979,0.960732,0.220857],[0.027170,-0.219443,0.975247]]
2025-10-26T18:38:13.709Z,1761503893.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039539
2025-10-26T18:38:13.871Z,1761503893.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985570,0.168955,0.010312],[-0.166825,0.959219,0.228184],[0.028661,-0.226612,0.973563]]
2025-10-26T18:38:13.960Z,1761503893.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290899
2025-10-26T18:38:14.213Z,1761503894.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543471
2025-10-26T18:38:14.280Z,1761503894.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985620,0.168699,0.009727],[-0.166278,0.958007,0.233613],[0.030092,-0.231870,0.972281]]
2025-10-26T18:38:14.464Z,1761503894.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794893
2025-10-26T18:38:14.680Z,1761503894.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985687,0.168352,0.008871],[-0.165727,0.957979,0.234118],[0.030916,-0.232238,0.972168]]
2025-10-26T18:38:14.696Z,1761503894.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:38:14.717Z,1761503894.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047265
2025-10-26T18:38:14.968Z,1761503894.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298836
2025-10-26T18:38:15.083Z,1761503895.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986570,0.163234,0.005815],[-0.160431,0.961714,0.222190],[0.030677,-0.220139,0.974986]]
2025-10-26T18:38:15.220Z,1761503895.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550912
2025-10-26T18:38:15.473Z,1761503895.473 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:16.2810

2025-10-26T18:38:15.473Z,1761503895.473 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:38:15.474Z,1761503895.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804006
2025-10-26T18:38:15.489Z,1761503895.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988074,0.153973,0.001101],[-0.151116,0.968320,0.198796],[0.029543,-0.196592,0.980040]]
2025-10-26T18:38:15.700Z,1761503895.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:38:15.728Z,1761503895.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058515
2025-10-26T18:38:15.891Z,1761503895.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989891,0.141771,-0.003995],[-0.139042,0.975621,0.169798],[0.027970,-0.167526,0.985471]]
2025-10-26T18:38:15.976Z,1761503895.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306983
2025-10-26T18:38:16.228Z,1761503896.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558832
2025-10-26T18:38:16.294Z,1761503896.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991825,0.127321,-0.008561],[-0.124856,0.982105,0.141002],[0.026360,-0.138780,0.989972]]
2025-10-26T18:38:16.481Z,1761503896.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811013
2025-10-26T18:38:16.699Z,1761503896.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993702,0.111394,-0.012122],[-0.109359,0.987706,0.111699],[0.024416,-0.109670,0.993668]]
2025-10-26T18:38:16.733Z,1761503896.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063093
2025-10-26T18:38:16.984Z,1761503896.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314905
2025-10-26T18:38:17.107Z,1761503897.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995461,0.094076,-0.014390],[-0.092519,0.992046,0.085346],[0.022304,-0.083627,0.996247]]
2025-10-26T18:38:17.237Z,1761503897.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567199
2025-10-26T18:38:17.488Z,1761503897.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818907
2025-10-26T18:38:17.506Z,1761503897.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997064,0.074876,-0.016010],[-0.073764,0.995382,0.061434],[0.020536,-0.060073,0.997983]]
2025-10-26T18:38:17.740Z,1761503897.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070848
2025-10-26T18:38:17.910Z,1761503897.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998374,0.054553,-0.016530],[-0.053812,0.997650,0.042409],[0.018805,-0.041451,0.998964]]
2025-10-26T18:38:17.992Z,1761503897.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322963
2025-10-26T18:38:18.244Z,1761503898.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574908
2025-10-26T18:38:18.314Z,1761503898.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999309,0.033484,-0.016118],[-0.032989,0.999005,0.030000],[0.017106,-0.029448,0.999420]]
2025-10-26T18:38:18.496Z,1761503898.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826816
2025-10-26T18:38:18.728Z,1761503898.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999809,0.011985,-0.015438],[-0.011650,0.999698,0.021658],[0.015693,-0.021474,0.999646]]
2025-10-26T18:38:18.748Z,1761503898.748 [DAT](INFO): Reached modem response timeout
2025-10-26T18:38:19.126Z,1761503899.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999844,-0.009091,-0.015174],[0.009309,0.999853,0.014376],[0.015041,-0.014515,0.999781]]
2025-10-26T18:38:19.526Z,1761503899.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999448,-0.029690,-0.014905],[0.029843,0.999503,0.010168],[0.014596,-0.010607,0.999837]]
2025-10-26T18:38:19.932Z,1761503899.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998666,-0.049311,-0.015292],[0.049426,0.998751,0.007275],[0.014915,-0.008021,0.999857]]
2025-10-26T18:38:20.334Z,1761503900.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997620,-0.067056,-0.016058],[0.067171,0.997719,0.006748],[0.015569,-0.007811,0.999848]]
2025-10-26T18:38:20.740Z,1761503900.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996397,-0.083111,-0.016875],[0.083218,0.996515,0.005734],[0.016340,-0.007117,0.999841]]
2025-10-26T18:38:21.142Z,1761503901.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995114,-0.097019,-0.018304],[0.097144,0.995252,0.006082],[0.017627,-0.007830,0.999814]]
2025-10-26T18:38:21.553Z,1761503901.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993766,-0.109734,-0.019709],[0.109893,0.993918,0.007132],[0.018807,-0.009254,0.999780]]
2025-10-26T18:38:21.950Z,1761503901.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992323,-0.121848,-0.021160],[0.122039,0.992493,0.007982],[0.020029,-0.010503,0.999744]]
2025-10-26T18:38:22.354Z,1761503902.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990745,-0.133884,-0.022348],[0.134100,0.990932,0.008455],[0.021014,-0.011374,0.999714]]
2025-10-26T18:38:22.758Z,1761503902.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989081,-0.145578,-0.022925],[0.145761,0.989298,0.006542],[0.021727,-0.009812,0.999716]]
2025-10-26T18:38:23.163Z,1761503903.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987270,-0.157331,-0.023324],[0.157455,0.987520,0.003582],[0.022469,-0.007209,0.999722]]
2025-10-26T18:38:23.566Z,1761503903.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985129,-0.170177,-0.023695],[0.170289,0.985390,0.002761],[0.022879,-0.006755,0.999715]]
2025-10-26T18:38:23.970Z,1761503903.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982464,-0.184892,-0.024086],[0.184976,0.982742,0.001325],[0.023425,-0.005757,0.999709]]
2025-10-26T18:38:24.375Z,1761503904.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979399,-0.200436,-0.024556],[0.200494,0.979695,-0.000107],[0.024079,-0.004819,0.999698]]
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateRudder:A] Stopped
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:38:24.404Z,1761503904.404 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateCommandMode] Stopped
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:38:24.405Z,1761503904.405 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:38:24.406Z,1761503904.406 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:38:24.406Z,1761503904.406 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:38:24.406Z,1761503904.406 [marl:UpdateSpeed] Stopped
2025-10-26T18:38:24.406Z,1761503904.406 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:38:24.780Z,1761503904.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975778,-0.217325,-0.025031],[0.217324,0.976096,-0.002762],[0.025033,-0.002745,0.999683]]
2025-10-26T18:38:24.884Z,1761503904.884 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:38:24.884Z,1761503904.884 [marl:UpdateRudder:B] Stopped
2025-10-26T18:38:24.884Z,1761503904.884 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:38:24.884Z,1761503904.884 [marl:UpdateRudder] Stopped
2025-10-26T18:38:24.884Z,1761503904.884 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:38:25.182Z,1761503905.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971673,-0.234940,-0.025576],[0.234865,0.972010,-0.005938],[0.026255,-0.000237,0.999655]]
2025-10-26T18:38:25.552Z,1761503905.552 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:38:25.599Z,1761503905.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961951,-0.271787,-0.027960],[0.271587,0.962353,-0.010815],[0.029847,0.002810,0.999551]]
2025-10-26T18:38:25.804Z,1761503905.804 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:38:26.056Z,1761503906.056 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:38:26.401Z,1761503906.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950265,-0.309970,-0.030230],[0.309545,0.950715,-0.017968],[0.034310,0.007716,0.999381]]
2025-10-26T18:38:26.806Z,1761503906.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943809,-0.328991,-0.031465],[0.328487,0.944293,-0.020173],[0.036349,0.008704,0.999301]]
2025-10-26T18:38:27.207Z,1761503907.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936883,-0.348104,-0.032765],[0.347523,0.937409,-0.022203],[0.038443,0.009415,0.999216]]
2025-10-26T18:38:27.612Z,1761503907.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929747,-0.366607,-0.034189],[0.365990,0.930333,-0.023078],[0.040267,0.008944,0.999149]]
2025-10-26T18:38:28.014Z,1761503908.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922295,-0.384862,-0.035385],[0.384196,0.922932,-0.024295],[0.042008,0.008813,0.999078]]
2025-10-26T18:38:28.415Z,1761503908.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914511,-0.402898,-0.036643],[0.402195,0.915207,-0.025199],[0.043688,0.008307,0.999011]]
2025-10-26T18:38:28.851Z,1761503908.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906728,-0.419974,-0.038283],[0.419296,0.907514,-0.024669],[0.045103,0.006316,0.998962]]
2025-10-26T18:38:29.222Z,1761503909.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899069,-0.436056,-0.039102],[0.435322,0.899896,-0.026106],[0.046572,0.006449,0.998894]]
2025-10-26T18:38:29.333Z,1761503909.333 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:30.1310

2025-10-26T18:38:29.334Z,1761503909.334 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:38:29.628Z,1761503909.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891713,-0.450826,-0.040055],[0.450072,0.892593,-0.026694],[0.047787,0.005776,0.998841]]
2025-10-26T18:38:30.030Z,1761503910.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884915,-0.463876,-0.041763],[0.463211,0.885896,-0.024982],[0.048586,0.002761,0.998815]]
2025-10-26T18:38:30.434Z,1761503910.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879128,-0.474584,-0.043632],[0.474089,0.880209,-0.021733],[0.048719,-0.001579,0.998811]]
2025-10-26T18:38:30.881Z,1761503910.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874040,-0.483826,-0.044341],[0.483442,0.875154,-0.019725],[0.048349,-0.004195,0.998822]]
2025-10-26T18:38:31.244Z,1761503911.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869545,-0.491898,-0.043895],[0.491551,0.870639,-0.019135],[0.047629,-0.004938,0.998853]]
2025-10-26T18:38:31.676Z,1761503911.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865301,-0.499437,-0.042634],[0.499088,0.866338,-0.019227],[0.046538,-0.004640,0.998906]]
2025-10-26T18:38:32.054Z,1761503912.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861184,-0.506618,-0.041242],[0.506273,0.862160,-0.019188],[0.045278,-0.004356,0.998965]]
2025-10-26T18:38:32.454Z,1761503912.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857058,-0.513737,-0.039060],[0.513358,0.857943,-0.019934],[0.043752,-0.002967,0.999038]]
2025-10-26T18:38:32.886Z,1761503912.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852931,-0.520760,-0.036297],[0.520328,0.853703,-0.021209],[0.042032,-0.000796,0.999116]]
2025-10-26T18:38:33.263Z,1761503913.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848648,-0.527903,-0.033409],[0.527422,0.849303,-0.022564],[0.040285,0.001528,0.999187]]
2025-10-26T18:38:33.381Z,1761503913.381 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:38:33.381Z,1761503913.381 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:38:33.666Z,1761503913.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844026,-0.535379,-0.031461],[0.534926,0.844610,-0.022115],[0.038413,0.001836,0.999260]]
2025-10-26T18:38:34.075Z,1761503914.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838647,-0.543843,-0.030114],[0.543410,0.839185,-0.021764],[0.037108,0.001888,0.999309]]
2025-10-26T18:38:34.474Z,1761503914.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831628,-0.554580,-0.028919],[0.554145,0.832127,-0.022082],[0.036311,0.002338,0.999338]]
2025-10-26T18:38:34.891Z,1761503914.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823373,-0.566857,-0.027041],[0.566372,0.823805,-0.023818],[0.035777,0.004296,0.999351]]
2025-10-26T18:38:35.282Z,1761503915.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813785,-0.580615,-0.025310],[0.580070,0.814153,-0.025954],[0.035675,0.006440,0.999343]]
2025-10-26T18:38:35.687Z,1761503915.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803527,-0.594833,-0.022749],[0.594224,0.803794,-0.028523],[0.035252,0.009401,0.999334]]
2025-10-26T18:38:36.090Z,1761503916.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792548,-0.609484,-0.019917],[0.608831,0.792703,-0.030777],[0.034547,0.012266,0.999328]]
2025-10-26T18:38:36.494Z,1761503916.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780915,-0.624400,-0.017244],[0.623739,0.780974,-0.032067],[0.033490,0.014286,0.999337]]
2025-10-26T18:38:36.900Z,1761503916.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768604,-0.639563,-0.014427],[0.638919,0.768571,-0.032882],[0.032118,0.016055,0.999355]]
2025-10-26T18:38:37.302Z,1761503917.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755409,-0.655129,-0.012820],[0.654539,0.755353,-0.031944],[0.030611,0.015739,0.999407]]
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateRudder:A] Stopped
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:38:37.346Z,1761503917.346 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:38:37.347Z,1761503917.347 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:38:37.347Z,1761503917.347 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:38:37.347Z,1761503917.347 [marl:UpdateCommandMode] Stopped
2025-10-26T18:38:37.347Z,1761503917.347 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:38:37.347Z,1761503917.347 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:38:37.347Z,1761503917.347 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:38:37.348Z,1761503917.348 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:38:37.348Z,1761503917.348 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:38:37.348Z,1761503917.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:38:37.348Z,1761503917.348 [marl:UpdateSpeed] Stopped
2025-10-26T18:38:37.348Z,1761503917.348 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:38:37.709Z,1761503917.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741501,-0.670881,-0.009777],[0.670332,0.741364,-0.032166],[0.028828,0.017297,0.999435]]
2025-10-26T18:38:37.765Z,1761503917.765 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:38:37.765Z,1761503917.765 [marl:UpdateRudder:B] Stopped
2025-10-26T18:38:37.765Z,1761503917.765 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:38:37.765Z,1761503917.765 [marl:UpdateRudder] Stopped
2025-10-26T18:38:37.765Z,1761503917.765 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:38:38.111Z,1761503918.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727010,-0.686586,-0.007436],[0.686102,0.726835,-0.031221],[0.026841,0.017596,0.999485]]
2025-10-26T18:38:38.191Z,1761503918.191 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:38:38.421Z,1761503918.421 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:38:38.471Z,1761503918.471 [DAT](INFO): entering command mode
2025-10-26T18:38:38.516Z,1761503918.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712070,-0.702090,-0.005115],[0.701655,0.711853,-0.030730],[0.025216,0.018293,0.999515]]
2025-10-26T18:38:38.672Z,1761503918.672 [DAT](INFO): DAT read: 

2025-10-26T18:38:38.673Z,1761503918.673 [DAT](INFO): DAT read: user:47>

2025-10-26T18:38:38.673Z,1761503918.673 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:38:38.673Z,1761503918.673 [DAT](INFO): setting remote address to 0
2025-10-26T18:38:38.918Z,1761503918.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696845,-0.717218,-0.002510],[0.716808,0.696557,-0.031554],[0.024379,0.020189,0.999499]]
2025-10-26T18:38:38.924Z,1761503918.924 [DAT](INFO): DAT read: user:47>

2025-10-26T18:38:38.925Z,1761503918.925 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:38:38.926Z,1761503918.926 [DAT](INFO): set remote address to 0
2025-10-26T18:38:38.926Z,1761503918.926 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:38:38.926Z,1761503918.926 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:38:39.177Z,1761503919.177 [DAT](INFO): DAT read: user:48>

2025-10-26T18:38:39.178Z,1761503919.178 [DAT](INFO): DAT read: Tx time:18:38:39.9321

2025-10-26T18:38:39.178Z,1761503919.178 [DAT](INFO): Ping request sent.
2025-10-26T18:38:39.178Z,1761503919.178 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:38:39.179Z,1761503919.179 [DAT](INFO): publishing transmit ping time
2025-10-26T18:38:39.180Z,1761503919.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001403
2025-10-26T18:38:39.322Z,1761503919.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681400,-0.731909,-0.001947],[0.731504,0.681106,-0.031568],[0.024431,0.020087,0.999500]]
2025-10-26T18:38:39.428Z,1761503919.428 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T18:38:39.429Z,1761503919.429 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T18:38:39.429Z,1761503919.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250652
2025-10-26T18:38:39.680Z,1761503919.680 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:38:39.680Z,1761503919.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502118
2025-10-26T18:38:39.739Z,1761503919.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665879,-0.746059,-0.000544],[0.745609,0.665502,-0.034282],[0.025939,0.022422,0.999412]]
2025-10-26T18:38:39.932Z,1761503919.932 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:38:39.933Z,1761503919.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754137
2025-10-26T18:38:40.130Z,1761503920.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650987,-0.759087,-0.001682],[0.758542,0.650601,-0.036490],[0.028793,0.022478,0.999333]]
2025-10-26T18:38:40.184Z,1761503920.184 [DAT](INFO): setting remote address to 6
2025-10-26T18:38:40.185Z,1761503920.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006675
2025-10-26T18:38:40.436Z,1761503920.436 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:40.436Z,1761503920.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258120
2025-10-26T18:38:40.543Z,1761503920.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639818,-0.768464,-0.009823],[0.767848,0.639737,-0.033848],[0.032296,0.014114,0.999379]]
2025-10-26T18:38:40.688Z,1761503920.688 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:40.689Z,1761503920.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510447
2025-10-26T18:38:40.939Z,1761503920.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634864,-0.772188,-0.025932],[0.771790,0.635381,-0.025126],[0.035879,-0.004062,0.999348]]
2025-10-26T18:38:40.940Z,1761503920.940 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:40.941Z,1761503920.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762171
2025-10-26T18:38:41.193Z,1761503921.193 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:41.193Z,1761503921.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015076
2025-10-26T18:38:41.344Z,1761503921.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636015,-0.770189,-0.047899],[0.770714,0.637096,-0.010429],[0.038548,-0.030283,0.998798]]
2025-10-26T18:38:41.444Z,1761503921.444 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:41.444Z,1761503921.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266083
2025-10-26T18:38:41.696Z,1761503921.696 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:41.697Z,1761503921.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518423
2025-10-26T18:38:41.765Z,1761503921.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640155,-0.764643,-0.074319],[0.767165,0.641385,0.009072],[0.040731,-0.062823,0.997193]]
2025-10-26T18:38:41.948Z,1761503921.948 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:41.948Z,1761503921.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770073
2025-10-26T18:38:42.168Z,1761503922.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645598,-0.756937,-0.101237],[0.762477,0.646324,0.029898],[0.042801,-0.096493,0.994413]]
2025-10-26T18:38:42.201Z,1761503922.201 [DAT](INFO): DAT read: Rx Time:18:38:42.5346

2025-10-26T18:38:42.202Z,1761503922.202 [DAT](INFO): Rx dataTimestamp_ set to:1761503922.201275
2025-10-26T18:38:42.202Z,1761503922.202 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:42.202Z,1761503922.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866
2025-10-26T18:38:42.452Z,1761503922.452 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:38:42.453Z,1761503922.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274189
2025-10-26T18:38:42.566Z,1761503922.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651922,-0.748013,-0.124398],[0.757002,0.651544,0.049381],[0.044113,-0.126362,0.991003]]
2025-10-26T18:38:42.730Z,1761503922.730 [DAT](INFO): DAT read: 18:38:42.5346 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 476,-0.05,-2.205, 2.212,-2.307,-2.798, PHS= 0.695,-1.229, 0.447, RAW= 143.2,   1.0, CAL= 142.9,   1.2, ROT=   7.1,  -1.2

2025-10-26T18:38:42.731Z,1761503922.731 [DAT](INFO): got valid direction response:
 18:38:42.5346 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 476,-0.05,-2.205, 2.212,-2.307,-2.798, PHS= 0.695,-1.229, 0.447, RAW= 143.2,   1.0, CAL= 142.9,   1.2, ROT=   7.1,  -1.2

2025-10-26T18:38:42.753Z,1761503922.753 [DAT](INFO): DAT read: Bearing 206.5,   8.9 (Local)

2025-10-26T18:38:42.753Z,1761503922.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.5,   8.9 (Local)

2025-10-26T18:38:42.768Z,1761503922.768 [DAT](INFO): DAT read: Range 11 to 20 : 148.8 m  (Round-trip  198.4 ms) speed  0.2 m/s

2025-10-26T18:38:42.769Z,1761503922.769 [DAT](INFO): DAT read: user:49>

2025-10-26T18:38:42.769Z,1761503922.769 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:38:42.770Z,1761503922.770 [DAT](INFO): set remote address to 6
2025-10-26T18:38:42.771Z,1761503922.771 [DAT](INFO): entering online mode
2025-10-26T18:38:42.956Z,1761503922.956 [DAT](INFO): DAT read: user:50>

2025-10-26T18:38:42.957Z,1761503922.957 [DAT](INFO): DAT read: 

2025-10-26T18:38:42.958Z,1761503922.958 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:38:42.958Z,1761503922.958 [DAT](INFO): commRate: 600
2025-10-26T18:38:42.958Z,1761503922.958 [DAT](INFO): online mode acknowledged
2025-10-26T18:38:42.959Z,1761503922.959 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:38:42.959Z,1761503922.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780620
2025-10-26T18:38:43.001Z,1761503923.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658525,-0.738894,-0.142759],[0.751266,0.656571,0.067185],[0.044088,-0.151493,0.987475]]
2025-10-26T18:38:43.210Z,1761503923.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030687
2025-10-26T18:38:43.378Z,1761503923.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665285,-0.730105,-0.156021],[0.745367,0.661485,0.082860],[0.042710,-0.171418,0.984272]]
2025-10-26T18:38:43.461Z,1761503923.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282558
2025-10-26T18:38:43.713Z,1761503923.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534885
2025-10-26T18:38:43.782Z,1761503923.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671888,-0.722478,-0.163073],[0.739574,0.666324,0.095092],[0.039958,-0.184496,0.982021]]
2025-10-26T18:38:43.964Z,1761503923.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786049
2025-10-26T18:38:44.191Z,1761503924.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678672,-0.715430,-0.166027],[0.733575,0.671303,0.105925],[0.035672,-0.193682,0.980416]]
2025-10-26T18:38:44.216Z,1761503924.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037807
2025-10-26T18:38:44.469Z,1761503924.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290619
2025-10-26T18:38:44.591Z,1761503924.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684149,-0.709807,-0.167672],[0.728721,0.674746,0.116977],[0.030105,-0.202216,0.978878]]
2025-10-26T18:38:44.721Z,1761503924.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542296
2025-10-26T18:38:44.972Z,1761503924.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793951
2025-10-26T18:38:44.994Z,1761503924.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687767,-0.706426,-0.167149],[0.725548,0.676419,0.126639],[0.023602,-0.208373,0.977765]]
2025-10-26T18:38:45.224Z,1761503925.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045998
2025-10-26T18:38:45.398Z,1761503925.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688491,-0.706214,-0.165049],[0.725050,0.675521,0.134069],[0.016812,-0.211974,0.977131]]
2025-10-26T18:38:45.476Z,1761503925.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298098
2025-10-26T18:38:45.729Z,1761503925.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550423
2025-10-26T18:38:45.802Z,1761503925.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685979,-0.709327,-0.162140],[0.727542,0.671964,0.138374],[0.010800,-0.212885,0.977017]]
2025-10-26T18:38:45.820Z,1761503925.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:38:45.980Z,1761503925.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801978
2025-10-26T18:38:46.220Z,1761503926.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680940,-0.715067,-0.158113],[0.732318,0.666503,0.139584],[0.005571,-0.210838,0.977505]]
2025-10-26T18:38:46.233Z,1761503926.233 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:38:47.0309

2025-10-26T18:38:46.233Z,1761503926.233 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:38:46.234Z,1761503926.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055344
2025-10-26T18:38:46.484Z,1761503926.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306008
2025-10-26T18:38:46.610Z,1761503926.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675031,-0.721766,-0.152929],[0.737789,0.660533,0.139150],[0.000581,-0.206759,0.978392]]
2025-10-26T18:38:46.741Z,1761503926.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562714
2025-10-26T18:38:46.827Z,1761503926.827 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:38:46.992Z,1761503926.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814035
2025-10-26T18:38:47.023Z,1761503927.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668757,-0.728872,-0.146661],[0.743470,0.654531,0.137265],[-0.004055,-0.200835,0.979617]]
2025-10-26T18:38:47.244Z,1761503927.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065975
2025-10-26T18:38:47.418Z,1761503927.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662286,-0.735952,-0.140544],[0.749209,0.648513,0.134598],[-0.007913,-0.194439,0.980883]]
2025-10-26T18:38:47.498Z,1761503927.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319033
2025-10-26T18:38:47.748Z,1761503927.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570088
2025-10-26T18:38:47.822Z,1761503927.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655716,-0.742837,-0.135019],[0.754932,0.642553,0.131161],[-0.010675,-0.187935,0.982123]]
2025-10-26T18:38:48.001Z,1761503928.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822857
2025-10-26T18:38:48.226Z,1761503928.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648917,-0.749592,-0.130451],[0.760763,0.636510,0.126861],[-0.012061,-0.181565,0.983305]]
2025-10-26T18:38:48.252Z,1761503928.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074028
2025-10-26T18:38:48.507Z,1761503928.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328044
2025-10-26T18:38:48.630Z,1761503928.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642776,-0.755432,-0.127130],[0.765954,0.631094,0.122617],[-0.012398,-0.176191,0.984278]]
2025-10-26T18:38:48.757Z,1761503928.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578473
2025-10-26T18:38:49.009Z,1761503929.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830601
2025-10-26T18:38:49.043Z,1761503929.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637621,-0.759850,-0.126757],[0.770264,0.626391,0.119698],[-0.011553,-0.173958,0.984685]]
2025-10-26T18:38:49.260Z,1761503929.260 [DAT](INFO): Reached modem response timeout
2025-10-26T18:38:49.438Z,1761503929.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634734,-0.762245,-0.126867],[0.772660,0.623832,0.117604],[-0.010500,-0.172673,0.984923]]
2025-10-26T18:38:49.843Z,1761503929.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635745,-0.761233,-0.127877],[0.771824,0.624594,0.119040],[-0.010746,-0.174378,0.984620]]
2025-10-26T18:38:50.254Z,1761503930.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638698,-0.758626,-0.128653],[0.769370,0.627114,0.121650],[-0.011607,-0.176679,0.984200]]
2025-10-26T18:38:50.300Z,1761503930.300 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:38:50.300Z,1761503930.300 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:38:50.300Z,1761503930.300 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateRudder:A] Stopped
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:38:50.301Z,1761503930.301 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateCommandMode] Stopped
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed] Stopped
2025-10-26T18:38:50.302Z,1761503930.302 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:38:50.651Z,1761503930.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642434,-0.755057,-0.131023],[0.766243,0.630166,0.125548],[-0.012230,-0.181052,0.983397]]
2025-10-26T18:38:50.683Z,1761503930.683 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:38:50.683Z,1761503930.683 [marl:UpdateRudder:B] Stopped
2025-10-26T18:38:50.683Z,1761503930.683 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:38:50.683Z,1761503930.683 [marl:UpdateRudder] Stopped
2025-10-26T18:38:50.684Z,1761503930.684 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:38:51.054Z,1761503931.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646892,-0.751107,-0.131794],[0.762460,0.633963,0.129403],[-0.013643,-0.184198,0.982795]]
2025-10-26T18:38:51.458Z,1761503931.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651643,-0.746716,-0.133325],[0.758371,0.637819,0.134388],[-0.015312,-0.188683,0.981919]]
2025-10-26T18:38:51.864Z,1761503931.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656731,-0.742137,-0.133931],[0.753919,0.641960,0.139621],[-0.017640,-0.192667,0.981106]]
2025-10-26T18:38:52.266Z,1761503932.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661849,-0.737489,-0.134410],[0.749343,0.645843,0.146191],[-0.021006,-0.197476,0.980083]]
2025-10-26T18:38:52.670Z,1761503932.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667076,-0.732951,-0.133388],[0.744551,0.649771,0.153106],[-0.025548,-0.201447,0.979166]]
2025-10-26T18:38:53.076Z,1761503933.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671123,-0.729670,-0.131058],[0.740715,0.652694,0.159164],[-0.030596,-0.203895,0.978515]]
2025-10-26T18:38:53.884Z,1761503933.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665954,-0.738743,-0.103748],[0.744794,0.650542,0.148583],[-0.042272,-0.176220,0.983443]]
2025-10-26T18:38:54.286Z,1761503934.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653080,-0.753180,-0.078778],[0.755739,0.641555,0.131400],[-0.048427,-0.145350,0.988194]]
2025-10-26T18:38:54.690Z,1761503934.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636558,-0.769428,-0.052668],[0.769335,0.628731,0.113230],[-0.054008,-0.112597,0.992172]]
2025-10-26T18:38:55.094Z,1761503935.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618085,-0.785711,-0.025080],[0.783895,0.613635,0.094666],[-0.058990,-0.078172,0.995193]]
2025-10-26T18:38:55.505Z,1761503935.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598065,-0.801444,-0.002467],[0.798987,0.595985,0.080131],[-0.062751,-0.049895,0.996781]]
2025-10-26T18:38:55.902Z,1761503935.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577188,-0.816432,0.017108],[0.814026,0.576900,0.067435],[-0.064926,-0.024997,0.997577]]
2025-10-26T18:38:56.313Z,1761503936.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555992,-0.830527,0.033132],[0.828622,0.556965,0.056359],[-0.065261,-0.003881,0.997861]]
2025-10-26T18:38:56.328Z,1761503936.328 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:38:56.581Z,1761503936.581 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:38:56.720Z,1761503936.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535398,-0.843340,0.046121],[0.842195,0.537195,0.046146],[-0.063693,0.014136,0.997869]]
2025-10-26T18:38:56.835Z,1761503936.835 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:38:57.114Z,1761503937.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516209,-0.854623,0.056107],[0.854276,0.518463,0.037522],[-0.061157,0.028561,0.997719]]
2025-10-26T18:38:57.519Z,1761503937.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499215,-0.864296,0.061452],[0.864511,0.501604,0.031860],[-0.058360,0.037221,0.997602]]
2025-10-26T18:38:57.923Z,1761503937.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484675,-0.872388,0.063470],[0.872917,0.487039,0.028452],[-0.055733,0.041614,0.997578]]
2025-10-26T18:38:58.333Z,1761503938.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472171,-0.879101,0.065080],[0.879887,0.474491,0.025630],[-0.053411,0.045161,0.997551]]
2025-10-26T18:38:58.734Z,1761503938.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461590,-0.884863,0.062866],[0.885572,0.463789,0.025743],[-0.051936,0.043789,0.997690]]
2025-10-26T18:38:59.134Z,1761503939.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452390,-0.889797,0.060038],[0.890337,0.454494,0.027108],[-0.051408,0.041191,0.997828]]
2025-10-26T18:38:59.538Z,1761503939.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444495,-0.893926,0.057632],[0.894295,0.446542,0.028909],[-0.051578,0.038690,0.997919]]
2025-10-26T18:38:59.943Z,1761503939.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436667,-0.897949,0.054863],[0.898108,0.438658,0.031330],[-0.052199,0.035592,0.998002]]
2025-10-26T18:39:00.109Z,1761503940.109 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:00.9308

2025-10-26T18:39:00.109Z,1761503940.109 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:39:00.346Z,1761503940.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428332,-0.902108,0.052283],[0.902061,0.430275,0.033908],[-0.053085,0.032638,0.998056]]
2025-10-26T18:39:00.750Z,1761503940.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419891,-0.906178,0.050332],[0.905956,0.421808,0.036365],[-0.054183,0.030329,0.998070]]
2025-10-26T18:39:01.154Z,1761503941.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412000,-0.909924,0.047891],[0.909482,0.413873,0.039395],[-0.055667,0.027325,0.998075]]
2025-10-26T18:39:01.558Z,1761503941.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403475,-0.913800,0.046658],[0.913216,0.405343,0.041644],[-0.056967,0.025806,0.998042]]
2025-10-26T18:39:01.970Z,1761503941.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393300,-0.918181,0.047532],[0.917588,0.395249,0.042540],[-0.057847,0.026883,0.997963]]
2025-10-26T18:39:02.366Z,1761503942.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381754,-0.923037,0.047602],[0.922401,0.383747,0.043750],[-0.058650,0.027207,0.997908]]
2025-10-26T18:39:02.771Z,1761503942.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368020,-0.928623,0.047131],[0.927978,0.370006,0.044177],[-0.058463,0.027478,0.997911]]
2025-10-26T18:39:03.174Z,1761503943.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352520,-0.934613,0.047211],[0.934008,0.354520,0.044099],[-0.057953,0.028549,0.997911]]
2025-10-26T18:39:03.217Z,1761503943.217 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:39:03.217Z,1761503943.217 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:39:03.217Z,1761503943.217 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:39:03.217Z,1761503943.217 [marl:UpdateRudder:A] Stopped
2025-10-26T18:39:03.217Z,1761503943.217 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:39:03.217Z,1761503943.217 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateCommandMode] Stopped
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:39:03.218Z,1761503943.218 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:39:03.219Z,1761503943.219 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:39:03.219Z,1761503943.219 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:39:03.219Z,1761503943.219 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:39:03.219Z,1761503943.219 [marl:UpdateSpeed] Stopped
2025-10-26T18:39:03.219Z,1761503943.219 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:39:03.578Z,1761503943.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335797,-0.940734,0.047535],[0.940194,0.337816,0.043770],[-0.057234,0.029994,0.997910]]
2025-10-26T18:39:03.621Z,1761503943.621 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:39:03.621Z,1761503943.621 [marl:UpdateRudder:B] Stopped
2025-10-26T18:39:03.622Z,1761503943.622 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:39:03.622Z,1761503943.622 [marl:UpdateRudder] Stopped
2025-10-26T18:39:03.622Z,1761503943.622 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:39:03.985Z,1761503943.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317832,-0.946936,0.047904],[0.946470,0.319868,0.043339],[-0.056362,0.031565,0.997911]]
2025-10-26T18:39:04.790Z,1761503944.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278742,-0.959128,0.048747],[0.958876,0.280777,0.041493],[-0.053484,0.035176,0.997949]]
2025-10-26T18:39:05.194Z,1761503945.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257994,-0.964866,0.049720],[0.964778,0.260026,0.039882],[-0.051409,0.037680,0.997967]]
2025-10-26T18:39:05.598Z,1761503945.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237155,-0.970169,0.050293],[0.970245,0.239139,0.037916],[-0.048812,0.039805,0.998015]]
2025-10-26T18:39:06.004Z,1761503946.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216531,-0.974904,0.051741],[0.975189,0.218486,0.035641],[-0.046051,0.042740,0.998024]]
2025-10-26T18:39:06.406Z,1761503946.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196322,-0.979078,0.053513],[0.979601,0.198228,0.032963],[-0.042881,0.045950,0.998023]]
2025-10-26T18:39:07.214Z,1761503947.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159447,-0.985758,0.053448],[0.986541,0.161094,0.028041],[-0.036252,0.048258,0.998177]]
2025-10-26T18:39:07.618Z,1761503947.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143560,-0.988251,0.052443],[0.989083,0.145058,0.025955],[-0.033257,0.048144,0.998287]]
2025-10-26T18:39:08.023Z,1761503948.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129709,-0.990362,0.048572],[0.991084,0.130997,0.024327],[-0.030456,0.044983,0.998523]]
2025-10-26T18:39:08.426Z,1761503948.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116728,-0.992112,0.045698],[0.992780,0.117839,0.022419],[-0.027628,0.042751,0.998704]]
2025-10-26T18:39:08.479Z,1761503948.479 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:39:08.680Z,1761503948.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:39:08.732Z,1761503948.732 [DAT](INFO): entering command mode
2025-10-26T18:39:08.882Z,1761503948.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092571,-0.994938,0.039113],[0.995462,0.093347,0.018485],[-0.022042,0.037225,0.999064]]
2025-10-26T18:39:08.933Z,1761503948.933 [DAT](INFO): DAT read: 

2025-10-26T18:39:08.934Z,1761503948.934 [DAT](INFO): DAT read: user:51>

2025-10-26T18:39:08.935Z,1761503948.935 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:39:08.935Z,1761503948.935 [DAT](INFO): setting remote address to 0
2025-10-26T18:39:09.184Z,1761503949.184 [DAT](INFO): DAT read: user:51>

2025-10-26T18:39:09.185Z,1761503949.185 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:39:09.185Z,1761503949.185 [DAT](INFO): set remote address to 0
2025-10-26T18:39:09.186Z,1761503949.186 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:39:09.186Z,1761503949.186 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:39:09.437Z,1761503949.437 [DAT](INFO): DAT read: user:52>

2025-10-26T18:39:09.438Z,1761503949.438 [DAT](INFO): DAT read: Tx time:18:39:10.1820

2025-10-26T18:39:09.439Z,1761503949.439 [DAT](INFO): Ping request sent.
2025-10-26T18:39:09.439Z,1761503949.439 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:39:09.439Z,1761503949.439 [DAT](INFO): publishing transmit ping time
2025-10-26T18:39:09.440Z,1761503949.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001820
2025-10-26T18:39:09.642Z,1761503949.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081680,-0.996026,0.035505],[0.996475,0.082297,0.016283],[-0.019140,0.034050,0.999237]]
2025-10-26T18:39:09.691Z,1761503949.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252330
2025-10-26T18:39:09.941Z,1761503949.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502469
2025-10-26T18:39:10.049Z,1761503950.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061275,-0.997740,0.027559],[0.998026,0.061626,0.012095],[-0.013766,0.026764,0.999547]]
2025-10-26T18:39:10.192Z,1761503950.192 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:39:10.192Z,1761503950.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753798
2025-10-26T18:39:10.445Z,1761503950.445 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:39:10.446Z,1761503950.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006914
2025-10-26T18:39:10.476Z,1761503950.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051345,-0.998368,0.024999],[0.998610,0.051624,0.010635],[-0.011908,0.024418,0.999631]]
2025-10-26T18:39:10.696Z,1761503950.696 [DAT](INFO): setting remote address to 6
2025-10-26T18:39:10.697Z,1761503950.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258311
2025-10-26T18:39:10.886Z,1761503950.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041345,-0.998917,0.021344],[0.999091,0.041556,0.009545],[-0.010422,0.020930,0.999727]]
2025-10-26T18:39:10.949Z,1761503950.949 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:10.949Z,1761503950.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510416
2025-10-26T18:39:11.200Z,1761503951.200 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:11.201Z,1761503951.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761857
2025-10-26T18:39:11.258Z,1761503951.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031215,-0.999384,0.016029],[0.999467,0.031362,0.009057],[-0.009554,0.015737,0.999830]]
2025-10-26T18:39:11.452Z,1761503951.452 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:11.452Z,1761503951.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013848
2025-10-26T18:39:11.660Z,1761503951.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019976,-0.999723,0.012426],[0.999759,0.020087,0.008877],[-0.009124,0.012246,0.999883]]
2025-10-26T18:39:11.705Z,1761503951.705 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:11.705Z,1761503951.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266421
2025-10-26T18:39:11.956Z,1761503951.956 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:11.957Z,1761503951.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517873
2025-10-26T18:39:12.063Z,1761503952.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008004,-0.999912,0.010563],[0.999929,0.008097,0.008776],[-0.008861,0.010492,0.999906]]
2025-10-26T18:39:12.209Z,1761503952.209 [DAT](INFO): DAT read: Rx Time:18:39:12.3832

2025-10-26T18:39:12.210Z,1761503952.210 [DAT](INFO): Rx dataTimestamp_ set to:1761503952.209582
2025-10-26T18:39:12.210Z,1761503952.210 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:12.211Z,1761503952.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771883
2025-10-26T18:39:12.461Z,1761503952.461 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:39:12.461Z,1761503952.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022326
2025-10-26T18:39:12.478Z,1761503952.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004493,-0.999954,0.008507],[0.999950,-0.004417,0.008938],[-0.008900,0.008547,0.999924]]
2025-10-26T18:39:12.721Z,1761503952.721 [DAT](INFO): DAT read: 18:39:12.3832 LVL= 32752, 32753, 24242, 32755, AGC= 52, IDX= 367,-0.15, 0.270,-0.862, 1.226, 0.416, PHS=-0.044,-1.234, 0.766, RAW= 173.8,   5.9, CAL= 173.3,   5.1, ROT= 336.7,  -5.1

2025-10-26T18:39:12.722Z,1761503952.722 [DAT](INFO): got valid direction response:
 18:39:12.3832 LVL= 32752, 32753, 24242, 32755, AGC= 52, IDX= 367,-0.15, 0.270,-0.862, 1.226, 0.416, PHS=-0.044,-1.234, 0.766, RAW= 173.8,   5.9, CAL= 173.3,   5.1, ROT= 336.7,  -5.1

2025-10-26T18:39:12.724Z,1761503952.724 [DAT](INFO): DAT read: Bearing  47,  -1 (Remote)

2025-10-26T18:39:12.725Z,1761503952.725 [DAT](INFO): Remote Bearing received:Bearing  47,  -1 (Remote)

2025-10-26T18:39:12.726Z,1761503952.726 [DAT](INFO): DAT read: Bearing 252.5, -23.2 (Local)

2025-10-26T18:39:12.726Z,1761503952.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.5, -23.2 (Local)

2025-10-26T18:39:12.729Z,1761503952.729 [DAT](INFO): DAT read: Range 11 to 20 : 129.0 m  (Round-trip  172.0 ms) speed  0.7 m/s

2025-10-26T18:39:12.729Z,1761503952.729 [DAT](INFO): DAT read: user:53>

2025-10-26T18:39:12.731Z,1761503952.731 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:39:12.731Z,1761503952.731 [DAT](INFO): set remote address to 6
2025-10-26T18:39:12.756Z,1761503952.756 [DAT](INFO): entering online mode
2025-10-26T18:39:12.886Z,1761503952.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017739,-0.999810,0.008076],[0.999799,-0.017663,0.009453],[-0.009309,0.008242,0.999923]]
2025-10-26T18:39:12.964Z,1761503952.964 [DAT](INFO): DAT read: user:54>

2025-10-26T18:39:12.965Z,1761503952.965 [DAT](INFO): DAT read: 

2025-10-26T18:39:12.966Z,1761503952.966 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:39:12.966Z,1761503952.966 [DAT](INFO): commRate: 600
2025-10-26T18:39:12.966Z,1761503952.966 [DAT](INFO): online mode acknowledged
2025-10-26T18:39:12.967Z,1761503952.967 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:39:12.968Z,1761503952.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528548
2025-10-26T18:39:13.216Z,1761503953.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777686
2025-10-26T18:39:13.275Z,1761503953.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031921,-0.999451,0.008890],[0.999444,-0.031832,0.009935],[-0.009647,0.009203,0.999911]]
2025-10-26T18:39:13.468Z,1761503953.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029753
2025-10-26T18:39:13.680Z,1761503953.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047471,-0.998834,0.008805],[0.998827,-0.047382,0.010013],[-0.009584,0.009270,0.999911]]
2025-10-26T18:39:13.721Z,1761503953.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282151
2025-10-26T18:39:13.972Z,1761503953.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533670
2025-10-26T18:39:14.082Z,1761503954.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063949,-0.997918,0.008339],[0.997909,-0.063865,0.009976],[-0.009422,0.008960,0.999915]]
2025-10-26T18:39:14.224Z,1761503954.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785747
2025-10-26T18:39:14.480Z,1761503954.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041632
2025-10-26T18:39:14.487Z,1761503954.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080676,-0.996705,0.008457],[0.996697,-0.080590,0.010063],[-0.009348,0.009241,0.999914]]
2025-10-26T18:39:14.733Z,1761503954.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294589
2025-10-26T18:39:14.893Z,1761503954.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098399,-0.995097,0.009937],[0.995106,-0.098300,0.010013],[-0.008987,0.010873,0.999900]]
2025-10-26T18:39:14.985Z,1761503954.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546060
2025-10-26T18:39:15.236Z,1761503955.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797675
2025-10-26T18:39:15.300Z,1761503955.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116867,-0.993073,0.012178],[0.993108,-0.116743,0.010409],[-0.008915,0.013310,0.999872]]
2025-10-26T18:39:15.488Z,1761503955.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049711
2025-10-26T18:39:15.699Z,1761503955.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134925,-0.990740,0.015165],[0.990813,-0.134761,0.011395],[-0.009246,0.016563,0.999820]]
2025-10-26T18:39:15.741Z,1761503955.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301869
2025-10-26T18:39:15.992Z,1761503955.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553670
2025-10-26T18:39:16.103Z,1761503956.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154228,-0.987882,0.017408],[0.987990,-0.154028,0.012321],[-0.009490,0.019099,0.999773]]
2025-10-26T18:39:16.149Z,1761503956.149 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:39:16.149Z,1761503956.149 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:39:16.149Z,1761503956.149 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateRudder:A] Stopped
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:39:16.150Z,1761503956.150 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:39:16.151Z,1761503956.151 [marl:UpdateCommandMode] Stopped
2025-10-26T18:39:16.151Z,1761503956.151 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:39:16.151Z,1761503956.151 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:39:16.151Z,1761503956.151 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:39:16.151Z,1761503956.151 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:39:16.155Z,1761503956.155 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:39:16.156Z,1761503956.156 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:39:16.156Z,1761503956.156 [marl:UpdateSpeed] Stopped
2025-10-26T18:39:16.156Z,1761503956.156 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:39:16.245Z,1761503956.245 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:17.0308

2025-10-26T18:39:16.245Z,1761503956.245 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:39:16.246Z,1761503956.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806976
2025-10-26T18:39:16.497Z,1761503956.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057842
2025-10-26T18:39:16.508Z,1761503956.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174147,-0.984529,0.019364],[0.984672,-0.173911,0.013254],[-0.009682,0.021376,0.999725]]
2025-10-26T18:39:16.572Z,1761503956.572 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:39:16.572Z,1761503956.572 [marl:UpdateRudder:B] Stopped
2025-10-26T18:39:16.573Z,1761503956.573 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:39:16.573Z,1761503956.573 [marl:UpdateRudder] Stopped
2025-10-26T18:39:16.573Z,1761503956.573 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:39:16.748Z,1761503956.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309746
2025-10-26T18:39:16.948Z,1761503956.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:39:17.001Z,1761503957.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561857
2025-10-26T18:39:17.253Z,1761503957.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813922
2025-10-26T18:39:17.314Z,1761503957.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216269,-0.976068,0.022795],[0.976291,-0.215981,0.014423],[-0.009155,0.025373,0.999636]]
2025-10-26T18:39:17.504Z,1761503957.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065686
2025-10-26T18:39:17.723Z,1761503957.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237688,-0.971042,0.024107],[0.971307,-0.237399,0.014284],[-0.008147,0.026810,0.999607]]
2025-10-26T18:39:17.757Z,1761503957.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317842
2025-10-26T18:39:17.952Z,1761503957.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:39:18.008Z,1761503958.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569776
2025-10-26T18:39:18.122Z,1761503958.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259122,-0.965488,0.026226],[0.965823,-0.258838,0.013757],[-0.006494,0.028895,0.999561]]
2025-10-26T18:39:18.260Z,1761503958.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821734
2025-10-26T18:39:18.513Z,1761503958.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074281
2025-10-26T18:39:18.533Z,1761503958.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279810,-0.959653,0.027803],[0.960046,-0.279564,0.012452],[-0.004177,0.030176,0.999536]]
2025-10-26T18:39:18.764Z,1761503958.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325771
2025-10-26T18:39:18.933Z,1761503958.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299680,-0.953568,0.030018],[0.954040,-0.299502,0.010345],[-0.000874,0.031738,0.999496]]
2025-10-26T18:39:19.016Z,1761503959.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577771
2025-10-26T18:39:19.268Z,1761503959.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829716
2025-10-26T18:39:19.339Z,1761503959.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318280,-0.947467,0.031688],[0.947991,-0.318216,0.007168],[0.003293,0.032322,0.999472]]
2025-10-26T18:39:19.520Z,1761503959.520 [DAT](INFO): Reached modem response timeout
2025-10-26T18:39:19.741Z,1761503959.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335087,-0.941581,0.033802],[0.942154,-0.335160,0.003644],[0.007898,0.033068,0.999422]]
2025-10-26T18:39:20.143Z,1761503960.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348966,-0.936445,0.035969],[0.937052,-0.349190,0.000065],[0.012499,0.033727,0.999353]]
2025-10-26T18:39:20.547Z,1761503960.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360159,-0.932190,0.036141],[0.932745,-0.360518,-0.003720],[0.016497,0.032370,0.999340]]
2025-10-26T18:39:21.354Z,1761503961.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378357,-0.925163,0.030330],[0.925368,-0.378857,-0.012697],[0.023237,0.023263,0.999459]]
2025-10-26T18:39:21.762Z,1761503961.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386667,-0.921781,0.028435],[0.921853,-0.387198,-0.016251],[0.025990,0.019929,0.999464]]
2025-10-26T18:39:22.162Z,1761503962.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394643,-0.918478,0.025580],[0.918413,-0.395152,-0.019308],[0.027842,0.015873,0.999486]]
2025-10-26T18:39:22.567Z,1761503962.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402300,-0.915218,0.023040],[0.915062,-0.402762,-0.021074],[0.028568,0.012605,0.999512]]
2025-10-26T18:39:22.971Z,1761503962.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409401,-0.912067,0.022889],[0.911916,-0.409853,-0.020726],[0.028285,0.012387,0.999523]]
2025-10-26T18:39:23.381Z,1761503963.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415957,-0.909139,0.021129],[0.908993,-0.416347,-0.019661],[0.026671,0.011028,0.999583]]
2025-10-26T18:39:23.778Z,1761503963.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422290,-0.906270,0.018606],[0.906140,-0.422598,-0.017951],[0.024131,0.009279,0.999666]]
2025-10-26T18:39:24.182Z,1761503964.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429869,-0.902730,0.017081],[0.902634,-0.430121,-0.015721],[0.021539,0.008660,0.999731]]
2025-10-26T18:39:24.587Z,1761503964.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439454,-0.898127,0.015760],[0.898046,-0.439667,-0.014381],[0.019846,0.007833,0.999772]]
2025-10-26T18:39:24.995Z,1761503964.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450616,-0.892554,0.017126],[0.892511,-0.450842,-0.012872],[0.019210,0.009485,0.999770]]
2025-10-26T18:39:25.409Z,1761503965.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463244,-0.886031,0.018810],[0.886016,-0.463495,-0.012175],[0.019506,0.011026,0.999749]]
2025-10-26T18:39:25.798Z,1761503965.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476629,-0.878832,0.021899],[0.878878,-0.476924,-0.010834],[0.019965,0.014083,0.999701]]
2025-10-26T18:39:26.202Z,1761503966.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490326,-0.871172,0.025295],[0.871303,-0.490662,-0.009039],[0.020286,0.017608,0.999639]]
2025-10-26T18:39:26.344Z,1761503966.344 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:39:26.600Z,1761503966.600 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:39:26.608Z,1761503966.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504700,-0.862886,0.026553],[0.863056,-0.505045,-0.008009],[0.020321,0.018875,0.999615]]
2025-10-26T18:39:26.857Z,1761503966.857 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:39:27.013Z,1761503967.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519847,-0.853802,0.027958],[0.854021,-0.520197,-0.006618],[0.020194,0.020436,0.999587]]
2025-10-26T18:39:27.414Z,1761503967.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536106,-0.843605,0.030355],[0.843911,-0.536464,-0.004546],[0.020119,0.023179,0.999529]]
2025-10-26T18:39:27.818Z,1761503967.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552747,-0.832714,0.032529],[0.833118,-0.553092,-0.001939],[0.019606,0.026029,0.999469]]
2025-10-26T18:39:28.224Z,1761503968.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568975,-0.821658,0.033853],[0.822138,-0.569288,0.000467],[0.018888,0.028097,0.999427]]
2025-10-26T18:39:28.627Z,1761503968.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585370,-0.810030,0.034541],[0.810554,-0.585660,0.002084],[0.018541,0.029217,0.999401]]
2025-10-26T18:39:29.132Z,1761503969.132 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:39:29.132Z,1761503969.132 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:39:29.132Z,1761503969.132 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:39:29.132Z,1761503969.132 [marl:UpdateRudder:A] Stopped
2025-10-26T18:39:29.132Z,1761503969.132 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:39:29.132Z,1761503969.132 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateCommandMode] Stopped
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:39:29.133Z,1761503969.133 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:39:29.134Z,1761503969.134 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:39:29.134Z,1761503969.134 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:39:29.134Z,1761503969.134 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:39:29.134Z,1761503969.134 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:39:29.134Z,1761503969.134 [marl:UpdateSpeed] Stopped
2025-10-26T18:39:29.134Z,1761503969.134 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:39:29.436Z,1761503969.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617361,-0.785780,0.037608],[0.786448,-0.617634,0.005272],[0.019086,0.032832,0.999279]]
2025-10-26T18:39:29.482Z,1761503969.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:39:29.482Z,1761503969.482 [marl:UpdateRudder:B] Stopped
2025-10-26T18:39:29.482Z,1761503969.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:39:29.482Z,1761503969.482 [marl:UpdateRudder] Stopped
2025-10-26T18:39:29.482Z,1761503969.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:39:29.838Z,1761503969.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632703,-0.773345,0.040292],[0.774123,-0.633001,0.006499],[0.020479,0.035303,0.999167]]
2025-10-26T18:39:30.129Z,1761503970.129 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:39:30.9307

2025-10-26T18:39:30.129Z,1761503970.129 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:39:30.242Z,1761503970.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647839,-0.760631,0.041773],[0.761451,-0.648192,0.006279],[0.022301,0.035876,0.999107]]
2025-10-26T18:39:30.647Z,1761503970.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661223,-0.748988,0.042441],[0.749794,-0.661653,0.004941],[0.024381,0.035089,0.999087]]
2025-10-26T18:39:31.454Z,1761503971.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685734,-0.726642,0.041946],[0.727293,-0.686327,0.000377],[0.028515,0.030766,0.999120]]
2025-10-26T18:39:31.863Z,1761503971.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695935,-0.716922,0.041196],[0.717466,-0.696590,-0.002207],[0.030279,0.028020,0.999149]]
2025-10-26T18:39:32.262Z,1761503972.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702574,-0.710746,0.035064],[0.710910,-0.703215,-0.009719],[0.031565,0.018099,0.999338]]
2025-10-26T18:39:32.669Z,1761503972.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705270,-0.708604,0.021798],[0.708193,-0.705605,-0.024165],[0.032505,-0.001606,0.999470]]
2025-10-26T18:39:33.073Z,1761503973.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704728,-0.709477,0.001096],[0.708702,-0.704029,-0.045667],[0.033172,-0.031406,0.998956]]
2025-10-26T18:39:33.474Z,1761503973.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702423,-0.711334,-0.024623],[0.710960,-0.699572,-0.071659],[0.033748,-0.067841,0.997125]]
2025-10-26T18:39:33.623Z,1761503973.623 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:39:33.623Z,1761503973.623 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:39:33.885Z,1761503973.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699098,-0.713235,-0.050571],[0.714217,-0.693194,-0.096828],[0.034006,-0.103811,0.994016]]
2025-10-26T18:39:34.284Z,1761503974.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695678,-0.714639,-0.072964],[0.717528,-0.686415,-0.118272],[0.034439,-0.134633,0.990297]]
2025-10-26T18:39:34.687Z,1761503974.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691917,-0.716360,-0.089883],[0.721114,-0.679626,-0.134547],[0.035297,-0.157911,0.986822]]
2025-10-26T18:39:35.093Z,1761503975.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687968,-0.718416,-0.102852],[0.724833,-0.673083,-0.146889],[0.036299,-0.175605,0.983791]]
2025-10-26T18:39:35.495Z,1761503975.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684156,-0.720553,-0.112844],[0.728368,-0.667050,-0.156606],[0.037570,-0.189335,0.981194]]
2025-10-26T18:39:35.898Z,1761503975.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680658,-0.722884,-0.118930],[0.731550,-0.661973,-0.163176],[0.039229,-0.198070,0.979402]]
2025-10-26T18:39:36.302Z,1761503976.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678021,-0.724828,-0.122115],[0.733918,-0.658386,-0.167012],[0.040657,-0.202860,0.978363]]
2025-10-26T18:39:36.741Z,1761503976.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676070,-0.726392,-0.123626],[0.735673,-0.656006,-0.168646],[0.041404,-0.204965,0.977893]]
2025-10-26T18:39:37.514Z,1761503977.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672988,-0.729244,-0.123656],[0.738572,-0.653509,-0.165644],[0.039984,-0.202805,0.978402]]
2025-10-26T18:39:37.918Z,1761503977.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671902,-0.730291,-0.123381],[0.739687,-0.653216,-0.161776],[0.037550,-0.199961,0.979084]]
2025-10-26T18:39:38.322Z,1761503978.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672049,-0.730438,-0.121697],[0.739707,-0.654558,-0.156166],[0.034412,-0.194972,0.980205]]
2025-10-26T18:39:38.782Z,1761503978.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673276,-0.729644,-0.119660],[0.738756,-0.657126,-0.149749],[0.030632,-0.189221,0.981457]]
2025-10-26T18:39:38.901Z,1761503978.901 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:39:38.973Z,1761503978.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:39:39.024Z,1761503979.024 [DAT](INFO): entering command mode
2025-10-26T18:39:39.139Z,1761503979.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676038,-0.727204,-0.118939],[0.736367,-0.660778,-0.145380],[0.027128,-0.185865,0.982201]]
2025-10-26T18:39:39.225Z,1761503979.225 [DAT](INFO): DAT read: 

2025-10-26T18:39:39.226Z,1761503979.226 [DAT](INFO): DAT read: user:55>

2025-10-26T18:39:39.227Z,1761503979.227 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:39:39.227Z,1761503979.227 [DAT](INFO): setting remote address to 0
2025-10-26T18:39:39.476Z,1761503979.476 [DAT](INFO): DAT read: user:55>

2025-10-26T18:39:39.477Z,1761503979.477 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:39:39.477Z,1761503979.477 [DAT](INFO): set remote address to 0
2025-10-26T18:39:39.478Z,1761503979.478 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:39:39.478Z,1761503979.478 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:39:39.537Z,1761503979.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679649,-0.723897,-0.118530],[0.733163,-0.665217,-0.141273],[0.023419,-0.182919,0.982849]]
2025-10-26T18:39:39.729Z,1761503979.729 [DAT](INFO): DAT read: user:56>

2025-10-26T18:39:39.730Z,1761503979.730 [DAT](INFO): DAT read: Tx time:18:39:40.4818

2025-10-26T18:39:39.730Z,1761503979.730 [DAT](INFO): Ping request sent.
2025-10-26T18:39:39.730Z,1761503979.730 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:39:39.731Z,1761503979.731 [DAT](INFO): publishing transmit ping time
2025-10-26T18:39:39.732Z,1761503979.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001608
2025-10-26T18:39:39.938Z,1761503979.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683525,-0.720370,-0.117732],[0.729667,-0.670029,-0.136551],[0.019483,-0.179241,0.983612]]
2025-10-26T18:39:39.980Z,1761503979.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250140
2025-10-26T18:39:40.232Z,1761503980.232 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T18:39:40.232Z,1761503980.232 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T18:39:40.233Z,1761503980.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502382
2025-10-26T18:39:40.352Z,1761503980.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686669,-0.717432,-0.117371],[0.726799,-0.674003,-0.132221],[0.015752,-0.176097,0.984247]]
2025-10-26T18:39:40.485Z,1761503980.485 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:39:40.485Z,1761503980.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754847
2025-10-26T18:39:40.737Z,1761503980.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006409
2025-10-26T18:39:40.748Z,1761503980.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689550,-0.714577,-0.117902],[0.724122,-0.677329,-0.129897],[0.012963,-0.174946,0.984493]]
2025-10-26T18:39:40.988Z,1761503980.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258132
2025-10-26T18:39:41.153Z,1761503981.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692224,-0.711915,-0.118336],[0.721589,-0.680123,-0.129394],[0.011634,-0.174959,0.984507]]
2025-10-26T18:39:41.241Z,1761503981.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510713
2025-10-26T18:39:41.492Z,1761503981.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762179
2025-10-26T18:39:41.554Z,1761503981.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694937,-0.709316,-0.118040],[0.718966,-0.682608,-0.130900],[0.012275,-0.175834,0.984343]]
2025-10-26T18:39:41.744Z,1761503981.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014145
2025-10-26T18:39:41.959Z,1761503981.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697760,-0.706361,-0.119101],[0.716187,-0.684574,-0.135770],[0.014369,-0.180034,0.983555]]
2025-10-26T18:39:41.983Z,1761503981.983 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:39:41.983Z,1761503981.983 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:39:41.983Z,1761503981.983 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateRudder:A] Stopped
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:39:41.984Z,1761503981.984 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateCommandMode] Stopped
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:39:41.985Z,1761503981.985 [marl:UpdateSpeed] Stopped
2025-10-26T18:39:41.986Z,1761503981.986 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:39:41.996Z,1761503981.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266209
2025-10-26T18:39:42.248Z,1761503982.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518177
2025-10-26T18:39:42.363Z,1761503982.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700066,-0.704124,-0.118815],[0.713867,-0.686053,-0.140450],[0.017381,-0.183142,0.982933]]
2025-10-26T18:39:42.397Z,1761503982.397 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:39:42.397Z,1761503982.397 [marl:UpdateRudder:B] Stopped
2025-10-26T18:39:42.397Z,1761503982.397 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:39:42.397Z,1761503982.397 [marl:UpdateRudder] Stopped
2025-10-26T18:39:42.397Z,1761503982.397 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:39:42.500Z,1761503982.500 [DAT](INFO): DAT read: Rx Time:18:39:42.6685

2025-10-26T18:39:42.501Z,1761503982.501 [DAT](INFO): Rx dataTimestamp_ set to:1761503982.500611
2025-10-26T18:39:42.501Z,1761503982.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771244
2025-10-26T18:39:42.752Z,1761503982.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022083
2025-10-26T18:39:42.768Z,1761503982.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701240,-0.702807,-0.119685],[0.712648,-0.686338,-0.145167],[0.019880,-0.187090,0.982142]]
2025-10-26T18:39:43.010Z,1761503983.010 [DAT](INFO): DAT read: 18:39:42.6685 LVL= 32752, 28401, 17394, 32755, AGC= 50, IDX= 234, 0.38,-2.873,-2.247,-0.852,-2.267, PHS=-0.504, 0.065, 1.371, RAW= 227.2, -11.2, CAL= 226.5, -17.0, ROT= 283.5,  17.0

2025-10-26T18:39:43.011Z,1761503983.011 [DAT](INFO): got valid direction response:
 18:39:42.6685 LVL= 32752, 28401, 17394, 32755, AGC= 50, IDX= 234, 0.38,-2.873,-2.247,-0.852,-2.267, PHS=-0.504, 0.065, 1.371, RAW= 227.2, -11.2, CAL= 226.5, -17.0, ROT= 283.5,  17.0

2025-10-26T18:39:43.012Z,1761503983.012 [DAT](INFO): DAT read: Bearing  41, -20 (Remote)

2025-10-26T18:39:43.013Z,1761503983.013 [DAT](INFO): Remote Bearing received:Bearing  41, -20 (Remote)

2025-10-26T18:39:43.013Z,1761503983.013 [DAT](INFO): DAT read: Bearing 223.9, -58.7 (Local)

2025-10-26T18:39:43.014Z,1761503983.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.9, -58.7 (Local)

2025-10-26T18:39:43.015Z,1761503983.015 [DAT](INFO): DAT read: Range 11 to 20 : 118.2 m  (Round-trip  157.6 ms) speed  0.0 m/s

2025-10-26T18:39:43.016Z,1761503983.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:39:43.017Z,1761503983.017 [DAT](INFO): direction in FSK: [0.223245,-0.929882,-0.292372]
2025-10-26T18:39:43.017Z,1761503983.017 [DAT](INFO): publishing direction and range info
2025-10-26T18:39:43.170Z,1761503983.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700189,-0.703812,-0.119933],[0.713640,-0.684922,-0.146970],[0.021295,-0.188496,0.981843]]
2025-10-26T18:39:43.267Z,1761503983.267 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504000.00. Resetting abort timer.
2025-10-26T18:39:43.574Z,1761503983.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698648,-0.704911,-0.122435],[0.715135,-0.682828,-0.149426],[0.021730,-0.191954,0.981163]]
2025-10-26T18:39:43.978Z,1761503983.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696619,-0.706674,-0.123833],[0.717121,-0.680703,-0.149600],[0.021425,-0.193018,0.980961]]
2025-10-26T18:39:44.382Z,1761503984.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694416,-0.708717,-0.124521],[0.719275,-0.678673,-0.148483],[0.020724,-0.192674,0.981044]]
2025-10-26T18:39:44.788Z,1761503984.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692242,-0.710818,-0.124650],[0.721404,-0.676950,-0.145996],[0.019395,-0.190988,0.981401]]
2025-10-26T18:39:45.190Z,1761503985.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690214,-0.712572,-0.125881],[0.723399,-0.675345,-0.143540],[0.017270,-0.190135,0.981606]]
2025-10-26T18:39:45.595Z,1761503985.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688838,-0.713617,-0.127489],[0.724768,-0.674411,-0.141002],[0.014642,-0.189528,0.981766]]
2025-10-26T18:39:45.000Z,1761503986.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688668,-0.713766,-0.127574],[0.724976,-0.674893,-0.137583],[0.012103,-0.187237,0.982240]]
2025-10-26T18:39:46.402Z,1761503986.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689414,-0.713222,-0.126579],[0.724300,-0.676355,-0.133916],[0.009900,-0.184005,0.982875]]
2025-10-26T18:39:46.819Z,1761503986.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691019,-0.711789,-0.125891],[0.722796,-0.678587,-0.130713],[0.007612,-0.181319,0.983395]]
2025-10-26T18:39:47.616Z,1761503987.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696480,-0.706496,-0.125616],[0.717570,-0.684990,-0.126021],[0.002988,-0.177910,0.984042]]
2025-10-26T18:39:48.018Z,1761503988.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699504,-0.703457,-0.125866],[0.714628,-0.688416,-0.124057],[0.000621,-0.176726,0.984260]]
2025-10-26T18:39:48.085Z,1761503988.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:39:48.422Z,1761503988.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703072,-0.699785,-0.126453],[0.711117,-0.692214,-0.123096],[-0.001392,-0.176468,0.984305]]
2025-10-26T18:39:48.870Z,1761503988.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706784,-0.695837,-0.127542],[0.707421,-0.696057,-0.122718],[-0.003385,-0.176962,0.984212]]
2025-10-26T18:39:49.088Z,1761503989.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:39:49.234Z,1761503989.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710335,-0.691936,-0.129031],[0.703844,-0.699629,-0.122973],[-0.005184,-0.178170,0.983986]]
2025-10-26T18:39:49.634Z,1761503989.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713724,-0.687926,-0.131742],[0.700395,-0.702755,-0.124829],[-0.006709,-0.181364,0.983393]]
2025-10-26T18:39:50.038Z,1761503990.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716862,-0.684351,-0.133312],[0.697174,-0.705655,-0.126486],[-0.007511,-0.183614,0.982970]]
2025-10-26T18:39:50.442Z,1761503990.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719588,-0.681121,-0.135161],[0.694363,-0.707844,-0.129681],[-0.007344,-0.187167,0.982301]]
2025-10-26T18:39:50.881Z,1761503990.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721973,-0.678171,-0.137258],[0.691892,-0.709431,-0.134138],[-0.006407,-0.191811,0.981411]]
2025-10-26T18:39:51.253Z,1761503991.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724104,-0.675685,-0.138287],[0.689676,-0.710690,-0.138807],[-0.004489,-0.195884,0.980617]]
2025-10-26T18:39:51.654Z,1761503991.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725638,-0.674015,-0.138399],[0.688074,-0.711362,-0.143241],[-0.001905,-0.199170,0.979963]]
2025-10-26T18:39:52.060Z,1761503992.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726298,-0.673367,-0.138088],[0.687380,-0.711345,-0.146618],[0.000499,-0.201407,0.979507]]
2025-10-26T18:39:52.462Z,1761503992.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725263,-0.674456,-0.138216],[0.688469,-0.709884,-0.148576],[0.002090,-0.202914,0.979194]]
2025-10-26T18:39:52.893Z,1761503992.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722978,-0.677075,-0.137376],[0.690863,-0.707602,-0.148350],[0.003236,-0.202162,0.979347]]
2025-10-26T18:39:53.273Z,1761503993.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720663,-0.679636,-0.136894],[0.693273,-0.705281,-0.148159],[0.004146,-0.201677,0.979443]]
2025-10-26T18:39:53.675Z,1761503993.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718493,-0.682011,-0.136488],[0.695520,-0.703234,-0.147358],[0.004517,-0.200806,0.979621]]
2025-10-26T18:39:54.078Z,1761503994.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716346,-0.684385,-0.135888],[0.697732,-0.701450,-0.145389],[0.004183,-0.198963,0.979998]]
2025-10-26T18:39:54.492Z,1761503994.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714110,-0.686882,-0.135056],[0.700027,-0.699852,-0.142020],[0.003032,-0.195961,0.980607]]
2025-10-26T18:39:54.897Z,1761503994.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709731,-0.691419,-0.134990],[0.704470,-0.697090,-0.133370],[-0.001885,-0.189754,0.981830]]
2025-10-26T18:39:54.954Z,1761503994.954 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:39:54.954Z,1761503994.954 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:39:54.954Z,1761503994.954 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:39:54.955Z,1761503994.955 [marl:UpdateRudder:A] Stopped
2025-10-26T18:39:54.955Z,1761503994.955 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:39:54.955Z,1761503994.955 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:39:54.955Z,1761503994.955 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:39:54.955Z,1761503994.955 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateCommandMode] Stopped
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:39:54.956Z,1761503994.956 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:39:54.957Z,1761503994.957 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:39:54.957Z,1761503994.957 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:39:54.957Z,1761503994.957 [marl:UpdateSpeed] Stopped
2025-10-26T18:39:54.957Z,1761503994.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:39:55.310Z,1761503995.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707661,-0.693721,-0.134041],[0.706534,-0.696157,-0.127183],[-0.005084,-0.184707,0.982780]]
2025-10-26T18:39:55.335Z,1761503995.335 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:39:55.335Z,1761503995.335 [marl:UpdateRudder:B] Stopped
2025-10-26T18:39:55.335Z,1761503995.335 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:39:55.335Z,1761503995.335 [marl:UpdateRudder] Stopped
2025-10-26T18:39:55.335Z,1761503995.335 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:39:55.701Z,1761503995.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706135,-0.695415,-0.133311],[0.708027,-0.695701,-0.121232],[-0.008438,-0.179994,0.983632]]
2025-10-26T18:39:56.103Z,1761503996.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706256,-0.695369,-0.132907],[0.707872,-0.696519,-0.117384],[-0.010947,-0.176984,0.984153]]
2025-10-26T18:39:56.513Z,1761503996.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707862,-0.693671,-0.133239],[0.706240,-0.698390,-0.116086],[-0.012528,-0.176272,0.984262]]
2025-10-26T18:39:56.910Z,1761503996.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710256,-0.691126,-0.133717],[0.703807,-0.700920,-0.115614],[-0.013821,-0.176227,0.984253]]
2025-10-26T18:39:57.314Z,1761503997.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713353,-0.687976,-0.133478],[0.700650,-0.704143,-0.115205],[-0.014729,-0.175703,0.984333]]
2025-10-26T18:39:57.721Z,1761503997.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716561,-0.684759,-0.132837],[0.697354,-0.707488,-0.114712],[-0.015431,-0.174833,0.984477]]
2025-10-26T18:39:58.118Z,1761503998.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719977,-0.681489,-0.131170],[0.693826,-0.711034,-0.114175],[-0.015457,-0.173213,0.984763]]
2025-10-26T18:39:58.522Z,1761503998.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723657,-0.677773,-0.130168],[0.689996,-0.714610,-0.115060],[-0.015035,-0.173080,0.984793]]
2025-10-26T18:39:58.926Z,1761503998.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727425,-0.673918,-0.129181],[0.686034,-0.718242,-0.116127],[-0.014523,-0.173096,0.984798]]
2025-10-26T18:39:59.338Z,1761503999.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731125,-0.670189,-0.127681],[0.682107,-0.721803,-0.117178],[-0.013630,-0.172764,0.984869]]
2025-10-26T18:39:59.737Z,1761503999.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734878,-0.666019,-0.127956],[0.678081,-0.725078,-0.120280],[-0.012669,-0.175156,0.984459]]
2025-10-26T18:40:00.139Z,1761504000.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738361,-0.662334,-0.127029],[0.674306,-0.728273,-0.122187],[-0.011583,-0.175874,0.984345]]
2025-10-26T18:40:00.544Z,1761504000.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741167,-0.659324,-0.126348],[0.671242,-0.730723,-0.124412],[-0.010297,-0.177020,0.984153]]
2025-10-26T18:40:00.946Z,1761504000.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743581,-0.656741,-0.125617],[0.668588,-0.732768,-0.126657],[-0.008868,-0.178165,0.983961]]
2025-10-26T18:40:01.350Z,1761504001.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745710,-0.654402,-0.125201],[0.666226,-0.734556,-0.128726],[-0.007728,-0.179405,0.983745]]
2025-10-26T18:40:01.764Z,1761504001.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747374,-0.652249,-0.126505],[0.664373,-0.735515,-0.132768],[-0.006448,-0.183273,0.983041]]
2025-10-26T18:40:02.160Z,1761504002.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749002,-0.650366,-0.126570],[0.662544,-0.736779,-0.134875],[-0.005536,-0.184880,0.982745]]
2025-10-26T18:40:02.563Z,1761504002.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749253,-0.649639,-0.128795],[0.662267,-0.736299,-0.138804],[-0.004659,-0.189297,0.981909]]
2025-10-26T18:40:02.966Z,1761504002.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749585,-0.648947,-0.130348],[0.661900,-0.735916,-0.142538],[-0.003426,-0.193122,0.981169]]
2025-10-26T18:40:03.370Z,1761504003.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749633,-0.648529,-0.132138],[0.661849,-0.735300,-0.145911],[-0.002533,-0.196835,0.980433]]
2025-10-26T18:40:03.783Z,1761504003.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749559,-0.648377,-0.133294],[0.661934,-0.734758,-0.148237],[-0.001826,-0.199344,0.979928]]
2025-10-26T18:40:04.179Z,1761504004.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749208,-0.648816,-0.133138],[0.662333,-0.734385,-0.148303],[-0.001553,-0.199292,0.979939]]
2025-10-26T18:40:04.582Z,1761504004.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748872,-0.649239,-0.132964],[0.662713,-0.734066,-0.148183],[-0.001398,-0.199087,0.979981]]
2025-10-26T18:40:04.987Z,1761504004.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748619,-0.649235,-0.134397],[0.662998,-0.733542,-0.149499],[-0.001526,-0.201023,0.979585]]
2025-10-26T18:40:05.395Z,1761504005.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748341,-0.649918,-0.132635],[0.663313,-0.733589,-0.147859],[-0.001203,-0.198627,0.980074]]
2025-10-26T18:40:05.795Z,1761504005.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747941,-0.650643,-0.131328],[0.663764,-0.733462,-0.146463],[-0.001029,-0.196716,0.980460]]
2025-10-26T18:40:06.199Z,1761504006.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747466,-0.651596,-0.129291],[0.664298,-0.733530,-0.143669],[-0.001224,-0.193276,0.981144]]
2025-10-26T18:40:06.602Z,1761504006.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746794,-0.652729,-0.127453],[0.665055,-0.733242,-0.141625],[-0.001011,-0.190528,0.981681]]
2025-10-26T18:40:07.006Z,1761504007.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746317,-0.653385,-0.126883],[0.665590,-0.732833,-0.141225],[-0.000710,-0.189851,0.981813]]
2025-10-26T18:40:07.417Z,1761504007.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746202,-0.653795,-0.125442],[0.665720,-0.732847,-0.140542],[-0.000044,-0.188382,0.982096]]
2025-10-26T18:40:07.478Z,1761504007.478 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:40:07.478Z,1761504007.478 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:40:07.478Z,1761504007.478 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:40:07.479Z,1761504007.479 [marl:UpdateRudder:A] Stopped
2025-10-26T18:40:07.479Z,1761504007.479 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:40:07.479Z,1761504007.479 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:40:07.479Z,1761504007.479 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:40:07.479Z,1761504007.479 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateCommandMode] Stopped
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:40:07.484Z,1761504007.484 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:40:07.485Z,1761504007.485 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:40:07.485Z,1761504007.485 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:40:07.485Z,1761504007.485 [marl:UpdateSpeed] Stopped
2025-10-26T18:40:07.485Z,1761504007.485 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:40:07.814Z,1761504007.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746068,-0.654365,-0.123243],[0.665869,-0.732878,-0.139670],[0.001073,-0.186267,0.982499]]
2025-10-26T18:40:07.870Z,1761504007.870 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:40:07.870Z,1761504007.870 [marl:UpdateRudder:B] Stopped
2025-10-26T18:40:07.870Z,1761504007.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:40:07.870Z,1761504007.870 [marl:UpdateRudder] Stopped
2025-10-26T18:40:07.870Z,1761504007.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:40:08.219Z,1761504008.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745771,-0.655397,-0.119499],[0.666197,-0.732953,-0.137701],[0.002662,-0.182303,0.983239]]
2025-10-26T18:40:08.623Z,1761504008.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745132,-0.656370,-0.118139],[0.666902,-0.732164,-0.138480],[0.004397,-0.181973,0.983294]]
2025-10-26T18:40:09.028Z,1761504009.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744281,-0.657559,-0.116887],[0.667843,-0.731292,-0.138554],[0.005629,-0.181185,0.983433]]
2025-10-26T18:40:09.072Z,1761504009.072 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:40:09.220Z,1761504009.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:40:09.220Z,1761504009.220 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:40:09.430Z,1761504009.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743115,-0.658756,-0.117558],[0.669126,-0.729671,-0.140893],[0.007035,-0.183361,0.983021]]
2025-10-26T18:40:09.472Z,1761504009.472 [DAT](INFO): DAT read: user:57>

2025-10-26T18:40:09.473Z,1761504009.473 [DAT](INFO): DAT read: Tx time:18:40:10.2317

2025-10-26T18:40:09.473Z,1761504009.473 [DAT](INFO): Ping request sent.
2025-10-26T18:40:09.474Z,1761504009.474 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:40:09.474Z,1761504009.474 [DAT](INFO): publishing transmit ping time
2025-10-26T18:40:09.475Z,1761504009.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944
2025-10-26T18:40:09.725Z,1761504009.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251061
2025-10-26T18:40:09.834Z,1761504009.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741960,-0.660064,-0.117520],[0.670393,-0.728252,-0.142204],[0.008279,-0.184295,0.982836]]
2025-10-26T18:40:09.976Z,1761504009.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502813
2025-10-26T18:40:10.229Z,1761504010.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755384
2025-10-26T18:40:10.257Z,1761504010.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740724,-0.661379,-0.117927],[0.671750,-0.726817,-0.143143],[0.008961,-0.185246,0.982651]]
2025-10-26T18:40:10.480Z,1761504010.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006683
2025-10-26T18:40:10.642Z,1761504010.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739986,-0.662441,-0.116589],[0.672551,-0.726174,-0.142643],[0.009829,-0.183966,0.982884]]
2025-10-26T18:40:10.736Z,1761504010.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262866
2025-10-26T18:40:10.984Z,1761504010.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510755
2025-10-26T18:40:11.047Z,1761504011.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739742,-0.662564,-0.117432],[0.672812,-0.725633,-0.144154],[0.010299,-0.185646,0.982563]]
2025-10-26T18:40:11.238Z,1761504011.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763699
2025-10-26T18:40:11.450Z,1761504011.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740283,-0.661839,-0.118111],[0.672219,-0.726030,-0.144924],[0.010164,-0.186681,0.982368]]
2025-10-26T18:40:11.489Z,1761504011.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015341
2025-10-26T18:40:11.741Z,1761504011.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267855
2025-10-26T18:40:11.854Z,1761504011.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741446,-0.660706,-0.117154],[0.670945,-0.727516,-0.143365],[0.009491,-0.184901,0.982711]]
2025-10-26T18:40:11.992Z,1761504011.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518709
2025-10-26T18:40:12.253Z,1761504012.253 [DAT](INFO): DAT read: Rx Time:18:40:12.4073

2025-10-26T18:40:12.254Z,1761504012.254 [DAT](INFO): Rx dataTimestamp_ set to:1761504012.253617
2025-10-26T18:40:12.255Z,1761504012.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781092
2025-10-26T18:40:12.267Z,1761504012.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743664,-0.658477,-0.115640],[0.668496,-0.730124,-0.141532],[0.008765,-0.182557,0.983156]]
2025-10-26T18:40:12.496Z,1761504012.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022803
2025-10-26T18:40:12.663Z,1761504012.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746598,-0.655600,-0.113054],[0.665228,-0.733645,-0.138698],[0.007989,-0.178759,0.983861]]
2025-10-26T18:40:12.756Z,1761504012.756 [DAT](INFO): DAT read: 18:40:12.4073 LVL= 25472, 18609, 16002, 29603, AGC= 47, IDX= 328, 0.25,-0.981,-0.110, 0.826,-0.115, PHS=-0.764, 0.050, 0.897, RAW= 239.3,  -2.6, CAL= 236.1,  -3.8, ROT= 273.9,   3.8

2025-10-26T18:40:12.758Z,1761504012.758 [DAT](INFO): got valid direction response:
 18:40:12.4073 LVL= 25472, 18609, 16002, 29603, AGC= 47, IDX= 328, 0.25,-0.981,-0.110, 0.826,-0.115, PHS=-0.764, 0.050, 0.897, RAW= 239.3,  -2.6, CAL= 236.1,  -3.8, ROT= 273.9,   3.8

2025-10-26T18:40:12.758Z,1761504012.758 [DAT](INFO): DAT read: Bearing  33,  -8 (Remote)

2025-10-26T18:40:12.759Z,1761504012.759 [DAT](INFO): Remote Bearing received:Bearing  33,  -8 (Remote)

2025-10-26T18:40:12.760Z,1761504012.760 [DAT](INFO): DAT read: Bearing 224.1, -74.3 (Local)

2025-10-26T18:40:12.760Z,1761504012.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.1, -74.3 (Local)

2025-10-26T18:40:12.761Z,1761504012.761 [DAT](INFO): DAT read: Range 11 to 20 : 109.8 m  (Round-trip  146.4 ms) speed  0.7 m/s

2025-10-26T18:40:12.762Z,1761504012.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:40:12.763Z,1761504012.763 [DAT](INFO): direction in FSK: [0.067865,-0.995491,-0.066274]
2025-10-26T18:40:12.772Z,1761504012.772 [DAT](INFO): publishing direction and range info
2025-10-26T18:40:13.066Z,1761504013.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750262,-0.651595,-0.111944],[0.661103,-0.737568,-0.137611],[0.007100,-0.177251,0.984140]]
2025-10-26T18:40:13.124Z,1761504013.124 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504000.00. Resetting abort timer.
2025-10-26T18:40:13.470Z,1761504013.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753924,-0.647665,-0.110134],[0.656935,-0.741714,-0.135265],[0.005919,-0.174331,0.984669]]
2025-10-26T18:40:13.938Z,1761504013.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757685,-0.643317,-0.109803],[0.652606,-0.745747,-0.134040],[0.004345,-0.173218,0.984874]]
2025-10-26T18:40:14.278Z,1761504014.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761116,-0.639115,-0.110606],[0.648610,-0.749236,-0.133980],[0.002759,-0.173714,0.984792]]
2025-10-26T18:40:14.682Z,1761504014.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764254,-0.635174,-0.111667],[0.644913,-0.752226,-0.135068],[0.001793,-0.175242,0.984524]]
2025-10-26T18:40:15.086Z,1761504015.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766914,-0.631753,-0.112833],[0.641749,-0.754588,-0.136949],[0.001376,-0.177438,0.984131]]
2025-10-26T18:40:15.496Z,1761504015.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769393,-0.628616,-0.113473],[0.638773,-0.756621,-0.139619],[0.001911,-0.179905,0.983682]]
2025-10-26T18:40:15.894Z,1761504015.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771717,-0.625637,-0.114152],[0.635957,-0.758195,-0.143872],[0.003462,-0.183624,0.982991]]
2025-10-26T18:40:16.298Z,1761504016.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773966,-0.622850,-0.114171],[0.633199,-0.759548,-0.148814],[0.005971,-0.187470,0.982252]]
2025-10-26T18:40:16.704Z,1761504016.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776165,-0.620186,-0.113742],[0.630457,-0.760602,-0.154944],[0.009582,-0.191972,0.981354]]
2025-10-26T18:40:17.108Z,1761504017.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777910,-0.617903,-0.114248],[0.628236,-0.760932,-0.162178],[0.013275,-0.197934,0.980125]]
2025-10-26T18:40:17.510Z,1761504017.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778313,-0.617362,-0.114427],[0.627657,-0.760180,-0.167850],[0.016639,-0.202461,0.979149]]
2025-10-26T18:40:18.318Z,1761504018.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774591,-0.621877,-0.115230],[0.632127,-0.755290,-0.173069],[0.020596,-0.206897,0.978146]]
2025-10-26T18:40:18.733Z,1761504018.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772309,-0.624793,-0.114770],[0.634861,-0.752843,-0.173719],[0.022135,-0.207028,0.978085]]
2025-10-26T18:40:19.126Z,1761504019.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770262,-0.627433,-0.114126],[0.637297,-0.750738,-0.173913],[0.023440,-0.206691,0.978126]]
2025-10-26T18:40:19.208Z,1761504019.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:40:19.530Z,1761504019.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768394,-0.629902,-0.113109],[0.639518,-0.749070,-0.172946],[0.024212,-0.205226,0.978415]]
2025-10-26T18:40:19.934Z,1761504019.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766569,-0.632242,-0.112437],[0.641721,-0.747719,-0.170617],[0.023800,-0.202943,0.978901]]
2025-10-26T18:40:20.212Z,1761504020.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:40:20.340Z,1761504020.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764893,-0.634333,-0.112077],[0.643766,-0.746699,-0.167352],[0.022469,-0.200157,0.979506]]
2025-10-26T18:40:20.401Z,1761504020.401 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:40:20.401Z,1761504020.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:40:20.401Z,1761504020.401 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:40:20.401Z,1761504020.401 [marl:UpdateRudder:A] Stopped
2025-10-26T18:40:20.401Z,1761504020.401 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:40:20.401Z,1761504020.401 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateCommandMode] Stopped
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:40:20.402Z,1761504020.402 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:40:20.403Z,1761504020.403 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:40:20.403Z,1761504020.403 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:40:20.403Z,1761504020.403 [marl:UpdateSpeed] Stopped
2025-10-26T18:40:20.403Z,1761504020.403 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:40:20.743Z,1761504020.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763514,-0.636285,-0.110398],[0.645459,-0.746406,-0.162049],[0.020707,-0.194985,0.980588]]
2025-10-26T18:40:20.778Z,1761504020.778 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:40:20.778Z,1761504020.778 [marl:UpdateRudder:B] Stopped
2025-10-26T18:40:20.778Z,1761504020.778 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:40:20.779Z,1761504020.779 [marl:UpdateRudder] Stopped
2025-10-26T18:40:20.779Z,1761504020.779 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:40:21.146Z,1761504021.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763097,-0.636901,-0.109722],[0.646013,-0.746789,-0.158031],[0.018711,-0.191475,0.981319]]
2025-10-26T18:40:21.552Z,1761504021.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764943,-0.634968,-0.108066],[0.643857,-0.749219,-0.155306],[0.017649,-0.188379,0.981938]]
2025-10-26T18:40:21.954Z,1761504021.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768032,-0.631482,-0.106565],[0.640188,-0.752673,-0.153763],[0.016890,-0.186316,0.982345]]
2025-10-26T18:40:22.358Z,1761504022.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771474,-0.627627,-0.104462],[0.636054,-0.756576,-0.151751],[0.016209,-0.183515,0.982883]]
2025-10-26T18:40:22.762Z,1761504022.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774918,-0.623607,-0.103039],[0.631861,-0.760203,-0.151135],[0.015919,-0.182224,0.983128]]
2025-10-26T18:40:23.168Z,1761504023.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778187,-0.619715,-0.101872],[0.627820,-0.763404,-0.151843],[0.016330,-0.182119,0.983141]]
2025-10-26T18:40:23.570Z,1761504023.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781258,-0.616071,-0.100467],[0.623976,-0.766391,-0.152636],[0.017037,-0.181937,0.983163]]
2025-10-26T18:40:23.974Z,1761504023.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783931,-0.612978,-0.098542],[0.620568,-0.768875,-0.154035],[0.018654,-0.181905,0.983139]]
2025-10-26T18:40:24.379Z,1761504024.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785565,-0.611056,-0.097458],[0.618454,-0.770245,-0.155681],[0.020063,-0.182571,0.982988]]
2025-10-26T18:40:24.782Z,1761504024.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786154,-0.610262,-0.097686],[0.617670,-0.770412,-0.157953],[0.021134,-0.184513,0.982603]]
2025-10-26T18:40:25.193Z,1761504025.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786283,-0.609993,-0.098322],[0.617485,-0.770193,-0.159735],[0.021710,-0.186309,0.982251]]
2025-10-26T18:40:25.590Z,1761504025.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785735,-0.610501,-0.099544],[0.618163,-0.769202,-0.161871],[0.022253,-0.188722,0.981779]]
2025-10-26T18:40:25.994Z,1761504025.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785026,-0.611146,-0.101167],[0.619052,-0.768026,-0.164047],[0.022558,-0.191408,0.981251]]
2025-10-26T18:40:26.399Z,1761504026.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784239,-0.611967,-0.102303],[0.620029,-0.766834,-0.165917],[0.023087,-0.193549,0.980819]]
2025-10-26T18:40:26.809Z,1761504026.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783767,-0.612407,-0.103287],[0.620607,-0.765971,-0.167739],[0.023610,-0.195568,0.980406]]
2025-10-26T18:40:27.211Z,1761504027.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783433,-0.612893,-0.102930],[0.621013,-0.765640,-0.167745],[0.024002,-0.195338,0.980442]]
2025-10-26T18:40:27.612Z,1761504027.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783698,-0.612507,-0.103207],[0.620684,-0.765857,-0.167971],[0.023841,-0.195697,0.980374]]
2025-10-26T18:40:28.016Z,1761504028.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784702,-0.611349,-0.102441],[0.619416,-0.767001,-0.167432],[0.023787,-0.194838,0.980547]]
2025-10-26T18:40:28.418Z,1761504028.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786110,-0.609634,-0.101871],[0.617647,-0.768592,-0.166669],[0.023310,-0.193940,0.980736]]
2025-10-26T18:40:28.854Z,1761504028.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787995,-0.607446,-0.100367],[0.615262,-0.770906,-0.164794],[0.022730,-0.191608,0.981208]]
2025-10-26T18:40:29.226Z,1761504029.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790397,-0.604442,-0.099613],[0.612207,-0.773589,-0.163593],[0.021823,-0.190287,0.981486]]
2025-10-26T18:40:29.631Z,1761504029.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792824,-0.601266,-0.099548],[0.609096,-0.776141,-0.163120],[0.020815,-0.189959,0.981571]]
2025-10-26T18:40:30.438Z,1761504030.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797825,-0.594781,-0.098539],[0.602542,-0.781104,-0.163765],[0.020435,-0.190030,0.981566]]
2025-10-26T18:40:30.882Z,1761504030.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800121,-0.591781,-0.097990],[0.599449,-0.782967,-0.166202],[0.021632,-0.191722,0.981211]]
2025-10-26T18:40:31.247Z,1761504031.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801815,-0.589612,-0.097218],[0.597139,-0.784361,-0.167939],[0.022765,-0.192709,0.980992]]
2025-10-26T18:40:31.655Z,1761504031.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802385,-0.588637,-0.098408],[0.596310,-0.784020,-0.172415],[0.024336,-0.197025,0.980096]]
2025-10-26T18:40:32.054Z,1761504032.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802307,-0.588669,-0.098855],[0.596323,-0.783095,-0.176528],[0.026504,-0.200579,0.979319]]
2025-10-26T18:40:32.458Z,1761504032.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801760,-0.589449,-0.098647],[0.596940,-0.781804,-0.180123],[0.029051,-0.203302,0.978685]]
2025-10-26T18:40:32.886Z,1761504032.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800937,-0.590577,-0.098579],[0.597920,-0.780255,-0.183559],[0.031489,-0.205962,0.978053]]
2025-10-26T18:40:33.267Z,1761504033.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799769,-0.592272,-0.097894],[0.599366,-0.778694,-0.185462],[0.033614,-0.207001,0.977763]]
2025-10-26T18:40:33.300Z,1761504033.300 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:40:33.300Z,1761504033.300 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:40:33.300Z,1761504033.300 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateRudder:A] Stopped
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:40:33.301Z,1761504033.301 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateCommandMode] Stopped
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed] Stopped
2025-10-26T18:40:33.302Z,1761504033.302 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:40:33.679Z,1761504033.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798582,-0.593921,-0.097594],[0.600857,-0.777189,-0.186945],[0.035182,-0.207931,0.977511]]
2025-10-26T18:40:33.738Z,1761504033.738 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:40:33.738Z,1761504033.738 [marl:UpdateRudder:B] Stopped
2025-10-26T18:40:33.738Z,1761504033.738 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:40:33.738Z,1761504033.738 [marl:UpdateRudder] Stopped
2025-10-26T18:40:33.738Z,1761504033.738 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:40:33.849Z,1761504033.849 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:40:33.849Z,1761504033.849 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:40:34.074Z,1761504034.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797518,-0.595515,-0.096574],[0.602229,-0.776330,-0.186099],[0.035852,-0.206577,0.977773]]
2025-10-26T18:40:34.479Z,1761504034.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796884,-0.596426,-0.096187],[0.603102,-0.776080,-0.184304],[0.035274,-0.204879,0.978151]]
2025-10-26T18:40:34.891Z,1761504034.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796653,-0.597006,-0.094484],[0.603482,-0.776836,-0.179817],[0.033954,-0.200271,0.979152]]
2025-10-26T18:40:35.287Z,1761504035.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797268,-0.596418,-0.093003],[0.602764,-0.778395,-0.175432],[0.032238,-0.195925,0.980089]]
2025-10-26T18:40:35.693Z,1761504035.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798886,-0.594476,-0.091541],[0.600728,-0.780964,-0.170942],[0.030131,-0.191555,0.981019]]
2025-10-26T18:40:36.096Z,1761504036.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801203,-0.591550,-0.090237],[0.597734,-0.784097,-0.167051],[0.028065,-0.187780,0.981810]]
2025-10-26T18:40:36.498Z,1761504036.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802174,-0.590298,-0.089811],[0.596495,-0.785537,-0.164698],[0.026670,-0.185688,0.982247]]
2025-10-26T18:40:36.902Z,1761504036.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800664,-0.591334,-0.096234],[0.598538,-0.782473,-0.171720],[0.026244,-0.195090,0.980434]]
2025-10-26T18:40:37.307Z,1761504037.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796644,-0.594332,-0.110128],[0.603857,-0.774482,-0.188505],[0.026742,-0.216673,0.975878]]
2025-10-26T18:40:37.726Z,1761504037.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790687,-0.598225,-0.130154],[0.611592,-0.762188,-0.212193],[0.027737,-0.247379,0.968522]]
2025-10-26T18:40:38.114Z,1761504038.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783362,-0.602778,-0.151669],[0.620866,-0.747242,-0.236971],[0.029507,-0.279800,0.959605]]
2025-10-26T18:40:38.518Z,1761504038.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774644,-0.608555,-0.172011],[0.631577,-0.730616,-0.259443],[0.032211,-0.309615,0.950316]]
2025-10-26T18:40:38.922Z,1761504038.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765195,-0.614877,-0.190794],[0.642800,-0.713189,-0.279589],[0.035841,-0.336583,0.940972]]
2025-10-26T18:40:39.327Z,1761504039.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755041,-0.621691,-0.208357],[0.654444,-0.695073,-0.297618],[0.040203,-0.361072,0.931671]]
2025-10-26T18:40:39.357Z,1761504039.357 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:40:39.468Z,1761504039.468 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:40:39.468Z,1761504039.468 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:40:39.721Z,1761504039.721 [DAT](INFO): DAT read: user:58>

2025-10-26T18:40:39.722Z,1761504039.722 [DAT](INFO): DAT read: Tx time:18:40:40.4816

2025-10-26T18:40:39.722Z,1761504039.722 [DAT](INFO): Ping request sent.
2025-10-26T18:40:39.722Z,1761504039.722 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:40:39.723Z,1761504039.723 [DAT](INFO): publishing transmit ping time
2025-10-26T18:40:39.724Z,1761504039.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001511
2025-10-26T18:40:39.766Z,1761504039.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733589,-0.637838,-0.234542],[0.677763,-0.661346,-0.321339],[0.049849,-0.394695,0.917459]]
2025-10-26T18:40:39.973Z,1761504039.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250201
2025-10-26T18:40:40.225Z,1761504040.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502593
2025-10-26T18:40:40.476Z,1761504040.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753950
2025-10-26T18:40:40.545Z,1761504040.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710691,-0.657055,-0.251388],[0.700989,-0.631210,-0.331945],[0.059428,-0.412130,0.909185]]
2025-10-26T18:40:40.730Z,1761504040.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007076
2025-10-26T18:40:40.949Z,1761504040.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699518,-0.667156,-0.256081],[0.711715,-0.618161,-0.333674],[0.064313,-0.415667,0.907240]]
2025-10-26T18:40:40.980Z,1761504040.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257973
2025-10-26T18:40:41.232Z,1761504041.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509952
2025-10-26T18:40:41.390Z,1761504041.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687263,-0.678522,-0.259379],[0.723142,-0.605246,-0.332780],[0.068811,-0.416275,0.906631]]
2025-10-26T18:40:41.485Z,1761504041.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762581
2025-10-26T18:40:41.736Z,1761504041.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013980
2025-10-26T18:40:41.794Z,1761504041.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674517,-0.690349,-0.261621],[0.734632,-0.592554,-0.330449],[0.073101,-0.415089,0.906839]]
2025-10-26T18:40:41.989Z,1761504041.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266662
2025-10-26T18:40:42.229Z,1761504042.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660851,-0.702723,-0.263547],[0.746566,-0.579522,-0.326793],[0.076913,-0.412717,0.907606]]
2025-10-26T18:40:42.240Z,1761504042.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518012
2025-10-26T18:40:42.492Z,1761504042.492 [DAT](INFO): DAT read: Rx Time:18:40:42.6426

2025-10-26T18:40:42.493Z,1761504042.493 [DAT](INFO): Rx dataTimestamp_ set to:1761504042.492570
2025-10-26T18:40:42.493Z,1761504042.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770983
2025-10-26T18:40:42.669Z,1761504042.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646208,-0.715643,-0.265085],[0.758914,-0.566006,-0.322005],[0.080401,-0.409259,0.908869]]
2025-10-26T18:40:42.744Z,1761504042.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022038
2025-10-26T18:40:43.002Z,1761504043.002 [DAT](INFO): DAT read: 18:40:42.6425 LVL= 30704, 23361, 29170, 26019, AGC= 45, IDX= 290, 0.20,-0.928,-0.440, 0.661,-0.657, PHS=-0.169, 0.262, 1.274, RAW= 226.9, -20.6, CAL= 226.6, -26.0, ROT= 283.4,  26.0

2025-10-26T18:40:43.003Z,1761504043.003 [DAT](INFO): got valid direction response:
 18:40:42.6425 LVL= 30704, 23361, 29170, 26019, AGC= 45, IDX= 290, 0.20,-0.928,-0.440, 0.661,-0.657, PHS=-0.169, 0.262, 1.274, RAW= 226.9, -20.6, CAL= 226.6, -26.0, ROT= 283.4,  26.0

2025-10-26T18:40:43.004Z,1761504043.004 [DAT](INFO): DAT read: Bearing  18,  -4 (Remote)

2025-10-26T18:40:43.004Z,1761504043.004 [DAT](INFO): Remote Bearing received:Bearing  18,  -4 (Remote)

2025-10-26T18:40:43.005Z,1761504043.005 [DAT](INFO): DAT read: Bearing 214.9, -36.6 (Local)

2025-10-26T18:40:43.006Z,1761504043.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.9, -36.6 (Local)

2025-10-26T18:40:43.007Z,1761504043.007 [DAT](INFO): DAT read: Range 11 to 20 : 98.9 m  (Round-trip  131.9 ms) speed  0.8 m/s

2025-10-26T18:40:43.008Z,1761504043.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:40:43.009Z,1761504043.009 [DAT](INFO): direction in FSK: [0.208293,-0.874325,-0.438371]
2025-10-26T18:40:43.009Z,1761504043.009 [DAT](INFO): publishing direction and range info
2025-10-26T18:40:43.058Z,1761504043.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630834,-0.728805,-0.266257],[0.771405,-0.552125,-0.316373],[0.083567,-0.404971,0.910503]]
2025-10-26T18:40:43.183Z,1761504043.183 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504000.00. Resetting abort timer.
2025-10-26T18:40:43.457Z,1761504043.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614827,-0.742160,-0.266807],[0.783876,-0.537847,-0.310257],[0.086759,-0.399898,0.912444]]
2025-10-26T18:40:44.309Z,1761504044.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582689,-0.766834,-0.269147],[0.807385,-0.508418,-0.299399],[0.092750,-0.391761,0.915380]]
2025-10-26T18:40:44.729Z,1761504044.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567206,-0.777800,-0.270747],[0.818027,-0.493972,-0.294659],[0.095445,-0.388611,0.916445]]
2025-10-26T18:40:45.173Z,1761504045.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551755,-0.788185,-0.272636],[0.828339,-0.479853,-0.289130],[0.097063,-0.385363,0.917646]]
2025-10-26T18:40:45.574Z,1761504045.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536512,-0.797722,-0.275308],[0.838270,-0.466184,-0.282800],[0.097251,-0.382508,0.918820]]
2025-10-26T18:40:45.978Z,1761504045.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521413,-0.806121,-0.279817],[0.847952,-0.452822,-0.275552],[0.095421,-0.380948,0.919659]]
2025-10-26T18:40:46.441Z,1761504046.441 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:40:46.441Z,1761504046.441 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:40:46.442Z,1761504046.442 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:40:46.444Z,1761504046.444 [marl:UpdateRudder:A] Stopped
2025-10-26T18:40:46.444Z,1761504046.444 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:40:46.444Z,1761504046.444 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:40:46.445Z,1761504046.445 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:40:46.445Z,1761504046.445 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:40:46.446Z,1761504046.446 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:40:46.446Z,1761504046.446 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:40:46.447Z,1761504046.447 [marl:UpdateCommandMode] Stopped
2025-10-26T18:40:46.449Z,1761504046.449 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:40:46.449Z,1761504046.449 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:40:46.449Z,1761504046.449 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:40:46.450Z,1761504046.450 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:40:46.451Z,1761504046.451 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:40:46.451Z,1761504046.451 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:40:46.451Z,1761504046.451 [marl:UpdateSpeed] Stopped
2025-10-26T18:40:46.453Z,1761504046.453 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:40:46.806Z,1761504046.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490883,-0.822057,-0.288543],[0.866918,-0.427995,-0.255487],[0.086530,-0.375557,0.922751]]
2025-10-26T18:40:46.908Z,1761504046.908 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:40:46.908Z,1761504046.908 [marl:UpdateRudder:B] Stopped
2025-10-26T18:40:46.908Z,1761504046.908 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:40:46.908Z,1761504046.908 [marl:UpdateRudder] Stopped
2025-10-26T18:40:46.908Z,1761504046.908 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:40:47.190Z,1761504047.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475707,-0.829019,-0.293991],[0.875929,-0.415958,-0.244392],[0.080318,-0.373774,0.924036]]
2025-10-26T18:40:47.594Z,1761504047.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461388,-0.835088,-0.299582],[0.884106,-0.404606,-0.233774],[0.074009,-0.372722,0.924987]]
2025-10-26T18:40:47.998Z,1761504047.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448314,-0.839358,-0.307397],[0.891282,-0.393568,-0.225213],[0.068053,-0.374943,0.924547]]
2025-10-26T18:40:48.404Z,1761504048.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436449,-0.843218,-0.313841],[0.897514,-0.383568,-0.217587],[0.063094,-0.376642,0.924208]]
2025-10-26T18:40:48.819Z,1761504048.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425776,-0.846307,-0.320124],[0.902894,-0.374266,-0.211441],[0.059132,-0.379064,0.923479]]
2025-10-26T18:40:49.210Z,1761504049.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415185,-0.849288,-0.326084],[0.908017,-0.364832,-0.205922],[0.055921,-0.381586,0.922640]]
2025-10-26T18:40:49.624Z,1761504049.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404407,-0.852367,-0.331550],[0.913000,-0.354954,-0.201092],[0.053719,-0.384028,0.921758]]
2025-10-26T18:40:50.035Z,1761504050.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393268,-0.856312,-0.334768],[0.917926,-0.344902,-0.196098],[0.052459,-0.384411,0.921670]]
2025-10-26T18:40:50.336Z,1761504050.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:40:50.436Z,1761504050.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382222,-0.860075,-0.337902],[0.922583,-0.334441,-0.192327],[0.052407,-0.385254,0.921321]]
2025-10-26T18:40:50.868Z,1761504050.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371061,-0.864285,-0.339596],[0.927072,-0.323756,-0.188997],[0.053401,-0.384959,0.921387]]
2025-10-26T18:40:51.230Z,1761504051.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359693,-0.868809,-0.340281],[0.931432,-0.312727,-0.186110],[0.055279,-0.383891,0.921722]]
2025-10-26T18:40:51.340Z,1761504051.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:40:51.641Z,1761504051.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348194,-0.873441,-0.340385],[0.935644,-0.301458,-0.183557],[0.057714,-0.382393,0.922196]]
2025-10-26T18:40:52.040Z,1761504052.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335833,-0.878417,-0.339999],[0.940013,-0.289588,-0.180319],[0.059936,-0.380160,0.922976]]
2025-10-26T18:40:52.444Z,1761504052.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322252,-0.883020,-0.341218],[0.944637,-0.276434,-0.176762],[0.061760,-0.379289,0.923215]]
2025-10-26T18:40:52.889Z,1761504052.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306548,-0.888176,-0.342304],[0.949804,-0.261823,-0.171236],[0.062464,-0.377613,0.923854]]
2025-10-26T18:40:53.255Z,1761504053.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288599,-0.893555,-0.343904],[0.955437,-0.245491,-0.163936],[0.062060,-0.375890,0.924584]]
2025-10-26T18:40:53.663Z,1761504053.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269823,-0.898351,-0.346642],[0.960955,-0.228294,-0.156355],[0.061326,-0.375295,0.924874]]
2025-10-26T18:40:54.073Z,1761504054.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250423,-0.902759,-0.349734],[0.966251,-0.210522,-0.148459],[0.060396,-0.375109,0.925011]]
2025-10-26T18:40:54.899Z,1761504054.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212331,-0.909797,-0.356629],[0.975541,-0.176110,-0.131547],[0.056875,-0.375838,0.924939]]
2025-10-26T18:40:55.342Z,1761504055.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192162,-0.912494,-0.361149],[0.979905,-0.158356,-0.121286],[0.053483,-0.377198,0.924587]]
2025-10-26T18:40:55.743Z,1761504055.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171099,-0.914596,-0.366387],[0.984044,-0.140210,-0.109538],[0.048812,-0.379283,0.923992]]
2025-10-26T18:40:56.146Z,1761504056.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150014,-0.917247,-0.368990],[0.987735,-0.122697,-0.096564],[0.043299,-0.378951,0.924403]]
2025-10-26T18:40:56.551Z,1761504056.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130665,-0.918868,-0.372300],[0.990708,-0.106721,-0.084309],[0.037736,-0.379857,0.924275]]
2025-10-26T18:40:56.954Z,1761504056.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113048,-0.920294,-0.374539],[0.993049,-0.092221,-0.073135],[0.032766,-0.380203,0.924322]]
2025-10-26T18:40:57.367Z,1761504057.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081981,-0.922961,-0.376061],[0.996329,-0.066562,-0.053836],[0.024657,-0.379094,0.925030]]
2025-10-26T18:40:57.774Z,1761504057.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067140,-0.924247,-0.375844],[0.997513,-0.054078,-0.045210],[0.021460,-0.377945,0.925579]]
2025-10-26T18:40:58.170Z,1761504058.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052329,-0.926016,-0.373839],[0.998456,-0.041526,-0.036900],[0.018646,-0.375193,0.926759]]
2025-10-26T18:40:58.578Z,1761504058.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037503,-0.926934,-0.373347],[0.999166,-0.028737,-0.029019],[0.016169,-0.374124,0.927238]]
2025-10-26T18:40:58.977Z,1761504058.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021775,-0.927999,-0.371947],[0.999669,-0.015121,-0.020798],[0.013676,-0.372277,0.928021]]
2025-10-26T18:40:59.382Z,1761504059.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005020,-0.928578,-0.371103],[0.999930,-0.000670,-0.011848],[0.010753,-0.371136,0.928516]]
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateRudder:A] Stopped
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:40:59.426Z,1761504059.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:40:59.427Z,1761504059.427 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:40:59.427Z,1761504059.427 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:40:59.427Z,1761504059.427 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:40:59.427Z,1761504059.427 [marl:UpdateCommandMode] Stopped
2025-10-26T18:40:59.443Z,1761504059.443 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:40:59.443Z,1761504059.443 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:40:59.444Z,1761504059.444 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:40:59.444Z,1761504059.444 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:40:59.444Z,1761504059.444 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:40:59.444Z,1761504059.444 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:40:59.444Z,1761504059.444 [marl:UpdateSpeed] Stopped
2025-10-26T18:40:59.444Z,1761504059.444 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:40:59.783Z,1761504059.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012338,-0.928896,-0.370136],[0.999895,0.014255,-0.002445],[0.007547,-0.370067,0.928974]]
2025-10-26T18:40:59.831Z,1761504059.831 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:40:59.831Z,1761504059.831 [marl:UpdateRudder:B] Stopped
2025-10-26T18:40:59.831Z,1761504059.831 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:40:59.831Z,1761504059.831 [marl:UpdateRudder] Stopped
2025-10-26T18:40:59.836Z,1761504059.836 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:41:00.186Z,1761504060.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029878,-0.928489,-0.370156],[0.999546,0.029188,0.007467],[0.003871,-0.370211,0.928940]]
2025-10-26T18:41:00.598Z,1761504060.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047145,-0.927648,-0.370469],[0.998888,0.043672,0.017764],[-0.000299,-0.370894,0.928675]]
2025-10-26T18:41:00.996Z,1761504060.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064110,-0.926480,-0.370843],[0.997931,0.057726,0.028302],[-0.004814,-0.371890,0.928264]]
2025-10-26T18:41:01.401Z,1761504061.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080490,-0.925499,-0.370099],[0.996707,0.071081,0.039014],[-0.009801,-0.372021,0.928173]]
2025-10-26T18:41:01.820Z,1761504061.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095924,-0.924259,-0.369518],[0.995276,0.083474,0.049576],[-0.014975,-0.372528,0.927900]]
2025-10-26T18:41:02.206Z,1761504062.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110271,-0.923098,-0.368416],[0.993698,0.094899,0.059647],[-0.020098,-0.372672,0.927745]]
2025-10-26T18:41:02.611Z,1761504062.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123619,-0.922283,-0.366214],[0.992017,0.105592,0.068941],[-0.024914,-0.371813,0.927973]]
2025-10-26T18:41:03.014Z,1761504063.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136056,-0.921146,-0.364663],[0.990274,0.115640,0.077363],[-0.029093,-0.371642,0.927920]]
2025-10-26T18:41:03.419Z,1761504063.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147953,-0.919953,-0.363038],[0.988468,0.125580,0.084618],[-0.032254,-0.371371,0.927924]]
2025-10-26T18:41:03.827Z,1761504063.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159324,-0.918610,-0.361624],[0.986634,0.135475,0.090552],[-0.034191,-0.371217,0.927916]]
2025-10-26T18:41:04.226Z,1761504064.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170407,-0.916967,-0.360739],[0.984760,0.145556,0.095194],[-0.034782,-0.371462,0.927796]]
2025-10-26T18:41:04.630Z,1761504064.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181998,-0.915381,-0.359102],[0.982701,0.156597,0.098869],[-0.034268,-0.370884,0.928047]]
2025-10-26T18:41:05.035Z,1761504065.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195041,-0.913507,-0.357021],[0.980239,0.169301,0.102318],[-0.033024,-0.369922,0.928476]]
2025-10-26T18:41:05.441Z,1761504065.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209843,-0.911279,-0.354312],[0.977230,0.183830,0.105964],[-0.031430,-0.368480,0.929104]]
2025-10-26T18:41:05.842Z,1761504065.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226659,-0.908357,-0.351445],[0.973507,0.200109,0.110640],[-0.030173,-0.367212,0.929648]]
2025-10-26T18:41:06.246Z,1761504066.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245675,-0.904908,-0.347541],[0.968898,0.218257,0.116625],[-0.029682,-0.365384,0.930384]]
2025-10-26T18:41:06.650Z,1761504066.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266481,-0.900647,-0.343254],[0.963381,0.237892,0.123715],[-0.029766,-0.363652,0.931059]]
2025-10-26T18:41:07.064Z,1761504067.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288388,-0.895624,-0.338659],[0.957021,0.258263,0.131952],[-0.030716,-0.362157,0.931611]]
2025-10-26T18:41:07.458Z,1761504067.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311012,-0.889616,-0.334447],[0.949841,0.278815,0.141648],[-0.032763,-0.361725,0.931709]]
2025-10-26T18:41:07.862Z,1761504067.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333159,-0.882503,-0.331956],[0.942199,0.298315,0.152545],[-0.035594,-0.363590,0.930879]]
2025-10-26T18:41:08.266Z,1761504068.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355091,-0.874939,-0.329228],[0.934014,0.317329,0.164071],[-0.039079,-0.365764,0.929887]]
2025-10-26T18:41:08.672Z,1761504068.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376314,-0.867523,-0.325256],[0.925478,0.335557,0.175760],[-0.043334,-0.367158,0.929149]]
2025-10-26T18:41:09.078Z,1761504069.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395236,-0.860097,-0.322524],[0.917328,0.351242,0.187455],[-0.047946,-0.369949,0.927814]]
2025-10-26T18:41:09.478Z,1761504069.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413227,-0.852656,-0.319719],[0.909096,0.365915,0.199125],[-0.052795,-0.372939,0.926353]]
2025-10-26T18:41:09.502Z,1761504069.502 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:41:09.712Z,1761504069.712 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:41:09.712Z,1761504069.712 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:41:09.888Z,1761504069.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429106,-0.846096,-0.316213],[0.901442,0.378977,0.209235],[-0.057195,-0.374831,0.925327]]
2025-10-26T18:41:09.960Z,1761504069.960 [DAT](INFO): DAT read: user:59>

2025-10-26T18:41:09.961Z,1761504069.961 [DAT](INFO): DAT read: Tx time:18:41:10.7314

2025-10-26T18:41:09.961Z,1761504069.961 [DAT](INFO): Ping request sent.
2025-10-26T18:41:09.962Z,1761504069.962 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:41:09.962Z,1761504069.962 [DAT](INFO): publishing transmit ping time
2025-10-26T18:41:09.963Z,1761504069.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000951
2025-10-26T18:41:10.212Z,1761504070.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250726
2025-10-26T18:41:10.286Z,1761504070.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443086,-0.840261,-0.312467],[0.894418,0.390727,0.217596],[-0.060748,-0.375890,0.924671]]
2025-10-26T18:41:10.465Z,1761504070.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503402
2025-10-26T18:41:10.690Z,1761504070.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454633,-0.835854,-0.307664],[0.888427,0.401022,0.223336],[-0.063297,-0.374873,0.924913]]
2025-10-26T18:41:10.717Z,1761504070.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755491
2025-10-26T18:41:10.968Z,1761504070.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695
2025-10-26T18:41:11.094Z,1761504071.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465575,-0.831446,-0.303213],[0.882594,0.410914,0.228424],[-0.065328,-0.373962,0.925140]]
2025-10-26T18:41:11.220Z,1761504071.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258721
2025-10-26T18:41:11.472Z,1761504071.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510772
2025-10-26T18:41:11.504Z,1761504071.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476259,-0.826772,-0.299374],[0.876773,0.420697,0.232988],[-0.066682,-0.373446,0.925252]]
2025-10-26T18:41:11.727Z,1761504071.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764924
2025-10-26T18:41:11.977Z,1761504071.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015765
2025-10-26T18:41:12.228Z,1761504072.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266808
2025-10-26T18:41:12.306Z,1761504072.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498523,-0.816855,-0.290211],[0.864196,0.441994,0.240432],[-0.068127,-0.370660,0.926266]]
2025-10-26T18:41:12.358Z,1761504072.358 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:41:12.358Z,1761504072.358 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:41:12.358Z,1761504072.358 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:41:12.359Z,1761504072.359 [marl:UpdateRudder:A] Stopped
2025-10-26T18:41:12.359Z,1761504072.359 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:41:12.359Z,1761504072.359 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:41:12.359Z,1761504072.359 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:41:12.359Z,1761504072.359 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateCommandMode] Stopped
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:41:12.364Z,1761504072.364 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:41:12.365Z,1761504072.365 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:41:12.365Z,1761504072.365 [marl:UpdateSpeed] Stopped
2025-10-26T18:41:12.365Z,1761504072.365 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:41:12.480Z,1761504072.480 [DAT](INFO): DAT read: Rx Time:18:41:12.8548

2025-10-26T18:41:12.481Z,1761504072.481 [DAT](INFO): Rx dataTimestamp_ set to:1761504072.480517
2025-10-26T18:41:12.481Z,1761504072.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519760
2025-10-26T18:41:12.727Z,1761504072.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510109,-0.811391,-0.285365],[0.857375,0.453250,0.243869],[-0.068531,-0.369065,0.926874]]
2025-10-26T18:41:12.733Z,1761504072.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771232
2025-10-26T18:41:12.776Z,1761504072.776 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:41:12.776Z,1761504072.776 [marl:UpdateRudder:B] Stopped
2025-10-26T18:41:12.776Z,1761504072.776 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:41:12.776Z,1761504072.776 [marl:UpdateRudder] Stopped
2025-10-26T18:41:12.777Z,1761504072.777 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:41:12.988Z,1761504072.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026362
2025-10-26T18:41:13.115Z,1761504073.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522409,-0.805345,-0.280193],[0.849918,0.465295,0.247264],[-0.068760,-0.367314,0.927552]]
2025-10-26T18:41:13.245Z,1761504073.245 [DAT](INFO): DAT read: 18:41:12.8548 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX=  50, 0.15,-0.362,-1.436, 0.272,-0.303, PHS= 0.043,-1.089, 0.531, RAW= 167.1,   7.2, CAL= 166.6,   7.1, ROT= 343.4,  -7.1

2025-10-26T18:41:13.246Z,1761504073.246 [DAT](INFO): got valid direction response:
 18:41:12.8548 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX=  50, 0.15,-0.362,-1.436, 0.272,-0.303, PHS= 0.043,-1.089, 0.531, RAW= 167.1,   7.2, CAL= 166.6,   7.1, ROT= 343.4,  -7.1

2025-10-26T18:41:13.248Z,1761504073.248 [DAT](INFO): DAT read: Bearing   7,  -2 (Remote)

2025-10-26T18:41:13.248Z,1761504073.248 [DAT](INFO): Remote Bearing received:Bearing   7,  -2 (Remote)

2025-10-26T18:41:13.249Z,1761504073.249 [DAT](INFO): DAT read: Bearing 215.6, -21.6 (Local)

2025-10-26T18:41:13.249Z,1761504073.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.6, -21.6 (Local)

2025-10-26T18:41:13.250Z,1761504073.250 [DAT](INFO): DAT read: Range 11 to 20 : 70.7 m  (Round-trip  94.3 ms) speed  1.4 m/s

2025-10-26T18:41:13.251Z,1761504073.251 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:41:13.252Z,1761504073.252 [DAT](INFO): direction in FSK: [0.950974,-0.283498,0.123601]
2025-10-26T18:41:13.252Z,1761504073.252 [DAT](INFO): publishing direction and range info
2025-10-26T18:41:13.518Z,1761504073.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535633,-0.798222,-0.275568],[0.841603,0.477826,0.251766],[-0.069291,-0.366773,0.927726]]
2025-10-26T18:41:13.577Z,1761504073.577 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504128.00. Resetting abort timer.
2025-10-26T18:41:14.001Z,1761504074.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549333,-0.791068,-0.269156],[0.832628,0.491046,0.256133],[-0.070450,-0.364809,0.928413]]
2025-10-26T18:41:14.326Z,1761504074.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561911,-0.785161,-0.260344],[0.823991,0.503600,0.259665],[-0.072770,-0.360430,0.929943]]
2025-10-26T18:41:14.737Z,1761504074.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571326,-0.782694,-0.246933],[0.817142,0.514400,0.260138],[-0.076586,-0.350403,0.933463]]
2025-10-26T18:41:15.134Z,1761504075.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576641,-0.784557,-0.227937],[0.812896,0.523043,0.256177],[-0.081764,-0.333011,0.939371]]
2025-10-26T18:41:15.546Z,1761504075.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579524,-0.787940,-0.208095],[0.810220,0.529570,0.251194],[-0.087725,-0.314175,0.945303]]
2025-10-26T18:41:15.945Z,1761504075.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580899,-0.791513,-0.189904],[0.808560,0.534243,0.246607],[-0.093738,-0.296803,0.950327]]
2025-10-26T18:41:16.347Z,1761504076.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581213,-0.795141,-0.173037],[0.807589,0.537501,0.242677],[-0.099955,-0.280790,0.954550]]
2025-10-26T18:41:16.750Z,1761504076.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580893,-0.798592,-0.157524],[0.807011,0.539761,0.239565],[-0.106289,-0.266285,0.958016]]
2025-10-26T18:41:17.154Z,1761504077.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580456,-0.801486,-0.143844],[0.806450,0.541370,0.237819],[-0.112735,-0.254047,0.960599]]
2025-10-26T18:41:17.559Z,1761504077.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579602,-0.804244,-0.131352],[0.806162,0.542349,0.236560],[-0.119013,-0.243001,0.962697]]
2025-10-26T18:41:17.973Z,1761504077.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579388,-0.805797,-0.122480],[0.805436,0.543035,0.237457],[-0.124831,-0.236229,0.963646]]
2025-10-26T18:41:18.367Z,1761504078.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579676,-0.806632,-0.115418],[0.804405,0.543874,0.239027],[-0.130034,-0.231401,0.964129]]
2025-10-26T18:41:18.770Z,1761504078.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580485,-0.806750,-0.110415],[0.803022,0.544715,0.241747],[-0.134885,-0.228996,0.964037]]
2025-10-26T18:41:19.174Z,1761504079.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581756,-0.806573,-0.104885],[0.801341,0.546282,0.243781],[-0.139330,-0.225870,0.964142]]
2025-10-26T18:41:19.579Z,1761504079.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584534,-0.805061,-0.100977],[0.798582,0.548841,0.247063],[-0.143481,-0.225055,0.963724]]
2025-10-26T18:41:19.993Z,1761504079.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589028,-0.802262,-0.097062],[0.794493,0.552951,0.251048],[-0.147736,-0.224989,0.963096]]
2025-10-26T18:41:20.386Z,1761504080.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593673,-0.799402,-0.092243],[0.790204,0.557466,0.254576],[-0.152086,-0.224025,0.962643]]
2025-10-26T18:41:20.790Z,1761504080.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598364,-0.796259,-0.089065],[0.785833,0.561549,0.259092],[-0.156290,-0.225022,0.961737]]
2025-10-26T18:41:21.195Z,1761504081.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603357,-0.792880,-0.085445],[0.781154,0.566046,0.263420],[-0.160495,-0.225682,0.960890]]
2025-10-26T18:41:21.464Z,1761504081.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:41:21.598Z,1761504081.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607402,-0.790088,-0.082602],[0.777166,0.569469,0.267803],[-0.164548,-0.226859,0.959926]]
2025-10-26T18:41:22.407Z,1761504082.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612317,-0.786726,-0.078293],[0.771650,0.573134,0.275815],[-0.172119,-0.229301,0.958017]]
2025-10-26T18:41:22.468Z,1761504082.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:41:22.831Z,1761504082.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612693,-0.786508,-0.077545],[0.770702,0.572874,0.278985],[-0.175000,-0.230697,0.957159]]
2025-10-26T18:41:23.214Z,1761504083.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611244,-0.787598,-0.077911],[0.771293,0.570717,0.281762],[-0.177450,-0.232318,0.956316]]
2025-10-26T18:41:23.618Z,1761504083.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608486,-0.789628,-0.078951],[0.773049,0.567338,0.283764],[-0.179276,-0.233700,0.955638]]
2025-10-26T18:41:24.034Z,1761504084.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604333,-0.792664,-0.080408],[0.776091,0.562847,0.284405],[-0.180180,-0.234279,0.955326]]
2025-10-26T18:41:24.426Z,1761504084.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599440,-0.796153,-0.082535],[0.779978,0.557862,0.283592],[-0.179739,-0.234372,0.955387]]
2025-10-26T18:41:24.885Z,1761504084.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594385,-0.799747,-0.084333],[0.784390,0.553439,0.280067],[-0.177310,-0.232617,0.956269]]
2025-10-26T18:41:25.235Z,1761504085.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589575,-0.803196,-0.085312],[0.788986,0.550072,0.273718],[-0.172921,-0.228687,0.958019]]
2025-10-26T18:41:25.258Z,1761504085.258 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:41:25.258Z,1761504085.258 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:41:25.259Z,1761504085.259 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:41:25.259Z,1761504085.259 [marl:UpdateRudder:A] Stopped
2025-10-26T18:41:25.259Z,1761504085.259 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:41:25.275Z,1761504085.275 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:41:25.275Z,1761504085.275 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateCommandMode] Stopped
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:41:25.276Z,1761504085.276 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:41:25.277Z,1761504085.277 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:41:25.277Z,1761504085.277 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:41:25.277Z,1761504085.277 [marl:UpdateSpeed] Stopped
2025-10-26T18:41:25.277Z,1761504085.277 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:41:25.638Z,1761504085.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585764,-0.805918,-0.085890],[0.793003,0.548014,0.266134],[-0.167413,-0.224003,0.960102]]
2025-10-26T18:41:25.708Z,1761504085.708 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:41:25.708Z,1761504085.708 [marl:UpdateRudder:B] Stopped
2025-10-26T18:41:25.708Z,1761504085.708 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:41:25.708Z,1761504085.708 [marl:UpdateRudder] Stopped
2025-10-26T18:41:25.708Z,1761504085.708 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:41:26.054Z,1761504086.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583647,-0.807459,-0.085832],[0.795783,0.547756,0.258250],[-0.161512,-0.219030,0.962258]]
2025-10-26T18:41:26.446Z,1761504086.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583596,-0.807628,-0.084575],[0.796980,0.549687,0.250335],[-0.155688,-0.213499,0.964458]]
2025-10-26T18:41:26.886Z,1761504086.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585548,-0.806478,-0.082022],[0.796578,0.553676,0.242707],[-0.150324,-0.207454,0.966626]]
2025-10-26T18:41:27.254Z,1761504087.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589043,-0.804238,-0.078929],[0.794843,0.558988,0.236130],[-0.145784,-0.201827,0.968511]]
2025-10-26T18:41:27.660Z,1761504087.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593717,-0.801119,-0.075548],[0.792050,0.565256,0.230528],[-0.141977,-0.196707,0.970128]]
2025-10-26T18:41:28.062Z,1761504088.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598460,-0.797762,-0.073629],[0.789018,0.570967,0.226819],[-0.138908,-0.193837,0.971150]]
2025-10-26T18:41:28.466Z,1761504088.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603646,-0.793952,-0.072465],[0.785490,0.576722,0.224495],[-0.136446,-0.192436,0.971777]]
2025-10-26T18:41:28.891Z,1761504088.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608624,-0.790155,-0.072335],[0.781951,0.581829,0.223668],[-0.134645,-0.192692,0.971978]]
2025-10-26T18:41:29.275Z,1761504089.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612285,-0.787165,-0.074021],[0.779351,0.585131,0.224130],[-0.133115,-0.194920,0.971744]]
2025-10-26T18:41:29.678Z,1761504089.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614315,-0.785368,-0.076244],[0.778094,0.586889,0.223898],[-0.131095,-0.196869,0.971626]]
2025-10-26T18:41:30.082Z,1761504090.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614369,-0.784695,-0.082494],[0.778519,0.585870,0.225087],[-0.128294,-0.202509,0.970840]]
2025-10-26T18:41:30.494Z,1761504090.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613059,-0.784987,-0.089187],[0.780114,0.583653,0.225324],[-0.124822,-0.207713,0.970193]]
2025-10-26T18:41:30.899Z,1761504090.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611148,-0.785644,-0.096237],[0.782319,0.581083,0.224321],[-0.120315,-0.212381,0.969752]]
2025-10-26T18:41:31.294Z,1761504091.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608713,-0.786584,-0.103705],[0.785054,0.578249,0.222078],[-0.114716,-0.216596,0.969498]]
2025-10-26T18:41:31.701Z,1761504091.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606061,-0.787556,-0.111561],[0.787973,0.575309,0.219358],[-0.108575,-0.220851,0.969245]]
2025-10-26T18:41:32.509Z,1761504092.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600936,-0.789641,-0.123868],[0.793593,0.570958,0.210279],[-0.095322,-0.224665,0.969763]]
2025-10-26T18:41:32.920Z,1761504092.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599539,-0.789743,-0.129842],[0.795422,0.569989,0.205952],[-0.088641,-0.226755,0.969910]]
2025-10-26T18:41:33.314Z,1761504093.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599670,-0.788763,-0.135087],[0.796000,0.570560,0.202100],[-0.082333,-0.228723,0.970004]]
2025-10-26T18:41:33.723Z,1761504093.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601011,-0.786931,-0.139734],[0.795565,0.572284,0.198916],[-0.076565,-0.230718,0.970004]]
2025-10-26T18:41:33.853Z,1761504093.853 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:41:33.853Z,1761504093.853 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:41:34.130Z,1761504094.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603006,-0.784549,-0.144455],[0.794561,0.574535,0.196424],[-0.071110,-0.233223,0.969820]]
2025-10-26T18:41:34.528Z,1761504094.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605877,-0.781647,-0.148121],[0.792780,0.577659,0.194448],[-0.066426,-0.235239,0.969665]]
2025-10-26T18:41:34.931Z,1761504094.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608430,-0.779178,-0.150651],[0.791170,0.580663,0.192045],[-0.062160,-0.236036,0.969754]]
2025-10-26T18:41:35.335Z,1761504095.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610375,-0.777102,-0.153475],[0.789952,0.582875,0.190345],[-0.058461,-0.237420,0.969646]]
2025-10-26T18:41:35.741Z,1761504095.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611519,-0.775838,-0.155306],[0.789289,0.584411,0.188381],[-0.055390,-0.237780,0.969738]]
2025-10-26T18:41:36.142Z,1761504096.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610883,-0.776002,-0.156978],[0.789965,0.584230,0.186092],[-0.052697,-0.237688,0.969911]]
2025-10-26T18:41:36.546Z,1761504096.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608889,-0.777286,-0.158370],[0.791650,0.582728,0.183624],[-0.050441,-0.237180,0.970155]]
2025-10-26T18:41:36.952Z,1761504096.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605775,-0.779201,-0.160880],[0.794171,0.579903,0.181671],[-0.048264,-0.237818,0.970110]]
2025-10-26T18:41:37.356Z,1761504097.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602008,-0.782028,-0.161303],[0.797130,0.576807,0.178542],[-0.046584,-0.236063,0.970621]]
2025-10-26T18:41:37.758Z,1761504097.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597444,-0.784916,-0.164221],[0.800706,0.572683,0.175793],[-0.043936,-0.236519,0.970633]]
2025-10-26T18:41:37.795Z,1761504097.795 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:41:37.795Z,1761504097.795 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:41:37.795Z,1761504097.795 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateRudder:A] Stopped
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:41:37.796Z,1761504097.796 [marl:UpdateCommandMode] Stopped
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed] Stopped
2025-10-26T18:41:37.797Z,1761504097.797 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:41:38.162Z,1761504098.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592266,-0.788260,-0.166934],[0.804721,0.568252,0.171796],[-0.040560,-0.236084,0.970886]]
2025-10-26T18:41:38.215Z,1761504098.215 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:41:38.215Z,1761504098.215 [marl:UpdateRudder:B] Stopped
2025-10-26T18:41:38.215Z,1761504098.215 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:41:38.215Z,1761504098.215 [marl:UpdateRudder] Stopped
2025-10-26T18:41:38.215Z,1761504098.215 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:41:38.566Z,1761504098.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586600,-0.791740,-0.170435],[0.809076,0.563540,0.166788],[-0.036006,-0.235733,0.971151]]
2025-10-26T18:41:38.983Z,1761504098.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581284,-0.794932,-0.173758],[0.813139,0.559547,0.160353],[-0.030244,-0.234499,0.971646]]
2025-10-26T18:41:39.374Z,1761504099.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578086,-0.796482,-0.177294],[0.815617,0.557583,0.154498],[-0.024199,-0.233917,0.971955]]
2025-10-26T18:41:39.778Z,1761504099.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577361,-0.796570,-0.179249],[0.816275,0.558107,0.149034],[-0.018676,-0.232363,0.972450]]
2025-10-26T18:41:39.830Z,1761504099.830 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:41:39.956Z,1761504099.956 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:41:39.956Z,1761504099.956 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:41:40.182Z,1761504100.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578578,-0.795181,-0.181477],[0.815513,0.560272,0.145032],[-0.013650,-0.231909,0.972642]]
2025-10-26T18:41:40.209Z,1761504100.209 [DAT](INFO): DAT read: user:60>

2025-10-26T18:41:40.210Z,1761504100.210 [DAT](INFO): DAT read: Tx time:18:41:40.9313

2025-10-26T18:41:40.210Z,1761504100.210 [DAT](INFO): Ping request sent.
2025-10-26T18:41:40.210Z,1761504100.210 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:41:40.210Z,1761504100.210 [DAT](INFO): publishing transmit ping time
2025-10-26T18:41:40.211Z,1761504100.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000925
2025-10-26T18:41:40.461Z,1761504100.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250732
2025-10-26T18:41:40.588Z,1761504100.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581337,-0.793025,-0.182094],[0.813609,0.563973,0.141335],[-0.009386,-0.230316,0.973071]]
2025-10-26T18:41:40.713Z,1761504100.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502669
2025-10-26T18:41:40.965Z,1761504100.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754974
2025-10-26T18:41:40.990Z,1761504100.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584929,-0.790077,-0.183404],[0.811067,0.568276,0.138685],[-0.005348,-0.229874,0.973206]]
2025-10-26T18:41:41.216Z,1761504101.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006231
2025-10-26T18:41:41.394Z,1761504101.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589050,-0.786726,-0.184614],[0.808094,0.572859,0.137176],[-0.002162,-0.229989,0.973191]]
2025-10-26T18:41:41.469Z,1761504101.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258549
2025-10-26T18:41:41.721Z,1761504101.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511306
2025-10-26T18:41:41.825Z,1761504101.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592706,-0.783679,-0.185866],[0.805419,0.576870,0.136097],[0.000564,-0.230365,0.973104]]
2025-10-26T18:41:41.972Z,1761504101.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762237
2025-10-26T18:41:42.224Z,1761504102.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014279
2025-10-26T18:41:42.476Z,1761504102.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266183
2025-10-26T18:41:42.613Z,1761504102.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596175,-0.780418,-0.188475],[0.802818,0.581722,0.130703],[0.007637,-0.229233,0.973342]]
2025-10-26T18:41:42.729Z,1761504102.729 [DAT](INFO): DAT read: Rx Time:18:41:43.0093

2025-10-26T18:41:42.729Z,1761504102.729 [DAT](INFO): Rx dataTimestamp_ set to:1761504102.728894
2025-10-26T18:41:42.730Z,1761504102.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519845
2025-10-26T18:41:42.980Z,1761504102.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770163
2025-10-26T18:41:43.015Z,1761504103.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594883,-0.781117,-0.189662],[0.803742,0.581162,0.127474],[0.010652,-0.228271,0.973539]]
2025-10-26T18:41:43.238Z,1761504103.238 [DAT](INFO): DAT read: 18:41:43.0093 LVL= 22656, 24561, 17090, 27331, AGC= 40, IDX= 480, 0.21,-2.469,-2.762,-1.307,-2.622, PHS= 0.255,-0.095, 1.271, RAW= 195.7, -22.4, CAL= 195.5, -24.6, ROT= 314.5,  24.6

2025-10-26T18:41:43.239Z,1761504103.239 [DAT](INFO): got valid direction response:
 18:41:43.0093 LVL= 22656, 24561, 17090, 27331, AGC= 40, IDX= 480, 0.21,-2.469,-2.762,-1.307,-2.622, PHS= 0.255,-0.095, 1.271, RAW= 195.7, -22.4, CAL= 195.5, -24.6, ROT= 314.5,  24.6

2025-10-26T18:41:43.240Z,1761504103.240 [DAT](INFO): DAT read: Bearing 338,  19 (Remote)

2025-10-26T18:41:43.241Z,1761504103.241 [DAT](INFO): Remote Bearing received:Bearing 338,  19 (Remote)

2025-10-26T18:41:43.241Z,1761504103.241 [DAT](INFO): DAT read: Bearing 165.6, -32.1 (Local)

2025-10-26T18:41:43.242Z,1761504103.242 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.6, -32.1 (Local)

2025-10-26T18:41:43.243Z,1761504103.243 [DAT](INFO): DAT read: Range 11 to 20 : 36.6 m  (Round-trip  48.9 ms) speed  0.4 m/s

2025-10-26T18:41:43.247Z,1761504103.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:41:43.248Z,1761504103.248 [DAT](INFO): direction in FSK: [0.637292,-0.648513,-0.416281]
2025-10-26T18:41:43.248Z,1761504103.248 [DAT](INFO): publishing direction and range info
2025-10-26T18:41:43.418Z,1761504103.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593479,-0.781319,-0.193192],[0.804727,0.580235,0.125468],[0.014066,-0.229930,0.973106]]
2025-10-26T18:41:43.510Z,1761504103.510 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504128.00. Resetting abort timer.
2025-10-26T18:41:43.822Z,1761504103.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592304,-0.781265,-0.196978],[0.805523,0.579529,0.123609],[0.017583,-0.231884,0.972584]]
2025-10-26T18:41:44.225Z,1761504104.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591855,-0.780673,-0.200643],[0.805778,0.579433,0.122386],[0.020716,-0.234109,0.971990]]
2025-10-26T18:41:44.628Z,1761504104.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592143,-0.779456,-0.204488],[0.805483,0.579995,0.121672],[0.023764,-0.236758,0.971278]]
2025-10-26T18:41:45.031Z,1761504105.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593139,-0.777922,-0.207421],[0.804651,0.581403,0.120449],[0.026896,-0.238345,0.970808]]
2025-10-26T18:41:45.442Z,1761504105.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595026,-0.775779,-0.210028],[0.803163,0.583575,0.119876],[0.029569,-0.240016,0.970319]]
2025-10-26T18:41:45.838Z,1761504105.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596989,-0.774024,-0.210931],[0.801625,0.585911,0.118769],[0.031657,-0.239991,0.970259]]
2025-10-26T18:41:46.249Z,1761504106.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599365,-0.771768,-0.212452],[0.799779,0.588440,0.118713],[0.033396,-0.241067,0.969934]]
2025-10-26T18:41:46.647Z,1761504106.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600961,-0.770341,-0.213120],[0.798510,0.590335,0.117841],[0.035035,-0.240996,0.969894]]
2025-10-26T18:41:47.050Z,1761504107.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601435,-0.769677,-0.214183],[0.798107,0.590935,0.117565],[0.036081,-0.241649,0.969693]]
2025-10-26T18:41:47.457Z,1761504107.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601264,-0.769970,-0.213609],[0.798172,0.591275,0.115389],[0.037455,-0.239876,0.970081]]
2025-10-26T18:41:47.859Z,1761504107.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600356,-0.770514,-0.214200],[0.798790,0.590741,0.113840],[0.038821,-0.239445,0.970133]]
2025-10-26T18:41:48.264Z,1761504108.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598983,-0.771515,-0.214438],[0.799749,0.589836,0.111777],[0.040246,-0.238450,0.970321]]
2025-10-26T18:41:48.666Z,1761504108.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597235,-0.772711,-0.215006],[0.800964,0.588632,0.109399],[0.042025,-0.237550,0.970466]]
2025-10-26T18:41:49.070Z,1761504109.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595533,-0.773408,-0.217211],[0.802132,0.587260,0.108208],[0.043870,-0.238674,0.970108]]
2025-10-26T18:41:49.475Z,1761504109.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593856,-0.774744,-0.217041],[0.803272,0.586242,0.105234],[0.045709,-0.236836,0.970474]]
2025-10-26T18:41:49.878Z,1761504109.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592142,-0.776035,-0.217114],[0.804433,0.585135,0.102498],[0.047499,-0.235346,0.970750]]
2025-10-26T18:41:50.282Z,1761504110.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590496,-0.776771,-0.218955],[0.805506,0.583993,0.100565],[0.049752,-0.235752,0.970539]]
2025-10-26T18:41:50.686Z,1761504110.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588948,-0.777800,-0.219471],[0.806528,0.582971,0.098271],[0.051510,-0.234886,0.970657]]
2025-10-26T18:41:50.732Z,1761504110.732 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:41:50.732Z,1761504110.732 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:41:50.732Z,1761504110.732 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateRudder:A] Stopped
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:41:50.733Z,1761504110.733 [marl:UpdateCommandMode] Stopped
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed] Stopped
2025-10-26T18:41:50.734Z,1761504110.734 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:41:51.092Z,1761504111.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587446,-0.778638,-0.220522],[0.807505,0.581939,0.096344],[0.053313,-0.234670,0.970612]]
2025-10-26T18:41:51.134Z,1761504111.134 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:41:51.134Z,1761504111.134 [marl:UpdateRudder:B] Stopped
2025-10-26T18:41:51.134Z,1761504111.134 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:41:51.134Z,1761504111.134 [marl:UpdateRudder] Stopped
2025-10-26T18:41:51.134Z,1761504111.134 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:41:51.494Z,1761504111.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585954,-0.779249,-0.222324],[0.808479,0.580777,0.095182],[0.054950,-0.235517,0.970316]]
2025-10-26T18:41:51.898Z,1761504111.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584205,-0.780374,-0.222984],[0.809613,0.579586,0.092769],[0.056844,-0.234727,0.970398]]
2025-10-26T18:41:52.303Z,1761504112.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582558,-0.781558,-0.223144],[0.810682,0.578475,0.090334],[0.058482,-0.233523,0.970591]]
2025-10-26T18:41:52.588Z,1761504112.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:41:52.710Z,1761504112.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580932,-0.782790,-0.223063],[0.811741,0.577359,0.087935],[0.059953,-0.232154,0.970830]]
2025-10-26T18:41:53.110Z,1761504113.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579325,-0.783917,-0.223285],[0.812771,0.576253,0.085646],[0.061529,-0.231096,0.970983]]
2025-10-26T18:41:53.514Z,1761504113.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578313,-0.784558,-0.223656],[0.813395,0.575604,0.084069],[0.062781,-0.230539,0.971036]]
2025-10-26T18:41:53.592Z,1761504113.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:41:53.927Z,1761504113.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577776,-0.784806,-0.224175],[0.813682,0.575383,0.082799],[0.064005,-0.230247,0.971025]]
2025-10-26T18:41:54.322Z,1761504114.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577211,-0.784980,-0.225020],[0.813989,0.575090,0.081813],[0.065185,-0.230387,0.970913]]
2025-10-26T18:41:54.731Z,1761504114.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576950,-0.785044,-0.225466],[0.814061,0.575189,0.080382],[0.066582,-0.229920,0.970929]]
2025-10-26T18:41:55.130Z,1761504115.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576736,-0.785174,-0.225561],[0.814116,0.575308,0.078974],[0.067759,-0.229180,0.971023]]
2025-10-26T18:41:55.535Z,1761504115.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576800,-0.784688,-0.227081],[0.813937,0.575662,0.078225],[0.069340,-0.229950,0.970729]]
2025-10-26T18:41:55.938Z,1761504115.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576890,-0.784516,-0.227446],[0.813793,0.575976,0.077410],[0.070274,-0.229751,0.970709]]
2025-10-26T18:41:56.342Z,1761504116.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577067,-0.783864,-0.229240],[0.813528,0.576422,0.076879],[0.071877,-0.230857,0.970329]]
2025-10-26T18:41:56.746Z,1761504116.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577442,-0.783211,-0.230524],[0.813143,0.577031,0.076371],[0.073205,-0.231549,0.970065]]
2025-10-26T18:41:57.150Z,1761504117.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577714,-0.782752,-0.231402],[0.812773,0.577760,0.074794],[0.075149,-0.231287,0.969979]]
2025-10-26T18:41:57.171Z,1761504117.171 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050222301491,35.0, +13.1, 00.8,  0
2025-10-26T18:41:57.554Z,1761504117.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577926,-0.782044,-0.233254],[0.812409,0.578432,0.073538],[0.077411,-0.231998,0.969631]]
2025-10-26T18:41:57.958Z,1761504117.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578895,-0.780536,-0.235890],[0.811489,0.579791,0.072999],[0.079788,-0.233681,0.969034]]
2025-10-26T18:41:58.364Z,1761504118.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580505,-0.778807,-0.237643],[0.810131,0.581761,0.072400],[0.081866,-0.234550,0.968651]]
2025-10-26T18:41:58.766Z,1761504118.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583190,-0.776419,-0.238879],[0.808019,0.584717,0.072188],[0.083629,-0.235118,0.968362]]
2025-10-26T18:41:59.170Z,1761504119.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586403,-0.773973,-0.238951],[0.805485,0.588341,0.071055],[0.085590,-0.234138,0.968428]]
2025-10-26T18:41:59.574Z,1761504119.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590464,-0.770698,-0.239533],[0.802351,0.592593,0.071177],[0.087090,-0.234217,0.968276]]
2025-10-26T18:41:59.980Z,1761504119.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595297,-0.766832,-0.239979],[0.798685,0.597386,0.072337],[0.087890,-0.234729,0.968079]]
2025-10-26T18:42:00.391Z,1761504120.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600353,-0.762859,-0.240048],[0.794848,0.602303,0.073806],[0.088278,-0.235111,0.967951]]
2025-10-26T18:42:00.786Z,1761504120.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605156,-0.759269,-0.239365],[0.791177,0.606989,0.074853],[0.088458,-0.234678,0.968040]]
2025-10-26T18:42:01.190Z,1761504121.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609528,-0.756053,-0.238452],[0.787882,0.611053,0.076526],[0.087849,-0.234517,0.968135]]
2025-10-26T18:42:01.596Z,1761504121.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613123,-0.753119,-0.238519],[0.785214,0.614119,0.079354],[0.086716,-0.235942,0.967890]]
2025-10-26T18:42:02.406Z,1761504122.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616954,-0.750104,-0.238142],[0.782614,0.616654,0.085165],[0.082968,-0.238916,0.967489]]
2025-10-26T18:42:02.816Z,1761504122.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617186,-0.750253,-0.237067],[0.782635,0.616402,0.086787],[0.081016,-0.239101,0.967609]]
2025-10-26T18:42:03.210Z,1761504123.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616598,-0.750872,-0.236638],[0.783318,0.615235,0.088870],[0.078858,-0.240160,0.967525]]
2025-10-26T18:42:03.614Z,1761504123.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615311,-0.751676,-0.237436],[0.784516,0.613349,0.091315],[0.076992,-0.242459,0.967102]]
2025-10-26T18:42:03.658Z,1761504123.658 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:42:03.659Z,1761504123.659 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:42:03.659Z,1761504123.659 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:42:03.659Z,1761504123.659 [marl:UpdateRudder:A] Stopped
2025-10-26T18:42:03.659Z,1761504123.659 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode] Stopped
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:42:03.660Z,1761504123.660 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:42:03.661Z,1761504123.661 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:42:03.661Z,1761504123.661 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:42:03.661Z,1761504123.661 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:42:03.661Z,1761504123.661 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:42:03.661Z,1761504123.661 [marl:UpdateSpeed] Stopped
2025-10-26T18:42:03.661Z,1761504123.661 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:42:04.018Z,1761504124.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613607,-0.753390,-0.236411],[0.785985,0.611435,0.091520],[0.075599,-0.241973,0.967333]]
2025-10-26T18:42:04.083Z,1761504124.083 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:42:04.083Z,1761504124.083 [marl:UpdateRudder:B] Stopped
2025-10-26T18:42:04.083Z,1761504124.083 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:42:04.083Z,1761504124.083 [marl:UpdateRudder] Stopped
2025-10-26T18:42:04.083Z,1761504124.083 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:42:04.424Z,1761504124.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611171,-0.755706,-0.235327],[0.787958,0.609012,0.090699],[0.074775,-0.240860,0.967675]]
2025-10-26T18:42:04.878Z,1761504124.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608344,-0.758086,-0.234997],[0.790153,0.606347,0.089455],[0.074675,-0.240103,0.967871]]
2025-10-26T18:42:05.230Z,1761504125.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605410,-0.760591,-0.234480],[0.792362,0.603760,0.087382],[0.075108,-0.238695,0.968186]]
2025-10-26T18:42:05.634Z,1761504125.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602364,-0.763438,-0.233067],[0.794623,0.601210,0.084380],[0.075704,-0.236028,0.968793]]
2025-10-26T18:42:06.040Z,1761504126.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599668,-0.766018,-0.231550],[0.796608,0.598974,0.081516],[0.076249,-0.233337,0.969402]]
2025-10-26T18:42:06.442Z,1761504126.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597661,-0.768425,-0.228743],[0.798142,0.597275,0.078943],[0.075961,-0.229751,0.970281]]
2025-10-26T18:42:06.897Z,1761504126.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596479,-0.770113,-0.226138],[0.799079,0.596252,0.077176],[0.075401,-0.226735,0.971033]]
2025-10-26T18:42:07.250Z,1761504127.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595786,-0.771521,-0.223148],[0.799695,0.595591,0.075897],[0.074349,-0.223669,0.971825]]
2025-10-26T18:42:07.656Z,1761504127.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595246,-0.772892,-0.219819],[0.800202,0.595082,0.074531],[0.073206,-0.220264,0.972689]]
2025-10-26T18:42:08.066Z,1761504128.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594916,-0.773877,-0.217230],[0.800555,0.594688,0.073872],[0.072016,-0.217852,0.973321]]
2025-10-26T18:42:08.462Z,1761504128.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594727,-0.774664,-0.214933],[0.800774,0.594489,0.073104],[0.071144,-0.215589,0.973889]]
2025-10-26T18:42:08.896Z,1761504128.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594741,-0.775275,-0.212677],[0.800770,0.594692,0.071473],[0.071066,-0.212813,0.974505]]
2025-10-26T18:42:09.270Z,1761504129.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595232,-0.775355,-0.211006],[0.800352,0.595472,0.069635],[0.071656,-0.210328,0.975001]]
2025-10-26T18:42:09.676Z,1761504129.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596649,-0.774737,-0.209264],[0.799218,0.597215,0.067705],[0.072521,-0.207644,0.975513]]
2025-10-26T18:42:10.079Z,1761504130.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598713,-0.773377,-0.208399],[0.797580,0.599541,0.066462],[0.073543,-0.206007,0.975783]]
2025-10-26T18:42:10.132Z,1761504130.132 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:42:10.232Z,1761504130.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:42:10.232Z,1761504130.232 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:42:10.482Z,1761504130.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602117,-0.770822,-0.208058],[0.794933,0.603069,0.066247],[0.074409,-0.205281,0.975870]]
2025-10-26T18:42:10.484Z,1761504130.484 [DAT](INFO): DAT read: user:61>

2025-10-26T18:42:10.485Z,1761504130.485 [DAT](INFO): DAT read: Tx time:18:42:11.2311

2025-10-26T18:42:10.485Z,1761504130.485 [DAT](INFO): Ping request sent.
2025-10-26T18:42:10.485Z,1761504130.485 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:42:10.486Z,1761504130.486 [DAT](INFO): publishing transmit ping time
2025-10-26T18:42:10.486Z,1761504130.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000935
2025-10-26T18:42:10.736Z,1761504130.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250909
2025-10-26T18:42:10.892Z,1761504130.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606405,-0.767293,-0.208648],[0.791604,0.607318,0.067298],[0.075078,-0.205976,0.975673]]
2025-10-26T18:42:10.988Z,1761504130.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502918
2025-10-26T18:42:11.241Z,1761504131.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755452
2025-10-26T18:42:11.297Z,1761504131.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611415,-0.762907,-0.210107],[0.787687,0.612148,0.069451],[0.075632,-0.207962,0.975209]]
2025-10-26T18:42:11.492Z,1761504131.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863
2025-10-26T18:42:11.694Z,1761504131.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616678,-0.758679,-0.210033],[0.783544,0.617291,0.070790],[0.075944,-0.208225,0.975128]]
2025-10-26T18:42:11.744Z,1761504131.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258908
2025-10-26T18:42:11.997Z,1761504131.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511438
2025-10-26T18:42:12.098Z,1761504132.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621199,-0.754954,-0.210134],[0.779947,0.621666,0.072211],[0.076117,-0.208751,0.975002]]
2025-10-26T18:42:12.248Z,1761504132.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762944
2025-10-26T18:42:12.500Z,1761504132.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791
2025-10-26T18:42:12.504Z,1761504132.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625933,-0.750701,-0.211321],[0.776193,0.625976,0.075355],[0.075712,-0.211193,0.974508]]
2025-10-26T18:42:12.752Z,1761504132.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266762
2025-10-26T18:42:12.910Z,1761504132.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629614,-0.747490,-0.211766],[0.773247,0.629349,0.077515],[0.075333,-0.212552,0.974242]]
2025-10-26T18:42:13.005Z,1761504133.005 [DAT](INFO): DAT read: Rx Time:18:42:13.3171

2025-10-26T18:42:13.005Z,1761504133.005 [DAT](INFO): Rx dataTimestamp_ set to:1761504133.004853
2025-10-26T18:42:13.006Z,1761504133.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520177
2025-10-26T18:42:13.256Z,1761504133.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770793
2025-10-26T18:42:13.310Z,1761504133.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632767,-0.744518,-0.212836],[0.770695,0.632176,0.079891],[0.075070,-0.214584,0.973816]]
2025-10-26T18:42:13.515Z,1761504133.515 [DAT](INFO): DAT read: 18:42:13.3171 LVL= 19312, 24929, 18898, 18835, AGC= 49, IDX=  19,-0.06, 0.068, 1.559, 1.920, 0.565, PHS=-0.395, 1.039, 1.311, RAW= 261.5, -23.5, CAL= 260.5, -28.0, ROT= 249.5,  28.0

2025-10-26T18:42:13.516Z,1761504133.516 [DAT](INFO): got valid direction response:
 18:42:13.3171 LVL= 19312, 24929, 18898, 18835, AGC= 49, IDX=  19,-0.06, 0.068, 1.559, 1.920, 0.565, PHS=-0.395, 1.039, 1.311, RAW= 261.5, -23.5, CAL= 260.5, -28.0, ROT= 249.5,  28.0

2025-10-26T18:42:13.517Z,1761504133.517 [DAT](INFO): DAT read: Bearing 264,  10 (Remote)

2025-10-26T18:42:13.518Z,1761504133.518 [DAT](INFO): Remote Bearing received:Bearing 264,  10 (Remote)

2025-10-26T18:42:13.518Z,1761504133.518 [DAT](INFO): DAT read: Bearing  88.3, -47.0 (Local)

2025-10-26T18:42:13.519Z,1761504133.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.3, -47.0 (Local)

2025-10-26T18:42:13.520Z,1761504133.520 [DAT](INFO): DAT read: Range 11 to 20 : 42.6 m  (Round-trip  56.9 ms) speed -1.0 m/s

2025-10-26T18:42:13.521Z,1761504133.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:42:13.522Z,1761504133.522 [DAT](INFO): direction in FSK: [-0.309215,-0.827032,-0.469472]
2025-10-26T18:42:13.522Z,1761504133.522 [DAT](INFO): publishing direction and range info
2025-10-26T18:42:13.719Z,1761504133.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635693,-0.741826,-0.213515],[0.768336,0.634741,0.082236],[0.074522,-0.216328,0.973473]]
2025-10-26T18:42:13.787Z,1761504133.787 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504128.00. Resetting abort timer.
2025-10-26T18:42:14.122Z,1761504134.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638329,-0.739300,-0.214409],[0.766202,0.636992,0.084704],[0.073955,-0.218350,0.973064]]
2025-10-26T18:42:14.526Z,1761504134.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641278,-0.736449,-0.215418],[0.763853,0.639328,0.088246],[0.072734,-0.221138,0.972526]]
2025-10-26T18:42:14.926Z,1761504134.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644816,-0.733276,-0.215681],[0.761038,0.642133,0.092120],[0.070946,-0.223542,0.972109]]
2025-10-26T18:42:15.334Z,1761504135.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648970,-0.729109,-0.217345],[0.757684,0.645254,0.097788],[0.068944,-0.228140,0.971184]]
2025-10-26T18:42:15.738Z,1761504135.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653347,-0.725146,-0.217487],[0.754097,0.648744,0.102316],[0.066899,-0.230855,0.970686]]
2025-10-26T18:42:16.138Z,1761504136.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658297,-0.720683,-0.217395],[0.749948,0.652825,0.106757],[0.064983,-0.233313,0.970228]]
2025-10-26T18:42:16.545Z,1761504136.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663247,-0.716233,-0.217057],[0.745710,0.657027,0.110593],[0.063401,-0.235212,0.969874]]
2025-10-26T18:42:16.584Z,1761504136.584 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:42:16.584Z,1761504136.584 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:42:16.584Z,1761504136.584 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:42:16.586Z,1761504136.586 [marl:UpdateRudder:A] Stopped
2025-10-26T18:42:16.586Z,1761504136.586 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:42:16.950Z,1761504136.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668620,-0.711777,-0.215221],[0.741015,0.661905,0.113043],[0.061995,-0.235065,0.970001]]
2025-10-26T18:42:17.022Z,1761504137.022 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:42:17.022Z,1761504137.022 [marl:UpdateRudder:B] Stopped
2025-10-26T18:42:17.022Z,1761504137.022 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:42:17.022Z,1761504137.022 [marl:UpdateRudder] Stopped
2025-10-26T18:42:17.022Z,1761504137.022 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:42:17.022Z,1761504137.022 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:42:17.023Z,1761504137.023 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:42:17.023Z,1761504137.023 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:42:17.023Z,1761504137.023 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:42:17.023Z,1761504137.023 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:42:17.047Z,1761504137.047 [marl:UpdateCommandMode] Stopped
2025-10-26T18:42:17.047Z,1761504137.047 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:42:17.047Z,1761504137.047 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:42:17.047Z,1761504137.047 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:42:17.051Z,1761504137.051 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:42:17.052Z,1761504137.052 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:42:17.052Z,1761504137.052 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:42:17.052Z,1761504137.052 [marl:UpdateSpeed] Stopped
2025-10-26T18:42:17.052Z,1761504137.052 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:42:17.357Z,1761504137.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674142,-0.706917,-0.214011],[0.736110,0.666825,0.116130],[0.060614,-0.235823,0.969904]]
2025-10-26T18:42:17.754Z,1761504137.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679706,-0.702163,-0.212053],[0.731102,0.671849,0.118780],[0.059065,-0.235768,0.970013]]
2025-10-26T18:42:18.158Z,1761504138.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684300,-0.698550,-0.209191],[0.726952,0.676025,0.120542],[0.057213,-0.234559,0.970417]]
2025-10-26T18:42:18.563Z,1761504138.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688048,-0.695897,-0.205710],[0.723578,0.679410,0.121809],[0.054995,-0.232658,0.971003]]
2025-10-26T18:42:18.970Z,1761504138.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691346,-0.693926,-0.201265],[0.720619,0.682447,0.122370],[0.052437,-0.229636,0.971863]]
2025-10-26T18:42:19.370Z,1761504139.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694444,-0.691814,-0.197840],[0.717848,0.684986,0.124458],[0.049416,-0.228448,0.972301]]
2025-10-26T18:42:19.774Z,1761504139.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698549,-0.687728,-0.197633],[0.714088,0.687711,0.130888],[0.045899,-0.232560,0.971498]]
2025-10-26T18:42:20.178Z,1761504140.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704890,-0.679696,-0.202838],[0.708080,0.691157,0.144653],[0.041873,-0.245590,0.968469]]
2025-10-26T18:42:20.583Z,1761504140.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714042,-0.666710,-0.213637],[0.699100,0.695339,0.166625],[0.037460,-0.268331,0.962598]]
2025-10-26T18:42:20.994Z,1761504140.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724357,-0.651204,-0.226362],[0.688651,0.698985,0.192822],[0.032657,-0.295556,0.954767]]
2025-10-26T18:42:21.390Z,1761504141.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735092,-0.634561,-0.238688],[0.677402,0.701827,0.220375],[0.027676,-0.323684,0.945760]]
2025-10-26T18:42:21.794Z,1761504141.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745553,-0.617944,-0.249593],[0.666051,0.703781,0.247120],[0.022953,-0.350482,0.936288]]
2025-10-26T18:42:22.604Z,1761504142.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764042,-0.587733,-0.266101],[0.644947,0.706544,0.291270],[0.016823,-0.394164,0.918886]]
2025-10-26T18:42:23.010Z,1761504143.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771878,-0.575059,-0.271131],[0.635571,0.708651,0.306371],[0.015956,-0.408804,0.912483]]
2025-10-26T18:42:23.410Z,1761504143.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778793,-0.563975,-0.274616],[0.627054,0.711711,0.316655],[0.016862,-0.418808,0.907918]]
2025-10-26T18:42:23.713Z,1761504143.713 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:42:24.270Z,1761504144.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796302,-0.538818,-0.274916],[0.604138,0.731213,0.316773],[0.030339,-0.418334,0.907786]]
2025-10-26T18:42:24.667Z,1761504144.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801736,-0.531982,-0.272422],[0.596500,0.740806,0.308858],[0.037505,-0.410123,0.911259]]
2025-10-26T18:42:24.716Z,1761504144.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:42:25.070Z,1761504145.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807613,-0.524341,-0.269866],[0.587983,0.751005,0.300446],[0.045135,-0.401321,0.914825]]
2025-10-26T18:42:25.472Z,1761504145.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814371,-0.515423,-0.266721],[0.577942,0.762058,0.291978],[0.052764,-0.391927,0.918482]]
2025-10-26T18:42:25.913Z,1761504145.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822038,-0.504654,-0.263775],[0.566242,0.773408,0.284973],[0.060193,-0.383619,0.921528]]
2025-10-26T18:42:26.324Z,1761504146.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831393,-0.490919,-0.260354],[0.551637,0.785593,0.280251],[0.066952,-0.376620,0.923945]]
2025-10-26T18:42:27.182Z,1761504147.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855268,-0.454406,-0.249061],[0.512681,0.811904,0.279231],[0.075329,-0.366506,0.927361]]
2025-10-26T18:42:27.202Z,1761504147.202 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -218,  +67,A
2025-10-26T18:42:27.590Z,1761504147.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869428,-0.431305,-0.240979],[0.488159,0.825092,0.284472],[0.076136,-0.364964,0.927903]]
2025-10-26T18:42:27.987Z,1761504147.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883272,-0.407526,-0.231845],[0.462849,0.836813,0.292430],[0.074838,-0.365605,0.927757]]
2025-10-26T18:42:28.390Z,1761504148.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895944,-0.384937,-0.221601],[0.438307,0.847000,0.300797],[0.071908,-0.366627,0.927585]]
2025-10-26T18:42:28.805Z,1761504148.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906374,-0.365543,-0.211813],[0.416980,0.854635,0.309396],[0.067925,-0.368750,0.927043]]
2025-10-26T18:42:29.198Z,1761504149.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915082,-0.348821,-0.202357],[0.398299,0.860306,0.318169],[0.063105,-0.371750,0.926186]]
2025-10-26T18:42:29.609Z,1761504149.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922573,-0.334049,-0.193058],[0.381459,0.864787,0.326547],[0.057871,-0.374907,0.925254]]
2025-10-26T18:42:29.632Z,1761504149.632 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:42:29.632Z,1761504149.632 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:42:29.633Z,1761504149.633 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:42:29.633Z,1761504149.633 [marl:UpdateRudder:A] Stopped
2025-10-26T18:42:29.633Z,1761504149.633 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:42:30.006Z,1761504150.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928971,-0.320838,-0.184598],[0.366417,0.867752,0.335775],[0.052456,-0.379565,0.923677]]
2025-10-26T18:42:30.037Z,1761504150.037 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:42:30.037Z,1761504150.037 [marl:UpdateRudder:B] Stopped
2025-10-26T18:42:30.037Z,1761504150.037 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:42:30.037Z,1761504150.037 [marl:UpdateRudder] Stopped
2025-10-26T18:42:30.037Z,1761504150.037 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:42:30.037Z,1761504150.037 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateCommandMode] Stopped
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:42:30.038Z,1761504150.038 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:42:30.039Z,1761504150.039 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:42:30.039Z,1761504150.039 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:42:30.039Z,1761504150.039 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:42:30.039Z,1761504150.039 [marl:UpdateSpeed] Stopped
2025-10-26T18:42:30.039Z,1761504150.039 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:42:30.411Z,1761504150.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934673,-0.308647,-0.176420],[0.352372,0.870084,0.344655],[0.047124,-0.384306,0.922002]]
2025-10-26T18:42:31.218Z,1761504151.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944909,-0.284252,-0.162322],[0.325121,0.872560,0.364604],[0.037996,-0.397291,0.916906]]
2025-10-26T18:42:31.622Z,1761504151.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950599,-0.267801,-0.156984],[0.308402,0.872338,0.379361],[0.035350,-0.409035,0.911834]]
2025-10-26T18:42:32.026Z,1761504152.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956839,-0.246748,-0.153541],[0.288514,0.869988,0.399851],[0.034917,-0.426892,0.903628]]
2025-10-26T18:42:32.431Z,1761504152.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963100,-0.223827,-0.149465],[0.266679,0.868589,0.417655],[0.036341,-0.442103,0.896228]]
2025-10-26T18:42:32.879Z,1761504152.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968930,-0.200878,-0.144299],[0.244231,0.869189,0.429956],[0.039054,-0.451840,0.891244]]
2025-10-26T18:42:33.238Z,1761504153.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974130,-0.178317,-0.138831],[0.221881,0.871272,0.437783],[0.042896,-0.457262,0.888297]]
2025-10-26T18:42:33.642Z,1761504153.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978820,-0.155643,-0.132995],[0.199035,0.875562,0.440200],[0.047931,-0.457347,0.887996]]
2025-10-26T18:42:33.948Z,1761504153.948 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:42:33.948Z,1761504153.948 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:42:34.452Z,1761504154.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987221,-0.105934,-0.119049],[0.147855,0.887566,0.436309],[0.059444,-0.448336,0.891887]]
2025-10-26T18:42:34.881Z,1761504154.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990996,-0.078355,-0.108570],[0.118120,0.893444,0.433364],[0.063046,-0.442287,0.894655]]
2025-10-26T18:42:35.258Z,1761504155.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993894,-0.051008,-0.097839],[0.088582,0.897550,0.431922],[0.065784,-0.437952,0.896588]]
2025-10-26T18:42:35.682Z,1761504155.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995995,-0.023615,-0.086233],[0.058680,0.900345,0.431203],[0.067457,-0.434536,0.898125]]
2025-10-26T18:42:36.082Z,1761504156.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997223,0.001328,-0.074460],[0.030745,0.903318,0.427868],[0.067829,-0.428969,0.900769]]
2025-10-26T18:42:36.513Z,1761504156.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997744,0.025574,-0.062064],[0.003327,0.904605,0.426238],[0.067044,-0.425483,0.902479]]
2025-10-26T18:42:36.925Z,1761504156.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997552,0.049976,-0.048921],[-0.024343,0.903909,0.427033],[0.065562,-0.424796,0.902912]]
2025-10-26T18:42:36.962Z,1761504156.962 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +52. +828.98,       -6.40,  64.46,  0.00
2025-10-26T18:42:37.326Z,1761504157.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996653,0.074019,-0.034685],[-0.051921,0.900967,0.430770],[0.063135,-0.427527,0.901795]]
2025-10-26T18:42:37.738Z,1761504157.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994983,0.098099,-0.019627],[-0.079929,0.897477,0.433758],[0.060166,-0.430013,0.900816]]
2025-10-26T18:42:38.134Z,1761504158.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992461,0.122493,-0.004138],[-0.108444,0.893367,0.436045],[0.057109,-0.432309,0.899915]]
2025-10-26T18:42:38.538Z,1761504158.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989023,0.147248,0.012330],[-0.137593,0.887316,0.440157],[0.053871,-0.437022,0.897836]]
2025-10-26T18:42:38.942Z,1761504158.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984357,0.173672,0.029668],[-0.168757,0.880994,0.442007],[0.050627,-0.440099,0.896521]]
2025-10-26T18:42:39.347Z,1761504159.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978283,0.201728,0.047627],[-0.201875,0.875202,0.439623],[0.047001,-0.439691,0.896919]]
2025-10-26T18:42:39.759Z,1761504159.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970619,0.231196,0.066681],[-0.236782,0.868427,0.435625],[0.042807,-0.438616,0.897655]]
2025-10-26T18:42:40.154Z,1761504160.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961585,0.261399,0.083810],[-0.271842,0.864355,0.423074],[0.038149,-0.429605,0.902211]]
2025-10-26T18:42:40.199Z,1761504160.199 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:42:40.245Z,1761504160.245 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:42:40.246Z,1761504160.246 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:42:40.496Z,1761504160.496 [DAT](INFO): DAT read: user:62>

2025-10-26T18:42:40.497Z,1761504160.497 [DAT](INFO): DAT read: Tx time:18:42:41.2326

2025-10-26T18:42:40.497Z,1761504160.497 [DAT](INFO): Ping request sent.
2025-10-26T18:42:40.497Z,1761504160.497 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:42:40.498Z,1761504160.498 [DAT](INFO): publishing transmit ping time
2025-10-26T18:42:40.498Z,1761504160.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943
2025-10-26T18:42:40.750Z,1761504160.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251982
2025-10-26T18:42:40.962Z,1761504160.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939669,0.323501,0.111213],[-0.340943,0.859127,0.381652],[0.027919,-0.396544,0.917591]]
2025-10-26T18:42:41.000Z,1761504161.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503044
2025-10-26T18:42:41.254Z,1761504161.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756316
2025-10-26T18:42:41.368Z,1761504161.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926969,0.354210,0.123550],[-0.374451,0.853712,0.361888],[0.022708,-0.381722,0.923998]]
2025-10-26T18:42:41.504Z,1761504161.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893
2025-10-26T18:42:41.757Z,1761504161.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259075
2025-10-26T18:42:41.785Z,1761504161.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913123,0.384291,0.136112],[-0.407292,0.845275,0.345866],[0.017861,-0.371256,0.928359]]
2025-10-26T18:42:42.008Z,1761504162.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510937
2025-10-26T18:42:42.262Z,1761504162.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764483
2025-10-26T18:42:42.512Z,1761504162.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014996
2025-10-26T18:42:42.579Z,1761504162.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881025,0.445006,0.160513],[-0.472968,0.821545,0.318379],[0.009812,-0.356417,0.934275]]
2025-10-26T18:42:42.625Z,1761504162.625 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:42:42.625Z,1761504162.625 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:42:42.625Z,1761504162.625 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:42:42.626Z,1761504162.626 [marl:UpdateRudder:A] Stopped
2025-10-26T18:42:42.626Z,1761504162.626 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:42:42.765Z,1761504162.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267793
2025-10-26T18:42:42.984Z,1761504162.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862939,0.473955,0.175221],[-0.505262,0.804657,0.311828],[0.006799,-0.357621,0.933842]]
2025-10-26T18:42:43.017Z,1761504163.017 [DAT](INFO): DAT read: Rx Time:18:42:43.3493

2025-10-26T18:42:43.017Z,1761504163.017 [DAT](INFO): Rx dataTimestamp_ set to:1761504163.016690
2025-10-26T18:42:43.017Z,1761504163.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520126
2025-10-26T18:42:43.062Z,1761504163.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:42:43.062Z,1761504163.062 [marl:UpdateRudder:B] Stopped
2025-10-26T18:42:43.062Z,1761504163.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:42:43.062Z,1761504163.062 [marl:UpdateRudder] Stopped
2025-10-26T18:42:43.062Z,1761504163.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:42:43.062Z,1761504163.062 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:42:43.063Z,1761504163.063 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:42:43.063Z,1761504163.063 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:42:43.063Z,1761504163.063 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:42:43.067Z,1761504163.067 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:42:43.067Z,1761504163.067 [marl:UpdateCommandMode] Stopped
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:42:43.068Z,1761504163.068 [marl:UpdateSpeed] Stopped
2025-10-26T18:42:43.069Z,1761504163.069 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:42:43.268Z,1761504163.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771057
2025-10-26T18:42:43.546Z,1761504163.546 [DAT](INFO): DAT read: 18:42:43.3493 LVL= 24912, 24049, 23154, 20947, AGC= 47, IDX= 222,-0.38,-0.933,-1.043, 0.290,-1.053, PHS= 0.223, 0.055, 1.299, RAW= 202.9, -25.5, CAL= 202.4, -28.3, ROT= 307.6,  28.3

2025-10-26T18:42:43.547Z,1761504163.547 [DAT](INFO): got valid direction response:
 18:42:43.3493 LVL= 24912, 24049, 23154, 20947, AGC= 47, IDX= 222,-0.38,-0.933,-1.043, 0.290,-1.053, PHS= 0.223, 0.055, 1.299, RAW= 202.9, -25.5, CAL= 202.4, -28.3, ROT= 307.6,  28.3

2025-10-26T18:42:43.566Z,1761504163.566 [DAT](INFO): DAT read: Bearing 254,   0 (Remote)

2025-10-26T18:42:43.566Z,1761504163.566 [DAT](INFO): Remote Bearing received:Bearing 254,   0 (Remote)

2025-10-26T18:42:43.567Z,1761504163.567 [DAT](INFO): DAT read: Bearing  64.3, -28.0 (Local)

2025-10-26T18:42:43.569Z,1761504163.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.3, -28.0 (Local)

2025-10-26T18:42:43.575Z,1761504163.575 [DAT](INFO): DAT read: Range 11 to 20 : 65.7 m  (Round-trip  87.6 ms) speed  0.4 m/s

2025-10-26T18:42:43.577Z,1761504163.577 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:42:43.578Z,1761504163.578 [DAT](INFO): direction in FSK: [0.537219,-0.697593,-0.474088]
2025-10-26T18:42:43.578Z,1761504163.578 [DAT](INFO): publishing direction and range info
2025-10-26T18:42:43.798Z,1761504163.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821813,0.529626,0.210047],[-0.569751,0.762250,0.307177],[0.002581,-0.372117,0.928182]]
2025-10-26T18:42:43.876Z,1761504163.876 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504128.00. Resetting abort timer.
2025-10-26T18:42:44.194Z,1761504164.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799715,0.555152,0.228610],[-0.600379,0.738686,0.306410],[0.001233,-0.382294,0.924040]]
2025-10-26T18:42:44.600Z,1761504164.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777026,0.579211,0.246466],[-0.629468,0.714984,0.304250],[0.000006,-0.391552,0.920156]]
2025-10-26T18:42:45.406Z,1761504165.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733273,0.618718,0.281956],[-0.679928,0.669053,0.300108],[-0.002961,-0.411771,0.911283]]
2025-10-26T18:42:45.812Z,1761504165.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712712,0.635436,0.297089],[-0.701442,0.648387,0.295928],[-0.004585,-0.419302,0.907835]]
2025-10-26T18:42:46.235Z,1761504166.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692429,0.652027,0.308874],[-0.721462,0.629239,0.289051],[-0.005886,-0.422988,0.906116]]
2025-10-26T18:42:46.627Z,1761504166.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673220,0.666901,0.319404],[-0.739410,0.611212,0.282300],[-0.006957,-0.426221,0.904593]]
2025-10-26T18:42:47.091Z,1761504167.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633930,0.696212,0.336782],[-0.773328,0.576164,0.264574],[-0.009842,-0.428164,0.903647]]
2025-10-26T18:42:47.505Z,1761504167.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614256,0.710477,0.343381],[-0.789018,0.559494,0.253804],[-0.011798,-0.426835,0.904252]]
2025-10-26T18:42:47.906Z,1761504167.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594485,0.723739,0.350413],[-0.803980,0.542713,0.243058],[-0.014263,-0.426220,0.904507]]
2025-10-26T18:42:48.313Z,1761504168.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573920,0.736918,0.357166],[-0.818731,0.525503,0.231359],[-0.017200,-0.425204,0.904934]]
2025-10-26T18:42:48.743Z,1761504168.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552381,0.750467,0.362871],[-0.833333,0.508000,0.217928],[-0.020791,-0.422771,0.905998]]
2025-10-26T18:42:49.118Z,1761504169.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528772,0.765883,0.365819],[-0.848412,0.489362,0.201799],[-0.024463,-0.417071,0.908545]]
2025-10-26T18:42:49.522Z,1761504169.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503209,0.782467,0.366778],[-0.863699,0.469320,0.183746],[-0.028361,-0.409249,0.911982]]
2025-10-26T18:42:49.926Z,1761504169.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475816,0.799381,0.366863],[-0.878940,0.447615,0.164636],[-0.032606,-0.400787,0.915591]]
2025-10-26T18:42:50.331Z,1761504170.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446548,0.816802,0.365280],[-0.894014,0.423968,0.144881],[-0.036528,-0.391261,0.919554]]
2025-10-26T18:42:50.748Z,1761504170.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416383,0.833122,0.364050],[-0.908272,0.399144,0.125404],[-0.040832,-0.382872,0.922898]]
2025-10-26T18:42:51.139Z,1761504171.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385841,0.848938,0.361154],[-0.921455,0.373819,0.105733],[-0.045245,-0.373583,0.926493]]
2025-10-26T18:42:51.542Z,1761504171.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355200,0.863247,0.358662],[-0.933481,0.347856,0.087231],[-0.049461,-0.365789,0.929383]]
2025-10-26T18:42:51.946Z,1761504171.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324565,0.877100,0.354052],[-0.944361,0.321580,0.069055],[-0.053288,-0.356766,0.932673]]
2025-10-26T18:42:52.352Z,1761504172.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294445,0.886484,0.356998],[-0.953960,0.294969,0.054352],[-0.057122,-0.356566,0.932522]]
2025-10-26T18:42:52.763Z,1761504172.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263514,0.892734,0.365494],[-0.962753,0.267171,0.041549],[-0.060557,-0.362829,0.929886]]
2025-10-26T18:42:53.158Z,1761504173.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232624,0.896835,0.376262],[-0.970464,0.239470,0.029203],[-0.063913,-0.371943,0.926053]]
2025-10-26T18:42:53.562Z,1761504173.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200508,0.898068,0.391499],[-0.977414,0.210610,0.017466],[-0.066768,-0.386158,0.920013]]
2025-10-26T18:42:53.967Z,1761504173.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167758,0.898730,0.405144],[-0.983380,0.181504,0.004559],[-0.069438,-0.399175,0.914241]]
2025-10-26T18:42:54.373Z,1761504174.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134172,0.899996,0.414734],[-0.988340,0.151938,-0.009973],[-0.071990,-0.408560,0.909888]]
2025-10-26T18:42:54.784Z,1761504174.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099439,0.903534,0.416818],[-0.992265,0.121324,-0.026271],[-0.074306,-0.410982,0.908610]]
2025-10-26T18:42:54.837Z,1761504174.837 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:42:55.178Z,1761504175.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064200,0.908282,0.413404],[-0.994993,0.090058,-0.043346],[-0.076601,-0.408551,0.909515]]
2025-10-26T18:42:55.583Z,1761504175.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027931,0.914151,0.404410],[-0.996491,0.057396,-0.060918],[-0.078899,-0.401289,0.912547]]
2025-10-26T18:42:55.635Z,1761504175.635 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:42:55.635Z,1761504175.635 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:42:55.635Z,1761504175.635 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:42:55.636Z,1761504175.636 [marl:UpdateRudder:A] Stopped
2025-10-26T18:42:55.636Z,1761504175.636 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:42:55.840Z,1761504175.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:42:55.988Z,1761504175.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008681,0.919887,0.392087],[-0.996644,0.023958,-0.078275],[-0.081397,-0.391451,0.916592]]
2025-10-26T18:42:56.046Z,1761504176.046 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:42:56.046Z,1761504176.046 [marl:UpdateRudder:B] Stopped
2025-10-26T18:42:56.046Z,1761504176.046 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:42:56.046Z,1761504176.046 [marl:UpdateRudder] Stopped
2025-10-26T18:42:56.046Z,1761504176.046 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:42:56.047Z,1761504176.047 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:42:56.047Z,1761504176.047 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:42:56.047Z,1761504176.047 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:42:56.051Z,1761504176.051 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:42:56.051Z,1761504176.051 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateCommandMode] Stopped
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:42:56.052Z,1761504176.052 [marl:UpdateSpeed] Stopped
2025-10-26T18:42:56.053Z,1761504176.053 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:42:56.390Z,1761504176.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045627,0.925969,0.374832],[-0.995434,-0.010651,-0.094858],[-0.083843,-0.377448,0.922227]]
2025-10-26T18:42:56.801Z,1761504176.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081312,0.929387,0.360040],[-0.992936,-0.044219,-0.110102],[-0.086407,-0.366449,0.926417]]
2025-10-26T18:42:57.204Z,1761504177.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116318,0.931082,0.345769],[-0.989217,-0.077409,-0.124329],[-0.088995,-0.356503,0.930046]]
2025-10-26T18:42:57.602Z,1761504177.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150267,0.929260,0.337484],[-0.984379,-0.108952,-0.138302],[-0.091749,-0.352994,0.931116]]
2025-10-26T18:42:58.006Z,1761504178.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182321,0.924783,0.333970],[-0.978665,-0.137961,-0.152252],[-0.094725,-0.354604,0.930206]]
2025-10-26T18:42:58.412Z,1761504178.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212722,0.919110,0.331641],[-0.972193,-0.165071,-0.166108],[-0.097927,-0.357754,0.928667]]
2025-10-26T18:42:58.866Z,1761504178.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241666,0.910822,0.334666],[-0.965089,-0.189708,-0.180595],[-0.101001,-0.366627,0.924870]]
2025-10-26T18:42:59.223Z,1761504179.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269491,0.900125,0.342270],[-0.957389,-0.212103,-0.196009],[-0.103836,-0.380508,0.918930]]
2025-10-26T18:42:59.622Z,1761504179.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296668,0.889517,0.347488],[-0.949044,-0.234105,-0.210974],[-0.106316,-0.392371,0.913642]]
2025-10-26T18:43:00.028Z,1761504180.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323763,0.878193,0.352071],[-0.939909,-0.255904,-0.226019],[-0.108392,-0.404091,0.908274]]
2025-10-26T18:43:00.430Z,1761504180.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350868,0.866273,0.355615],[-0.929952,-0.277767,-0.240903],[-0.109910,-0.415230,0.903053]]
2025-10-26T18:43:00.884Z,1761504180.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377868,0.854425,0.356614],[-0.919214,-0.300146,-0.254868],[-0.110729,-0.424111,0.898815]]
2025-10-26T18:43:01.238Z,1761504181.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404930,0.842622,0.354993],[-0.907583,-0.323266,-0.267939],[-0.111014,-0.430682,0.895650]]
2025-10-26T18:43:01.644Z,1761504181.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431669,0.832072,0.348306],[-0.895175,-0.347640,-0.278943],[-0.111016,-0.432206,0.894915]]
2025-10-26T18:43:02.047Z,1761504182.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458049,0.822491,0.337193],[-0.881990,-0.373209,-0.287767],[-0.110843,-0.429212,0.896376]]
2025-10-26T18:43:02.486Z,1761504182.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484647,0.815144,0.317265],[-0.867687,-0.402147,-0.292229],[-0.110621,-0.416915,0.902189]]
2025-10-26T18:43:02.929Z,1761504182.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510669,0.807532,0.295143],[-0.852580,-0.431297,-0.295111],[-0.111018,-0.402337,0.908736]]
2025-10-26T18:43:03.379Z,1761504183.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536961,0.797259,0.275774],[-0.836184,-0.459723,-0.299085],[-0.111669,-0.391194,0.913508]]
2025-10-26T18:43:03.776Z,1761504183.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563632,0.786001,0.254011],[-0.818278,-0.489271,-0.301720],[-0.112872,-0.377911,0.918936]]
2025-10-26T18:43:04.583Z,1761504184.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614241,0.757162,0.222293],[-0.780555,-0.541582,-0.312125],[-0.115939,-0.365232,0.923668]]
2025-10-26T18:43:04.986Z,1761504184.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637836,0.740349,0.212248],[-0.761154,-0.563906,-0.320398],[-0.117518,-0.365914,0.923199]]
2025-10-26T18:43:05.394Z,1761504185.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659503,0.722930,0.205982],[-0.742159,-0.582684,-0.331179],[-0.119396,-0.371285,0.920810]]
2025-10-26T18:43:05.795Z,1761504185.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679684,0.705417,0.201036],[-0.723469,-0.599532,-0.342279],[-0.120922,-0.378085,0.917840]]
2025-10-26T18:43:06.204Z,1761504186.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698574,0.687087,0.199765],[-0.705104,-0.613513,-0.355569],[-0.121748,-0.389246,0.913053]]
2025-10-26T18:43:06.602Z,1761504186.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716078,0.669273,0.198258],[-0.687232,-0.626235,-0.368159],[-0.122243,-0.399880,0.908379]]
2025-10-26T18:43:07.008Z,1761504187.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732810,0.651549,0.196146],[-0.669376,-0.638545,-0.379731],[-0.122165,-0.409566,0.904064]]
2025-10-26T18:43:07.814Z,1761504187.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764686,0.618250,0.181723],[-0.632883,-0.667448,-0.392393],[-0.121306,-0.415067,0.901668]]
2025-10-26T18:43:08.220Z,1761504188.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781030,0.600878,0.170112],[-0.612771,-0.684856,-0.394313],[-0.120432,-0.412210,0.903094]]
2025-10-26T18:43:08.635Z,1761504188.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798213,0.582287,0.154267],[-0.590393,-0.705419,-0.392199],[-0.119550,-0.404136,0.906853]]
2025-10-26T18:43:08.732Z,1761504188.732 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:43:08.732Z,1761504188.732 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:43:08.732Z,1761504188.732 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:43:08.733Z,1761504188.733 [marl:UpdateRudder:A] Stopped
2025-10-26T18:43:08.733Z,1761504188.733 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:43:09.113Z,1761504189.113 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:43:09.113Z,1761504189.113 [marl:UpdateRudder:B] Stopped
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateRudder] Stopped
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:43:09.114Z,1761504189.114 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:43:09.115Z,1761504189.115 [marl:UpdateCommandMode] Stopped
2025-10-26T18:43:09.115Z,1761504189.115 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:43:09.115Z,1761504189.115 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:43:09.115Z,1761504189.115 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:43:09.115Z,1761504189.115 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:43:09.115Z,1761504189.115 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:43:09.116Z,1761504189.116 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:43:09.116Z,1761504189.116 [marl:UpdateSpeed] Stopped
2025-10-26T18:43:09.116Z,1761504189.116 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:43:09.430Z,1761504189.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833821,0.539896,0.115131],[-0.539169,-0.751712,-0.379772],[-0.118492,-0.378737,0.917888]]
2025-10-26T18:43:09.834Z,1761504189.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851373,0.515270,0.098288],[-0.510929,-0.772122,-0.377861],[-0.118811,-0.371919,0.920630]]
2025-10-26T18:43:10.244Z,1761504190.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868318,0.489132,0.082297],[-0.481366,-0.790993,-0.377645],[-0.119622,-0.367531,0.922286]]
2025-10-26T18:43:10.269Z,1761504190.269 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:43:10.484Z,1761504190.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:43:10.484Z,1761504190.484 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:43:10.643Z,1761504190.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883852,0.463055,0.066218],[-0.451758,-0.808291,-0.377599],[-0.121326,-0.363656,0.923599]]
2025-10-26T18:43:10.736Z,1761504190.736 [DAT](INFO): DAT read: user:63>

2025-10-26T18:43:10.737Z,1761504190.737 [DAT](INFO): DAT read: Tx time:18:43:11.4808

2025-10-26T18:43:10.737Z,1761504190.737 [DAT](INFO): Ping request sent.
2025-10-26T18:43:10.737Z,1761504190.737 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:43:10.738Z,1761504190.738 [DAT](INFO): publishing transmit ping time
2025-10-26T18:43:10.738Z,1761504190.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932
2025-10-26T18:43:10.988Z,1761504190.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250794
2025-10-26T18:43:11.240Z,1761504191.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502873
2025-10-26T18:43:11.457Z,1761504191.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908759,0.415415,0.039838],[-0.397268,-0.831905,-0.387443],[-0.127808,-0.367918,0.921033]]
2025-10-26T18:43:11.504Z,1761504191.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765179
2025-10-26T18:43:11.752Z,1761504191.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014758
2025-10-26T18:43:11.862Z,1761504191.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918565,0.394284,0.027902],[-0.372568,-0.840068,-0.394308],[-0.132030,-0.372593,0.918554]]
2025-10-26T18:43:12.004Z,1761504192.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266908
2025-10-26T18:43:12.256Z,1761504192.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518658
2025-10-26T18:43:12.280Z,1761504192.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926913,0.374931,0.016062],[-0.349625,-0.847215,-0.399987],[-0.136360,-0.376369,0.916380]]
2025-10-26T18:43:12.508Z,1761504192.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770828
2025-10-26T18:43:12.670Z,1761504192.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934354,0.356328,0.003524],[-0.327477,-0.854719,-0.402759],[-0.140503,-0.377474,0.915299]]
2025-10-26T18:43:12.760Z,1761504192.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022938
2025-10-26T18:43:13.012Z,1761504193.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274789
2025-10-26T18:43:13.080Z,1761504193.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940910,0.338537,-0.008999],[-0.306261,-0.861944,-0.404050],[-0.144543,-0.377419,0.914693]]
2025-10-26T18:43:13.264Z,1761504193.264 [DAT](INFO): DAT read: Rx Time:18:43:13.5918

2025-10-26T18:43:13.265Z,1761504193.265 [DAT](INFO): Rx dataTimestamp_ set to:1761504193.264555
2025-10-26T18:43:13.265Z,1761504193.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527876
2025-10-26T18:43:13.484Z,1761504193.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946694,0.321470,-0.020701],[-0.285999,-0.868330,-0.405226],[-0.148243,-0.377704,0.913982]]
2025-10-26T18:43:13.516Z,1761504193.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778797
2025-10-26T18:43:13.784Z,1761504193.784 [DAT](INFO): DAT read: 18:43:13.5917 LVL= 11568, 18801, 21090, 22627, AGC= 40, IDX= 387,-0.18,-0.680,-2.185,-3.068,-1.723, PHS= 1.145,-0.417,-1.389, RAW=  67.7,   6.0, CAL=  66.6,   5.2, ROT=  83.4,  -5.2

2025-10-26T18:43:13.785Z,1761504193.785 [DAT](INFO): got valid direction response:
 18:43:13.5917 LVL= 11568, 18801, 21090, 22627, AGC= 40, IDX= 387,-0.18,-0.680,-2.185,-3.068,-1.723, PHS= 1.145,-0.417,-1.389, RAW=  67.7,   6.0, CAL=  66.6,   5.2, ROT=  83.4,  -5.2

2025-10-26T18:43:13.786Z,1761504193.786 [DAT](INFO): DAT read: Bearing 267,  -4 (Remote)

2025-10-26T18:43:13.786Z,1761504193.786 [DAT](INFO): Remote Bearing received:Bearing 267,  -4 (Remote)

2025-10-26T18:43:13.787Z,1761504193.787 [DAT](INFO): DAT read: Bearing  47.6,  57.4 (Local)

2025-10-26T18:43:13.788Z,1761504193.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,  57.4 (Local)

2025-10-26T18:43:13.789Z,1761504193.789 [DAT](INFO): DAT read: Range 11 to 20 : 61.4 m  (Round-trip  81.9 ms) speed -0.1 m/s

2025-10-26T18:43:13.790Z,1761504193.790 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:43:13.790Z,1761504193.790 [DAT](INFO): direction in FSK: [0.114464,0.989284,0.090633]
2025-10-26T18:43:13.791Z,1761504193.791 [DAT](INFO): publishing direction and range info
2025-10-26T18:43:13.984Z,1761504193.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956616,0.288121,-0.043264],[-0.246816,-0.880311,-0.405134],[-0.154814,-0.376880,0.913233]]
2025-10-26T18:43:14.076Z,1761504194.076 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504256.00. Resetting abort timer.
2025-10-26T18:43:14.691Z,1761504194.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960866,0.271799,-0.053491],[-0.227890,-0.885379,-0.405179],[-0.157487,-0.377133,0.912671]]
2025-10-26T18:43:15.093Z,1761504195.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964776,0.255341,-0.063316],[-0.208946,-0.889981,-0.405310],[-0.159842,-0.377803,0.911984]]
2025-10-26T18:43:15.500Z,1761504195.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968436,0.238470,-0.072557],[-0.189650,-0.893814,-0.406361],[-0.161757,-0.379774,0.910827]]
2025-10-26T18:43:15.900Z,1761504195.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971705,0.221975,-0.080727],[-0.170963,-0.896801,-0.408068],[-0.162977,-0.382721,0.909375]]
2025-10-26T18:43:16.312Z,1761504196.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974722,0.204969,-0.088913],[-0.152091,-0.900236,-0.407975],[-0.163665,-0.384139,0.908653]]
2025-10-26T18:43:16.717Z,1761504196.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979772,0.170217,-0.105226],[-0.113834,-0.906529,-0.406506],[-0.164585,-0.386305,0.907568]]
2025-10-26T18:43:17.115Z,1761504197.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981750,0.153037,-0.112900],[-0.095058,-0.909070,-0.405654],[-0.164714,-0.387518,0.907027]]
2025-10-26T18:43:17.528Z,1761504197.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983368,0.135686,-0.120736],[-0.076119,-0.911443,-0.404324],[-0.164904,-0.388409,0.906612]]
2025-10-26T18:43:17.925Z,1761504197.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984564,0.118668,-0.128655],[-0.057663,-0.913947,-0.401716],[-0.165255,-0.388097,0.906682]]
2025-10-26T18:43:18.328Z,1761504198.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985384,0.101854,-0.136546],[-0.039167,-0.915553,-0.400286],[-0.165786,-0.389087,0.906160]]
2025-10-26T18:43:18.734Z,1761504198.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985846,0.084772,-0.144641],[-0.020781,-0.917878,-0.396318],[-0.166360,-0.387702,0.906648]]
2025-10-26T18:43:19.140Z,1761504199.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985988,0.067379,-0.152605],[-0.002153,-0.919863,-0.392234],[-0.166804,-0.386410,0.907118]]
2025-10-26T18:43:19.536Z,1761504199.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985780,0.049128,-0.160701],[0.017214,-0.921758,-0.387384],[-0.167158,-0.384642,0.907804]]
2025-10-26T18:43:19.939Z,1761504199.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985197,0.030101,-0.168764],[0.037062,-0.923781,-0.381122],[-0.167373,-0.381735,0.908991]]
2025-10-26T18:43:20.347Z,1761504200.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984122,0.010369,-0.177190],[0.058004,-0.924693,-0.376270],[-0.167748,-0.380573,0.909409]]
2025-10-26T18:43:20.747Z,1761504200.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982620,-0.008924,-0.185413],[0.078720,-0.924614,-0.372682],[-0.168109,-0.380800,0.909247]]
2025-10-26T18:43:21.156Z,1761504201.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980667,-0.028552,-0.193589],[0.099451,-0.924729,-0.367405],[-0.168527,-0.379554,0.909691]]
2025-10-26T18:43:21.555Z,1761504201.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978254,-0.047630,-0.201869],[0.120059,-0.923682,-0.363865],[-0.169132,-0.380189,0.909313]]
2025-10-26T18:43:21.601Z,1761504201.601 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:43:21.601Z,1761504201.601 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:43:21.601Z,1761504201.601 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:43:21.602Z,1761504201.602 [marl:UpdateRudder:A] Stopped
2025-10-26T18:43:21.602Z,1761504201.602 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:43:21.960Z,1761504201.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975464,-0.066585,-0.209850],[0.140453,-0.922217,-0.360262],[-0.169539,-0.380897,0.908941]]
2025-10-26T18:43:22.010Z,1761504202.010 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:43:22.010Z,1761504202.010 [marl:UpdateRudder:B] Stopped
2025-10-26T18:43:22.010Z,1761504202.010 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:43:22.010Z,1761504202.010 [marl:UpdateRudder] Stopped
2025-10-26T18:43:22.011Z,1761504202.011 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:43:22.011Z,1761504202.011 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:43:22.011Z,1761504202.011 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:43:22.011Z,1761504202.011 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:43:22.015Z,1761504202.015 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:43:22.015Z,1761504202.015 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateCommandMode] Stopped
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:43:22.016Z,1761504202.016 [marl:UpdateSpeed] Stopped
2025-10-26T18:43:22.017Z,1761504202.017 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:43:22.371Z,1761504202.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972455,-0.084182,-0.217358],[0.159477,-0.920375,-0.357040],[-0.169994,-0.381869,0.908448]]
2025-10-26T18:43:22.779Z,1761504202.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969043,-0.101874,-0.224896],[0.178620,-0.918124,-0.353755],[-0.170444,-0.382975,0.907898]]
2025-10-26T18:43:23.183Z,1761504203.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965608,-0.118907,-0.231221],[0.196741,-0.915556,-0.350785],[-0.169985,-0.384212,0.907461]]
2025-10-26T18:43:23.578Z,1761504203.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962068,-0.136249,-0.236350],[0.214495,-0.913112,-0.346724],[-0.168574,-0.384269,0.907701]]
2025-10-26T18:43:23.980Z,1761504203.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958322,-0.153852,-0.240724],[0.232230,-0.910277,-0.342731],[-0.166396,-0.384350,0.908068]]
2025-10-26T18:43:24.390Z,1761504204.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954277,-0.172153,-0.244377],[0.250207,-0.907324,-0.337875],[-0.163563,-0.383571,0.908912]]
2025-10-26T18:43:24.786Z,1761504204.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949810,-0.190379,-0.248228],[0.268602,-0.903059,-0.335167],[-0.160356,-0.385020,0.908871]]
2025-10-26T18:43:25.191Z,1761504205.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944786,-0.209222,-0.252203],[0.287565,-0.898387,-0.331975],[-0.157120,-0.386170,0.908948]]
2025-10-26T18:43:25.596Z,1761504205.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939083,-0.229249,-0.256062],[0.307163,-0.894058,-0.326055],[-0.154186,-0.384846,0.910011]]
2025-10-26T18:43:25.960Z,1761504205.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:43:26.007Z,1761504206.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932468,-0.249930,-0.260842],[0.327760,-0.888941,-0.319932],[-0.151913,-0.383820,0.910826]]
2025-10-26T18:43:26.432Z,1761504206.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925200,-0.270818,-0.265823],[0.348578,-0.883387,-0.313242],[-0.149993,-0.382472,0.911711]]
2025-10-26T18:43:26.816Z,1761504206.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917169,-0.291986,-0.271191],[0.369682,-0.877510,-0.305468],[-0.148780,-0.380420,0.912768]]
2025-10-26T18:43:26.964Z,1761504206.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:43:27.216Z,1761504207.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908624,-0.312285,-0.277274],[0.390489,-0.870706,-0.298980],[-0.148057,-0.379933,0.913088]]
2025-10-26T18:43:27.637Z,1761504207.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899741,-0.331962,-0.283315],[0.410767,-0.863449,-0.292791],[-0.147433,-0.379812,0.913239]]
2025-10-26T18:43:28.044Z,1761504208.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890867,-0.350331,-0.289178],[0.429979,-0.855666,-0.288017],[-0.146539,-0.380925,0.912920]]
2025-10-26T18:43:28.431Z,1761504208.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882471,-0.366917,-0.294309],[0.447432,-0.847818,-0.284622],[-0.145088,-0.382854,0.912344]]
2025-10-26T18:43:28.880Z,1761504208.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874725,-0.382124,-0.298056],[0.462979,-0.840660,-0.280964],[-0.143201,-0.383761,0.912262]]
2025-10-26T18:43:29.234Z,1761504209.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867541,-0.396583,-0.300157],[0.477033,-0.834259,-0.276498],[-0.140755,-0.383058,0.912937]]
2025-10-26T18:43:29.638Z,1761504209.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860442,-0.410376,-0.302046],[0.490437,-0.827808,-0.272407],[-0.138247,-0.382524,0.913544]]
2025-10-26T18:43:30.043Z,1761504210.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853534,-0.423426,-0.303627],[0.503025,-0.821550,-0.268368],[-0.135810,-0.381794,0.914215]]
2025-10-26T18:43:30.454Z,1761504210.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846457,-0.437215,-0.303897],[0.515632,-0.815428,-0.263059],[-0.132793,-0.379367,0.915667]]
2025-10-26T18:43:30.881Z,1761504210.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839230,-0.450606,-0.304380],[0.528118,-0.808770,-0.258808],[-0.129553,-0.377948,0.916718]]
2025-10-26T18:43:31.255Z,1761504211.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831502,-0.464486,-0.304724],[0.541100,-0.801368,-0.254990],[-0.125757,-0.376911,0.917673]]
2025-10-26T18:43:31.659Z,1761504211.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823270,-0.478642,-0.305169],[0.554574,-0.792914,-0.252457],[-0.121136,-0.377079,0.918225]]
2025-10-26T18:43:32.064Z,1761504212.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814324,-0.492872,-0.306517],[0.568775,-0.782856,-0.252253],[-0.115630,-0.379755,0.917832]]
2025-10-26T18:43:32.467Z,1761504212.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804377,-0.507765,-0.308468],[0.583975,-0.771258,-0.253248],[-0.109318,-0.383844,0.916904]]
2025-10-26T18:43:32.885Z,1761504212.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794062,-0.522590,-0.310428],[0.599109,-0.759127,-0.254546],[-0.102631,-0.388105,0.915883]]
2025-10-26T18:43:33.274Z,1761504213.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783015,-0.538231,-0.311762],[0.614641,-0.746426,-0.255079],[-0.095416,-0.391352,0.915281]]
2025-10-26T18:43:33.681Z,1761504213.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771191,-0.554256,-0.313153],[0.630437,-0.733232,-0.254794],[-0.088393,-0.393918,0.914886]]
2025-10-26T18:43:34.095Z,1761504214.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758822,-0.570444,-0.314298],[0.646158,-0.719883,-0.253473],[-0.081666,-0.395427,0.914860]]
2025-10-26T18:43:34.125Z,1761504214.125 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:43:34.125Z,1761504214.125 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:43:34.125Z,1761504214.125 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:43:34.125Z,1761504214.125 [marl:UpdateRudder:A] Stopped
2025-10-26T18:43:34.126Z,1761504214.126 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:43:34.208Z,1761504214.208 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:43:34.208Z,1761504214.208 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:43:34.486Z,1761504214.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745417,-0.586982,-0.315919],[0.662309,-0.705839,-0.251273],[-0.075495,-0.396540,0.914908]]
2025-10-26T18:43:34.534Z,1761504214.534 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:43:34.534Z,1761504214.534 [marl:UpdateRudder:B] Stopped
2025-10-26T18:43:34.534Z,1761504214.534 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:43:34.534Z,1761504214.534 [marl:UpdateRudder] Stopped
2025-10-26T18:43:34.535Z,1761504214.535 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:43:34.535Z,1761504214.535 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:43:34.535Z,1761504214.535 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:43:34.535Z,1761504214.535 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:43:34.535Z,1761504214.535 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateCommandMode] Stopped
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:43:34.536Z,1761504214.536 [marl:UpdateSpeed] Stopped
2025-10-26T18:43:34.537Z,1761504214.537 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:43:34.891Z,1761504214.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731718,-0.603211,-0.317372],[0.678028,-0.691817,-0.248329],[-0.069769,-0.396894,0.915209]]
2025-10-26T18:43:35.296Z,1761504215.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717541,-0.619325,-0.318705],[0.693487,-0.677878,-0.244043],[-0.064901,-0.396128,0.915899]]
2025-10-26T18:43:35.705Z,1761504215.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703455,-0.634213,-0.320819],[0.708150,-0.663920,-0.240277],[-0.060612,-0.396212,0.916156]]
2025-10-26T18:43:36.110Z,1761504216.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689427,-0.648412,-0.322882],[0.722113,-0.650279,-0.235985],[-0.056948,-0.395852,0.916547]]
2025-10-26T18:43:36.506Z,1761504216.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675567,-0.661665,-0.325282],[0.735320,-0.636938,-0.231548],[-0.053978,-0.395613,0.916830]]
2025-10-26T18:43:36.949Z,1761504216.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663102,-0.673323,-0.327005],[0.746729,-0.625324,-0.226640],[-0.051882,-0.394469,0.917443]]
2025-10-26T18:43:37.324Z,1761504217.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653652,-0.683257,-0.325422],[0.755092,-0.617640,-0.219901],[-0.050745,-0.389462,0.919643]]
2025-10-26T18:43:37.726Z,1761504217.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647933,-0.692412,-0.317409],[0.759980,-0.615632,-0.208391],[-0.051115,-0.376248,0.925108]]
2025-10-26T18:43:37.730Z,1761504217.730 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T18:43:37.730Z,1761504217.730 [NAL9602] Data Fault, FailCount= 1
2025-10-26T18:43:37.731Z,1761504217.731 [NAL9602](ERROR): Data Fault
2025-10-26T18:43:37.781Z,1761504217.781 [marl:NeedComms] Running Loop=1
2025-10-26T18:43:37.781Z,1761504217.781 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T18:43:37.781Z,1761504217.781 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T18:43:37.781Z,1761504217.781 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T18:43:37.782Z,1761504217.782 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T18:43:37.782Z,1761504217.782 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T18:43:37.782Z,1761504217.782 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T18:43:37.783Z,1761504217.783 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T18:43:37.787Z,1761504217.787 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T18:43:37.788Z,1761504217.788 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T18:43:37.788Z,1761504217.788 [marl:NeedComms:A] Running Loop=1
2025-10-26T18:43:37.790Z,1761504217.790 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T18:43:37.790Z,1761504217.790 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T18:43:37.791Z,1761504217.791 [marl:NeedComms:A] Stopped
2025-10-26T18:43:38.001Z,1761504218.001 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T18:43:38.125Z,1761504218.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645618,-0.700808,-0.303390],[0.761856,-0.618378,-0.192831],[-0.052472,-0.355635,0.933151]]
2025-10-26T18:43:38.128Z,1761504218.128 [NAL9602](INFO): Powering down
2025-10-26T18:43:38.528Z,1761504218.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645952,-0.707235,-0.287341],[0.761465,-0.623576,-0.176985],[-0.054009,-0.333124,0.941335]]
2025-10-26T18:43:38.931Z,1761504218.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647504,-0.711849,-0.272046],[0.760050,-0.629168,-0.162703],[-0.055343,-0.312119,0.948430]]
2025-10-26T18:43:39.340Z,1761504219.340 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T18:43:39.340Z,1761504219.340 [NAL9602] No Fault, FailCount= 1
2025-10-26T18:43:39.370Z,1761504219.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649891,-0.714864,-0.258092],[0.757952,-0.634683,-0.150622],[-0.056133,-0.293509,0.954307]]
2025-10-26T18:43:39.763Z,1761504219.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652246,-0.717215,-0.245312],[0.755897,-0.639563,-0.139925],[-0.056536,-0.276696,0.959293]]
2025-10-26T18:43:40.166Z,1761504220.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653964,-0.719601,-0.233463],[0.754365,-0.643573,-0.129411],[-0.057126,-0.260747,0.963716]]
2025-10-26T18:43:40.588Z,1761504220.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654601,-0.721304,-0.226316],[0.753502,-0.646731,-0.118213],[-0.061098,-0.247912,0.966854]]
2025-10-26T18:43:40.630Z,1761504220.630 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:43:40.738Z,1761504220.738 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:43:40.738Z,1761504220.738 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:43:40.975Z,1761504220.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653769,-0.723022,-0.223218],[0.753458,-0.649257,-0.103757],[-0.069907,-0.236018,0.969231]]
2025-10-26T18:43:40.988Z,1761504220.988 [DAT](INFO): DAT read: user:64>

2025-10-26T18:43:40.989Z,1761504220.989 [DAT](INFO): DAT read: Tx time:18:43:41.7306

2025-10-26T18:43:40.989Z,1761504220.989 [DAT](INFO): Ping request sent.
2025-10-26T18:43:40.989Z,1761504220.989 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:43:40.990Z,1761504220.990 [DAT](INFO): publishing transmit ping time
2025-10-26T18:43:40.990Z,1761504220.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938
2025-10-26T18:43:41.241Z,1761504221.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251223
2025-10-26T18:43:41.378Z,1761504221.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651273,-0.724902,-0.224412],[0.754331,-0.650647,-0.087429],[-0.082635,-0.226221,0.970565]]
2025-10-26T18:43:41.494Z,1761504221.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504204
2025-10-26T18:43:41.744Z,1761504221.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754896
2025-10-26T18:43:41.782Z,1761504221.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647140,-0.726997,-0.229532],[0.755984,-0.650833,-0.070031],[-0.098475,-0.218843,0.970778]]
2025-10-26T18:43:41.996Z,1761504221.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006852
2025-10-26T18:43:42.194Z,1761504222.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641715,-0.729210,-0.237602],[0.758016,-0.650172,-0.051847],[-0.116675,-0.213377,0.969978]]
2025-10-26T18:43:42.248Z,1761504222.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983
2025-10-26T18:43:42.500Z,1761504222.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848
2025-10-26T18:43:42.592Z,1761504222.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635398,-0.731758,-0.246577],[0.760038,-0.649076,-0.032284],[-0.136423,-0.207921,0.968585]]
2025-10-26T18:43:42.752Z,1761504222.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763024
2025-10-26T18:43:42.994Z,1761504222.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628231,-0.733770,-0.258663],[0.761875,-0.647587,-0.013351],[-0.157710,-0.205456,0.965875]]
2025-10-26T18:43:43.004Z,1761504223.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014986
2025-10-26T18:43:43.256Z,1761504223.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266866
2025-10-26T18:43:43.398Z,1761504223.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620785,-0.735946,-0.270203],[0.763051,-0.646298,0.007220],[-0.179945,-0.201696,0.962776]]
2025-10-26T18:43:43.508Z,1761504223.508 [DAT](INFO): DAT read: Rx Time:18:43:43.8778

2025-10-26T18:43:43.509Z,1761504223.509 [DAT](INFO): Rx dataTimestamp_ set to:1761504223.508552
2025-10-26T18:43:43.509Z,1761504223.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519912
2025-10-26T18:43:43.761Z,1761504223.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771118
2025-10-26T18:43:43.809Z,1761504223.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613372,-0.737895,-0.281576],[0.763302,-0.645408,0.028609],[-0.202842,-0.197379,0.959112]]
2025-10-26T18:43:44.016Z,1761504224.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025377
2025-10-26T18:43:44.211Z,1761504224.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606285,-0.738909,-0.293994],[0.762477,-0.645151,0.049080],[-0.225936,-0.194407,0.954546]]
2025-10-26T18:43:44.271Z,1761504224.271 [DAT](INFO): DAT read: 18:43:43.8778 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 277,-0.09, 1.408, 2.893, 1.343, 1.684, PHS=-0.174, 1.254,-0.385, RAW= 336.8,  -9.1, CAL= 336.5, -12.1, ROT= 173.5,  12.1

2025-10-26T18:43:44.272Z,1761504224.272 [DAT](INFO): got valid direction response:
 18:43:43.8778 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 277,-0.09, 1.408, 2.893, 1.343, 1.684, PHS=-0.174, 1.254,-0.385, RAW= 336.8,  -9.1, CAL= 336.5, -12.1, ROT= 173.5,  12.1

2025-10-26T18:43:44.273Z,1761504224.273 [DAT](INFO): DAT read: Bearing 291, -15 (Remote)

2025-10-26T18:43:44.274Z,1761504224.274 [DAT](INFO): Remote Bearing received:Bearing 291, -15 (Remote)

2025-10-26T18:43:44.275Z,1761504224.275 [DAT](INFO): DAT read: Bearing 107.3,  19.3 (Local)

2025-10-26T18:43:44.275Z,1761504224.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.3,  19.3 (Local)

2025-10-26T18:43:44.276Z,1761504224.276 [DAT](INFO): DAT read: Range 11 to 20 : 88.5 m  (Round-trip  118.0 ms) speed -0.4 m/s

2025-10-26T18:43:44.277Z,1761504224.277 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:43:44.278Z,1761504224.278 [DAT](INFO): direction in FSK: [-0.971498,0.110688,-0.209619]
2025-10-26T18:43:44.278Z,1761504224.278 [DAT](INFO): publishing direction and range info
2025-10-26T18:43:44.610Z,1761504224.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599184,-0.739338,-0.307178],[0.760929,-0.645196,0.068629],[-0.248930,-0.192619,0.949174]]
2025-10-26T18:43:44.664Z,1761504224.664 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504256.00. Resetting abort timer.
2025-10-26T18:43:45.420Z,1761504225.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584678,-0.740151,-0.332156],[0.757130,-0.644888,0.104279],[-0.291386,-0.190516,0.937442]]
2025-10-26T18:43:45.822Z,1761504225.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578170,-0.740439,-0.342738],[0.755062,-0.644738,0.119144],[-0.309195,-0.189903,0.931845]]
2025-10-26T18:43:46.226Z,1761504226.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571790,-0.741228,-0.351621],[0.753385,-0.644071,0.132604],[-0.324759,-0.189084,0.926703]]
2025-10-26T18:43:46.630Z,1761504226.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565723,-0.742735,-0.358194],[0.752205,-0.642805,0.144877],[-0.337854,-0.187474,0.922338]]
2025-10-26T18:43:47.047Z,1761504227.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560041,-0.744581,-0.363254],[0.751433,-0.641169,0.155729],[-0.348860,-0.185747,0.918583]]
2025-10-26T18:43:47.105Z,1761504227.105 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:43:47.105Z,1761504227.105 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:43:47.105Z,1761504227.105 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:43:47.105Z,1761504227.105 [marl:UpdateRudder:A] Stopped
2025-10-26T18:43:47.105Z,1761504227.105 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:43:47.438Z,1761504227.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554847,-0.747041,-0.366162],[0.750654,-0.639292,0.166809],[-0.358697,-0.182307,0.915478]]
2025-10-26T18:43:47.471Z,1761504227.471 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:43:47.471Z,1761504227.471 [marl:UpdateRudder:B] Stopped
2025-10-26T18:43:47.471Z,1761504227.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:43:47.471Z,1761504227.471 [marl:UpdateRudder] Stopped
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:43:47.472Z,1761504227.472 [marl:UpdateCommandMode] Stopped
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed] Stopped
2025-10-26T18:43:47.473Z,1761504227.473 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:43:47.842Z,1761504227.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549821,-0.749079,-0.369565],[0.749602,-0.637692,0.177330],[-0.368503,-0.179528,0.912127]]
2025-10-26T18:43:48.246Z,1761504228.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544719,-0.751692,-0.371806],[0.748077,-0.635924,0.189687],[-0.379027,-0.174814,0.908724]]
2025-10-26T18:43:48.657Z,1761504228.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539778,-0.754797,-0.372721],[0.745544,-0.634242,0.204697],[-0.390900,-0.167389,0.905085]]
2025-10-26T18:43:50.277Z,1761504230.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521630,-0.761311,-0.385108],[0.726053,-0.633162,0.268241],[-0.448050,-0.139686,0.883028]]
2025-10-26T18:43:50.674Z,1761504230.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519171,-0.758741,-0.393412],[0.719877,-0.636329,0.277240],[-0.460693,-0.139273,0.876564]]
2025-10-26T18:43:51.079Z,1761504231.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517624,-0.754890,-0.402749],[0.714185,-0.640424,0.282484],[-0.471174,-0.141417,0.870630]]
2025-10-26T18:43:51.486Z,1761504231.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516596,-0.750551,-0.412071],[0.709508,-0.644639,0.284674],[-0.479299,-0.145306,0.865539]]
2025-10-26T18:43:51.888Z,1761504231.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516471,-0.746778,-0.419022],[0.705958,-0.648282,0.285227],[-0.484646,-0.148500,0.862013]]
2025-10-26T18:43:52.694Z,1761504232.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519268,-0.740208,-0.427145],[0.702857,-0.654219,0.279266],[-0.486162,-0.155208,0.859975]]
2025-10-26T18:43:53.100Z,1761504233.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522848,-0.738209,-0.426236],[0.703096,-0.656185,0.274001],[-0.481960,-0.156424,0.862117]]
2025-10-26T18:43:53.506Z,1761504233.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528485,-0.736048,-0.423009],[0.704456,-0.658288,0.265329],[-0.473756,-0.157769,0.866409]]
2025-10-26T18:43:53.906Z,1761504233.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535657,-0.733886,-0.417712],[0.706338,-0.660488,0.254643],[-0.462772,-0.158645,0.872166]]
2025-10-26T18:43:54.310Z,1761504234.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543874,-0.729977,-0.413925],[0.708141,-0.663899,0.240362],[-0.450263,-0.162391,0.878005]]
2025-10-26T18:43:54.732Z,1761504234.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552530,-0.726437,-0.408656],[0.709849,-0.667088,0.226071],[-0.436836,-0.165173,0.884247]]
2025-10-26T18:43:55.120Z,1761504235.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560919,-0.723472,-0.402440],[0.711535,-0.669792,0.212361],[-0.423188,-0.167232,0.890475]]
2025-10-26T18:43:55.531Z,1761504235.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567761,-0.721517,-0.396309],[0.713711,-0.671347,0.199773],[-0.410201,-0.169427,0.896119]]
2025-10-26T18:43:55.926Z,1761504235.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571531,-0.721548,-0.390796],[0.717095,-0.670691,0.189597],[-0.398907,-0.171877,0.900739]]
2025-10-26T18:43:56.333Z,1761504236.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570460,-0.723247,-0.389216],[0.722514,-0.667257,0.180944],[-0.390574,-0.177993,0.903200]]
2025-10-26T18:43:56.740Z,1761504236.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565755,-0.724345,-0.394011],[0.729235,-0.662565,0.170952],[-0.384886,-0.190610,0.903068]]
2025-10-26T18:43:57.095Z,1761504237.095 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:43:57.138Z,1761504237.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559656,-0.723015,-0.405011],[0.736026,-0.658250,0.158029],[-0.380856,-0.209657,0.900551]]
2025-10-26T18:43:57.544Z,1761504237.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553410,-0.720763,-0.417419],[0.742105,-0.654234,0.145800],[-0.378177,-0.229082,0.896941]]
2025-10-26T18:43:57.946Z,1761504237.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547376,-0.718659,-0.428846],[0.747409,-0.650330,0.135834],[-0.376510,-0.246171,0.893107]]
2025-10-26T18:43:58.096Z,1761504238.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:43:58.355Z,1761504238.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541291,-0.718324,-0.437053],[0.752144,-0.646005,0.130217],[-0.375876,-0.258242,0.889960]]
2025-10-26T18:43:58.763Z,1761504238.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531466,-0.721090,-0.444491],[0.759229,-0.638202,0.127555],[-0.375654,-0.269679,0.886655]]
2025-10-26T18:43:59.163Z,1761504239.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529263,-0.722725,-0.444465],[0.761550,-0.635605,0.126684],[-0.374062,-0.271433,0.886793]]
2025-10-26T18:43:59.566Z,1761504239.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530671,-0.723834,-0.440968],[0.762736,-0.634716,0.123969],[-0.369622,-0.270555,0.888920]]
2025-10-26T18:43:59.972Z,1761504239.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534570,-0.726103,-0.432446],[0.763271,-0.634489,0.121823],[-0.362838,-0.264951,0.893392]]
2025-10-26T18:43:59.998Z,1761504239.998 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:43:59.999Z,1761504239.999 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:44:00.000Z,1761504240.000 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:44:00.001Z,1761504240.001 [marl:UpdateRudder:A] Stopped
2025-10-26T18:44:00.001Z,1761504240.001 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:44:00.373Z,1761504240.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538689,-0.729858,-0.420858],[0.763827,-0.633866,0.121578],[-0.355502,-0.255970,0.898942]]
2025-10-26T18:44:00.404Z,1761504240.404 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:44:00.404Z,1761504240.404 [marl:UpdateRudder:B] Stopped
2025-10-26T18:44:00.404Z,1761504240.404 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:44:00.404Z,1761504240.404 [marl:UpdateRudder] Stopped
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode] Stopped
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:44:00.405Z,1761504240.405 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:44:00.406Z,1761504240.406 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:44:00.406Z,1761504240.406 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:44:00.406Z,1761504240.406 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:44:00.406Z,1761504240.406 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:44:00.406Z,1761504240.406 [marl:UpdateSpeed] Stopped
2025-10-26T18:44:00.406Z,1761504240.406 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:44:00.774Z,1761504240.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542910,-0.733715,-0.408547],[0.764144,-0.633391,0.122061],[-0.348329,-0.245921,0.904539]]
2025-10-26T18:44:01.178Z,1761504241.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546546,-0.738130,-0.395540],[0.764342,-0.632676,0.124511],[-0.342154,-0.234276,0.909970]]
2025-10-26T18:44:01.584Z,1761504241.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549254,-0.741772,-0.384829],[0.764492,-0.631989,0.127048],[-0.337449,-0.224417,0.914202]]
2025-10-26T18:44:01.986Z,1761504241.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551206,-0.745062,-0.375573],[0.764570,-0.631258,0.130177],[-0.334073,-0.215397,0.917605]]
2025-10-26T18:44:02.390Z,1761504242.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552478,-0.747806,-0.368178],[0.764686,-0.630499,0.133138],[-0.331697,-0.207985,0.920174]]
2025-10-26T18:44:02.798Z,1761504242.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554025,-0.748769,-0.363870],[0.764497,-0.630618,0.133664],[-0.329546,-0.204124,0.921809]]
2025-10-26T18:44:03.200Z,1761504243.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556353,-0.747914,-0.362071],[0.763923,-0.631813,0.131274],[-0.326943,-0.203560,0.922860]]
2025-10-26T18:44:03.632Z,1761504243.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559194,-0.745841,-0.361972],[0.763113,-0.633697,0.126830],[-0.323976,-0.205303,0.923521]]
2025-10-26T18:44:04.037Z,1761504244.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562460,-0.744110,-0.360470],[0.762307,-0.635529,0.122442],[-0.320199,-0.205920,0.924700]]
2025-10-26T18:44:04.441Z,1761504244.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565756,-0.742184,-0.359282],[0.761728,-0.637258,0.116930],[-0.315738,-0.207521,0.925875]]
2025-10-26T18:44:04.889Z,1761504244.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568712,-0.740710,-0.357652],[0.761626,-0.638420,0.111111],[-0.310634,-0.209207,0.927221]]
2025-10-26T18:44:05.246Z,1761504245.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570803,-0.739732,-0.356344],[0.762357,-0.638648,0.104597],[-0.304952,-0.211958,0.928482]]
2025-10-26T18:44:05.650Z,1761504245.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571647,-0.739535,-0.355399],[0.764258,-0.637526,0.097318],[-0.298546,-0.215985,0.929635]]
2025-10-26T18:44:06.056Z,1761504246.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571292,-0.739843,-0.355327],[0.767260,-0.635148,0.088877],[-0.291440,-0.221854,0.930507]]
2025-10-26T18:44:06.459Z,1761504246.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570909,-0.740359,-0.354868],[0.770467,-0.632447,0.079947],[-0.283625,-0.227772,0.931492]]
2025-10-26T18:44:06.893Z,1761504246.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570445,-0.740639,-0.355030],[0.773373,-0.629911,0.071460],[-0.276563,-0.233807,0.932120]]
2025-10-26T18:44:07.266Z,1761504247.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570652,-0.740530,-0.354924],[0.774915,-0.628641,0.065707],[-0.271778,-0.237540,0.932583]]
2025-10-26T18:44:07.672Z,1761504247.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570911,-0.740648,-0.354262],[0.774833,-0.628733,0.065796],[-0.271468,-0.236930,0.932829]]
2025-10-26T18:44:08.075Z,1761504248.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570182,-0.741650,-0.353337],[0.773724,-0.629365,0.072468],[-0.276123,-0.232065,0.932685]]
2025-10-26T18:44:08.483Z,1761504248.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568796,-0.742365,-0.354071],[0.771682,-0.630629,0.082545],[-0.284566,-0.226279,0.931569]]
2025-10-26T18:44:08.489Z,1761504248.489 [NAL9602](INFO): Powering up NAL9602
2025-10-26T18:44:08.898Z,1761504248.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566183,-0.742915,-0.357091],[0.769559,-0.631631,0.093920],[-0.295324,-0.221626,0.929336]]
2025-10-26T18:44:09.286Z,1761504249.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562860,-0.743707,-0.360679],[0.767914,-0.631943,0.104670],[-0.305772,-0.218056,0.926798]]
2025-10-26T18:44:09.690Z,1761504249.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559871,-0.743681,-0.365353],[0.766831,-0.632087,0.111519],[-0.313870,-0.217728,0.924165]]
2025-10-26T18:44:10.094Z,1761504250.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557939,-0.742618,-0.370436],[0.766526,-0.632213,0.112889],[-0.318028,-0.220964,0.921972]]
2025-10-26T18:44:10.508Z,1761504250.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556144,-0.742636,-0.373089],[0.767747,-0.630974,0.111517],[-0.318226,-0.224418,0.921069]]
2025-10-26T18:44:10.994Z,1761504250.994 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:44:11.236Z,1761504251.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:44:11.236Z,1761504251.236 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:44:11.313Z,1761504251.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551229,-0.745215,-0.375235],[0.774592,-0.624215,0.101795],[-0.310086,-0.234541,0.921323]]
2025-10-26T18:44:11.490Z,1761504251.490 [DAT](INFO): DAT read: user:65>

2025-10-26T18:44:11.491Z,1761504251.491 [DAT](INFO): DAT read: Tx time:18:44:12.2305

2025-10-26T18:44:11.492Z,1761504251.492 [DAT](INFO): Ping request sent.
2025-10-26T18:44:11.492Z,1761504251.492 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:44:11.492Z,1761504251.492 [DAT](INFO): publishing transmit ping time
2025-10-26T18:44:11.493Z,1761504251.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001344
2025-10-26T18:44:11.718Z,1761504251.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549414,-0.747752,-0.372843],[0.779091,-0.619704,0.094788],[-0.301930,-0.238401,0.923040]]
2025-10-26T18:44:11.741Z,1761504251.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248707
2025-10-26T18:44:11.993Z,1761504251.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500628
2025-10-26T18:44:12.114Z,1761504252.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549205,-0.750016,-0.368577],[0.783007,-0.615947,0.086654],[-0.292016,-0.241008,0.925550]]
2025-10-26T18:44:12.245Z,1761504252.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753133
2025-10-26T18:44:12.498Z,1761504252.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005695
2025-10-26T18:44:12.518Z,1761504252.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550644,-0.751137,-0.364122],[0.785529,-0.613843,0.078364],[-0.282376,-0.242877,0.928049]]
2025-10-26T18:44:12.748Z,1761504252.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256473
2025-10-26T18:44:12.927Z,1761504252.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552421,-0.752064,-0.359488],[0.786709,-0.612947,0.073384],[-0.275537,-0.242273,0.930260]]
2025-10-26T18:44:13.001Z,1761504253.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509523
2025-10-26T18:44:13.024Z,1761504253.024 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:44:13.024Z,1761504253.024 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:44:13.024Z,1761504253.024 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:44:13.025Z,1761504253.025 [marl:UpdateRudder:A] Stopped
2025-10-26T18:44:13.025Z,1761504253.025 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:44:13.252Z,1761504253.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760570
2025-10-26T18:44:13.327Z,1761504253.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553441,-0.752124,-0.357788],[0.786679,-0.613143,0.072054],[-0.273568,-0.241587,0.931019]]
2025-10-26T18:44:13.351Z,1761504253.351 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:44:13.351Z,1761504253.351 [marl:UpdateRudder:B] Stopped
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateRudder] Stopped
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:44:13.352Z,1761504253.352 [marl:UpdateCommandMode] Stopped
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed] Stopped
2025-10-26T18:44:13.353Z,1761504253.353 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:44:13.504Z,1761504253.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012442
2025-10-26T18:44:13.735Z,1761504253.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552691,-0.751747,-0.359735],[0.785654,-0.613982,0.075985],[-0.277992,-0.240631,0.929955]]
2025-10-26T18:44:13.756Z,1761504253.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264640
2025-10-26T18:44:14.010Z,1761504254.010 [DAT](INFO): DAT read: Rx Time:18:44:14.4216

2025-10-26T18:44:14.011Z,1761504254.011 [DAT](INFO): Rx dataTimestamp_ set to:1761504254.009967
2025-10-26T18:44:14.011Z,1761504254.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519338
2025-10-26T18:44:14.134Z,1761504254.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549051,-0.751241,-0.366306],[0.784356,-0.614513,0.084617],[-0.288667,-0.240855,0.926639]]
2025-10-26T18:44:14.261Z,1761504254.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768801
2025-10-26T18:44:14.513Z,1761504254.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021163
2025-10-26T18:44:14.554Z,1761504254.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542340,-0.751748,-0.375157],[0.783146,-0.614026,0.098256],[-0.304220,-0.240515,0.921739]]
2025-10-26T18:44:14.775Z,1761504254.775 [DAT](INFO): DAT read: 18:44:14.4216 LVL= 32752, 30289, 32754, 32755, AGC= 55, IDX= 359,-0.36, 1.085, 2.685, 1.407, 1.501, PHS=-0.314, 1.230,-0.138, RAW= 324.0, -10.6, CAL= 323.9, -14.1, ROT= 186.1,  14.1

2025-10-26T18:44:14.780Z,1761504254.780 [DAT](INFO): got valid direction response:
 18:44:14.4216 LVL= 32752, 30289, 32754, 32755, AGC= 55, IDX= 359,-0.36, 1.085, 2.685, 1.407, 1.501, PHS=-0.314, 1.230,-0.138, RAW= 324.0, -10.6, CAL= 323.9, -14.1, ROT= 186.1,  14.1

2025-10-26T18:44:14.798Z,1761504254.798 [DAT](INFO): DAT read: Bearing 299,  -8 (Remote)

2025-10-26T18:44:14.799Z,1761504254.799 [DAT](INFO): Remote Bearing received:Bearing 299,  -8 (Remote)

2025-10-26T18:44:14.800Z,1761504254.800 [DAT](INFO): DAT read: Bearing 114.4,  14.5 (Local)

2025-10-26T18:44:14.800Z,1761504254.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 114.4,  14.5 (Local)

2025-10-26T18:44:14.801Z,1761504254.801 [DAT](INFO): DAT read: Range 11 to 20 : 121.5 m  (Round-trip  162.0 ms) speed -0.5 m/s

2025-10-26T18:44:14.802Z,1761504254.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T18:44:14.803Z,1761504254.803 [DAT](INFO): direction in FSK: [-0.964381,-0.103063,-0.243615]
2025-10-26T18:44:14.806Z,1761504254.806 [DAT](INFO): publishing direction and range info
2025-10-26T18:44:15.104Z,1761504255.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533123,-0.753960,-0.383828],[0.782056,-0.612243,0.116393],[-0.322752,-0.238123,0.916040]]
2025-10-26T18:44:15.175Z,1761504255.175 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761504256.00. Resetting abort timer.
2025-10-26T18:44:15.505Z,1761504255.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522237,-0.758712,-0.389390],[0.781294,-0.608682,0.138149],[-0.341830,-0.232082,0.910654]]
2025-10-26T18:44:15.906Z,1761504255.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510554,-0.763810,-0.394879],[0.780800,-0.604177,0.159127],[-0.360119,-0.227078,0.904848]]
2025-10-26T18:44:16.310Z,1761504256.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500695,-0.770778,-0.393961],[0.779143,-0.599586,0.182847],[-0.377148,-0.215402,0.900756]]
2025-10-26T18:44:16.723Z,1761504256.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496288,-0.778893,-0.383439],[0.774198,-0.596918,0.210490],[-0.392830,-0.192394,0.899260]]
2025-10-26T18:44:17.137Z,1761504257.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504846,-0.785379,-0.358203],[0.763328,-0.599943,0.239583],[-0.403065,-0.152474,0.902380]]
2025-10-26T18:44:17.539Z,1761504257.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518652,-0.789585,-0.327955],[0.749262,-0.604515,0.270495],[-0.411833,-0.105432,0.905140]]
2025-10-26T18:44:17.942Z,1761504257.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531956,-0.791193,-0.301722],[0.734330,-0.608465,0.300880],[-0.421642,-0.061508,0.904674]]
2025-10-26T18:44:18.347Z,1761504258.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544030,-0.789678,-0.283620],[0.719265,-0.612966,0.327003],[-0.432076,-0.026099,0.901459]]
2025-10-26T18:44:18.752Z,1761504258.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555031,-0.785600,-0.273447],[0.705003,-0.618735,0.346611],[-0.441488,-0.000401,0.897267]]
2025-10-26T18:44:19.154Z,1761504259.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566823,-0.779444,-0.266795],[0.691238,-0.626151,0.360728],[-0.448221,0.020050,0.893698]]
2025-10-26T18:44:19.617Z,1761504259.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596042,-0.757658,-0.265872],[0.664099,-0.651281,0.367159],[-0.451338,0.042277,0.891351]]
2025-10-26T18:44:19.621Z,1761504259.621 [NAL9602](INFO): NAL9602 initialized
2025-10-26T18:44:20.011Z,1761504260.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609706,-0.745207,-0.270046],[0.652823,-0.665346,0.362128],[-0.449534,0.044500,0.892154]]
2025-10-26T18:44:20.414Z,1761504260.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621253,-0.733695,-0.275202],[0.644989,-0.678225,0.352136],[-0.445010,0.041264,0.894575]]
2025-10-26T18:44:20.853Z,1761504260.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631960,-0.722840,-0.279515],[0.638513,-0.690028,0.340825],[-0.439236,0.036914,0.897613]]
2025-10-26T18:44:21.222Z,1761504261.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645197,-0.708811,-0.285145],[0.627828,-0.704559,0.330800],[-0.435376,0.034409,0.899591]]
2025-10-26T18:44:21.626Z,1761504261.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661055,-0.692183,-0.289636],[0.612819,-0.720792,0.323901],[-0.432966,0.036622,0.900666]]
2025-10-26T18:44:22.436Z,1761504262.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695952,-0.656115,-0.291829],[0.583788,-0.753606,0.302109],[-0.418142,0.039887,0.907506]]
2025-10-26T18:44:22.878Z,1761504262.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711067,-0.639368,-0.292563],[0.572610,-0.768040,0.286762],[-0.408047,0.036383,0.912236]]
2025-10-26T18:44:23.242Z,1761504263.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725643,-0.622420,-0.293318],[0.561679,-0.782063,0.269989],[-0.397440,0.031165,0.917099]]
2025-10-26T18:44:23.646Z,1761504263.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735398,-0.609514,-0.296112],[0.553095,-0.792365,0.257378],[-0.391504,0.025497,0.919823]]
2025-10-26T18:44:24.058Z,1761504264.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742228,-0.602110,-0.294212],[0.549865,-0.798138,0.246220],[-0.383073,0.020974,0.923480]]
2025-10-26T18:44:24.463Z,1761504264.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755034,-0.590708,-0.284582],[0.544610,-0.806678,0.229501],[-0.365134,0.018295,0.930775]]
2025-10-26T18:44:24.882Z,1761504264.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772331,-0.573921,-0.272247],[0.533063,-0.818670,0.213596],[-0.345468,0.019842,0.938221]]
2025-10-26T18:44:25.264Z,1761504265.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790458,-0.555558,-0.257936],[0.514075,-0.830682,0.213762],[-0.333020,0.036372,0.942218]]
2025-10-26T18:44:25.666Z,1761504265.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806379,-0.536304,-0.249259],[0.492571,-0.842317,0.218805],[-0.327302,0.053662,0.943395]]
2025-10-26T18:44:25.705Z,1761504265.705 [marl:NeedComms:C] Running Loop=1
2025-10-26T18:44:26.071Z,1761504266.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818145,-0.521582,-0.242057],[0.478504,-0.851002,0.216403],[-0.318863,0.061224,0.945821]]
2025-10-26T18:44:26.102Z,1761504266.102 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:44:26.102Z,1761504266.102 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:44:26.102Z,1761504266.102 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:44:26.102Z,1761504266.102 [marl:UpdateRudder:A] Stopped
2025-10-26T18:44:26.102Z,1761504266.102 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:44:26.204Z,1761504266.204 [Radio_Surface](INFO): Powering up
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateRudder:B] Stopped
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateRudder] Stopped
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:44:26.600Z,1761504266.600 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateCommandMode] Stopped
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:44:26.601Z,1761504266.601 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:44:26.602Z,1761504266.602 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:44:26.602Z,1761504266.602 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:44:26.602Z,1761504266.602 [marl:UpdateSpeed] Stopped
2025-10-26T18:44:26.602Z,1761504266.602 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:44:26.984Z,1761504266.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849168,-0.492743,-0.190045],[0.465759,-0.868362,0.170340],[-0.248962,0.056132,0.966885]]
2025-10-26T18:44:27.352Z,1761504267.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881242,-0.467821,-0.067497],[0.459769,-0.881543,0.107211],[-0.109658,0.063446,0.991942]]
2025-10-26T18:44:27.754Z,1761504267.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896903,-0.441961,-0.015384],[0.440588,-0.896028,0.054912],[-0.038054,0.042472,0.998373]]
2025-10-26T18:44:28.158Z,1761504268.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902625,-0.430077,-0.017384],[0.430292,-0.902620,-0.011228],[-0.010863,-0.017615,0.999786]]
2025-10-26T18:44:28.216Z,1761504268.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:44:28.562Z,1761504268.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911036,-0.410758,-0.035950],[0.412323,-0.907148,-0.084090],[0.001929,-0.091432,0.995809]]
2025-10-26T18:44:28.975Z,1761504268.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919954,-0.386918,-0.063088],[0.392027,-0.908127,-0.147038],[-0.000401,-0.160000,0.987117]]
2025-10-26T18:44:29.220Z,1761504269.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:44:29.372Z,1761504269.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931859,-0.359881,-0.046080],[0.361951,-0.913318,-0.186657],[0.025088,-0.190617,0.981344]]
2025-10-26T18:44:29.774Z,1761504269.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945501,-0.321439,-0.052003],[0.325524,-0.929256,-0.174691],[0.007829,-0.182098,0.983249]]
2025-10-26T18:44:30.178Z,1761504270.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956621,-0.287140,-0.049261],[0.291306,-0.940370,-0.175629],[0.004107,-0.182361,0.983223]]
2025-10-26T18:44:30.588Z,1761504270.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960727,-0.274215,-0.042538],[0.277464,-0.946992,-0.161927],[0.004120,-0.167370,0.985886]]
2025-10-26T18:44:30.988Z,1761504270.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959858,-0.269215,-0.078714],[0.277106,-0.953618,-0.117577],[-0.043410,-0.134670,0.989939]]
2025-10-26T18:44:31.390Z,1761504271.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958447,-0.276988,-0.068245],[0.282762,-0.954093,-0.098756],[-0.037758,-0.113949,0.992769]]
2025-10-26T18:44:31.488Z,1761504271.488 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T18:44:31.488Z,1761504271.488 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T18:44:31.794Z,1761504271.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961013,-0.273098,-0.043269],[0.276114,-0.956146,-0.097700],[-0.014689,-0.105838,0.994275]]
2025-10-26T18:44:32.198Z,1761504272.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970674,-0.234497,-0.052942],[0.238932,-0.965359,-0.104848],[-0.026522,-0.114423,0.993078]]
2025-10-26T18:44:32.606Z,1761504272.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975485,-0.211505,-0.060780],[0.217277,-0.969488,-0.113510],[-0.034917,-0.123933,0.991676]]
2025-10-26T18:44:33.006Z,1761504273.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979966,-0.192969,-0.049294],[0.197884,-0.971399,-0.131248],[-0.022557,-0.138373,0.990123]]
2025-10-26T18:44:33.410Z,1761504273.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984096,-0.172121,-0.043930],[0.176652,-0.974264,-0.140014],[-0.018700,-0.145547,0.989175]]
2025-10-26T18:44:33.814Z,1761504273.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985918,-0.164020,-0.032593],[0.166957,-0.976515,-0.136173],[-0.009493,-0.139697,0.990149]]
2025-10-26T18:44:34.218Z,1761504274.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984756,-0.172173,-0.024751],[0.173886,-0.978055,-0.114769],[-0.004448,-0.117323,0.993084]]
2025-10-26T18:44:34.308Z,1761504274.308 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:44:34.308Z,1761504274.308 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:44:34.622Z,1761504274.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985640,-0.168700,-0.007339],[0.168694,-0.981820,-0.087021],[0.007475,-0.087009,0.996179]]
2025-10-26T18:44:35.026Z,1761504275.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990555,-0.136046,0.017083],[0.134850,-0.989156,-0.058194],[0.024814,-0.055340,0.998159]]
2025-10-26T18:44:35.435Z,1761504275.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993544,-0.111422,-0.021355],[0.112072,-0.993179,-0.032173],[-0.017624,-0.034358,0.999254]]
2025-10-26T18:44:35.834Z,1761504275.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993001,-0.112831,-0.034890],[0.114715,-0.991717,-0.057778],[-0.028082,-0.061376,0.997720]]
2025-10-26T18:44:36.238Z,1761504276.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994975,-0.099455,0.011560],[0.097596,-0.989145,-0.109851],[0.022359,-0.108170,0.993881]]
2025-10-26T18:44:36.644Z,1761504276.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996130,-0.084172,0.025307],[0.079687,-0.986360,-0.144030],[0.037085,-0.141456,0.989250]]
2025-10-26T18:44:37.459Z,1761504277.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999842,-0.015237,0.009155],[0.013765,-0.989544,-0.143573],[0.011247,-0.143425,0.989597]]
2025-10-26T18:44:37.854Z,1761504277.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999930,-0.009664,-0.006800],[0.010277,-0.995239,-0.096919],[-0.005831,-0.096982,0.995269]]
2025-10-26T18:44:38.258Z,1761504278.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999802,-0.019917,-0.000493],[0.019876,-0.995493,-0.092724],[0.001356,-0.092715,0.995692]]
2025-10-26T18:44:38.662Z,1761504278.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999893,-0.014368,0.002673],[0.013969,-0.993365,-0.114154],[0.004295,-0.114105,0.993459]]
2025-10-26T18:44:39.067Z,1761504279.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999926,-0.000266,0.012160],[-0.001434,-0.990205,-0.139617],[0.012078,-0.139624,0.990131]]
2025-10-26T18:44:39.153Z,1761504279.153 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:44:39.153Z,1761504279.153 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:44:39.154Z,1761504279.154 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:44:39.154Z,1761504279.154 [marl:UpdateRudder:A] Stopped
2025-10-26T18:44:39.154Z,1761504279.154 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:44:39.470Z,1761504279.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999835,-0.000093,0.018138],[-0.002424,-0.990329,-0.138720],[0.017976,-0.138741,0.990166]]
2025-10-26T18:44:39.548Z,1761504279.548 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:44:39.548Z,1761504279.548 [marl:UpdateRudder:B] Stopped
2025-10-26T18:44:39.548Z,1761504279.548 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:44:39.548Z,1761504279.548 [marl:UpdateRudder] Stopped
2025-10-26T18:44:39.548Z,1761504279.548 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:44:39.548Z,1761504279.548 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateCommandMode] Stopped
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:44:39.549Z,1761504279.549 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:44:39.550Z,1761504279.550 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:44:39.550Z,1761504279.550 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:44:39.550Z,1761504279.550 [marl:UpdateSpeed] Stopped
2025-10-26T18:44:39.550Z,1761504279.550 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:44:39.874Z,1761504279.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999855,0.012377,0.011729],[-0.013874,-0.990396,-0.137560],[0.009914,-0.137703,0.990424]]
2025-10-26T18:44:40.279Z,1761504280.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998540,0.036289,0.040015],[-0.041416,-0.989871,-0.135791],[0.034682,-0.137250,0.989929]]
2025-10-26T18:44:40.700Z,1761504280.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997607,0.052451,0.045037],[-0.057499,-0.991192,-0.119296],[0.038383,-0.121601,0.991837]]
2025-10-26T18:44:41.086Z,1761504281.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997202,0.070479,0.024933],[-0.072688,-0.992023,-0.102993],[0.017475,-0.104518,0.994370]]
2025-10-26T18:44:41.162Z,1761504281.162 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:44:41.248Z,1761504281.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:44:41.248Z,1761504281.248 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:44:41.491Z,1761504281.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997196,0.072956,0.016682],[-0.074274,-0.992111,-0.100989],[0.009183,-0.101945,0.994748]]
2025-10-26T18:44:41.500Z,1761504281.500 [DAT](INFO): DAT read: user:66>

2025-10-26T18:44:41.501Z,1761504281.501 [DAT](INFO): DAT read: Tx time:18:44:42.2303

2025-10-26T18:44:41.501Z,1761504281.501 [DAT](INFO): Ping request sent.
2025-10-26T18:44:41.501Z,1761504281.501 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:44:41.502Z,1761504281.502 [DAT](INFO): publishing transmit ping time
2025-10-26T18:44:41.502Z,1761504281.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946
2025-10-26T18:44:41.752Z,1761504281.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925
2025-10-26T18:44:41.894Z,1761504281.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997881,0.064650,-0.007338],[-0.063367,-0.991236,-0.115916],[-0.014768,-0.115206,0.993232]]
2025-10-26T18:44:42.005Z,1761504282.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503078
2025-10-26T18:44:42.256Z,1761504282.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875
2025-10-26T18:44:42.304Z,1761504282.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998431,0.055092,0.010052],[-0.055950,-0.989055,-0.136529],[0.002420,-0.136877,0.990585]]
2025-10-26T18:44:42.508Z,1761504282.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902
2025-10-26T18:44:42.713Z,1761504282.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995889,0.077355,0.047130],[-0.083405,-0.986062,-0.143962],[0.035337,-0.147301,0.988460]]
2025-10-26T18:44:42.761Z,1761504282.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259104
2025-10-26T18:44:43.012Z,1761504283.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863
2025-10-26T18:44:43.106Z,1761504283.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992941,0.113739,0.033648],[-0.117055,-0.985459,-0.123157],[0.019151,-0.126227,0.991817]]
2025-10-26T18:44:43.264Z,1761504283.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762918
2025-10-26T18:44:43.510Z,1761504283.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987590,0.155879,0.019195],[-0.156892,-0.984749,-0.075200],[0.007180,-0.077278,0.996984]]
2025-10-26T18:44:43.520Z,1761504283.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019060
2025-10-26T18:44:43.772Z,1761504283.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270921
2025-10-26T18:44:43.945Z,1761504283.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984056,0.176713,0.020173],[-0.177162,-0.983907,-0.023247],[0.015741,-0.026450,0.999526]]
2025-10-26T18:44:44.025Z,1761504284.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523420
2025-10-26T18:44:44.276Z,1761504284.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774952
2025-10-26T18:44:44.318Z,1761504284.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987277,0.158121,-0.016796],[-0.157610,-0.987095,-0.028326],[-0.021059,-0.025319,0.999458]]
2025-10-26T18:44:44.528Z,1761504284.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026883
2025-10-26T18:44:44.728Z,1761504284.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988454,0.151424,0.005435],[-0.151210,-0.983482,-0.099492],[-0.009720,-0.099166,0.995023]]
2025-10-26T18:44:44.780Z,1761504284.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279020
2025-10-26T18:44:45.033Z,1761504285.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531138
2025-10-26T18:44:45.127Z,1761504285.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984838,0.155816,0.076265],[-0.166385,-0.972823,-0.161035],[0.049100,-0.171283,0.983998]]
2025-10-26T18:44:45.284Z,1761504285.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782918
2025-10-26T18:44:45.531Z,1761504285.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979598,0.168276,0.109872],[-0.187282,-0.962685,-0.195356],[0.072899,-0.211948,0.974558]]
2025-10-26T18:44:45.536Z,1761504285.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034892
2025-10-26T18:44:45.788Z,1761504285.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286937
2025-10-26T18:44:45.941Z,1761504285.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976317,0.196853,0.089740],[-0.210604,-0.959705,-0.186045],[0.049501,-0.200538,0.978434]]
2025-10-26T18:44:46.041Z,1761504286.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539097
2025-10-26T18:44:46.293Z,1761504286.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791501
2025-10-26T18:44:46.338Z,1761504286.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977954,0.204974,0.039894],[-0.208450,-0.969610,-0.128084],[0.012427,-0.133576,0.990961]]
2025-10-26T18:44:46.544Z,1761504286.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042986
2025-10-26T18:44:46.756Z,1761504286.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980046,0.197157,0.025290],[-0.198668,-0.975687,-0.092548],[0.006428,-0.095726,0.995387]]
2025-10-26T18:44:46.798Z,1761504286.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296855
2025-10-26T18:44:47.048Z,1761504287.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546912
2025-10-26T18:44:47.148Z,1761504287.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978372,0.195245,0.068320],[-0.201242,-0.974824,-0.096020],[0.047853,-0.107693,0.993032]]
2025-10-26T18:44:47.300Z,1761504287.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798899
2025-10-26T18:44:47.550Z,1761504287.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977508,0.200058,0.066744],[-0.207101,-0.970354,-0.124589],[0.039840,-0.135609,0.989961]]
2025-10-26T18:44:47.552Z,1761504287.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050919
2025-10-26T18:44:47.805Z,1761504287.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303517
2025-10-26T18:44:47.955Z,1761504287.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970660,0.224625,0.085811],[-0.234635,-0.962849,-0.133672],[0.052597,-0.149884,0.987304]]
2025-10-26T18:44:48.056Z,1761504288.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554924
2025-10-26T18:44:48.308Z,1761504288.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806817
2025-10-26T18:44:48.359Z,1761504288.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971723,0.221982,0.080485],[-0.229884,-0.967228,-0.107811],[0.053915,-0.123264,0.990908]]
2025-10-26T18:44:48.560Z,1761504288.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058871
2025-10-26T18:44:48.766Z,1761504288.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972574,0.230617,0.030244],[-0.232492,-0.967717,-0.097317],[0.006825,-0.101680,0.994794]]
2025-10-26T18:44:48.815Z,1761504288.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313538
2025-10-26T18:44:49.064Z,1761504289.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562895
2025-10-26T18:44:49.166Z,1761504289.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969133,0.242587,0.043965],[-0.245463,-0.966080,-0.080228],[0.023012,-0.088543,0.995806]]
2025-10-26T18:44:49.316Z,1761504289.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815026
2025-10-26T18:44:49.568Z,1761504289.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066869
2025-10-26T18:44:49.572Z,1761504289.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965957,0.253459,0.051830],[-0.256562,-0.964265,-0.066103],[0.033224,-0.077150,0.996466]]
2025-10-26T18:44:49.820Z,1761504289.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318886
2025-10-26T18:44:49.974Z,1761504289.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964797,0.262815,0.009742],[-0.262530,-0.960226,-0.095097],[-0.015638,-0.094307,0.995420]]
2025-10-26T18:44:50.073Z,1761504290.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571473
2025-10-26T18:44:50.324Z,1761504290.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822947
2025-10-26T18:44:50.384Z,1761504290.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969684,0.244361,0.000032],[-0.242670,-0.962958,-0.117573],[-0.028700,-0.114017,0.993064]]
2025-10-26T18:44:50.576Z,1761504290.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074902
2025-10-26T18:44:50.782Z,1761504290.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973602,0.227166,0.022233],[-0.228238,-0.969968,-0.084086],[0.002464,-0.086940,0.996210]]
2025-10-26T18:44:50.831Z,1761504290.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329204
2025-10-26T18:44:51.080Z,1761504291.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578946
2025-10-26T18:44:51.186Z,1761504291.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971212,0.235272,0.037351],[-0.236198,-0.971441,-0.022644],[0.030957,-0.030814,0.999046]]
2025-10-26T18:44:51.332Z,1761504291.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830944
2025-10-26T18:44:51.584Z,1761504291.584 [DAT](INFO): Reached modem response timeout
2025-10-26T18:44:51.597Z,1761504291.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970314,0.240836,0.022089],[-0.240220,-0.970335,0.027299],[0.028008,0.021183,0.999383]]
2025-10-26T18:44:52.015Z,1761504292.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965755,0.259381,0.006166],[-0.258967,-0.965125,0.038339],[0.015896,0.035430,0.999246]]
2025-10-26T18:44:52.039Z,1761504292.039 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:44:52.039Z,1761504292.039 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:44:52.039Z,1761504292.039 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:44:52.040Z,1761504292.040 [marl:UpdateRudder:A] Stopped
2025-10-26T18:44:52.040Z,1761504292.040 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:44:52.398Z,1761504292.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963655,0.267057,0.006974],[-0.267080,-0.963671,-0.002507],[0.006051,-0.004279,0.999973]]
2025-10-26T18:44:52.461Z,1761504292.461 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:44:52.461Z,1761504292.461 [marl:UpdateRudder:B] Stopped
2025-10-26T18:44:52.461Z,1761504292.461 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:44:52.461Z,1761504292.461 [marl:UpdateRudder] Stopped
2025-10-26T18:44:52.461Z,1761504292.461 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:44:52.461Z,1761504292.461 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateCommandMode] Stopped
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:44:52.462Z,1761504292.462 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:44:52.463Z,1761504292.463 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:44:52.463Z,1761504292.463 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:44:52.463Z,1761504292.463 [marl:UpdateSpeed] Stopped
2025-10-26T18:44:52.463Z,1761504292.463 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:44:52.807Z,1761504292.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963710,0.266945,-0.002024],[-0.265963,-0.960763,-0.078732],[-0.022962,-0.075336,0.996894]]
2025-10-26T18:44:53.206Z,1761504293.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966024,0.254168,0.046861],[-0.258224,-0.956794,-0.133661],[0.010864,-0.141220,0.989919]]
2025-10-26T18:44:53.616Z,1761504293.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967161,0.227421,0.113487],[-0.242608,-0.959158,-0.145459],[0.075772,-0.168215,0.982834]]
2025-10-26T18:44:53.852Z,1761504293.852 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:44:53.853Z,1761504293.853 [DAT](INFO): response not received
2025-10-26T18:44:53.853Z,1761504293.853 [DAT](ERROR): No response from remote modem.
2025-10-26T18:44:54.023Z,1761504294.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961884,0.264275,0.070274],[-0.269113,-0.960440,-0.071642],[0.048561,-0.087823,0.994952]]
2025-10-26T18:44:54.429Z,1761504294.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953488,0.295730,0.058350],[-0.295165,-0.955272,0.018273],[0.061144,0.000201,0.998129]]
2025-10-26T18:44:54.874Z,1761504294.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959388,0.279535,0.037889],[-0.277062,-0.958995,0.059714],[0.053028,0.046791,0.997496]]
2025-10-26T18:44:55.233Z,1761504295.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962589,0.270584,0.014384],[-0.270624,-0.962685,-0.000829],[0.013623,-0.004690,0.999896]]
2025-10-26T18:44:55.633Z,1761504295.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960262,0.275222,0.046360],[-0.278696,-0.954480,-0.106283],[0.014998,-0.114980,0.993255]]
2025-10-26T18:44:56.034Z,1761504296.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964690,0.249459,0.084521],[-0.261360,-0.946381,-0.189879],[0.032622,-0.205265,0.978163]]
2025-10-26T18:44:56.440Z,1761504296.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962378,0.261739,0.072951],[-0.271487,-0.937277,-0.218646],[0.011147,-0.230225,0.973074]]
2025-10-26T18:44:56.878Z,1761504296.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956892,0.281853,0.070119],[-0.289265,-0.946552,-0.142709],[0.026149,-0.156840,0.987278]]
2025-10-26T18:44:57.246Z,1761504297.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958714,0.275655,0.069874],[-0.278533,-0.959778,-0.035290],[0.057336,-0.053295,0.996931]]
2025-10-26T18:44:57.650Z,1761504297.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958099,0.281501,0.052939],[-0.280790,-0.959549,0.020571],[0.056588,0.004844,0.998386]]
2025-10-26T18:44:58.056Z,1761504298.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956658,0.286502,0.052164],[-0.286460,-0.958055,0.008440],[0.052394,-0.006869,0.998603]]
2025-10-26T18:44:58.458Z,1761504298.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956537,0.282399,0.072716],[-0.285789,-0.957406,-0.041214],[0.057980,-0.060204,0.996501]]
2025-10-26T18:44:58.919Z,1761504298.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954451,0.285603,0.086345],[-0.294734,-0.947517,-0.123868],[0.046436,-0.143674,0.988535]]
2025-10-26T18:44:59.266Z,1761504299.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956622,0.279022,0.083792],[-0.289927,-0.939993,-0.179877],[0.028574,-0.196368,0.980114]]
2025-10-26T18:44:59.352Z,1761504299.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:44:59.672Z,1761504299.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964972,0.254587,0.063355],[-0.262049,-0.946929,-0.186162],[0.012598,-0.196243,0.980474]]
2025-10-26T18:45:00.074Z,1761504300.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963205,0.262934,0.055699],[-0.268419,-0.951635,-0.149474],[0.013703,-0.158924,0.987196]]
2025-10-26T18:45:00.356Z,1761504300.356 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T18:45:00.356Z,1761504300.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:45:00.478Z,1761504300.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956707,0.282581,0.069717],[-0.287415,-0.955001,-0.073248],[0.045881,-0.090115,0.994874]]
2025-10-26T18:45:00.890Z,1761504300.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954732,0.290211,0.065308],[-0.291885,-0.956293,-0.017539],[0.057364,-0.035807,0.997711]]
2025-10-26T18:45:01.287Z,1761504301.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948313,0.311575,0.060198],[-0.310681,-0.950213,0.023913],[0.064652,0.003975,0.997900]]
2025-10-26T18:45:01.692Z,1761504301.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943676,0.325049,0.061799],[-0.323155,-0.945551,0.038776],[0.071038,0.016622,0.997335]]
2025-10-26T18:45:02.094Z,1761504302.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953674,0.295304,0.057451],[-0.295910,-0.955213,-0.002148],[0.054244,-0.019049,0.998346]]
2025-10-26T18:45:02.498Z,1761504302.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957246,0.285564,0.046187],[-0.288662,-0.953350,-0.088301],[0.018816,-0.097858,0.995022]]
2025-10-26T18:45:02.910Z,1761504302.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946069,0.314007,0.079711],[-0.321083,-0.941577,-0.101676],[0.043127,-0.121787,0.991619]]
2025-10-26T18:45:02.917Z,1761504302.917 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184459.00,A,3646.43335,N,12151.88074,W,0.680,149.60,261025,,,A*7F
2025-10-26T18:45:02.920Z,1761504302.920 [NAL9602](INFO): GPS fix at 20251026T184459: (36.773889, -121.864679)
2025-10-26T18:45:02.981Z,1761504302.981 [UniversalFixResidualReporter](INFO): Fix residual: 1.4 %DT, over the last 822.8 m. Residual distance 11.4 m at bearing -48.8 degrees. Fix at (36.7739, -121.8647) with 120.9 m made good.
2025-10-26T18:45:02.999Z,1761504302.999 [marl:NeedComms:C] Stopped
2025-10-26T18:45:02.999Z,1761504302.999 [marl:NeedComms:D] Running Loop=1
2025-10-26T18:45:03.001Z,1761504303.001 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504256.00. Resetting abort timer.
2025-10-26T18:45:03.308Z,1761504303.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939018,0.326021,0.109337],[-0.331437,-0.942822,-0.035174],[0.091618,-0.069267,0.993382]]
2025-10-26T18:45:03.715Z,1761504303.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943906,0.326485,0.049496],[-0.326663,-0.945129,0.004664],[0.048303,-0.011766,0.998763]]
2025-10-26T18:45:04.114Z,1761504304.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937633,0.346902,-0.022427],[-0.346870,-0.937898,-0.005422],[-0.022915,0.002695,0.999734]]
2025-10-26T18:45:04.519Z,1761504304.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935569,0.352818,0.015160],[-0.352858,-0.935677,0.000021],[0.014192,-0.005330,0.999885]]
2025-10-26T18:45:04.924Z,1761504304.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940643,0.333379,0.063638],[-0.335098,-0.942007,-0.018252],[0.053862,-0.038494,0.997806]]
2025-10-26T18:45:05.004Z,1761504305.004 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:45:05.004Z,1761504305.004 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:45:05.004Z,1761504305.004 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:45:05.004Z,1761504305.004 [marl:UpdateRudder:A] Stopped
2025-10-26T18:45:05.005Z,1761504305.005 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:45:05.326Z,1761504305.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940531,0.336989,0.042901],[-0.339492,-0.936915,-0.083280],[0.012130,-0.092892,0.995602]]
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateRudder:B] Stopped
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateRudder] Stopped
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:45:05.418Z,1761504305.418 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:45:05.419Z,1761504305.419 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:45:05.419Z,1761504305.419 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:45:05.419Z,1761504305.419 [marl:UpdateCommandMode] Stopped
2025-10-26T18:45:05.419Z,1761504305.419 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:45:05.419Z,1761504305.419 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:45:05.423Z,1761504305.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:45:05.423Z,1761504305.423 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:45:05.424Z,1761504305.424 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:45:05.424Z,1761504305.424 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:45:05.424Z,1761504305.424 [marl:UpdateSpeed] Stopped
2025-10-26T18:45:05.424Z,1761504305.424 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:45:05.733Z,1761504305.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928175,0.366253,0.065959],[-0.371643,-0.921448,-0.113204],[0.019316,-0.129587,0.991380]]
2025-10-26T18:45:06.135Z,1761504306.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926995,0.362448,0.096502],[-0.370522,-0.924881,-0.085495],[0.058265,-0.115009,0.991654]]
2025-10-26T18:45:06.538Z,1761504306.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942528,0.329888,0.053061],[-0.333767,-0.936942,-0.103628],[0.015529,-0.115382,0.993200]]
2025-10-26T18:45:06.942Z,1761504306.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947665,0.317349,0.034934],[-0.319199,-0.939544,-0.123974],[-0.006521,-0.128637,0.991670]]
2025-10-26T18:45:07.346Z,1761504307.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944291,0.312445,0.103408],[-0.322360,-0.941397,-0.099281],[0.066328,-0.127085,0.989672]]
2025-10-26T18:45:07.750Z,1761504307.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946725,0.302344,0.110910],[-0.311056,-0.947678,-0.071767],[0.083408,-0.102443,0.991236]]
2025-10-26T18:45:08.154Z,1761504308.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946999,0.314229,0.066726],[-0.317625,-0.946988,-0.048243],[0.048030,-0.066880,0.996604]]
2025-10-26T18:45:08.559Z,1761504308.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948154,0.312438,0.058197],[-0.312897,-0.949786,0.001285],[0.055676,-0.016992,0.998304]]
2025-10-26T18:45:08.962Z,1761504308.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946649,0.319655,0.040953],[-0.317399,-0.946794,0.053289],[0.055808,0.037448,0.997739]]
2025-10-26T18:45:09.366Z,1761504309.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938471,0.345344,-0.003115],[-0.344778,-0.936335,0.066366],[0.020002,0.063357,0.997790]]
2025-10-26T18:45:09.770Z,1761504309.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932427,0.361277,-0.007636],[-0.361301,-0.931698,0.037418],[0.006404,0.037649,0.999270]]
2025-10-26T18:45:10.175Z,1761504310.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932632,0.360556,0.014002],[-0.360811,-0.932264,-0.026445],[0.003519,-0.029715,0.999552]]
2025-10-26T18:45:10.579Z,1761504310.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933826,0.357653,0.007365],[-0.355929,-0.926867,-0.119301],[-0.035842,-0.114027,0.992831]]
2025-10-26T18:45:10.982Z,1761504310.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942250,0.333972,0.025045],[-0.332346,-0.923183,-0.193078],[-0.041361,-0.190251,0.980864]]
2025-10-26T18:45:11.396Z,1761504311.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950642,0.298200,0.085772],[-0.309753,-0.928269,-0.205838],[0.018238,-0.222246,0.974820]]
2025-10-26T18:45:11.440Z,1761504311.440 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:45:11.501Z,1761504311.501 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:45:11.502Z,1761504311.502 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:45:11.752Z,1761504311.752 [DAT](INFO): DAT read: user:67>

2025-10-26T18:45:11.753Z,1761504311.753 [DAT](INFO): DAT read: Tx time:18:45:12.4802

2025-10-26T18:45:11.753Z,1761504311.753 [DAT](INFO): Ping request sent.
2025-10-26T18:45:11.753Z,1761504311.753 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:45:11.754Z,1761504311.754 [DAT](INFO): publishing transmit ping time
2025-10-26T18:45:11.754Z,1761504311.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-10-26T18:45:11.810Z,1761504311.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947571,0.306466,0.090491],[-0.317261,-0.936090,-0.151924],[0.038148,-0.172668,0.984241]]
2025-10-26T18:45:12.008Z,1761504312.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254151
2025-10-26T18:45:12.196Z,1761504312.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933099,0.356775,0.045143],[-0.359027,-0.931395,-0.060017],[0.020633,-0.072210,0.997176]]
2025-10-26T18:45:12.256Z,1761504312.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954
2025-10-26T18:45:12.509Z,1761504312.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755398
2025-10-26T18:45:12.665Z,1761504312.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924355,0.379271,0.041482],[-0.378160,-0.925178,0.032267],[0.050616,0.014139,0.998618]]
2025-10-26T18:45:12.760Z,1761504312.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846
2025-10-26T18:45:13.013Z,1761504313.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259472
2025-10-26T18:45:13.066Z,1761504313.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930965,0.361963,0.047815],[-0.360478,-0.932034,0.036986],[0.057953,0.017196,0.998171]]
2025-10-26T18:45:13.264Z,1761504313.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510999
2025-10-26T18:45:13.516Z,1761504313.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762887
2025-10-26T18:45:13.768Z,1761504313.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014847
2025-10-26T18:45:14.021Z,1761504314.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267117
2025-10-26T18:45:14.272Z,1761504314.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518773
2025-10-26T18:45:14.525Z,1761504314.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771385
2025-10-26T18:45:14.776Z,1761504314.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022977
2025-10-26T18:45:15.029Z,1761504315.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275331
2025-10-26T18:45:15.280Z,1761504315.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526884
2025-10-26T18:45:15.344Z,1761504315.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929375,0.355443,0.099610],[-0.365119,-0.924864,-0.106374],[0.054315,-0.135231,0.989324]]
2025-10-26T18:45:15.532Z,1761504315.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778849
2025-10-26T18:45:15.745Z,1761504315.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927149,0.373747,0.026588],[-0.371411,-0.926084,0.066507],[0.049480,0.051786,0.997432]]
2025-10-26T18:45:15.784Z,1761504315.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030991
2025-10-26T18:45:16.040Z,1761504316.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287005
2025-10-26T18:45:16.146Z,1761504316.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930043,0.366443,0.027187],[-0.365594,-0.930236,0.031656],[0.036891,0.019502,0.999129]]
2025-10-26T18:45:16.288Z,1761504316.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534881
2025-10-26T18:45:16.544Z,1761504316.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790957
2025-10-26T18:45:16.552Z,1761504316.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934978,0.349385,0.061210],[-0.353462,-0.932162,-0.078348],[0.029685,-0.094889,0.995045]]
2025-10-26T18:45:16.798Z,1761504316.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044577
2025-10-26T18:45:16.954Z,1761504316.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941015,0.324167,0.096984],[-0.336852,-0.924573,-0.178033],[0.031957,-0.200201,0.979234]]
2025-10-26T18:45:17.049Z,1761504317.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295322
2025-10-26T18:45:17.300Z,1761504317.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546771
2025-10-26T18:45:17.361Z,1761504317.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935983,0.336428,0.103693],[-0.351292,-0.911806,-0.212611],[0.023020,-0.235427,0.971619]]
2025-10-26T18:45:17.553Z,1761504317.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799428
2025-10-26T18:45:17.762Z,1761504317.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924129,0.370547,0.093166],[-0.380940,-0.912381,-0.149817],[0.029489,-0.173941,0.984315]]
2025-10-26T18:45:17.804Z,1761504317.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051030
2025-10-26T18:45:18.056Z,1761504318.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302844
2025-10-26T18:45:18.166Z,1761504318.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923082,0.380933,0.053009],[-0.382434,-0.923734,-0.021452],[0.040794,-0.040074,0.998364]]
2025-10-26T18:45:18.174Z,1761504318.174 [NAL9602](INFO): SBD MO Status=1, MOMSN=2952, MT Status=0, MTMSN=0
2025-10-26T18:45:18.224Z,1761504318.224 [NAL9602](INFO): Sent 83 bytes from file Logs/20251026T180417/Courier0012.lzma
2025-10-26T18:45:18.224Z,1761504318.224 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:45:18.309Z,1761504318.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555492
2025-10-26T18:45:18.562Z,1761504318.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808812
2025-10-26T18:45:18.573Z,1761504318.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921455,0.388418,0.007263],[-0.385966,-0.917444,0.096571],[0.044173,0.086182,0.995300]]
2025-10-26T18:45:18.817Z,1761504318.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061507
2025-10-26T18:45:19.064Z,1761504319.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310802
2025-10-26T18:45:19.287Z,1761504319.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928681,0.370864,-0.003262],[-0.370316,-0.926754,0.063187],[0.020411,0.059888,0.997996]]
2025-10-26T18:45:19.316Z,1761504319.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563010
2025-10-26T18:45:19.568Z,1761504319.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814834
2025-10-26T18:45:19.670Z,1761504319.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924517,0.376973,0.056208],[-0.379252,-0.924541,-0.037313],[0.037900,-0.055814,0.997722]]
2025-10-26T18:45:19.820Z,1761504319.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066863
2025-10-26T18:45:20.073Z,1761504320.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319043
2025-10-26T18:45:20.325Z,1761504320.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571730
2025-10-26T18:45:20.576Z,1761504320.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822841
2025-10-26T18:45:20.831Z,1761504320.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076816
2025-10-26T18:45:21.080Z,1761504321.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326839
2025-10-26T18:45:21.332Z,1761504321.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578952
2025-10-26T18:45:21.584Z,1761504321.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830920
2025-10-26T18:45:21.819Z,1761504321.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906928,0.421285,0.000504],[-0.421242,-0.906851,0.013274],[0.006049,0.011826,0.999912]]
2025-10-26T18:45:21.845Z,1761504321.845 [DAT](INFO): Reached modem response timeout
2025-10-26T18:45:21.869Z,1761504321.869 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:45:21.869Z,1761504321.869 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:45:21.870Z,1761504321.870 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:45:21.870Z,1761504321.870 [marl:UpdateRudder:A] Stopped
2025-10-26T18:45:21.870Z,1761504321.870 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:45:22.198Z,1761504322.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919205,0.393713,-0.007252],[-0.392960,-0.918324,-0.047581],[-0.025393,-0.040887,0.998841]]
2025-10-26T18:45:22.232Z,1761504322.232 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:45:22.232Z,1761504322.232 [marl:UpdateRudder:B] Stopped
2025-10-26T18:45:22.232Z,1761504322.232 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:45:22.232Z,1761504322.232 [marl:UpdateRudder] Stopped
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode] Stopped
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:45:22.233Z,1761504322.233 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:45:22.234Z,1761504322.234 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:45:22.234Z,1761504322.234 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:45:22.234Z,1761504322.234 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:45:22.234Z,1761504322.234 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:45:22.234Z,1761504322.234 [marl:UpdateSpeed] Stopped
2025-10-26T18:45:22.234Z,1761504322.234 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:45:22.603Z,1761504322.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924164,0.380485,0.033952],[-0.381784,-0.917032,-0.115299],[-0.012734,-0.119518,0.992750]]
2025-10-26T18:45:23.006Z,1761504323.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924272,0.367658,0.102711],[-0.379320,-0.914773,-0.138950],[0.042871,-0.167388,0.984959]]
2025-10-26T18:45:23.411Z,1761504323.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915464,0.381561,0.127817],[-0.396781,-0.908829,-0.128820],[0.067011,-0.168646,0.983396]]
2025-10-26T18:45:23.814Z,1761504323.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901690,0.416263,0.116964],[-0.425445,-0.902408,-0.068236],[0.077145,-0.111289,0.990789]]
2025-10-26T18:45:24.112Z,1761504324.112 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:45:24.113Z,1761504324.113 [DAT](INFO): response not received
2025-10-26T18:45:24.113Z,1761504324.113 [DAT](ERROR): No response from remote modem.
2025-10-26T18:45:24.218Z,1761504324.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899402,0.426170,0.097239],[-0.427333,-0.904043,0.009588],[0.091994,-0.032929,0.995215]]
2025-10-26T18:45:24.625Z,1761504324.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905794,0.416039,0.080302],[-0.413431,-0.909293,0.047541],[0.092797,0.009863,0.995636]]
2025-10-26T18:45:25.026Z,1761504325.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909345,0.407152,0.085557],[-0.406887,-0.913230,0.021302],[0.086806,-0.015441,0.996106]]
2025-10-26T18:45:25.430Z,1761504325.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908017,0.399216,0.127009],[-0.406716,-0.912730,-0.038805],[0.100433,-0.086892,0.991142]]
2025-10-26T18:45:25.834Z,1761504325.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908304,0.388456,0.155194],[-0.404124,-0.910675,-0.085763],[0.108016,-0.140617,0.984154]]
2025-10-26T18:45:26.240Z,1761504326.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907279,0.398861,0.133244],[-0.413474,-0.903889,-0.109652],[0.076702,-0.154578,0.984999]]
2025-10-26T18:45:26.647Z,1761504326.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898112,0.427826,0.101785],[-0.436368,-0.895694,-0.085533],[0.054575,-0.121234,0.991122]]
2025-10-26T18:45:27.046Z,1761504327.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893704,0.439226,0.091510],[-0.441693,-0.897134,-0.007637],[0.078743,-0.047244,0.995775]]
2025-10-26T18:45:27.450Z,1761504327.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899024,0.430876,0.078109],[-0.429057,-0.902409,0.039604],[0.087551,0.002092,0.996158]]
2025-10-26T18:45:27.862Z,1761504327.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903171,0.426721,0.046806],[-0.426199,-0.904383,0.021121],[0.051343,-0.000873,0.998681]]
2025-10-26T18:45:28.258Z,1761504328.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903280,0.426211,0.049280],[-0.428028,-0.903090,-0.034936],[0.029614,-0.052650,0.998174]]
2025-10-26T18:45:28.663Z,1761504328.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901821,0.414773,0.121170],[-0.426661,-0.899114,-0.097747],[0.068403,-0.139849,0.987807]]
2025-10-26T18:45:29.069Z,1761504329.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903467,0.390622,0.176524],[-0.413655,-0.902482,-0.120067],[0.112409,-0.181497,0.976946]]
2025-10-26T18:45:29.472Z,1761504329.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902224,0.408100,0.139451],[-0.422763,-0.900819,-0.098981],[0.085226,-0.148258,0.985270]]
2025-10-26T18:45:29.887Z,1761504329.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894429,0.442022,0.067927],[-0.445606,-0.893734,-0.051719],[0.037848,-0.076527,0.996349]]
2025-10-26T18:45:29.891Z,1761504329.891 [NAL9602](INFO): SBD MO Status=1, MOMSN=2953, MT Status=0, MTMSN=0
2025-10-26T18:45:29.952Z,1761504329.952 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0013.lzma
2025-10-26T18:45:29.952Z,1761504329.952 [NAL9602](INFO): Packets left to send: 3
2025-10-26T18:45:30.278Z,1761504330.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894153,0.446709,0.030668],[-0.446333,-0.894674,0.018573],[0.035734,0.002920,0.999357]]
2025-10-26T18:45:30.476Z,1761504330.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:45:31.370Z,1761504331.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876117,0.481962,0.011477],[-0.480307,-0.874665,0.065308],[0.041515,0.051705,0.997799]]
2025-10-26T18:45:31.480Z,1761504331.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:45:33.506Z,1761504333.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898422,0.425149,0.109936],[-0.438394,-0.882860,-0.168429],[0.025451,-0.199516,0.979564]]
2025-10-26T18:45:33.972Z,1761504333.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886825,0.459676,0.047330],[-0.461526,-0.886184,-0.040890],[0.023147,-0.058106,0.998042]]
2025-10-26T18:45:34.306Z,1761504334.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870187,0.492393,-0.017988],[-0.492164,-0.866888,0.079248],[0.023427,0.077813,0.996693]]
2025-10-26T18:45:34.385Z,1761504334.385 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:45:34.385Z,1761504334.385 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:45:34.718Z,1761504334.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872925,0.486957,-0.029583],[-0.486533,-0.864498,0.126205],[0.035882,0.124561,0.991563]]
2025-10-26T18:45:35.114Z,1761504335.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882961,0.469415,0.005418],[-0.467376,-0.880092,0.083647],[0.044033,0.071325,0.996481]]
2025-10-26T18:45:35.518Z,1761504335.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889716,0.455615,0.028659],[-0.456309,-0.889445,-0.025855],[0.013711,-0.036081,0.999255]]
2025-10-26T18:45:35.923Z,1761504335.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890624,0.453909,0.027484],[-0.453681,-0.882802,-0.121796],[-0.031021,-0.120944,0.992175]]
2025-10-26T18:45:36.329Z,1761504336.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883623,0.464768,0.056584],[-0.467829,-0.871637,-0.146237],[-0.018646,-0.155690,0.987630]]
2025-10-26T18:45:36.734Z,1761504336.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881849,0.462665,0.091017],[-0.470781,-0.874779,-0.114573],[0.026611,-0.143885,0.989237]]
2025-10-26T18:45:36.768Z,1761504336.768 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:45:36.768Z,1761504336.768 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:45:36.769Z,1761504336.769 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:45:36.769Z,1761504336.769 [marl:UpdateRudder:A] Stopped
2025-10-26T18:45:36.769Z,1761504336.769 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:45:37.134Z,1761504337.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882573,0.462699,0.083521],[-0.468536,-0.880330,-0.074112],[0.039234,-0.104542,0.993746]]
2025-10-26T18:45:37.194Z,1761504337.194 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:45:37.194Z,1761504337.194 [marl:UpdateRudder:B] Stopped
2025-10-26T18:45:37.194Z,1761504337.194 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:45:37.194Z,1761504337.194 [marl:UpdateRudder] Stopped
2025-10-26T18:45:37.194Z,1761504337.194 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:45:37.538Z,1761504337.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878147,0.476195,0.045793],[-0.478017,-0.877217,-0.044613],[0.018926,-0.061067,0.997954]]
2025-10-26T18:45:37.568Z,1761504337.568 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:45:37.568Z,1761504337.568 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateCommandMode] Stopped
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:45:37.569Z,1761504337.569 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:45:37.570Z,1761504337.570 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:45:37.570Z,1761504337.570 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:45:37.570Z,1761504337.570 [marl:UpdateSpeed] Stopped
2025-10-26T18:45:37.570Z,1761504337.570 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:45:37.946Z,1761504337.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878185,0.477792,0.022487],[-0.478075,-0.878271,-0.009233],[0.015338,-0.018859,0.999704]]
2025-10-26T18:45:38.353Z,1761504338.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876545,0.480870,0.020799],[-0.480048,-0.876552,0.034789],[0.034960,0.020510,0.999178]]
2025-10-26T18:45:38.751Z,1761504338.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871860,0.488767,0.031094],[-0.487071,-0.871970,0.049299],[0.051209,0.027836,0.998300]]
2025-10-26T18:45:39.157Z,1761504339.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873404,0.485540,0.037634],[-0.485475,-0.874175,0.011459],[0.038463,-0.008262,0.999226]]
2025-10-26T18:45:39.560Z,1761504339.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875122,0.480020,0.061181],[-0.483002,-0.874195,-0.049931],[0.029516,-0.073246,0.996877]]
2025-10-26T18:45:39.962Z,1761504339.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875154,0.474115,0.096543],[-0.482725,-0.869137,-0.107597],[0.032896,-0.140768,0.989496]]
2025-10-26T18:45:40.367Z,1761504340.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883085,0.453771,0.119389],[-0.467536,-0.872465,-0.142178],[0.039646,-0.181374,0.982615]]
2025-10-26T18:45:40.771Z,1761504340.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878689,0.463534,0.114206],[-0.475530,-0.870969,-0.123628],[0.042164,-0.162939,0.985735]]
2025-10-26T18:45:41.178Z,1761504341.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869352,0.485599,0.091763],[-0.491150,-0.869548,-0.051551],[0.054759,-0.089886,0.994446]]
2025-10-26T18:45:41.578Z,1761504341.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868253,0.493947,0.046398],[-0.493789,-0.869441,0.015608],[0.048050,-0.009360,0.998801]]
2025-10-26T18:45:41.610Z,1761504341.610 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:45:41.764Z,1761504341.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:45:41.764Z,1761504341.764 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:45:41.982Z,1761504341.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869154,0.494487,0.007392],[-0.493555,-0.868265,0.050186],[0.031235,0.039971,0.998713]]
2025-10-26T18:45:41.994Z,1761504341.994 [NAL9602](INFO): SBD MO Status=1, MOMSN=2954, MT Status=0, MTMSN=0
2025-10-26T18:45:42.017Z,1761504342.017 [DAT](INFO): DAT read: user:68>

2025-10-26T18:45:42.018Z,1761504342.018 [DAT](INFO): DAT read: Tx time:18:45:42.7800

2025-10-26T18:45:42.018Z,1761504342.018 [DAT](INFO): Ping request sent.
2025-10-26T18:45:42.018Z,1761504342.018 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:45:42.019Z,1761504342.019 [DAT](INFO): publishing transmit ping time
2025-10-26T18:45:42.020Z,1761504342.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001037
2025-10-26T18:45:42.056Z,1761504342.056 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0013.lzma
2025-10-26T18:45:42.056Z,1761504342.056 [NAL9602](INFO): Packets left to send: 2
2025-10-26T18:45:42.268Z,1761504342.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249772
2025-10-26T18:45:42.386Z,1761504342.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877536,0.479196,0.017356],[-0.478045,-0.877109,0.046390],[0.037453,0.032412,0.998773]]
2025-10-26T18:45:42.520Z,1761504342.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501902
2025-10-26T18:45:42.772Z,1761504342.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753818
2025-10-26T18:45:43.024Z,1761504343.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005864
2025-10-26T18:45:43.047Z,1761504343.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891562,0.445124,0.083555],[-0.451949,-0.886361,-0.100527],[0.029313,-0.127389,0.991420]]
2025-10-26T18:45:43.277Z,1761504343.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258395
2025-10-26T18:45:43.434Z,1761504343.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882287,0.463088,0.084374],[-0.470680,-0.870044,-0.146573],[0.005533,-0.169033,0.985595]]
2025-10-26T18:45:43.529Z,1761504343.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510562
2025-10-26T18:45:43.780Z,1761504343.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761710
2025-10-26T18:45:44.032Z,1761504344.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013865
2025-10-26T18:45:44.284Z,1761504344.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265800
2025-10-26T18:45:44.536Z,1761504344.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517886
2025-10-26T18:45:44.789Z,1761504344.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770399
2025-10-26T18:45:45.040Z,1761504345.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021843
2025-10-26T18:45:45.292Z,1761504345.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273836
2025-10-26T18:45:45.545Z,1761504345.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526497
2025-10-26T18:45:45.591Z,1761504345.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895835,0.436759,0.081980],[-0.439459,-0.898092,-0.017484],[0.065989,-0.051690,0.996481]]
2025-10-26T18:45:45.796Z,1761504345.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777826
2025-10-26T18:45:45.986Z,1761504345.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894644,0.436622,0.094726],[-0.441325,-0.896660,-0.035127],[0.069600,-0.073231,0.994883]]
2025-10-26T18:45:46.049Z,1761504346.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029978
2025-10-26T18:45:46.301Z,1761504346.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282360
2025-10-26T18:45:46.391Z,1761504346.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891369,0.448490,0.065720],[-0.452160,-0.889953,-0.059447],[0.031826,-0.082705,0.996066]]
2025-10-26T18:45:46.552Z,1761504346.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533844
2025-10-26T18:45:46.798Z,1761504346.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887825,0.457560,0.049048],[-0.459743,-0.886579,-0.051132],[0.020089,-0.067945,0.997487]]
2025-10-26T18:45:46.804Z,1761504346.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785883
2025-10-26T18:45:47.057Z,1761504347.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038421
2025-10-26T18:45:47.198Z,1761504347.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890486,0.452516,0.047580],[-0.454373,-0.889897,-0.040354],[0.024081,-0.057554,0.998052]]
2025-10-26T18:45:47.273Z,1761504347.273 [marl:SendObservationData] Running Loop=1
2025-10-26T18:45:47.273Z,1761504347.273 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T18:45:47.273Z,1761504347.273 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T18:45:47.274Z,1761504347.274 [marl:SendObservationData:A] Running Loop=1
2025-10-26T18:45:47.280Z,1761504347.280 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9b000000004051400000000000404263239079f085c05e775b5c0f4654402f4b3940000000404eb33340000000 n/a str  and temp var is  nan n/a str 
2025-10-26T18:45:47.280Z,1761504347.280 [marl:SendObservationData:A] Stopped
2025-10-26T18:45:47.280Z,1761504347.280 [marl:SendObservationData:B] Running Loop=1
2025-10-26T18:45:47.308Z,1761504347.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289903
2025-10-26T18:45:47.560Z,1761504347.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541780
2025-10-26T18:45:47.602Z,1761504347.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889812,0.455130,0.033039],[-0.456122,-0.889249,-0.034484],[0.013685,-0.045754,0.998859]]
2025-10-26T18:45:47.642Z,1761504347.642 [marl:SendObservationData:B] Stopped
2025-10-26T18:45:47.642Z,1761504347.642 [marl:SendObservationData:C] Running Loop=1
2025-10-26T18:45:47.813Z,1761504347.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794479
2025-10-26T18:45:48.006Z,1761504348.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893527,0.448188,0.027152],[-0.448951,-0.892748,-0.037990],[0.007214,-0.046135,0.998909]]
2025-10-26T18:45:48.057Z,1761504348.057 [marl:SendObservationData:C] Stopped
2025-10-26T18:45:48.057Z,1761504348.057 [marl:SendObservationData:E] Running Loop=1
2025-10-26T18:45:48.064Z,1761504348.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045947
2025-10-26T18:45:48.317Z,1761504348.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298276
2025-10-26T18:45:48.412Z,1761504348.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897523,0.439665,0.033866],[-0.440892,-0.896136,-0.050546],[0.008125,-0.060297,0.998147]]
2025-10-26T18:45:48.436Z,1761504348.436 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008421 min 
2025-10-26T18:45:48.436Z,1761504348.436 [marl:SendObservationData:E] Stopped
2025-10-26T18:45:48.437Z,1761504348.437 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T18:45:48.437Z,1761504348.437 [marl:SendObservationData] Stopped
2025-10-26T18:45:48.437Z,1761504348.437 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T18:45:48.437Z,1761504348.437 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T18:45:48.568Z,1761504348.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549749
2025-10-26T18:45:48.823Z,1761504348.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803945
2025-10-26T18:45:48.861Z,1761504348.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898830,0.437846,0.019863],[-0.438161,-0.896499,-0.065607],[-0.010919,-0.067673,0.997648]]
2025-10-26T18:45:49.072Z,1761504349.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053848
2025-10-26T18:45:49.218Z,1761504349.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901292,0.432916,0.016018],[-0.432813,-0.898257,-0.076207],[-0.018603,-0.075618,0.996963]]
2025-10-26T18:45:49.326Z,1761504349.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307076
2025-10-26T18:45:49.576Z,1761504349.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557809
2025-10-26T18:45:49.622Z,1761504349.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906642,0.419318,0.046608],[-0.421309,-0.905675,-0.047439],[0.022320,-0.062647,0.997786]]
2025-10-26T18:45:49.829Z,1761504349.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809805
2025-10-26T18:45:50.027Z,1761504350.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896290,0.438338,0.067257],[-0.439023,-0.898462,0.005015],[0.062626,-0.025032,0.997723]]
2025-10-26T18:45:50.080Z,1761504350.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061938
2025-10-26T18:45:50.333Z,1761504350.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314531
2025-10-26T18:45:50.430Z,1761504350.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892696,0.447180,0.055885],[-0.446807,-0.894413,0.019699],[0.058794,-0.007385,0.998243]]
2025-10-26T18:45:50.584Z,1761504350.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565701
2025-10-26T18:45:50.839Z,1761504350.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819693
2025-10-26T18:45:50.883Z,1761504350.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900012,0.435605,0.015046],[-0.435759,-0.900018,-0.009048],[0.009601,-0.014700,0.999846]]
2025-10-26T18:45:51.088Z,1761504351.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069795
2025-10-26T18:45:51.242Z,1761504351.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894862,0.445925,0.019277],[-0.446316,-0.894442,-0.027857],[0.004820,-0.033531,0.999426]]
2025-10-26T18:45:51.340Z,1761504351.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321798
2025-10-26T18:45:51.592Z,1761504351.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573754
2025-10-26T18:45:51.642Z,1761504351.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900680,0.431025,0.054699],[-0.432641,-0.901305,-0.021686],[0.039953,-0.043197,0.998267]]
2025-10-26T18:45:51.844Z,1761504351.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825852
2025-10-26T18:45:52.055Z,1761504352.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906730,0.414403,0.078172],[-0.418723,-0.906730,-0.050107],[0.050117,-0.078166,0.995680]]
2025-10-26T18:45:52.096Z,1761504352.096 [DAT](INFO): Reached modem response timeout
2025-10-26T18:45:52.114Z,1761504352.114 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:45:52.114Z,1761504352.114 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:45:52.114Z,1761504352.114 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:45:52.114Z,1761504352.114 [marl:UpdateRudder:A] Stopped
2025-10-26T18:45:52.114Z,1761504352.114 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateRudder:B] Stopped
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateRudder] Stopped
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:45:52.501Z,1761504352.501 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateCommandMode] Stopped
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:45:52.502Z,1761504352.502 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:45:52.503Z,1761504352.503 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:45:52.503Z,1761504352.503 [marl:UpdateSpeed] Stopped
2025-10-26T18:45:52.503Z,1761504352.503 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:45:52.885Z,1761504352.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898351,0.430660,0.086595],[-0.435913,-0.898331,-0.054596],[0.054278,-0.086794,0.994747]]
2025-10-26T18:45:53.662Z,1761504353.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885509,0.461327,0.055244],[-0.462332,-0.886685,-0.006287],[0.046084,-0.031108,0.998453]]
2025-10-26T18:45:54.067Z,1761504354.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881143,0.470235,0.049662],[-0.468705,-0.882464,0.039663],[0.062476,0.011672,0.997978]]
2025-10-26T18:45:54.366Z,1761504354.366 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:45:54.366Z,1761504354.366 [DAT](INFO): response not received
2025-10-26T18:45:54.366Z,1761504354.366 [DAT](ERROR): No response from remote modem.
2025-10-26T18:45:54.472Z,1761504354.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895945,0.440469,0.057189],[-0.440286,-0.897707,0.016427],[0.058574,-0.010462,0.998228]]
2025-10-26T18:45:54.893Z,1761504354.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909868,0.408962,0.069935],[-0.414743,-0.901131,-0.126301],[0.011368,-0.143922,0.989524]]
2025-10-26T18:45:55.688Z,1761504355.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912265,0.389809,0.125783],[-0.405189,-0.903784,-0.137826],[0.059954,-0.176700,0.982437]]
2025-10-26T18:45:56.092Z,1761504356.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914261,0.395607,0.087298],[-0.403269,-0.909293,-0.102759],[0.038728,-0.129153,0.990868]]
2025-10-26T18:45:56.494Z,1761504356.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918316,0.394443,0.033334],[-0.395413,-0.917997,-0.030492],[0.018573,-0.041183,0.998979]]
2025-10-26T18:45:56.504Z,1761504356.504 [NAL9602](INFO): SBD MO Status=1, MOMSN=2955, MT Status=0, MTMSN=0
2025-10-26T18:45:56.552Z,1761504356.552 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0013.lzma
2025-10-26T18:45:56.552Z,1761504356.552 [NAL9602](INFO): Packets left to send: 1
2025-10-26T18:45:56.898Z,1761504356.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922303,0.386434,0.005011],[-0.385805,-0.921404,0.046569],[0.022613,0.041017,0.998903]]
2025-10-26T18:45:57.733Z,1761504357.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918315,0.392337,0.052616],[-0.391725,-0.919821,0.021923],[0.056998,-0.000478,0.998374]]
2025-10-26T18:45:59.882Z,1761504359.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912384,0.407465,0.039101],[-0.408517,-0.912435,-0.024018],[0.025891,-0.037887,0.998947]]
2025-10-26T18:46:00.262Z,1761504360.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914763,0.403774,0.013226],[-0.403428,-0.911273,-0.082635],[-0.021314,-0.080927,0.996492]]
2025-10-26T18:46:00.667Z,1761504360.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922790,0.383665,0.035488],[-0.384970,-0.914249,-0.126277],[-0.016003,-0.130189,0.991360]]
2025-10-26T18:46:01.070Z,1761504361.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930680,0.363487,0.041369],[-0.365781,-0.922654,-0.122125],[-0.006222,-0.128792,0.991652]]
2025-10-26T18:46:01.474Z,1761504361.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925820,0.374173,0.053406],[-0.377549,-0.922151,-0.084226],[0.017734,-0.098142,0.995014]]
2025-10-26T18:46:01.600Z,1761504361.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:46:01.878Z,1761504361.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921461,0.384393,0.056135],[-0.385922,-0.922333,-0.019119],[0.044426,-0.039281,0.998240]]
2025-10-26T18:46:02.285Z,1761504362.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919990,0.390663,0.031644],[-0.390187,-0.920512,0.020289],[0.037055,0.006319,0.999293]]
2025-10-26T18:46:02.604Z,1761504362.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:46:02.686Z,1761504362.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917531,0.396432,0.031287],[-0.396543,-0.918012,0.002831],[0.029844,-0.009809,0.999506]]
2025-10-26T18:46:03.091Z,1761504363.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918060,0.392143,0.058217],[-0.394669,-0.917917,-0.040803],[0.037438,-0.060436,0.997470]]
2025-10-26T18:46:03.494Z,1761504363.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920570,0.381223,0.084971],[-0.388266,-0.916839,-0.093042],[0.042435,-0.118643,0.992030]]
2025-10-26T18:46:03.899Z,1761504363.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930441,0.354168,0.094040],[-0.364536,-0.920736,-0.139135],[0.037309,-0.163738,0.985798]]
2025-10-26T18:46:04.316Z,1761504364.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939512,0.331047,0.087893],[-0.341006,-0.928117,-0.149377],[0.032124,-0.170313,0.984866]]
2025-10-26T18:46:04.712Z,1761504364.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936675,0.337670,0.092844],[-0.346541,-0.931947,-0.106697],[0.050497,-0.132114,0.989947]]
2025-10-26T18:46:05.110Z,1761504365.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927717,0.362806,0.087820],[-0.366154,-0.930217,-0.025037],[0.072608,-0.055383,0.995822]]
2025-10-26T18:46:05.514Z,1761504365.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917303,0.391963,0.070145],[-0.389251,-0.919804,0.049441],[0.083899,0.018048,0.996311]]
2025-10-26T18:46:05.918Z,1761504365.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917696,0.395210,0.040533],[-0.391812,-0.917209,0.072187],[0.065706,0.050364,0.996567]]
2025-10-26T18:46:06.325Z,1761504366.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923477,0.383646,0.002442],[-0.383476,-0.923225,0.024523],[0.011663,0.021710,0.999696]]
2025-10-26T18:46:06.735Z,1761504366.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922200,0.385751,0.027263],[-0.386467,-0.921837,-0.029333],[0.013817,-0.037588,0.999198]]
2025-10-26T18:46:07.131Z,1761504367.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924754,0.370870,0.085354],[-0.376751,-0.923838,-0.067685],[0.053751,-0.094750,0.994049]]
2025-10-26T18:46:07.535Z,1761504367.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923016,0.369173,0.108412],[-0.380473,-0.917701,-0.114300],[0.057293,-0.146748,0.987513]]
2025-10-26T18:46:07.558Z,1761504367.558 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:46:07.558Z,1761504367.558 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:46:07.559Z,1761504367.559 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:46:07.559Z,1761504367.559 [marl:UpdateRudder:A] Stopped
2025-10-26T18:46:07.559Z,1761504367.559 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:46:07.938Z,1761504367.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925681,0.367296,0.090597],[-0.376291,-0.918637,-0.120461],[0.038981,-0.145599,0.988575]]
2025-10-26T18:46:07.973Z,1761504367.973 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:46:07.973Z,1761504367.973 [marl:UpdateRudder:B] Stopped
2025-10-26T18:46:07.973Z,1761504367.973 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:46:07.973Z,1761504367.973 [marl:UpdateRudder] Stopped
2025-10-26T18:46:07.973Z,1761504367.973 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:46:07.973Z,1761504367.973 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateCommandMode] Stopped
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:46:07.974Z,1761504367.974 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:46:07.975Z,1761504367.975 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:46:07.975Z,1761504367.975 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:46:07.975Z,1761504367.975 [marl:UpdateSpeed] Stopped
2025-10-26T18:46:07.975Z,1761504367.975 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:46:08.342Z,1761504368.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937619,0.344441,0.047228],[-0.347506,-0.932598,-0.097468],[0.010473,-0.107800,0.994117]]
2025-10-26T18:46:08.747Z,1761504368.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937041,0.348563,0.021384],[-0.349184,-0.934335,-0.071331],[-0.004883,-0.074307,0.997223]]
2025-10-26T18:46:09.150Z,1761504369.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931968,0.361821,0.022846],[-0.362026,-0.932152,-0.005469],[0.019317,-0.013368,0.999724]]
2025-10-26T18:46:09.734Z,1761504369.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921313,0.385300,0.052209],[-0.381619,-0.921783,0.068435],[0.074493,0.043126,0.996289]]
2025-10-26T18:46:10.471Z,1761504370.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924155,0.380181,0.037428],[-0.378573,-0.924542,0.043633],[0.051193,0.026154,0.998346]]
2025-10-26T18:46:10.902Z,1761504370.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923799,0.379046,0.054034],[-0.381289,-0.923601,-0.039750],[0.034839,-0.057324,0.997748]]
2025-10-26T18:46:11.682Z,1761504371.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928422,0.368439,0.047803],[-0.371476,-0.922703,-0.103078],[0.006130,-0.113457,0.993524]]
2025-10-26T18:46:11.735Z,1761504371.735 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:46:11.764Z,1761504371.764 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:46:11.764Z,1761504371.764 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:46:12.016Z,1761504372.016 [DAT](INFO): DAT read: user:69>

2025-10-26T18:46:12.017Z,1761504372.017 [DAT](INFO): DAT read: Tx time:18:46:12.7298

2025-10-26T18:46:12.017Z,1761504372.017 [DAT](INFO): Ping request sent.
2025-10-26T18:46:12.017Z,1761504372.017 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:46:12.018Z,1761504372.018 [DAT](INFO): publishing transmit ping time
2025-10-26T18:46:12.018Z,1761504372.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000919
2025-10-26T18:46:12.086Z,1761504372.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925859,0.372926,0.060928],[-0.377869,-0.914031,-0.147519],[0.000676,-0.159605,0.987181]]
2025-10-26T18:46:12.269Z,1761504372.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251690
2025-10-26T18:46:12.490Z,1761504372.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922838,0.379909,0.063559],[-0.384831,-0.916456,-0.109604],[0.016609,-0.125606,0.991941]]
2025-10-26T18:46:12.520Z,1761504372.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503013
2025-10-26T18:46:12.773Z,1761504372.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755557
2025-10-26T18:46:12.921Z,1761504372.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927283,0.373860,0.019369],[-0.374134,-0.927282,-0.013142],[0.013047,-0.019433,0.999726]]
2025-10-26T18:46:13.024Z,1761504373.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007027
2025-10-26T18:46:13.277Z,1761504373.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259525
2025-10-26T18:46:13.332Z,1761504373.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928917,0.370113,0.011343],[-0.370230,-0.928875,-0.010976],[0.006473,-0.014395,0.999875]]
2025-10-26T18:46:13.337Z,1761504373.337 [NAL9602](INFO): SBD MO Status=2, MOMSN=2956, MT Status=2, MTMSN=0
2025-10-26T18:46:13.337Z,1761504373.337 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T18:46:13.529Z,1761504373.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511494
2025-10-26T18:46:13.710Z,1761504373.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926931,0.374295,0.026485],[-0.374922,-0.926721,-0.024913],[0.015219,-0.033022,0.999339]]
2025-10-26T18:46:13.781Z,1761504373.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763269
2025-10-26T18:46:14.032Z,1761504374.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014945
2025-10-26T18:46:14.110Z,1761504374.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928622,0.365699,0.062651],[-0.368542,-0.928667,-0.041881],[0.042866,-0.061982,0.997156]]
2025-10-26T18:46:14.285Z,1761504374.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267572
2025-10-26T18:46:14.518Z,1761504374.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933736,0.347706,0.085069],[-0.354222,-0.931771,-0.079557],[0.051603,-0.104418,0.993194]]
2025-10-26T18:46:14.530Z,1761504374.530 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184613.00,A,3646.42619,N,12151.89317,W,1.458,255.84,261025,,,A*7C
2025-10-26T18:46:14.532Z,1761504374.532 [NAL9602](INFO): GPS fix at 20251026T184613: (36.773770, -121.864886)
2025-10-26T18:46:14.537Z,1761504374.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519068
2025-10-26T18:46:14.586Z,1761504374.586 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:46:14.789Z,1761504374.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771343
2025-10-26T18:46:14.928Z,1761504374.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936446,0.334910,0.104422],[-0.346786,-0.928703,-0.131337],[0.052991,-0.159202,0.985823]]
2025-10-26T18:46:15.040Z,1761504375.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022788
2025-10-26T18:46:15.293Z,1761504375.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275161
2025-10-26T18:46:15.326Z,1761504375.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936906,0.329758,0.116044],[-0.344674,-0.926799,-0.149144],[0.058368,-0.179732,0.981983]]
2025-10-26T18:46:15.545Z,1761504375.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527265
2025-10-26T18:46:15.767Z,1761504375.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935193,0.335454,0.113514],[-0.347426,-0.931173,-0.110513],[0.068630,-0.142788,0.987371]]
2025-10-26T18:46:15.797Z,1761504375.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779599
2025-10-26T18:46:16.049Z,1761504376.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031090
2025-10-26T18:46:16.135Z,1761504376.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941819,0.324482,0.087686],[-0.329083,-0.943273,-0.044042],[0.068421,-0.070335,0.995174]]
2025-10-26T18:46:16.300Z,1761504376.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282886
2025-10-26T18:46:16.544Z,1761504376.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945659,0.322384,0.042398],[-0.321382,-0.946510,0.028844],[0.049429,0.013650,0.998684]]
2025-10-26T18:46:16.552Z,1761504376.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535002
2025-10-26T18:46:16.804Z,1761504376.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786971
2025-10-26T18:46:16.942Z,1761504376.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935488,0.352518,0.024354],[-0.350077,-0.933968,0.071767],[0.048045,0.058611,0.997124]]
2025-10-26T18:46:17.056Z,1761504377.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038965
2025-10-26T18:46:17.309Z,1761504377.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291590
2025-10-26T18:46:17.360Z,1761504377.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937080,0.348925,0.011510],[-0.347489,-0.935386,0.065610],[0.033659,0.057482,0.997779]]
2025-10-26T18:46:17.560Z,1761504377.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542881
2025-10-26T18:46:17.754Z,1761504377.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935476,0.351867,0.032781],[-0.352128,-0.935949,-0.002359],[0.029852,-0.013749,0.999460]]
2025-10-26T18:46:17.813Z,1761504377.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795099
2025-10-26T18:46:18.064Z,1761504378.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046912
2025-10-26T18:46:18.154Z,1761504378.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930482,0.357565,0.079694],[-0.362593,-0.929940,-0.061138],[0.052250,-0.085784,0.994943]]
2025-10-26T18:46:18.317Z,1761504378.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299090
2025-10-26T18:46:18.568Z,1761504378.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550759
2025-10-26T18:46:18.631Z,1761504378.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929637,0.359483,0.080906],[-0.365978,-0.926326,-0.089336],[0.042830,-0.112660,0.992710]]
2025-10-26T18:46:18.823Z,1761504378.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805073
2025-10-26T18:46:19.035Z,1761504379.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924663,0.373217,0.075550],[-0.378970,-0.921315,-0.086953],[0.037153,-0.109033,0.993344]]
2025-10-26T18:46:19.072Z,1761504379.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055031
2025-10-26T18:46:19.324Z,1761504379.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306867
2025-10-26T18:46:19.443Z,1761504379.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921899,0.374926,0.097637],[-0.380847,-0.923244,-0.050747],[0.071116,-0.083969,0.993927]]
2025-10-26T18:46:19.448Z,1761504379.448 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184618.00,A,3646.42571,N,12151.89383,W,0.058,224.44,261025,,,A*78
2025-10-26T18:46:19.450Z,1761504379.450 [NAL9602](INFO): GPS fix at 20251026T184618: (36.773762, -121.864897)
2025-10-26T18:46:19.501Z,1761504379.501 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:46:19.577Z,1761504379.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559493
2025-10-26T18:46:19.833Z,1761504379.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815954
2025-10-26T18:46:19.850Z,1761504379.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927079,0.365673,0.082512],[-0.369328,-0.928678,-0.033975],[0.064204,-0.061971,0.996011]]
2025-10-26T18:46:20.080Z,1761504380.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062986
2025-10-26T18:46:20.247Z,1761504380.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927356,0.372321,0.037261],[-0.373857,-0.926090,-0.050879],[0.015564,-0.061114,0.998009]]
2025-10-26T18:46:20.332Z,1761504380.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314974
2025-10-26T18:46:20.585Z,1761504380.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567532
2025-10-26T18:46:20.650Z,1761504380.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929659,0.365899,0.043034],[-0.368016,-0.927754,-0.061937],[0.017262,-0.073418,0.997152]]
2025-10-26T18:46:20.839Z,1761504380.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820796
2025-10-26T18:46:21.054Z,1761504381.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937869,0.340373,0.067441],[-0.344496,-0.936632,-0.063591],[0.041522,-0.082873,0.995695]]
2025-10-26T18:46:21.088Z,1761504381.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070795
2025-10-26T18:46:21.164Z,1761504381.164 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:46:21.164Z,1761504381.164 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:46:21.164Z,1761504381.164 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:46:21.165Z,1761504381.165 [marl:UpdateRudder:A] Stopped
2025-10-26T18:46:21.165Z,1761504381.165 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:46:21.340Z,1761504381.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322886
2025-10-26T18:46:21.469Z,1761504381.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937493,0.342605,0.061060],[-0.346580,-0.935026,-0.074887],[0.031436,-0.091368,0.995321]]
2025-10-26T18:46:21.493Z,1761504381.493 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:46:21.493Z,1761504381.493 [marl:UpdateRudder:B] Stopped
2025-10-26T18:46:21.493Z,1761504381.493 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateRudder] Stopped
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:46:21.494Z,1761504381.494 [marl:UpdateCommandMode] Stopped
2025-10-26T18:46:21.495Z,1761504381.495 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:46:21.495Z,1761504381.495 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:46:21.495Z,1761504381.495 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:46:21.495Z,1761504381.495 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:46:21.495Z,1761504381.495 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:46:21.495Z,1761504381.495 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:46:21.496Z,1761504381.496 [marl:UpdateSpeed] Stopped
2025-10-26T18:46:21.496Z,1761504381.496 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:46:21.592Z,1761504381.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574944
2025-10-26T18:46:21.844Z,1761504381.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826877
2025-10-26T18:46:21.862Z,1761504381.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932722,0.359126,0.032528],[-0.360442,-0.931157,-0.055037],[0.010523,-0.063059,0.997954]]
2025-10-26T18:46:22.097Z,1761504382.097 [DAT](INFO): Reached modem response timeout
2025-10-26T18:46:22.274Z,1761504382.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930440,0.366358,0.007964],[-0.366419,-0.929900,-0.031977],[-0.004309,-0.032671,0.999457]]
2025-10-26T18:46:22.671Z,1761504382.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935866,0.352309,0.005751],[-0.352207,-0.934869,-0.044391],[-0.010263,-0.043570,0.998998]]
2025-10-26T18:46:23.076Z,1761504383.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938995,0.342225,0.034205],[-0.343779,-0.936878,-0.063838],[0.010199,-0.071702,0.997374]]
2025-10-26T18:46:23.482Z,1761504383.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934225,0.347442,0.080666],[-0.352752,-0.933475,-0.064729],[0.052810,-0.088926,0.994637]]
2025-10-26T18:46:23.883Z,1761504383.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926798,0.367980,0.075077],[-0.371793,-0.927226,-0.044963],[0.053067,-0.069585,0.996164]]
2025-10-26T18:46:24.291Z,1761504384.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928303,0.370070,0.036077],[-0.371267,-0.927849,-0.035469],[0.020348,-0.046320,0.998719]]
2025-10-26T18:46:24.364Z,1761504384.364 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:46:24.365Z,1761504384.365 [DAT](INFO): response not received
2025-10-26T18:46:24.365Z,1761504384.365 [DAT](ERROR): No response from remote modem.
2025-10-26T18:46:24.691Z,1761504384.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938106,0.344633,0.034443],[-0.346254,-0.935532,-0.069911],[0.008129,-0.077510,0.996958]]
2025-10-26T18:46:25.094Z,1761504385.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941002,0.330193,0.074087],[-0.335663,-0.938541,-0.080446],[0.042971,-0.100568,0.994002]]
2025-10-26T18:46:25.502Z,1761504385.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941953,0.320189,0.101010],[-0.328937,-0.940373,-0.086596],[0.067260,-0.114795,0.991109]]
2025-10-26T18:46:25.905Z,1761504385.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940831,0.328668,0.082552],[-0.335105,-0.938575,-0.082351],[0.050415,-0.105142,0.993178]]
2025-10-26T18:46:26.306Z,1761504386.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940222,0.336846,0.050174],[-0.338969,-0.939847,-0.042287],[0.032911,-0.056766,0.997845]]
2025-10-26T18:46:26.716Z,1761504386.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942830,0.328815,0.054336],[-0.330234,-0.943701,-0.019341],[0.044918,-0.036179,0.998335]]
2025-10-26T18:46:27.119Z,1761504387.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946553,0.312989,0.077949],[-0.316192,-0.948137,-0.032533],[0.063723,-0.055441,0.996426]]
2025-10-26T18:46:27.522Z,1761504387.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945400,0.319840,0.062625],[-0.323585,-0.944082,-0.063268],[0.038887,-0.080078,0.996030]]
2025-10-26T18:46:27.922Z,1761504387.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939139,0.340897,0.042519],[-0.343327,-0.935683,-0.081391],[0.012038,-0.091036,0.995775]]
2025-10-26T18:46:28.327Z,1761504388.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940318,0.338247,0.037301],[-0.340114,-0.937745,-0.070397],[0.011168,-0.078882,0.996821]]
2025-10-26T18:46:28.742Z,1761504388.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946297,0.320242,0.044355],[-0.322321,-0.945177,-0.052441],[0.025129,-0.063921,0.997639]]
2025-10-26T18:46:29.135Z,1761504389.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949360,0.305922,0.071608],[-0.309140,-0.950216,-0.039018],[0.056106,-0.059179,0.996669]]
2025-10-26T18:46:29.543Z,1761504389.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951083,0.295162,0.091217],[-0.300710,-0.952167,-0.054338],[0.070816,-0.079110,0.994347]]
2025-10-26T18:46:29.944Z,1761504389.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953048,0.293772,0.073473],[-0.299434,-0.950414,-0.083982],[0.045158,-0.102039,0.993755]]
2025-10-26T18:46:30.467Z,1761504390.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949268,0.311919,0.039962],[-0.314359,-0.944600,-0.094393],[0.008305,-0.102166,0.994733]]
2025-10-26T18:46:30.879Z,1761504390.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944077,0.328882,0.023572],[-0.329717,-0.941140,-0.074445],[-0.002299,-0.078054,0.996947]]
2025-10-26T18:46:32.724Z,1761504392.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:46:33.030Z,1761504393.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956955,0.280494,0.074564],[-0.285699,-0.955626,-0.071804],[0.051115,-0.090016,0.994628]]
2025-10-26T18:46:33.419Z,1761504393.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951428,0.305791,0.035722],[-0.307426,-0.949871,-0.056880],[0.016538,-0.065099,0.997742]]
2025-10-26T18:46:33.728Z,1761504393.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:46:33.822Z,1761504393.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951509,0.306258,0.028923],[-0.307392,-0.950213,-0.051039],[0.011852,-0.057455,0.998278]]
2025-10-26T18:46:34.226Z,1761504394.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946233,0.314659,0.075045],[-0.318362,-0.946965,-0.043623],[0.057338,-0.065169,0.996226]]
2025-10-26T18:46:34.448Z,1761504394.448 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:46:34.448Z,1761504394.448 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:46:34.631Z,1761504394.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944452,0.307145,0.116927],[-0.314776,-0.947675,-0.053174],[0.094477,-0.087026,0.991716]]
2025-10-26T18:46:35.034Z,1761504395.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951154,0.290906,0.103346],[-0.300112,-0.949782,-0.088581],[0.072387,-0.115269,0.990693]]
2025-10-26T18:46:35.438Z,1761504395.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956284,0.280808,0.081651],[-0.288705,-0.951004,-0.110643],[0.046581,-0.129379,0.990501]]
2025-10-26T18:46:35.842Z,1761504395.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952931,0.289684,0.089474],[-0.297600,-0.950106,-0.093448],[0.057940,-0.115677,0.991596]]
2025-10-26T18:46:36.255Z,1761504396.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943436,0.314740,0.104248],[-0.320110,-0.946572,-0.039126],[0.086364,-0.070283,0.993781]]
2025-10-26T18:46:36.279Z,1761504396.279 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:46:36.280Z,1761504396.280 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:46:36.280Z,1761504396.280 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:46:36.280Z,1761504396.280 [marl:UpdateRudder:A] Stopped
2025-10-26T18:46:36.280Z,1761504396.280 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:46:36.650Z,1761504396.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943801,0.317728,0.091039],[-0.317944,-0.948027,0.012514],[0.090284,-0.017134,0.995769]]
2025-10-26T18:46:36.687Z,1761504396.687 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:46:36.687Z,1761504396.687 [marl:UpdateRudder:B] Stopped
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateRudder] Stopped
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:46:36.688Z,1761504396.688 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateCommandMode] Stopped
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:46:36.689Z,1761504396.689 [marl:UpdateSpeed] Stopped
2025-10-26T18:46:36.690Z,1761504396.690 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:46:37.083Z,1761504397.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953233,0.294112,0.069600],[-0.293075,-0.955765,0.024909],[0.073847,0.003346,0.997264]]
2025-10-26T18:46:37.458Z,1761504397.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961687,0.267041,0.062033],[-0.268418,-0.963187,-0.014889],[0.055773,-0.030969,0.997963]]
2025-10-26T18:46:37.864Z,1761504397.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958728,0.271835,0.083346],[-0.277821,-0.957984,-0.071288],[0.060466,-0.091501,0.993968]]
2025-10-26T18:46:38.268Z,1761504398.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951404,0.289634,0.104607],[-0.299299,-0.949636,-0.092804],[0.072459,-0.119603,0.990174]]
2025-10-26T18:46:38.670Z,1761504398.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947769,0.306241,0.089164],[-0.313837,-0.945263,-0.089351],[0.056920,-0.112667,0.992001]]
2025-10-26T18:46:39.074Z,1761504399.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950618,0.306013,0.051783],[-0.309051,-0.948657,-0.067363],[0.028511,-0.080040,0.996384]]
2025-10-26T18:46:39.478Z,1761504399.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953994,0.296262,0.046102],[-0.298051,-0.953776,-0.038440],[0.032583,-0.050412,0.998197]]
2025-10-26T18:46:39.882Z,1761504399.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962208,0.264412,0.065127],[-0.266705,-0.963332,-0.029326],[0.054985,-0.045588,0.997446]]
2025-10-26T18:46:40.286Z,1761504400.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964120,0.254131,0.076742],[-0.259575,-0.963036,-0.071987],[0.055611,-0.089325,0.994449]]
2025-10-26T18:46:40.691Z,1761504400.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957469,0.271866,0.096656],[-0.280984,-0.954677,-0.098183],[0.065583,-0.121166,0.990463]]
2025-10-26T18:46:41.094Z,1761504401.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957010,0.271081,0.103189],[-0.279271,-0.957254,-0.075315],[0.078362,-0.100895,0.991806]]
2025-10-26T18:46:41.498Z,1761504401.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958804,0.275960,0.067393],[-0.277763,-0.960465,-0.018849],[0.059527,-0.036792,0.997548]]
2025-10-26T18:46:41.902Z,1761504401.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955278,0.294817,0.022930],[-0.293175,-0.954372,0.056764],[0.038619,0.047503,0.998124]]
2025-10-26T18:46:41.927Z,1761504401.927 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:46:42.012Z,1761504402.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:46:42.012Z,1761504402.012 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:46:42.264Z,1761504402.264 [DAT](INFO): DAT read: user:70>

2025-10-26T18:46:42.265Z,1761504402.265 [DAT](INFO): DAT read: Tx time:18:46:42.9797

2025-10-26T18:46:42.265Z,1761504402.265 [DAT](INFO): Ping request sent.
2025-10-26T18:46:42.265Z,1761504402.265 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:46:42.266Z,1761504402.266 [DAT](INFO): publishing transmit ping time
2025-10-26T18:46:42.266Z,1761504402.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932
2025-10-26T18:46:42.325Z,1761504402.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954707,0.297506,-0.004928],[-0.296968,-0.951686,0.078129],[0.018553,0.076054,0.996931]]
2025-10-26T18:46:42.516Z,1761504402.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866
2025-10-26T18:46:42.718Z,1761504402.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958735,0.283956,0.014029],[-0.283879,-0.958833,0.007270],[0.015516,0.002988,0.999875]]
2025-10-26T18:46:42.769Z,1761504402.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503846
2025-10-26T18:46:43.020Z,1761504403.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754902
2025-10-26T18:46:43.115Z,1761504403.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966955,0.248972,0.054867],[-0.253697,-0.960951,-0.110501],[0.025212,-0.120770,0.992360]]
2025-10-26T18:46:43.272Z,1761504403.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006835
2025-10-26T18:46:43.518Z,1761504403.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968932,0.236243,0.073208],[-0.246395,-0.947688,-0.202922],[0.021439,-0.214656,0.976454]]
2025-10-26T18:46:43.525Z,1761504403.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259436
2025-10-26T18:46:43.776Z,1761504403.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932
2025-10-26T18:46:43.970Z,1761504403.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963881,0.256423,0.071977],[-0.265782,-0.943474,-0.198032],[0.017129,-0.210009,0.977549]]
2025-10-26T18:46:44.025Z,1761504404.025 [NAL9602](INFO): SBD MO Status=2, MOMSN=2956, MT Status=2, MTMSN=0
2025-10-26T18:46:44.025Z,1761504404.025 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T18:46:44.029Z,1761504404.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763329
2025-10-26T18:46:44.280Z,1761504404.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840
2025-10-26T18:46:44.435Z,1761504404.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956891,0.288248,0.035681],[-0.290393,-0.951862,-0.098136],[0.005675,-0.104267,0.994533]]
2025-10-26T18:46:44.535Z,1761504404.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269307
2025-10-26T18:46:44.766Z,1761504404.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954012,0.299343,-0.015979],[-0.299711,-0.953521,0.031155],[-0.005910,0.034512,0.999387]]
2025-10-26T18:46:44.784Z,1761504404.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938
2025-10-26T18:46:45.036Z,1761504405.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771029
2025-10-26T18:46:45.174Z,1761504405.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954445,0.296963,-0.029129],[-0.298338,-0.947934,0.111423],[0.005476,0.115037,0.993346]]
2025-10-26T18:46:45.195Z,1761504405.195 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184644.00,A,3646.42387,N,12151.89869,W,0.933,243.69,261025,,,A*7B
2025-10-26T18:46:45.198Z,1761504405.198 [NAL9602](INFO): GPS fix at 20251026T184644: (36.773731, -121.864978)
2025-10-26T18:46:45.278Z,1761504405.278 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:46:45.288Z,1761504405.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022993
2025-10-26T18:46:45.540Z,1761504405.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274841
2025-10-26T18:46:45.574Z,1761504405.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956891,0.290284,0.009791],[-0.287443,-0.951287,0.111488],[0.041677,0.103868,0.993717]]
2025-10-26T18:46:45.793Z,1761504405.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527461
2025-10-26T18:46:45.978Z,1761504405.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957439,0.280586,0.067687],[-0.280019,-0.959827,0.017918],[0.069995,-0.001798,0.997546]]
2025-10-26T18:46:46.045Z,1761504406.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779519
2025-10-26T18:46:46.296Z,1761504406.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030852
2025-10-26T18:46:46.382Z,1761504406.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955847,0.270092,0.115791],[-0.282029,-0.953836,-0.103231],[0.082564,-0.131329,0.987895]]
2025-10-26T18:46:46.548Z,1761504406.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282877
2025-10-26T18:46:46.800Z,1761504406.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535022
2025-10-26T18:46:46.924Z,1761504406.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962367,0.240662,0.126219],[-0.261445,-0.946644,-0.188447],[0.074133,-0.214355,0.973939]]
2025-10-26T18:46:47.052Z,1761504407.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786932
2025-10-26T18:46:47.194Z,1761504407.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966036,0.234952,0.107569],[-0.252842,-0.945360,-0.205827],[0.053332,-0.226034,0.972658]]
2025-10-26T18:46:47.304Z,1761504407.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038888
2025-10-26T18:46:47.556Z,1761504407.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290895
2025-10-26T18:46:47.594Z,1761504407.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963140,0.250659,0.097631],[-0.263144,-0.953251,-0.148550],[0.055832,-0.168765,0.984074]]
2025-10-26T18:46:47.808Z,1761504407.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542837
2025-10-26T18:46:47.998Z,1761504407.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963254,0.261828,0.059895],[-0.265076,-0.962669,-0.054793],[0.043313,-0.068656,0.996700]]
2025-10-26T18:46:48.061Z,1761504408.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795577
2025-10-26T18:46:48.312Z,1761504408.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046896
2025-10-26T18:46:48.402Z,1761504408.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963728,0.265794,0.024118],[-0.265819,-0.964021,0.002208],[0.023837,-0.004283,0.999707]]
2025-10-26T18:46:48.564Z,1761504408.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298991
2025-10-26T18:46:48.821Z,1761504408.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555203
2025-10-26T18:46:49.069Z,1761504409.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803036
2025-10-26T18:46:49.136Z,1761504409.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972021,0.230666,0.044359],[-0.232883,-0.971016,-0.053792],[0.030666,-0.062618,0.997566]]
2025-10-26T18:46:49.320Z,1761504409.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054862
2025-10-26T18:46:49.573Z,1761504409.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307489
2025-10-26T18:46:49.824Z,1761504409.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559003
2025-10-26T18:46:50.086Z,1761504410.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820823
2025-10-26T18:46:50.328Z,1761504410.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062877
2025-10-26T18:46:50.580Z,1761504410.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314988
2025-10-26T18:46:50.835Z,1761504410.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569155
2025-10-26T18:46:51.084Z,1761504411.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818870
2025-10-26T18:46:51.317Z,1761504411.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970458,0.240633,0.017512],[-0.238926,-0.968589,0.068917],[0.033546,0.062697,0.997469]]
2025-10-26T18:46:51.340Z,1761504411.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073696
2025-10-26T18:46:51.588Z,1761504411.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322792
2025-10-26T18:46:51.678Z,1761504411.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967686,0.250458,0.029247],[-0.244291,-0.959910,0.137458],[0.062502,0.125871,0.990076]]
2025-10-26T18:46:51.764Z,1761504411.764 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:46:51.764Z,1761504411.764 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:46:51.764Z,1761504411.764 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:46:51.765Z,1761504411.765 [marl:UpdateRudder:A] Stopped
2025-10-26T18:46:51.765Z,1761504411.765 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:46:51.840Z,1761504411.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574849
2025-10-26T18:46:52.093Z,1761504412.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827488
2025-10-26T18:46:52.114Z,1761504412.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966036,0.253390,0.050679],[-0.246538,-0.962519,0.113037],[0.077422,0.096704,0.992297]]
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateRudder:B] Stopped
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateRudder] Stopped
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:46:52.154Z,1761504412.154 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:46:52.155Z,1761504412.155 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:46:52.155Z,1761504412.155 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:46:52.155Z,1761504412.155 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:46:52.155Z,1761504412.155 [marl:UpdateCommandMode] Stopped
2025-10-26T18:46:52.159Z,1761504412.159 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:46:52.159Z,1761504412.159 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:46:52.160Z,1761504412.160 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:46:52.160Z,1761504412.160 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:46:52.160Z,1761504412.160 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:46:52.160Z,1761504412.160 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:46:52.160Z,1761504412.160 [marl:UpdateSpeed] Stopped
2025-10-26T18:46:52.160Z,1761504412.160 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:46:52.344Z,1761504412.344 [DAT](INFO): Reached modem response timeout
2025-10-26T18:46:52.486Z,1761504412.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962110,0.264828,0.064888],[-0.262415,-0.963978,0.043408],[0.074047,0.024736,0.996948]]
2025-10-26T18:46:52.891Z,1761504412.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963020,0.261594,0.064506],[-0.264339,-0.963666,-0.038366],[0.052126,-0.053998,0.997180]]
2025-10-26T18:46:53.296Z,1761504413.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962161,0.263584,0.069060],[-0.269804,-0.957041,-0.106199],[0.038100,-0.120814,0.991944]]
2025-10-26T18:46:53.701Z,1761504413.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959014,0.272432,0.077924],[-0.280709,-0.950929,-0.130137],[0.038646,-0.146677,0.988429]]
2025-10-26T18:46:54.102Z,1761504414.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955576,0.289318,0.056301],[-0.293958,-0.949429,-0.110335],[0.021531,-0.121984,0.992299]]
2025-10-26T18:46:54.106Z,1761504414.106 [NAL9602](INFO): SBD MO Status=1, MOMSN=2956, MT Status=0, MTMSN=0
2025-10-26T18:46:54.156Z,1761504414.156 [NAL9602](INFO): Sent 63 bytes from file Logs/20251026T180417/Express0013.lzma
2025-10-26T18:46:54.156Z,1761504414.156 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:46:54.507Z,1761504414.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955309,0.294357,0.027172],[-0.295477,-0.953580,-0.058122],[0.008802,-0.063554,0.997940]]
2025-10-26T18:46:54.612Z,1761504414.612 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:46:54.613Z,1761504414.613 [DAT](INFO): response not received
2025-10-26T18:46:54.613Z,1761504414.613 [DAT](ERROR): No response from remote modem.
2025-10-26T18:46:55.050Z,1761504415.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961437,0.274861,0.009543],[-0.274999,-0.960263,-0.047657],[-0.003935,-0.048443,0.998818]]
2025-10-26T18:46:55.422Z,1761504415.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963237,0.260332,0.066347],[-0.266653,-0.956529,-0.118100],[0.032718,-0.131450,0.990783]]
2025-10-26T18:46:55.826Z,1761504415.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963432,0.241387,0.116326],[-0.259802,-0.947775,-0.185002],[0.065594,-0.208458,0.975829]]
2025-10-26T18:46:56.238Z,1761504416.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961088,0.246806,0.124080],[-0.268004,-0.941944,-0.202277],[0.066953,-0.227660,0.971436]]
2025-10-26T18:46:56.637Z,1761504416.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958930,0.268094,0.092620],[-0.279059,-0.950183,-0.138847],[0.050782,-0.158991,0.985973]]
2025-10-26T18:46:57.040Z,1761504417.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960294,0.277174,0.031776],[-0.277630,-0.960626,-0.010894],[0.027505,-0.019283,0.999436]]
2025-10-26T18:46:57.442Z,1761504417.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959728,0.280824,-0.007718],[-0.280315,-0.955449,0.092410],[0.018576,0.090852,0.995691]]
2025-10-26T18:46:57.847Z,1761504417.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960420,0.278441,0.007956],[-0.275116,-0.952652,0.129480],[0.043632,0.122167,0.991550]]
2025-10-26T18:46:58.253Z,1761504418.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956527,0.286090,0.056644],[-0.282968,-0.957420,0.057234],[0.070606,0.038717,0.996753]]
2025-10-26T18:46:58.659Z,1761504418.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948274,0.303623,0.092676],[-0.308845,-0.949895,-0.048119],[0.073423,-0.074252,0.994533]]
2025-10-26T18:46:59.058Z,1761504419.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948412,0.302627,0.094501],[-0.313761,-0.938694,-0.142859],[0.045474,-0.165139,0.985221]]
2025-10-26T18:46:59.462Z,1761504419.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954315,0.288219,0.078819],[-0.298245,-0.934903,-0.192373],[0.018242,-0.207091,0.978152]]
2025-10-26T18:46:59.866Z,1761504419.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956055,0.287141,0.059242],[-0.293020,-0.942634,-0.159938],[0.009919,-0.170269,0.985348]]
2025-10-26T18:47:00.276Z,1761504420.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957591,0.286394,0.031579],[-0.288030,-0.954380,-0.078725],[0.007592,-0.084482,0.996396]]
2025-10-26T18:47:00.678Z,1761504420.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960221,0.279020,0.011115],[-0.278829,-0.960205,0.016121],[0.015171,0.012380,0.999808]]
2025-10-26T18:47:01.078Z,1761504421.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961216,0.275575,0.011019],[-0.274706,-0.960202,0.050492],[0.024494,0.045507,0.998664]]
2025-10-26T18:47:01.483Z,1761504421.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961436,0.273520,0.028765],[-0.273011,-0.961794,0.020424],[0.033253,0.011783,0.999378]]
2025-10-26T18:47:01.886Z,1761504421.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961887,0.267614,0.056180],[-0.270794,-0.960785,-0.059686],[0.038004,-0.072625,0.996635]]
2025-10-26T18:47:02.296Z,1761504422.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961077,0.260586,0.091796],[-0.271745,-0.951558,-0.143850],[0.049864,-0.163196,0.985333]]
2025-10-26T18:47:02.703Z,1761504422.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964513,0.244738,0.099081],[-0.259759,-0.946805,-0.189962],[0.047319,-0.208958,0.976779]]
2025-10-26T18:47:03.098Z,1761504423.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970109,0.229877,0.077756],[-0.240609,-0.952833,-0.184975],[0.031567,-0.198155,0.979662]]
2025-10-26T18:47:03.502Z,1761504423.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969707,0.235610,0.064477],[-0.242218,-0.961615,-0.128946],[0.031621,-0.140657,0.989553]]
2025-10-26T18:47:03.864Z,1761504423.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:47:03.913Z,1761504423.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965169,0.256714,0.050470],[-0.259033,-0.964750,-0.046473],[0.036761,-0.057928,0.997644]]
2025-10-26T18:47:04.310Z,1761504424.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961174,0.272957,0.040488],[-0.272659,-0.962025,0.012811],[0.042448,0.001274,0.999098]]
2025-10-26T18:47:04.722Z,1761504424.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962020,0.268581,0.048808],[-0.267486,-0.963159,0.027850],[0.054490,0.013736,0.998420]]
2025-10-26T18:47:04.728Z,1761504424.728 [NAL9602](INFO): SBD MO Status=0, MOMSN=2957, MT Status=0, MTMSN=0
2025-10-26T18:47:04.869Z,1761504424.869 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:47:04.885Z,1761504424.885 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:47:04.885Z,1761504424.885 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:47:04.885Z,1761504424.885 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:47:04.886Z,1761504424.886 [marl:UpdateRudder:A] Stopped
2025-10-26T18:47:04.886Z,1761504424.886 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:47:04.887Z,1761504424.887 [marl:NeedComms:D] Stopped
2025-10-26T18:47:04.887Z,1761504424.887 [marl:NeedComms:E] Running Loop=1
2025-10-26T18:47:05.118Z,1761504425.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961654,0.269106,0.052940],[-0.269839,-0.962879,-0.007079],[0.049070,-0.021093,0.998573]]
2025-10-26T18:47:05.186Z,1761504425.186 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:47:05.186Z,1761504425.186 [marl:UpdateRudder:B] Stopped
2025-10-26T18:47:05.186Z,1761504425.186 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:47:05.186Z,1761504425.186 [marl:UpdateRudder] Stopped
2025-10-26T18:47:05.186Z,1761504425.186 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:47:05.525Z,1761504425.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959333,0.278505,0.045995],[-0.281076,-0.957501,-0.064714],[0.026017,-0.075011,0.996843]]
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode] Stopped
2025-10-26T18:47:05.569Z,1761504425.569 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed] Stopped
2025-10-26T18:47:05.570Z,1761504425.570 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:47:05.926Z,1761504425.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960915,0.275388,0.028362],[-0.276844,-0.956067,-0.096399],[0.000569,-0.100483,0.994939]]
2025-10-26T18:47:05.934Z,1761504425.934 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184705.00,A,3646.42293,N,12151.90231,W,0.933,209.46,261025,,,A*77
2025-10-26T18:47:05.945Z,1761504425.945 [NAL9602](INFO): GPS fix at 20251026T184705: (36.773716, -121.865038)
2025-10-26T18:47:05.976Z,1761504425.976 [marl:NeedComms:E] Stopped
2025-10-26T18:47:05.977Z,1761504425.977 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T18:47:05.977Z,1761504425.977 [marl:NeedComms] Stopped
2025-10-26T18:47:05.977Z,1761504425.977 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T18:47:05.977Z,1761504425.977 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T18:47:05.977Z,1761504425.977 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T18:47:05.978Z,1761504425.978 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:06.330Z,1761504426.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959388,0.279872,0.035291],[-0.281902,-0.955772,-0.083853],[0.010262,-0.090396,0.995853]]
2025-10-26T18:47:06.739Z,1761504426.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956068,0.288558,0.051663],[-0.290921,-0.955634,-0.046143],[0.036056,-0.059146,0.997598]]
2025-10-26T18:47:07.142Z,1761504427.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955247,0.292713,0.042676],[-0.292982,-0.956118,-0.000033],[0.040794,-0.012534,0.999089]]
2025-10-26T18:47:07.542Z,1761504427.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959462,0.280438,0.028057],[-0.279844,-0.959762,0.023331],[0.033471,0.014534,0.999334]]
2025-10-26T18:47:07.947Z,1761504427.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960992,0.273884,0.038511],[-0.274061,-0.961712,0.000703],[0.037229,-0.009878,0.999258]]
2025-10-26T18:47:08.377Z,1761504428.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960229,0.269591,0.072668],[-0.273400,-0.960666,-0.048708],[0.056679,-0.066639,0.996166]]
2025-10-26T18:47:08.785Z,1761504428.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961253,0.256800,0.100231],[-0.266059,-0.959410,-0.093518],[0.072147,-0.116562,0.990559]]
2025-10-26T18:47:09.196Z,1761504429.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958417,0.267695,0.098879],[-0.278316,-0.953392,-0.116547],[0.063071,-0.139221,0.988251]]
2025-10-26T18:47:09.206Z,1761504429.206 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184708.00,A,3646.42267,N,12151.90259,W,0.505,236.33,261025,,,A*78
2025-10-26T18:47:09.222Z,1761504429.222 [NAL9602](INFO): GPS fix at 20251026T184708: (36.773711, -121.865043)
2025-10-26T18:47:09.346Z,1761504429.346 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:09.589Z,1761504429.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948162,0.303664,0.093691],[-0.312384,-0.944750,-0.099312],[0.058357,-0.123431,0.990636]]
2025-10-26T18:47:09.990Z,1761504429.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944180,0.315772,0.093879],[-0.320632,-0.946280,-0.041816],[0.075632,-0.069582,0.994705]]
2025-10-26T18:47:10.394Z,1761504430.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947418,0.308700,0.084285],[-0.309384,-0.950923,0.005143],[0.081737,-0.021204,0.996428]]
2025-10-26T18:47:10.802Z,1761504430.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953856,0.297839,0.038102],[-0.297594,-0.954616,0.012070],[0.039968,0.000174,0.999201]]
2025-10-26T18:47:11.208Z,1761504431.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955232,0.295656,0.010935],[-0.295844,-0.954900,-0.025349],[0.002947,-0.027450,0.999619]]
2025-10-26T18:47:11.606Z,1761504431.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957602,0.284076,0.047956],[-0.287330,-0.953861,-0.087123],[0.020994,-0.097209,0.995043]]
2025-10-26T18:47:12.010Z,1761504432.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958431,0.268918,0.095362],[-0.280699,-0.948612,-0.146094],[0.051174,-0.166789,0.984664]]
2025-10-26T18:47:12.016Z,1761504432.016 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184711.00,A,3646.42253,N,12151.90353,W,0.894,259.20,261025,,,A*72
2025-10-26T18:47:12.018Z,1761504432.018 [NAL9602](INFO): GPS fix at 20251026T184711: (36.773709, -121.865059)
2025-10-26T18:47:12.069Z,1761504432.069 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:47:12.070Z,1761504432.070 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:12.264Z,1761504432.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:12.265Z,1761504432.265 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:47:12.414Z,1761504432.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957453,0.268419,0.105997],[-0.282940,-0.945420,-0.161634],[0.056826,-0.184748,0.981142]]
2025-10-26T18:47:12.517Z,1761504432.517 [DAT](INFO): DAT read: user:71>

2025-10-26T18:47:12.518Z,1761504432.518 [DAT](INFO): DAT read: Tx time:18:47:13.2796

2025-10-26T18:47:12.519Z,1761504432.519 [DAT](INFO): Ping request sent.
2025-10-26T18:47:12.519Z,1761504432.519 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:47:12.527Z,1761504432.527 [DAT](INFO): publishing transmit ping time
2025-10-26T18:47:12.528Z,1761504432.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.009127
2025-10-26T18:47:12.768Z,1761504432.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249348
2025-10-26T18:47:12.853Z,1761504432.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956739,0.270476,0.107208],[-0.284729,-0.946187,-0.153815],[0.059835,-0.177686,0.982266]]
2025-10-26T18:47:13.020Z,1761504433.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501320
2025-10-26T18:47:13.273Z,1761504433.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753504
2025-10-26T18:47:13.524Z,1761504433.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005334
2025-10-26T18:47:13.626Z,1761504433.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964244,0.254306,0.074583],[-0.261235,-0.959440,-0.105971],[0.044608,-0.121666,0.991568]]
2025-10-26T18:47:13.776Z,1761504433.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257383
2025-10-26T18:47:14.029Z,1761504434.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509837
2025-10-26T18:47:14.039Z,1761504434.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964728,0.248531,0.086794],[-0.256308,-0.961985,-0.094295],[0.060060,-0.113215,0.991754]]
2025-10-26T18:47:14.280Z,1761504434.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761269
2025-10-26T18:47:14.434Z,1761504434.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962535,0.259251,0.079472],[-0.265656,-0.960335,-0.084757],[0.054347,-0.102694,0.993227]]
2025-10-26T18:47:14.533Z,1761504434.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013724
2025-10-26T18:47:14.588Z,1761504434.588 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002724
2025-10-26T18:47:14.784Z,1761504434.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265391
2025-10-26T18:47:14.877Z,1761504434.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956965,0.283355,0.062681],[-0.287309,-0.955488,-0.067054],[0.040891,-0.082177,0.995779]]
2025-10-26T18:47:15.037Z,1761504435.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517589
2025-10-26T18:47:15.244Z,1761504435.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955979,0.289689,0.046738],[-0.292285,-0.954162,-0.064370],[0.025949,-0.075197,0.996831]]
2025-10-26T18:47:15.249Z,1761504435.249 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184714.00,A,3646.42232,N,12151.90411,W,0.719,201.39,261025,,,A*7E
2025-10-26T18:47:15.251Z,1761504435.251 [NAL9602](INFO): GPS fix at 20251026T184714: (36.773705, -121.865069)
2025-10-26T18:47:15.274Z,1761504435.274 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:15.288Z,1761504435.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769281
2025-10-26T18:47:15.540Z,1761504435.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021391
2025-10-26T18:47:15.588Z,1761504435.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:47:15.646Z,1761504435.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956460,0.291087,0.021246],[-0.291854,-0.953348,-0.077134],[-0.002198,-0.079977,0.996794]]
2025-10-26T18:47:15.792Z,1761504435.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273277
2025-10-26T18:47:16.045Z,1761504436.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525729
2025-10-26T18:47:16.087Z,1761504436.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960244,0.277780,0.027764],[-0.279158,-0.954814,-0.101987],[-0.001821,-0.105683,0.994398]]
2025-10-26T18:47:16.296Z,1761504436.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777392
2025-10-26T18:47:16.492Z,1761504436.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966556,0.248574,0.063100],[-0.254849,-0.958479,-0.127942],[0.028677,-0.139744,0.989772]]
2025-10-26T18:47:16.549Z,1761504436.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029913
2025-10-26T18:47:16.800Z,1761504436.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281304
2025-10-26T18:47:16.895Z,1761504436.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964401,0.255893,0.066709],[-0.262982,-0.954549,-0.140276],[0.027781,-0.152826,0.987863]]
2025-10-26T18:47:17.052Z,1761504437.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533412
2025-10-26T18:47:17.298Z,1761504437.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959605,0.276441,0.052338],[-0.280611,-0.953866,-0.106762],[0.020410,-0.117136,0.992906]]
2025-10-26T18:47:17.305Z,1761504437.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785541
2025-10-26T18:47:17.557Z,1761504437.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037965
2025-10-26T18:47:17.706Z,1761504437.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959355,0.277170,0.053052],[-0.280070,-0.958196,-0.058491],[0.034622,-0.070972,0.996877]]
2025-10-26T18:47:17.808Z,1761504437.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289383
2025-10-26T18:47:18.060Z,1761504438.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541382
2025-10-26T18:47:18.111Z,1761504438.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958004,0.275527,0.079455],[-0.279429,-0.959209,-0.042861],[0.064405,-0.063263,0.995917]]
2025-10-26T18:47:18.118Z,1761504438.118 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184717.00,A,3646.42193,N,12151.90500,W,1.536,255.81,261025,,,A*78
2025-10-26T18:47:18.121Z,1761504438.121 [NAL9602](INFO): GPS fix at 20251026T184717: (36.773699, -121.865083)
2025-10-26T18:47:18.184Z,1761504438.184 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:47:18.184Z,1761504438.184 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:47:18.184Z,1761504438.184 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:47:18.185Z,1761504438.185 [marl:UpdateRudder:A] Stopped
2025-10-26T18:47:18.185Z,1761504438.185 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:47:18.200Z,1761504438.200 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:18.312Z,1761504438.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793414
2025-10-26T18:47:18.510Z,1761504438.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957107,0.269870,0.105436],[-0.278632,-0.957096,-0.079566],[0.079440,-0.105531,0.991238]]
2025-10-26T18:47:18.565Z,1761504438.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045537
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateRudder:B] Stopped
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateRudder] Stopped
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:47:18.600Z,1761504438.600 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateCommandMode] Stopped
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:47:18.601Z,1761504438.601 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:47:18.602Z,1761504438.602 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:47:18.602Z,1761504438.602 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:47:18.602Z,1761504438.602 [marl:UpdateSpeed] Stopped
2025-10-26T18:47:18.602Z,1761504438.602 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:47:18.819Z,1761504438.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299421
2025-10-26T18:47:18.915Z,1761504438.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963349,0.250663,0.095538],[-0.262696,-0.953648,-0.146786],[0.054316,-0.166504,0.984544]]
2025-10-26T18:47:19.068Z,1761504439.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549373
2025-10-26T18:47:19.320Z,1761504439.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801499
2025-10-26T18:47:19.324Z,1761504439.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956988,0.267333,0.112725],[-0.285364,-0.937438,-0.199443],[0.052355,-0.223033,0.973404]]
2025-10-26T18:47:19.572Z,1761504439.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053308
2025-10-26T18:47:19.748Z,1761504439.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944781,0.280155,0.170003],[-0.312386,-0.926696,-0.208924],[0.099010,-0.250495,0.963042]]
2025-10-26T18:47:19.824Z,1761504439.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305457
2025-10-26T18:47:20.077Z,1761504440.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557593
2025-10-26T18:47:20.282Z,1761504440.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948287,0.295853,0.114992],[-0.307995,-0.945241,-0.107970],[0.076752,-0.137804,0.987481]]
2025-10-26T18:47:20.328Z,1761504440.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809437
2025-10-26T18:47:20.581Z,1761504440.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062046
2025-10-26T18:47:20.673Z,1761504440.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951360,0.292237,0.097527],[-0.299024,-0.952097,-0.063998],[0.074152,-0.090048,0.993173]]
2025-10-26T18:47:20.839Z,1761504440.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316192
2025-10-26T18:47:21.077Z,1761504441.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955073,0.277014,0.105347],[-0.284336,-0.956713,-0.062076],[0.083591,-0.089241,0.992496]]
2025-10-26T18:47:21.082Z,1761504441.082 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184720.00,A,3646.42123,N,12151.90604,W,1.361,213.97,261025,,,A*71
2025-10-26T18:47:21.084Z,1761504441.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565452
2025-10-26T18:47:21.088Z,1761504441.088 [NAL9602](INFO): GPS fix at 20251026T184720: (36.773687, -121.865101)
2025-10-26T18:47:21.237Z,1761504441.237 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:21.337Z,1761504441.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818066
2025-10-26T18:47:21.482Z,1761504441.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953957,0.257395,0.153994],[-0.272695,-0.958077,-0.087892],[0.124915,-0.125839,0.984155]]
2025-10-26T18:47:21.589Z,1761504441.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069918
2025-10-26T18:47:21.840Z,1761504441.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321395
2025-10-26T18:47:21.966Z,1761504441.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943419,0.244723,0.223766],[-0.271078,-0.957822,-0.095361],[0.190991,-0.150623,0.969967]]
2025-10-26T18:47:22.093Z,1761504442.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574076
2025-10-26T18:47:22.344Z,1761504442.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825317
2025-10-26T18:47:22.362Z,1761504442.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935366,0.262185,0.237381],[-0.288685,-0.953719,-0.084150],[0.204332,-0.147239,0.967765]]
2025-10-26T18:47:22.596Z,1761504442.596 [DAT](INFO): Reached modem response timeout
2025-10-26T18:47:22.857Z,1761504442.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940084,0.286545,0.184753],[-0.302690,-0.950837,-0.065474],[0.156909,-0.117474,0.980602]]
2025-10-26T18:47:23.598Z,1761504443.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954048,0.266576,0.136858],[-0.276278,-0.959370,-0.057269],[0.116031,-0.092448,0.988934]]
2025-10-26T18:47:24.002Z,1761504444.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953876,0.246809,0.170898],[-0.254450,-0.966788,-0.023999],[0.159299,-0.066377,0.984996]]
2025-10-26T18:47:24.007Z,1761504444.007 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184723.00,A,3646.41979,N,12151.90551,W,2.060,164.70,261025,,,A*7E
2025-10-26T18:47:24.009Z,1761504444.009 [NAL9602](INFO): GPS fix at 20251026T184723: (36.773663, -121.865092)
2025-10-26T18:47:24.056Z,1761504444.056 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:24.413Z,1761504444.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948278,0.240947,0.206670],[-0.242010,-0.970057,0.020513],[0.205424,-0.030565,0.978196]]
2025-10-26T18:47:24.842Z,1761504444.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939551,0.241263,0.242974],[-0.236581,-0.970389,0.048725],[0.247535,-0.011703,0.968808]]
2025-10-26T18:47:24.867Z,1761504444.867 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:47:24.868Z,1761504444.868 [DAT](INFO): response not received
2025-10-26T18:47:24.869Z,1761504444.869 [DAT](ERROR): No response from remote modem.
2025-10-26T18:47:25.214Z,1761504445.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937100,0.225676,0.266298],[-0.223885,-0.973894,0.037483],[0.267805,-0.024495,0.963162]]
2025-10-26T18:47:25.618Z,1761504445.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945605,0.196885,0.258973],[-0.205893,-0.978543,-0.007848],[0.251871,-0.060742,0.965853]]
2025-10-26T18:47:26.028Z,1761504446.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950646,0.172513,0.257899],[-0.192538,-0.979785,-0.054321],[0.243314,-0.101296,0.964644]]
2025-10-26T18:47:26.426Z,1761504446.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948518,0.155335,0.276016],[-0.186102,-0.978505,-0.088852],[0.256281,-0.135645,0.957037]]
2025-10-26T18:47:26.876Z,1761504446.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943786,0.146572,0.296285],[-0.185730,-0.976592,-0.108503],[0.273446,-0.157433,0.948916]]
2025-10-26T18:47:27.235Z,1761504447.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944114,0.128024,0.303742],[-0.173034,-0.976807,-0.126125],[0.280550,-0.171634,0.944369]]
2025-10-26T18:47:27.240Z,1761504447.240 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184726.00,A,3646.41887,N,12151.90634,W,2.197,231.39,261025,,,A*7C
2025-10-26T18:47:27.242Z,1761504447.242 [NAL9602](INFO): GPS fix at 20251026T184726: (36.773648, -121.865106)
2025-10-26T18:47:27.300Z,1761504447.300 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504384.00. Resetting abort timer.
2025-10-26T18:47:27.646Z,1761504447.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946910,0.100915,0.305250],[-0.152976,-0.976515,-0.151713],[0.282771,-0.190354,0.940110]]
2025-10-26T18:47:27.889Z,1761504447.889 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:47:27.890Z,1761504447.890 [DAT](INFO): #Outgoing data=1
2025-10-26T18:47:27.890Z,1761504447.890 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:47:28.042Z,1761504448.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944231,0.073377,0.321005],[-0.134128,-0.976023,-0.171430],[0.300729,-0.204925,0.931433]]
2025-10-26T18:47:28.143Z,1761504448.143 [DAT](INFO): setting remote address to 6
2025-10-26T18:47:28.392Z,1761504448.392 [DAT](INFO): DAT read: user:72>

2025-10-26T18:47:28.393Z,1761504448.393 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:47:28.393Z,1761504448.393 [DAT](INFO): set remote address to 6
2025-10-26T18:47:28.394Z,1761504448.394 [DAT](INFO): entering online mode
2025-10-26T18:47:28.483Z,1761504448.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938047,0.047301,0.343265],[-0.119270,-0.974182,-0.191690],[0.325336,-0.220755,0.919469]]
2025-10-26T18:47:28.646Z,1761504448.646 [DAT](INFO): DAT read: user:73>

2025-10-26T18:47:28.646Z,1761504448.646 [DAT](INFO): DAT read: 

2025-10-26T18:47:28.648Z,1761504448.648 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:47:28.649Z,1761504448.649 [DAT](INFO): commRate: 600
2025-10-26T18:47:28.649Z,1761504448.649 [DAT](INFO): online mode acknowledged
2025-10-26T18:47:28.650Z,1761504448.650 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:47:28.918Z,1761504448.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936116,0.022582,0.350967],[-0.103388,-0.971512,-0.213251],[0.336153,-0.235913,0.911782]]
2025-10-26T18:47:29.256Z,1761504449.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936633,0.014999,0.349991],[-0.098988,-0.969699,-0.223351],[0.336036,-0.243843,0.909737]]
2025-10-26T18:47:29.678Z,1761504449.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935797,0.018210,0.352068],[-0.106941,-0.966271,-0.234273],[0.335927,-0.256882,0.906181]]
2025-10-26T18:47:30.062Z,1761504450.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934567,0.025963,0.354839],[-0.112830,-0.967482,-0.226382],[0.337423,-0.251606,0.907105]]
2025-10-26T18:47:30.067Z,1761504450.067 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184729.00,A,3646.41828,N,12151.90731,W,0.058,234.92,261025,,,A*76
2025-10-26T18:47:30.069Z,1761504450.069 [NAL9602](INFO): GPS fix at 20251026T184729: (36.773638, -121.865122)
2025-10-26T18:47:30.132Z,1761504450.132 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761504512.00. Resetting abort timer.
2025-10-26T18:47:30.466Z,1761504450.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935182,0.022324,0.353463],[-0.101754,-0.972870,-0.207773],[0.339235,-0.230272,0.912082]]
2025-10-26T18:47:30.890Z,1761504450.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932836,0.019950,0.359748],[-0.096062,-0.976095,-0.194961],[0.347258,-0.216425,0.912454]]
2025-10-26T18:47:31.276Z,1761504451.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927792,0.020072,0.372558],[-0.099148,-0.975912,-0.194332],[0.359683,-0.217238,0.907434]]
2025-10-26T18:47:31.347Z,1761504451.347 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:47:31.348Z,1761504451.348 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:47:31.348Z,1761504451.348 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:47:31.348Z,1761504451.348 [marl:UpdateRudder:A] Stopped
2025-10-26T18:47:31.348Z,1761504451.348 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:47:31.680Z,1761504451.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926704,0.022599,0.375111],[-0.105708,-0.973561,-0.202496],[0.360617,-0.227306,0.904592]]
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateRudder:B] Stopped
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateRudder] Stopped
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:47:31.769Z,1761504451.769 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateCommandMode] Stopped
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:47:31.770Z,1761504451.770 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:47:31.771Z,1761504451.771 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:47:31.771Z,1761504451.771 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:47:31.771Z,1761504451.771 [marl:UpdateSpeed] Stopped
2025-10-26T18:47:31.771Z,1761504451.771 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:47:31.925Z,1761504451.925 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:47:32.7284

2025-10-26T18:47:31.925Z,1761504451.925 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:47:32.083Z,1761504452.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931073,0.032875,0.363350],[-0.116571,-0.970532,-0.210899],[0.345710,-0.238718,0.907468]]
2025-10-26T18:47:32.488Z,1761504452.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935775,0.043753,0.349874],[-0.122757,-0.970620,-0.206947],[0.330540,-0.236605,0.913653]]
2025-10-26T18:47:32.890Z,1761504452.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938148,0.050307,0.342561],[-0.120430,-0.975021,-0.186628],[0.324615,-0.216339,0.920773]]
2025-10-26T18:47:33.294Z,1761504453.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936705,0.050915,0.346398],[-0.113309,-0.980210,-0.162326],[0.331278,-0.191302,0.923936]]
2025-10-26T18:47:34.108Z,1761504454.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934537,0.024144,0.355047],[-0.079818,-0.986498,-0.143007],[0.346800,-0.161985,0.923845]]
2025-10-26T18:47:34.506Z,1761504454.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934017,0.005868,0.357180],[-0.067559,-0.984723,-0.160488],[0.350782,-0.174029,0.920145]]
2025-10-26T18:47:34.663Z,1761504454.663 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:47:34.663Z,1761504454.663 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:47:34.910Z,1761504454.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932887,-0.011128,0.359998],[-0.063170,-0.978974,-0.193956],[0.354587,-0.203680,0.912569]]
2025-10-26T18:47:35.315Z,1761504455.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931614,-0.022763,0.362735],[-0.065027,-0.971493,-0.227975],[0.357584,-0.235972,0.903577]]
2025-10-26T18:47:35.722Z,1761504455.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930575,-0.025080,0.365241],[-0.071551,-0.965952,-0.248630],[0.359040,-0.257503,0.897097]]
2025-10-26T18:47:36.118Z,1761504456.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930271,-0.017063,0.366476],[-0.082148,-0.963866,-0.253403],[0.357558,-0.265839,0.895255]]
2025-10-26T18:47:36.523Z,1761504456.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931548,0.001546,0.363614],[-0.095618,-0.965839,-0.240858],[0.350820,-0.259139,0.899873]]
2025-10-26T18:47:36.927Z,1761504456.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934820,0.027382,0.354064],[-0.110100,-0.970242,-0.215657],[0.337623,-0.240583,0.910017]]
2025-10-26T18:47:37.330Z,1761504457.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939852,0.056078,0.336947],[-0.122532,-0.976130,-0.179323],[0.318848,-0.209824,0.924289]]
2025-10-26T18:47:38.159Z,1761504458.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950807,0.098983,0.293546],[-0.131480,-0.986940,-0.093076],[0.280500,-0.127093,0.951403]]
2025-10-26T18:47:38.544Z,1761504458.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953897,0.104791,0.281247],[-0.127158,-0.989915,-0.062438],[0.271868,-0.095322,0.957602]]
2025-10-26T18:47:39.350Z,1761504459.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956536,0.083681,0.279349],[-0.108055,-0.991461,-0.073001],[0.270855,-0.100013,0.957411]]
2025-10-26T18:47:39.756Z,1761504459.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957960,0.064200,0.279626],[-0.096904,-0.989768,-0.104735],[0.270041,-0.127428,0.954379]]
2025-10-26T18:47:40.168Z,1761504460.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959733,0.043871,0.277466],[-0.085086,-0.986730,-0.138289],[0.267717,-0.156329,0.950731]]
2025-10-26T18:47:40.562Z,1761504460.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961826,0.024063,0.272601],[-0.071773,-0.983437,-0.166432],[0.264081,-0.179644,0.947623]]
2025-10-26T18:47:40.966Z,1761504460.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963819,0.007885,0.266440],[-0.060215,-0.980165,-0.188816],[0.259666,-0.198028,0.945176]]
2025-10-26T18:47:41.370Z,1761504461.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965484,0.000450,0.260461],[-0.056400,-0.976634,-0.207378],[0.254282,-0.214910,0.942950]]
2025-10-26T18:47:41.776Z,1761504461.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966718,0.003779,0.255817],[-0.062189,-0.973373,-0.220629],[0.248172,-0.229195,0.941212]]
2025-10-26T18:47:42.008Z,1761504462.008 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:47:42.178Z,1761504462.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967810,0.014450,0.251268],[-0.072336,-0.972198,-0.222706],[0.241064,-0.233713,0.941948]]
2025-10-26T18:47:42.253Z,1761504462.253 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:47:42.261Z,1761504462.261 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:47:42.261Z,1761504462.261 [DAT](INFO): #Outgoing data=1
2025-10-26T18:47:42.261Z,1761504462.261 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:47:42.261Z,1761504462.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:42.315Z,1761504462.315 [DAT](INFO): entering command mode
2025-10-26T18:47:42.512Z,1761504462.512 [DAT](INFO): DAT read: 

2025-10-26T18:47:42.513Z,1761504462.513 [DAT](INFO): DAT read: user:74>

2025-10-26T18:47:42.513Z,1761504462.513 [DAT](INFO): entering online mode
2025-10-26T18:47:42.764Z,1761504462.764 [DAT](INFO): DAT read: user:74>

2025-10-26T18:47:42.765Z,1761504462.765 [DAT](INFO): DAT read: 

2025-10-26T18:47:42.766Z,1761504462.766 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:47:42.766Z,1761504462.766 [DAT](INFO): commRate: 600
2025-10-26T18:47:42.766Z,1761504462.766 [DAT](INFO): online mode acknowledged
2025-10-26T18:47:42.767Z,1761504462.767 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:47:42.767Z,1761504462.767 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:42.986Z,1761504462.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970286,0.047135,0.237325],[-0.095539,-0.975776,-0.196807],[0.222300,-0.213633,0.951285]]
2025-10-26T18:47:43.016Z,1761504463.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:43.268Z,1761504463.268 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:43.521Z,1761504463.521 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:43.772Z,1761504463.772 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:43.799Z,1761504463.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973544,0.080779,0.213746],[-0.115991,-0.980652,-0.157693],[0.196872,-0.178313,0.964078]]
2025-10-26T18:47:44.024Z,1761504464.024 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:44.210Z,1761504464.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976219,0.087699,0.198254],[-0.116721,-0.983279,-0.139780],[0.182681,-0.159596,0.970132]]
2025-10-26T18:47:44.235Z,1761504464.235 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:47:44.235Z,1761504464.235 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:47:44.235Z,1761504464.235 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:47:44.236Z,1761504464.236 [marl:UpdateRudder:A] Stopped
2025-10-26T18:47:44.236Z,1761504464.236 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:47:44.277Z,1761504464.277 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:44.528Z,1761504464.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:44.608Z,1761504464.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976648,0.081946,0.198602],[-0.111786,-0.983240,-0.144024],[0.183471,-0.162862,0.969440]]
2025-10-26T18:47:44.677Z,1761504464.677 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:47:44.677Z,1761504464.677 [marl:UpdateRudder:B] Stopped
2025-10-26T18:47:44.677Z,1761504464.677 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:47:44.677Z,1761504464.677 [marl:UpdateRudder] Stopped
2025-10-26T18:47:44.677Z,1761504464.677 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:47:44.677Z,1761504464.677 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateCommandMode] Stopped
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:47:44.678Z,1761504464.678 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:47:44.679Z,1761504464.679 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:47:44.679Z,1761504464.679 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:47:44.679Z,1761504464.679 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:47:44.679Z,1761504464.679 [marl:UpdateSpeed] Stopped
2025-10-26T18:47:44.683Z,1761504464.683 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:47:44.781Z,1761504464.781 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:44.836Z,1761504464.836 [DAT](INFO): entering command mode
2025-10-26T18:47:45.011Z,1761504465.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977227,0.074348,0.198745],[-0.106120,-0.982305,-0.154325],[0.183754,-0.171901,0.967825]]
2025-10-26T18:47:45.032Z,1761504465.032 [DAT](INFO): DAT read: 

2025-10-26T18:47:45.033Z,1761504465.033 [DAT](INFO): DAT read: user:75>

2025-10-26T18:47:45.033Z,1761504465.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:45.033Z,1761504465.033 [DAT](INFO): setting remote address to 0
2025-10-26T18:47:45.284Z,1761504465.284 [DAT](INFO): DAT read: user:75>

2025-10-26T18:47:45.285Z,1761504465.285 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:47:45.285Z,1761504465.285 [DAT](INFO): set remote address to 0
2025-10-26T18:47:45.286Z,1761504465.286 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:47:45.286Z,1761504465.286 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:47:45.413Z,1761504465.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978241,0.069546,0.195467],[-0.103423,-0.980201,-0.168850],[0.179854,-0.185392,0.966066]]
2025-10-26T18:47:45.537Z,1761504465.537 [DAT](INFO): DAT read: user:76>

2025-10-26T18:47:45.538Z,1761504465.538 [DAT](INFO): DAT read: Tx time:18:47:46.2794

2025-10-26T18:47:45.538Z,1761504465.538 [DAT](INFO): Ping request sent.
2025-10-26T18:47:45.538Z,1761504465.538 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:47:45.539Z,1761504465.539 [DAT](INFO): publishing transmit ping time
2025-10-26T18:47:45.540Z,1761504465.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001620
2025-10-26T18:47:45.648Z,1761504465.648 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-10-26T18:47:45.788Z,1761504465.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250276
2025-10-26T18:47:45.820Z,1761504465.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979382,0.066965,0.190595],[-0.102026,-0.978259,-0.180556],[0.174360,-0.196279,0.964921]]
2025-10-26T18:47:46.040Z,1761504466.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502341
2025-10-26T18:47:46.218Z,1761504466.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980831,0.064522,0.183870],[-0.099213,-0.977484,-0.186229],[0.167714,-0.200902,0.965148]]
2025-10-26T18:47:46.292Z,1761504466.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754111
2025-10-26T18:47:46.544Z,1761504466.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006259
2025-10-26T18:47:46.633Z,1761504466.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982557,0.061114,0.175632],[-0.094283,-0.977782,-0.187227],[0.160288,-0.200520,0.966488]]
2025-10-26T18:47:46.652Z,1761504466.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:47:46.797Z,1761504466.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258523
2025-10-26T18:47:47.026Z,1761504467.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984372,0.056601,0.166758],[-0.088059,-0.978257,-0.187775],[0.152504,-0.199525,0.967953]]
2025-10-26T18:47:47.048Z,1761504467.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510276
2025-10-26T18:47:47.300Z,1761504467.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762255
2025-10-26T18:47:47.430Z,1761504467.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986040,0.051287,0.158411],[-0.081423,-0.978390,-0.190063],[0.145240,-0.200308,0.968908]]
2025-10-26T18:47:47.552Z,1761504467.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014192
2025-10-26T18:47:47.804Z,1761504467.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266268
2025-10-26T18:47:47.834Z,1761504467.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987357,0.046433,0.151558],[-0.076042,-0.977679,-0.195860],[0.139081,-0.204909,0.968849]]
2025-10-26T18:47:48.057Z,1761504468.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518407
2025-10-26T18:47:48.244Z,1761504468.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988294,0.043600,0.146196],[-0.073303,-0.976135,-0.204421],[0.133795,-0.212745,0.967904]]
2025-10-26T18:47:48.308Z,1761504468.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770263
2025-10-26T18:47:48.560Z,1761504468.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022203
2025-10-26T18:47:48.647Z,1761504468.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989019,0.043946,0.141103],[-0.073585,-0.974432,-0.212293],[0.128165,-0.220345,0.966965]]
2025-10-26T18:47:48.815Z,1761504468.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276464
2025-10-26T18:47:49.046Z,1761504469.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989674,0.047809,0.135125],[-0.076618,-0.973197,-0.216836],[0.121137,-0.224950,0.966811]]
2025-10-26T18:47:49.064Z,1761504469.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526263
2025-10-26T18:47:49.317Z,1761504469.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778944
2025-10-26T18:47:49.454Z,1761504469.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990254,0.055068,0.127927],[-0.081821,-0.973318,-0.214379],[0.112708,-0.222757,0.968337]]
2025-10-26T18:47:49.568Z,1761504469.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030220
2025-10-26T18:47:49.820Z,1761504469.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282209
2025-10-26T18:47:49.860Z,1761504469.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990694,0.064030,0.120109],[-0.088001,-0.974514,-0.206345],[0.103836,-0.214995,0.971079]]
2025-10-26T18:47:50.072Z,1761504470.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534195
2025-10-26T18:47:50.264Z,1761504470.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990885,0.073289,0.113031],[-0.094474,-0.976193,-0.195247],[0.096031,-0.204146,0.974219]]
2025-10-26T18:47:50.324Z,1761504470.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786264
2025-10-26T18:47:50.576Z,1761504470.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038149
2025-10-26T18:47:50.842Z,1761504470.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303805
2025-10-26T18:47:51.066Z,1761504471.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990330,0.092028,0.103813],[-0.109207,-0.978626,-0.174256],[0.085558,-0.183908,0.979213]]
2025-10-26T18:47:51.080Z,1761504471.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542241
2025-10-26T18:47:51.332Z,1761504471.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794199
2025-10-26T18:47:51.482Z,1761504471.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989685,0.102874,0.099704],[-0.118622,-0.978681,-0.167669],[0.080330,-0.177766,0.980789]]
2025-10-26T18:47:51.587Z,1761504471.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048675
2025-10-26T18:47:51.836Z,1761504471.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298281
2025-10-26T18:47:51.888Z,1761504471.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988880,0.115435,0.093762],[-0.129546,-0.978270,-0.161882],[0.073038,-0.172229,0.982346]]
2025-10-26T18:47:52.088Z,1761504472.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550219
2025-10-26T18:47:52.286Z,1761504472.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987969,0.128647,0.085829],[-0.140819,-0.977763,-0.155400],[0.063929,-0.165617,0.984116]]
2025-10-26T18:47:52.340Z,1761504472.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802274
2025-10-26T18:47:52.592Z,1761504472.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054242
2025-10-26T18:47:52.691Z,1761504472.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987196,0.139939,0.076556],[-0.150002,-0.977670,-0.147176],[0.054251,-0.156775,0.986143]]
2025-10-26T18:47:52.846Z,1761504472.846 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T18:47:52.846Z,1761504472.846 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:47:52.848Z,1761504472.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308782
2025-10-26T18:47:53.095Z,1761504473.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987223,0.144481,0.067196],[-0.152740,-0.978191,-0.140758],[0.045394,-0.149223,0.987761]]
2025-10-26T18:47:53.098Z,1761504473.098 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:47:53.099Z,1761504473.099 [DAT](INFO): #Outgoing data=2
2025-10-26T18:47:53.099Z,1761504473.099 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:47:53.100Z,1761504473.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561329
2025-10-26T18:47:53.348Z,1761504473.348 [DAT](INFO): setting remote address to 6
2025-10-26T18:47:53.349Z,1761504473.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810550
2025-10-26T18:47:53.504Z,1761504473.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988387,0.140444,0.058029],[-0.147337,-0.979169,-0.139717],[0.037198,-0.146644,0.988490]]
2025-10-26T18:47:53.601Z,1761504473.601 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:53.603Z,1761504473.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064116
2025-10-26T18:47:53.853Z,1761504473.853 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:53.853Z,1761504473.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314948
2025-10-26T18:47:53.929Z,1761504473.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990178,0.130619,0.049854],[-0.136593,-0.979852,-0.145716],[0.029816,-0.151094,0.988070]]
2025-10-26T18:47:54.105Z,1761504474.105 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:54.106Z,1761504474.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567522
2025-10-26T18:47:54.306Z,1761504474.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992090,0.117582,0.043954],[-0.123173,-0.979362,-0.160246],[0.024205,-0.164392,0.986098]]
2025-10-26T18:47:54.356Z,1761504474.356 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:54.357Z,1761504474.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818441
2025-10-26T18:47:54.610Z,1761504474.610 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:54.611Z,1761504474.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072546
2025-10-26T18:47:54.717Z,1761504474.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993779,0.104027,0.039776],[-0.109488,-0.977955,-0.177809],[0.020402,-0.181058,0.983261]]
2025-10-26T18:47:54.862Z,1761504474.862 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:54.864Z,1761504474.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324998
2025-10-26T18:47:55.113Z,1761504475.113 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:55.114Z,1761504475.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575537
2025-10-26T18:47:55.148Z,1761504475.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994783,0.095289,0.036437],[-0.100611,-0.975455,-0.195872],[0.016878,-0.198516,0.979952]]
2025-10-26T18:47:55.364Z,1761504475.364 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:55.364Z,1761504475.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826307
2025-10-26T18:47:55.550Z,1761504475.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994824,0.095857,0.033717],[-0.100864,-0.971774,-0.213264],[0.012322,-0.215561,0.976413]]
2025-10-26T18:47:55.617Z,1761504475.617 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:55.617Z,1761504475.617 [DAT](INFO): Reached modem response timeout
2025-10-26T18:47:55.868Z,1761504475.868 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:55.954Z,1761504475.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994365,0.101344,0.031120],[-0.105767,-0.968396,-0.225882],[0.007244,-0.227900,0.973658]]
2025-10-26T18:47:56.121Z,1761504476.121 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:56.360Z,1761504476.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993794,0.107698,0.027839],[-0.111217,-0.966857,-0.229821],[0.002165,-0.231490,0.972835]]
2025-10-26T18:47:56.372Z,1761504476.372 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:56.624Z,1761504476.624 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:56.766Z,1761504476.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993348,0.112562,0.024290],[-0.115132,-0.966828,-0.228007],[-0.002181,-0.229287,0.973356]]
2025-10-26T18:47:56.877Z,1761504476.877 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:57.129Z,1761504477.129 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:57.166Z,1761504477.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993257,0.114241,0.019717],[-0.115784,-0.969003,-0.218239],[-0.005826,-0.219050,0.975696]]
2025-10-26T18:47:57.230Z,1761504477.230 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:47:57.230Z,1761504477.230 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:47:57.230Z,1761504477.230 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:47:57.230Z,1761504477.230 [marl:UpdateRudder:A] Stopped
2025-10-26T18:47:57.230Z,1761504477.230 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:47:57.380Z,1761504477.380 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:57.570Z,1761504477.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993278,0.114818,0.014712],[-0.115326,-0.970609,-0.211229],[-0.009973,-0.211506,0.977326]]
2025-10-26T18:47:57.602Z,1761504477.602 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:47:57.602Z,1761504477.602 [marl:UpdateRudder:B] Stopped
2025-10-26T18:47:57.602Z,1761504477.602 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:47:57.602Z,1761504477.602 [marl:UpdateRudder] Stopped
2025-10-26T18:47:57.603Z,1761504477.603 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:47:57.603Z,1761504477.603 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:47:57.603Z,1761504477.603 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:47:57.603Z,1761504477.603 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:47:57.623Z,1761504477.623 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateCommandMode] Stopped
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:47:57.624Z,1761504477.624 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:47:57.625Z,1761504477.625 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:47:57.625Z,1761504477.625 [marl:UpdateSpeed] Stopped
2025-10-26T18:47:57.625Z,1761504477.625 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:47:57.633Z,1761504477.633 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T18:47:57.885Z,1761504477.885 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:47:57.885Z,1761504477.885 [DAT](INFO): response not received
2025-10-26T18:47:57.885Z,1761504477.885 [DAT](INFO): DAT read: user:77>

2025-10-26T18:47:57.886Z,1761504477.886 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:47:57.886Z,1761504477.886 [DAT](INFO): set remote address to 6
2025-10-26T18:47:57.887Z,1761504477.887 [DAT](INFO): entering online mode
2025-10-26T18:47:57.977Z,1761504477.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993417,0.114276,0.008014],[-0.113509,-0.972489,-0.203423],[-0.015453,-0.202993,0.979058]]
2025-10-26T18:47:58.136Z,1761504478.136 [DAT](INFO): DAT read: user:78>

2025-10-26T18:47:58.137Z,1761504478.137 [DAT](INFO): DAT read: 

2025-10-26T18:47:58.138Z,1761504478.138 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:47:58.138Z,1761504478.138 [DAT](INFO): commRate: 600
2025-10-26T18:47:58.138Z,1761504478.138 [DAT](INFO): online mode acknowledged
2025-10-26T18:47:58.139Z,1761504478.139 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:47:58.378Z,1761504478.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993655,0.112466,0.000623],[-0.110354,-0.973895,-0.198370],[-0.021703,-0.197180,0.980127]]
2025-10-26T18:47:58.786Z,1761504478.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993786,0.111148,-0.006042],[-0.107815,-0.974646,-0.196062],[-0.027681,-0.194192,0.980573]]
2025-10-26T18:47:59.189Z,1761504479.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993645,0.112029,-0.010936],[-0.107662,-0.974250,-0.198103],[-0.032848,-0.195667,0.980120]]
2025-10-26T18:47:59.620Z,1761504479.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993239,0.115286,-0.013642],[-0.110120,-0.972830,-0.203655],[-0.036750,-0.200776,0.978948]]
2025-10-26T18:48:00.001Z,1761504480.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992558,0.120874,-0.014796],[-0.115145,-0.971107,-0.209026],[-0.039634,-0.205767,0.977798]]
2025-10-26T18:48:00.398Z,1761504480.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991523,0.128949,-0.015939],[-0.122743,-0.969838,-0.210592],[-0.042614,-0.206851,0.977444]]
2025-10-26T18:48:01.210Z,1761504481.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988417,0.150204,-0.021702],[-0.142839,-0.969047,-0.201359],[-0.051275,-0.195926,0.979277]]
2025-10-26T18:48:01.417Z,1761504481.417 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:48:02.2282

2025-10-26T18:48:01.417Z,1761504481.417 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:48:01.615Z,1761504481.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986806,0.159962,-0.025012],[-0.152280,-0.969468,-0.192204],[-0.054994,-0.185859,0.981036]]
2025-10-26T18:48:02.014Z,1761504482.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986024,0.164535,-0.026171],[-0.157037,-0.970332,-0.183834],[-0.055641,-0.177155,0.982609]]
2025-10-26T18:48:02.425Z,1761504482.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986399,0.162111,-0.027133],[-0.154856,-0.971916,-0.177197],[-0.055097,-0.170585,0.983801]]
2025-10-26T18:48:02.887Z,1761504482.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986918,0.158925,-0.027140],[-0.151580,-0.971984,-0.179640],[-0.054929,-0.173176,0.983358]]
2025-10-26T18:48:03.226Z,1761504483.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987259,0.156967,-0.026087],[-0.149453,-0.971007,-0.186571],[-0.054616,-0.180295,0.982095]]
2025-10-26T18:48:03.638Z,1761504483.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987584,0.155106,-0.024915],[-0.147343,-0.969566,-0.195528],[-0.054484,-0.189429,0.980382]]
2025-10-26T18:48:04.034Z,1761504484.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987951,0.153074,-0.022856],[-0.145310,-0.968229,-0.203513],[-0.053282,-0.197740,0.978805]]
2025-10-26T18:48:04.447Z,1761504484.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988366,0.150672,-0.020732],[-0.143155,-0.967645,-0.207773],[-0.051367,-0.202388,0.977957]]
2025-10-26T18:48:04.891Z,1761504484.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988747,0.148493,-0.018146],[-0.141313,-0.966900,-0.212449],[-0.049093,-0.207494,0.977004]]
2025-10-26T18:48:05.255Z,1761504485.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988874,0.147932,-0.015650],[-0.141166,-0.966380,-0.214900],[-0.046915,-0.210300,0.976511]]
2025-10-26T18:48:05.669Z,1761504485.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988928,0.147765,-0.013669],[-0.141365,-0.966085,-0.216094],[-0.045136,-0.211769,0.976277]]
2025-10-26T18:48:06.061Z,1761504486.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988994,0.147405,-0.012729],[-0.141182,-0.965962,-0.216762],[-0.044247,-0.212579,0.976142]]
2025-10-26T18:48:06.467Z,1761504486.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989120,0.146559,-0.012731],[-0.140333,-0.965973,-0.217263],[-0.044139,-0.213113,0.976030]]
2025-10-26T18:48:06.902Z,1761504486.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989002,0.147453,-0.011514],[-0.141320,-0.965085,-0.220546],[-0.043632,-0.216493,0.975309]]
2025-10-26T18:48:07.267Z,1761504487.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988505,0.150975,-0.007981],[-0.145326,-0.963420,-0.225171],[-0.041685,-0.221422,0.974287]]
2025-10-26T18:48:07.670Z,1761504487.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987915,0.154961,-0.003219],[-0.150150,-0.961981,-0.228140],[-0.038449,-0.224900,0.973623]]
2025-10-26T18:48:08.082Z,1761504488.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987130,0.159915,0.001404],[-0.156072,-0.961421,-0.226519],[-0.034874,-0.223823,0.974006]]
2025-10-26T18:48:08.479Z,1761504488.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986036,0.166457,0.005040],[-0.163476,-0.961720,-0.219931],[-0.031762,-0.217684,0.975502]]
2025-10-26T18:48:08.891Z,1761504488.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984545,0.174995,0.006874],[-0.172560,-0.962646,-0.208655],[-0.029896,-0.206616,0.977965]]
2025-10-26T18:48:09.286Z,1761504489.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982775,0.184683,0.006783],[-0.182522,-0.964212,-0.192302],[-0.028974,-0.190227,0.981312]]
2025-10-26T18:48:09.692Z,1761504489.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980965,0.194078,0.006351],[-0.192166,-0.965557,-0.175420],[-0.027913,-0.173302,0.984473]]
2025-10-26T18:48:10.103Z,1761504490.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979524,0.201222,0.006532],[-0.199664,-0.966754,-0.159754],[-0.025831,-0.157787,0.987135]]
2025-10-26T18:48:10.126Z,1761504490.126 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:48:10.126Z,1761504490.126 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:48:10.127Z,1761504490.127 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:48:10.128Z,1761504490.128 [marl:UpdateRudder:A] Stopped
2025-10-26T18:48:10.128Z,1761504490.128 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:48:10.499Z,1761504490.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979191,0.202818,0.006996],[-0.201641,-0.968459,-0.146385],[-0.022914,-0.144750,0.989203]]
2025-10-26T18:48:10.551Z,1761504490.551 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:48:10.551Z,1761504490.551 [marl:UpdateRudder:B] Stopped
2025-10-26T18:48:10.552Z,1761504490.552 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:48:10.552Z,1761504490.552 [marl:UpdateRudder] Stopped
2025-10-26T18:48:10.552Z,1761504490.552 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:48:10.906Z,1761504490.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979941,0.199112,0.008339],[-0.198254,-0.969758,-0.142355],[-0.020258,-0.141153,0.989780]]
2025-10-26T18:48:10.991Z,1761504490.991 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:48:10.991Z,1761504490.991 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:48:10.991Z,1761504490.991 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:48:10.992Z,1761504490.992 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:48:10.992Z,1761504490.992 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:48:10.992Z,1761504490.992 [marl:UpdateCommandMode] Stopped
2025-10-26T18:48:10.992Z,1761504490.992 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:48:10.992Z,1761504490.992 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:48:10.993Z,1761504490.993 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:48:10.993Z,1761504490.993 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:48:10.993Z,1761504490.993 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:48:10.993Z,1761504490.993 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:48:10.993Z,1761504490.993 [marl:UpdateSpeed] Stopped
2025-10-26T18:48:10.993Z,1761504490.993 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:48:11.307Z,1761504491.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981250,0.192463,0.010304],[-0.191873,-0.970387,-0.146745],[-0.018244,-0.145970,0.989121]]
2025-10-26T18:48:11.493Z,1761504491.493 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:48:11.715Z,1761504491.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982788,0.184256,0.013349],[-0.184024,-0.970074,-0.158401],[-0.016237,-0.158131,0.987285]]
2025-10-26T18:48:11.745Z,1761504491.745 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T18:48:11.745Z,1761504491.745 [DAT](INFO): #Outgoing data=3
2025-10-26T18:48:11.745Z,1761504491.745 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:48:11.997Z,1761504491.997 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T18:48:12.114Z,1761504492.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984393,0.175096,0.017634],[-0.175484,-0.969134,-0.173159],[-0.013230,-0.173551,0.984736]]
2025-10-26T18:48:12.529Z,1761504492.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986043,0.164901,0.022952],[-0.166258,-0.967968,-0.188142],[-0.008808,-0.189332,0.981874]]
2025-10-26T18:48:12.600Z,1761504492.600 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:48:12.752Z,1761504492.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:12.803Z,1761504492.803 [DAT](INFO): entering command mode
2025-10-26T18:48:12.934Z,1761504492.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987652,0.154107,0.028175],[-0.156614,-0.966878,-0.201539],[-0.003817,-0.203463,0.979075]]
2025-10-26T18:48:13.004Z,1761504493.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:13.004Z,1761504493.004 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:13.256Z,1761504493.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:13.256Z,1761504493.256 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:13.326Z,1761504493.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988443,0.147970,0.032956],[-0.151595,-0.965033,-0.213845],[0.000161,-0.216370,0.976312]]
2025-10-26T18:48:13.509Z,1761504493.509 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:13.509Z,1761504493.509 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:13.733Z,1761504493.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987877,0.150299,0.038856],[-0.155196,-0.962156,-0.223985],[0.003721,-0.227300,0.973818]]
2025-10-26T18:48:13.760Z,1761504493.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:13.760Z,1761504493.760 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:14.012Z,1761504494.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:14.012Z,1761504494.012 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:14.137Z,1761504494.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986545,0.157122,0.045175],[-0.163324,-0.959536,-0.229382],[0.007306,-0.233674,0.972288]]
2025-10-26T18:48:14.264Z,1761504494.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:14.264Z,1761504494.264 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:14.516Z,1761504494.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:14.516Z,1761504494.516 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:14.565Z,1761504494.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984789,0.166178,0.050739],[-0.173430,-0.957882,-0.228876],[0.010568,-0.234194,0.972132]]
2025-10-26T18:48:14.768Z,1761504494.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:14.768Z,1761504494.768 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:14.772Z,1761504494.772 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.187107
2025-10-26T18:48:14.953Z,1761504494.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982497,0.177842,0.055423],[-0.185785,-0.957154,-0.222128],[0.013544,-0.228537,0.973441]]
2025-10-26T18:48:15.021Z,1761504495.021 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:15.021Z,1761504495.021 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:15.272Z,1761504495.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:15.272Z,1761504495.272 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:15.346Z,1761504495.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979586,0.192035,0.059446],[-0.200365,-0.956651,-0.211358],[0.016281,-0.218954,0.975599]]
2025-10-26T18:48:15.524Z,1761504495.524 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:15.524Z,1761504495.524 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:15.772Z,1761504495.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976350,0.206659,0.063508],[-0.215331,-0.955804,-0.200176],[0.019333,-0.209117,0.977699]]
2025-10-26T18:48:15.776Z,1761504495.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:48:15.778Z,1761504495.778 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:15.778Z,1761504495.778 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:16.029Z,1761504496.029 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:48:16.8781

2025-10-26T18:48:16.029Z,1761504496.029 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T18:48:16.029Z,1761504496.029 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:16.029Z,1761504496.029 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:16.154Z,1761504496.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975301,0.211013,0.065287],[-0.219653,-0.957675,-0.186043],[0.023266,-0.195788,0.980370]]
2025-10-26T18:48:16.281Z,1761504496.281 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:16.281Z,1761504496.281 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:16.532Z,1761504496.532 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:16.532Z,1761504496.532 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:16.589Z,1761504496.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975037,0.211444,0.067780],[-0.220298,-0.959385,-0.176205],[0.027770,-0.186738,0.982017]]
2025-10-26T18:48:16.784Z,1761504496.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:16.784Z,1761504496.784 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:16.966Z,1761504496.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974730,0.211575,0.071680],[-0.221055,-0.959797,-0.172985],[0.032199,-0.184458,0.982313]]
2025-10-26T18:48:17.036Z,1761504497.036 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:17.036Z,1761504497.036 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:17.288Z,1761504497.288 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:17.288Z,1761504497.288 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:17.366Z,1761504497.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974065,0.212899,0.076629],[-0.223389,-0.958704,-0.176019],[0.035990,-0.188572,0.981400]]
2025-10-26T18:48:17.540Z,1761504497.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:17.540Z,1761504497.540 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:17.776Z,1761504497.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973252,0.214865,0.081322],[-0.226387,-0.957206,-0.180293],[0.039104,-0.193881,0.980245]]
2025-10-26T18:48:17.792Z,1761504497.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:17.792Z,1761504497.792 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:18.044Z,1761504498.044 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:18.044Z,1761504498.044 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:18.180Z,1761504498.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972086,0.218131,0.086410],[-0.230816,-0.955171,-0.185397],[0.042095,-0.200167,0.978857]]
2025-10-26T18:48:18.296Z,1761504498.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:18.296Z,1761504498.296 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:18.550Z,1761504498.550 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:18.551Z,1761504498.551 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:18.613Z,1761504498.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970251,0.223759,0.092443],[-0.237722,-0.952822,-0.188731],[0.045851,-0.205092,0.977668]]
2025-10-26T18:48:18.800Z,1761504498.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:18.800Z,1761504498.800 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:18.986Z,1761504498.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967521,0.231989,0.100419],[-0.247576,-0.949860,-0.190978],[0.051079,-0.209636,0.976444]]
2025-10-26T18:48:19.053Z,1761504499.053 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:19.053Z,1761504499.053 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:19.304Z,1761504499.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:19.304Z,1761504499.304 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:19.396Z,1761504499.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964184,0.241828,0.108938],[-0.259058,-0.946747,-0.191203],[0.056898,-0.212577,0.975486]]
2025-10-26T18:48:19.556Z,1761504499.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:19.557Z,1761504499.557 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:19.805Z,1761504499.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960714,0.252087,0.116108],[-0.270529,-0.944003,-0.188871],[0.061995,-0.212861,0.975114]]
2025-10-26T18:48:19.808Z,1761504499.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:19.808Z,1761504499.808 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:20.061Z,1761504500.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:20.061Z,1761504500.061 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:20.210Z,1761504500.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957543,0.261685,0.120963],[-0.280712,-0.941900,-0.184460],[0.065665,-0.210584,0.975368]]
2025-10-26T18:48:20.312Z,1761504500.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:20.312Z,1761504500.312 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:20.565Z,1761504500.565 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:20.565Z,1761504500.565 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:20.610Z,1761504500.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955020,0.269917,0.122810],[-0.288705,-0.940884,-0.177166],[0.067730,-0.204652,0.976489]]
2025-10-26T18:48:20.818Z,1761504500.818 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:20.819Z,1761504500.819 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:21.021Z,1761504501.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953157,0.276563,0.122490],[-0.294574,-0.940692,-0.168297],[0.068681,-0.196496,0.978096]]
2025-10-26T18:48:21.070Z,1761504501.070 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:21.070Z,1761504501.070 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:21.320Z,1761504501.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:21.320Z,1761504501.320 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:21.412Z,1761504501.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952037,0.281302,0.120396],[-0.298057,-0.941548,-0.156999],[0.069194,-0.185354,0.980233]]
2025-10-26T18:48:21.572Z,1761504501.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:21.573Z,1761504501.573 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:21.813Z,1761504501.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951802,0.283015,0.118220],[-0.298722,-0.942787,-0.148048],[0.069557,-0.176228,0.981889]]
2025-10-26T18:48:21.825Z,1761504501.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:21.825Z,1761504501.825 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:22.076Z,1761504502.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:22.076Z,1761504502.076 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:22.218Z,1761504502.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952228,0.281816,0.117652],[-0.297055,-0.944134,-0.142724],[0.070857,-0.170854,0.982745]]
2025-10-26T18:48:22.328Z,1761504502.328 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:22.328Z,1761504502.328 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:22.580Z,1761504502.580 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:22.580Z,1761504502.580 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:22.618Z,1761504502.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953195,0.277334,0.120438],[-0.293060,-0.945443,-0.142313],[0.074399,-0.170948,0.982467]]
2025-10-26T18:48:22.834Z,1761504502.834 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:22.835Z,1761504502.835 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:23.026Z,1761504503.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954538,0.269250,0.127916],[-0.286866,-0.946366,-0.148660],[0.081029,-0.178596,0.980580]]
2025-10-26T18:48:23.084Z,1761504503.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:23.084Z,1761504503.084 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:23.107Z,1761504503.107 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:48:23.107Z,1761504503.107 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:48:23.112Z,1761504503.112 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:48:23.112Z,1761504503.112 [marl:UpdateRudder:A] Stopped
2025-10-26T18:48:23.112Z,1761504503.112 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:48:23.337Z,1761504503.337 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:23.337Z,1761504503.337 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:23.426Z,1761504503.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955969,0.258733,0.138494],[-0.279340,-0.946908,-0.159171],[0.089958,-0.190849,0.977489]]
2025-10-26T18:48:23.490Z,1761504503.490 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:48:23.490Z,1761504503.490 [marl:UpdateRudder:B] Stopped
2025-10-26T18:48:23.490Z,1761504503.490 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:48:23.490Z,1761504503.490 [marl:UpdateRudder] Stopped
2025-10-26T18:48:23.491Z,1761504503.491 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:48:23.588Z,1761504503.588 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:23.588Z,1761504503.588 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:23.831Z,1761504503.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957251,0.247068,0.150428],[-0.271707,-0.946410,-0.174596],[0.099230,-0.208004,0.973082]]
2025-10-26T18:48:23.841Z,1761504503.841 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:23.841Z,1761504503.841 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:23.900Z,1761504503.900 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:48:23.900Z,1761504503.900 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:48:23.900Z,1761504503.900 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:48:23.900Z,1761504503.900 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:48:23.900Z,1761504503.900 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateCommandMode] Stopped
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:48:23.901Z,1761504503.901 [marl:UpdateSpeed] Stopped
2025-10-26T18:48:23.902Z,1761504503.902 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:48:24.092Z,1761504504.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:24.092Z,1761504504.092 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:24.234Z,1761504504.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958258,0.237053,0.159836],[-0.265350,-0.945547,-0.188494],[0.106449,-0.223038,0.968980]]
2025-10-26T18:48:24.344Z,1761504504.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:24.344Z,1761504504.344 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:24.596Z,1761504504.596 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:24.596Z,1761504504.596 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:24.644Z,1761504504.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960414,0.224107,0.165472],[-0.255793,-0.944707,-0.205182],[0.110340,-0.239386,0.964634]]
2025-10-26T18:48:24.853Z,1761504504.853 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:24.853Z,1761504504.853 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:25.061Z,1761504505.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961737,0.220266,0.162929],[-0.251294,-0.946109,-0.204280],[0.109152,-0.237406,0.965259]]
2025-10-26T18:48:25.100Z,1761504505.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:25.100Z,1761504505.100 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:25.352Z,1761504505.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:25.352Z,1761504505.352 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:25.453Z,1761504505.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963184,0.216206,0.159785],[-0.246222,-0.948056,-0.201407],[0.107940,-0.233335,0.966387]]
2025-10-26T18:48:25.609Z,1761504505.609 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:25.609Z,1761504505.609 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:25.854Z,1761504505.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964571,0.211314,0.157954],[-0.240692,-0.950007,-0.198882],[0.108030,-0.229854,0.967211]]
2025-10-26T18:48:25.860Z,1761504505.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:25.860Z,1761504505.860 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:26.112Z,1761504506.112 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T18:48:26.112Z,1761504506.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:26.113Z,1761504506.113 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:26.257Z,1761504506.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965508,0.206327,0.158816],[-0.236090,-0.950961,-0.199837],[0.109796,-0.230439,0.966873]]
2025-10-26T18:48:26.364Z,1761504506.364 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T18:48:26.364Z,1761504506.364 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:26.364Z,1761504506.364 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:48:26.616Z,1761504506.616 [DAT](INFO): entering online mode
2025-10-26T18:48:26.665Z,1761504506.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965232,0.204577,0.162713],[-0.235740,-0.950218,-0.203744],[0.112931,-0.235018,0.965408]]
2025-10-26T18:48:26.870Z,1761504506.870 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:27.070Z,1761504507.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963185,0.209000,0.169098],[-0.242141,-0.947704,-0.207907],[0.116802,-0.241198,0.963421]]
2025-10-26T18:48:27.121Z,1761504507.121 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:27.372Z,1761504507.372 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:27.466Z,1761504507.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959793,0.219377,0.175130],[-0.253662,-0.945014,-0.206408],[0.120219,-0.242533,0.962666]]
2025-10-26T18:48:27.624Z,1761504507.624 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:27.870Z,1761504507.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955798,0.233304,0.178939],[-0.267189,-0.943205,-0.197419],[0.122717,-0.236503,0.963850]]
2025-10-26T18:48:27.877Z,1761504507.877 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:28.128Z,1761504508.128 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:28.276Z,1761504508.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951443,0.249820,0.179850],[-0.281638,-0.942285,-0.181047],[0.124241,-0.222909,0.966890]]
2025-10-26T18:48:28.380Z,1761504508.380 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:28.632Z,1761504508.632 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:28.680Z,1761504508.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947008,0.267502,0.177815],[-0.296014,-0.941722,-0.159800],[0.124705,-0.203968,0.971002]]
2025-10-26T18:48:28.884Z,1761504508.884 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:29.094Z,1761504509.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942667,0.284992,0.173663],[-0.309742,-0.940852,-0.137323],[0.124256,-0.183241,0.975184]]
2025-10-26T18:48:29.136Z,1761504509.136 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:29.388Z,1761504509.388 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:29.493Z,1761504509.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938864,0.300219,0.168530],[-0.321521,-0.939601,-0.117360],[0.123118,-0.164371,0.978685]]
2025-10-26T18:48:29.640Z,1761504509.640 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:29.893Z,1761504509.893 [DAT](INFO): DAT read: Forwarding Delay UpTx time:18:48:30.6781

2025-10-26T18:48:29.893Z,1761504509.893 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T18:48:29.893Z,1761504509.893 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:29.894Z,1761504509.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936042,0.311091,0.164462],[-0.330035,-0.938264,-0.103620],[0.122074,-0.151271,0.980926]]
2025-10-26T18:48:30.144Z,1761504510.144 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:30.294Z,1761504510.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934667,0.316166,0.162595],[-0.333940,-0.937656,-0.096361],[0.121993,-0.144362,0.981976]]
2025-10-26T18:48:30.396Z,1761504510.396 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:30.648Z,1761504510.648 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:30.703Z,1761504510.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935072,0.314899,0.162723],[-0.332407,-0.938429,-0.094111],[0.123068,-0.142091,0.982173]]
2025-10-26T18:48:30.900Z,1761504510.900 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:31.106Z,1761504511.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937022,0.308286,0.164161],[-0.326221,-0.940404,-0.096023],[0.124775,-0.143529,0.981749]]
2025-10-26T18:48:31.152Z,1761504511.152 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:31.200Z,1761504511.200 [Radio_Surface](INFO): Powering down
2025-10-26T18:48:31.404Z,1761504511.404 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:31.508Z,1761504511.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939533,0.299293,0.166439],[-0.318381,-0.942394,-0.102606],[0.126142,-0.149392,0.980699]]
2025-10-26T18:48:31.656Z,1761504511.656 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:31.908Z,1761504511.908 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:31.918Z,1761504511.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942265,0.288653,0.169755],[-0.309702,-0.943986,-0.113911],[0.127366,-0.159908,0.978881]]
2025-10-26T18:48:32.161Z,1761504512.161 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:32.321Z,1761504512.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945054,0.276774,0.173977],[-0.300326,-0.945263,-0.127603],[0.129137,-0.172841,0.976447]]
2025-10-26T18:48:32.412Z,1761504512.412 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:32.664Z,1761504512.664 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:32.740Z,1761504512.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947197,0.266010,0.179043],[-0.292403,-0.945720,-0.141825],[0.131597,-0.186689,0.973565]]
2025-10-26T18:48:32.916Z,1761504512.916 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:33.134Z,1761504513.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947341,0.261307,0.185103],[-0.290806,-0.944039,-0.155635],[0.134076,-0.201268,0.970317]]
2025-10-26T18:48:33.174Z,1761504513.174 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:33.428Z,1761504513.428 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:33.545Z,1761504513.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946251,0.260552,0.191628],[-0.292997,-0.941465,-0.166721],[0.136972,-0.213907,0.967203]]
2025-10-26T18:48:33.680Z,1761504513.680 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:33.932Z,1761504513.932 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:33.943Z,1761504513.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944184,0.263116,0.198208],[-0.298262,-0.938247,-0.175306],[0.139842,-0.224639,0.964356]]
2025-10-26T18:48:34.184Z,1761504514.184 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:34.354Z,1761504514.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941541,0.268723,0.203194],[-0.305643,-0.935040,-0.179676],[0.141711,-0.231277,0.962512]]
2025-10-26T18:48:34.436Z,1761504514.436 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:34.688Z,1761504514.688 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:34.751Z,1761504514.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938400,0.277680,0.205667],[-0.315222,-0.931735,-0.180292],[0.141563,-0.234016,0.961871]]
2025-10-26T18:48:34.880Z,1761504514.880 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:48:34.880Z,1761504514.880 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:48:34.940Z,1761504514.940 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:35.192Z,1761504515.192 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:35.444Z,1761504515.444 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:35.559Z,1761504515.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932457,0.299491,0.202061],[-0.334559,-0.926903,-0.170063],[0.136359,-0.226178,0.964495]]
2025-10-26T18:48:35.696Z,1761504515.696 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:35.948Z,1761504515.948 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:35.955Z,1761504515.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931256,0.305825,0.198075],[-0.338467,-0.927367,-0.159469],[0.134918,-0.215548,0.967128]]
2025-10-26T18:48:36.009Z,1761504516.009 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:48:36.009Z,1761504516.009 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:48:36.009Z,1761504516.009 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:48:36.010Z,1761504516.010 [marl:UpdateRudder:A] Stopped
2025-10-26T18:48:36.010Z,1761504516.010 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:48:36.200Z,1761504516.200 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:36.360Z,1761504516.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930812,0.309320,0.194708],[-0.339627,-0.928840,-0.148017],[0.135068,-0.203904,0.969629]]
2025-10-26T18:48:36.401Z,1761504516.401 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:48:36.401Z,1761504516.401 [marl:UpdateRudder:B] Stopped
2025-10-26T18:48:36.401Z,1761504516.401 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:48:36.401Z,1761504516.401 [marl:UpdateRudder] Stopped
2025-10-26T18:48:36.401Z,1761504516.401 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:48:36.452Z,1761504516.452 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:36.704Z,1761504516.704 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:36.762Z,1761504516.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930995,0.310072,0.192622],[-0.338596,-0.930708,-0.138329],[0.136383,-0.194005,0.971474]]
2025-10-26T18:48:36.803Z,1761504516.803 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateCommandMode] Stopped
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:48:36.804Z,1761504516.804 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:48:36.805Z,1761504516.805 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:48:36.805Z,1761504516.805 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:48:36.805Z,1761504516.805 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:48:36.805Z,1761504516.805 [marl:UpdateSpeed] Stopped
2025-10-26T18:48:36.805Z,1761504516.805 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:48:36.956Z,1761504516.956 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:37.198Z,1761504517.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931215,0.309857,0.191904],[-0.337364,-0.932057,-0.132116],[0.137928,-0.187770,0.972480]]
2025-10-26T18:48:37.208Z,1761504517.208 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:37.460Z,1761504517.460 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:37.570Z,1761504517.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931903,0.308555,0.190659],[-0.335193,-0.933457,-0.127689],[0.138573,-0.182901,0.973316]]
2025-10-26T18:48:37.712Z,1761504517.712 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:37.964Z,1761504517.964 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:37.978Z,1761504517.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933092,0.305809,0.189260],[-0.332016,-0.934748,-0.126534],[0.138215,-0.180906,0.973740]]
2025-10-26T18:48:38.216Z,1761504518.216 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:38.378Z,1761504518.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934932,0.301351,0.187323],[-0.327357,-0.936231,-0.127709],[0.136892,-0.180721,0.973961]]
2025-10-26T18:48:38.468Z,1761504518.468 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:38.720Z,1761504518.720 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:38.782Z,1761504518.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937812,0.293174,0.185899],[-0.319524,-0.938321,-0.132127],[0.135697,-0.183310,0.973645]]
2025-10-26T18:48:38.972Z,1761504518.972 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:39.189Z,1761504519.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941977,0.278408,0.187534],[-0.306970,-0.940509,-0.145645],[0.135829,-0.194761,0.971400]]
2025-10-26T18:48:39.224Z,1761504519.224 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:39.476Z,1761504519.476 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:39.592Z,1761504519.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947019,0.256598,0.193163],[-0.290199,-0.941329,-0.172292],[0.137620,-0.219220,0.965921]]
2025-10-26T18:48:39.729Z,1761504519.729 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:39.980Z,1761504519.980 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:39.995Z,1761504519.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951988,0.231405,0.200428],[-0.272325,-0.939206,-0.209121],[0.139851,-0.253662,0.957130]]
2025-10-26T18:48:40.233Z,1761504520.233 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:40.398Z,1761504520.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956164,0.207329,0.206795],[-0.256397,-0.933894,-0.249204],[0.141458,-0.291302,0.946115]]
2025-10-26T18:48:40.484Z,1761504520.484 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:40.736Z,1761504520.736 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:40.809Z,1761504520.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959697,0.185787,0.210865],[-0.242382,-0.926929,-0.286449],[0.142239,-0.326014,0.934603]]
2025-10-26T18:48:40.988Z,1761504520.988 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:41.213Z,1761504521.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963055,0.166484,0.211679],[-0.228562,-0.920981,-0.315521],[0.142423,-0.352246,0.925007]]
2025-10-26T18:48:41.240Z,1761504521.240 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:41.492Z,1761504521.492 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:41.610Z,1761504521.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966010,0.148895,0.211319],[-0.215027,-0.916566,-0.337151],[0.143487,-0.371130,0.917428]]
2025-10-26T18:48:41.744Z,1761504521.744 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T18:48:41.744Z,1761504521.744 [DAT](FAULT): failed to enter online mode
2025-10-26T18:48:41.744Z,1761504521.744 [DAT](FAULT): Failure returning to online mode
2025-10-26T18:48:41.744Z,1761504521.744 [DAT] Communications Fault, FailCount= 1
2025-10-26T18:48:41.744Z,1761504521.744 [DAT](ERROR): Communications Fault
2025-10-26T18:48:41.745Z,1761504521.745 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:48:41.800Z,1761504521.800 [DAT](INFO): entering command mode
2025-10-26T18:48:41.864Z,1761504521.864 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:48:42.022Z,1761504522.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968597,0.132211,0.210571],[-0.201292,-0.914108,-0.351978],[0.145949,-0.383311,0.912015]]
2025-10-26T18:48:42.204Z,1761504522.204 [DAT](INFO): Powering down
2025-10-26T18:48:42.418Z,1761504522.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970831,0.117029,0.209263],[-0.187702,-0.914015,-0.359645],[0.149180,-0.388434,0.909321]]
2025-10-26T18:48:42.865Z,1761504522.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972885,0.102628,0.207273],[-0.174117,-0.914868,-0.364280],[0.152242,-0.390492,0.907931]]
2025-10-26T18:48:42.920Z,1761504522.920 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:48:43.159Z,1761504523.159 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:48:43.159Z,1761504523.159 [DAT] No Fault, FailCount= 1
2025-10-26T18:48:43.247Z,1761504523.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974747,0.088701,0.204941],[-0.160832,-0.915528,-0.368702],[0.154925,-0.392352,0.906674]]
2025-10-26T18:48:43.642Z,1761504523.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976499,0.074899,0.202088],[-0.147361,-0.916275,-0.372458],[0.157272,-0.393485,0.905779]]
2025-10-26T18:48:44.038Z,1761504524.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978164,0.060536,0.198821],[-0.133412,-0.916417,-0.377335],[0.159360,-0.395620,0.904483]]
2025-10-26T18:48:44.439Z,1761504524.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979576,0.046424,0.195640],[-0.119502,-0.916913,-0.380776],[0.161707,-0.396378,0.903734]]
2025-10-26T18:48:44.879Z,1761504524.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980811,0.031393,0.192418],[-0.104887,-0.916918,-0.385046],[0.164344,-0.397839,0.902616]]
2025-10-26T18:48:45.246Z,1761504525.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981778,0.017110,0.189260],[-0.090841,-0.917034,-0.388326],[0.166913,-0.398443,0.901878]]
2025-10-26T18:48:45.248Z,1761504525.248 [DAT](INFO): Powering up
2025-10-26T18:48:45.248Z,1761504525.248 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:48:45.650Z,1761504525.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982594,0.003229,0.185739],[-0.076637,-0.917848,-0.389464],[0.169223,-0.396920,0.902119]]
2025-10-26T18:48:45.897Z,1761504525.897 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:48:46.487Z,1761504526.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983863,-0.024821,0.177194],[-0.046446,-0.920953,-0.386896],[0.172790,-0.388882,0.904939]]
2025-10-26T18:48:46.892Z,1761504526.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984169,-0.040318,0.172584],[-0.029426,-0.923093,-0.383449],[0.174771,-0.382457,0.907294]]
2025-10-26T18:48:46.900Z,1761504526.900 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T18:48:46.900Z,1761504526.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:48:47.381Z,1761504527.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984179,-0.059444,0.166906],[-0.008535,-0.925037,-0.379780],[0.176970,-0.375197,0.909895]]
2025-10-26T18:48:47.791Z,1761504527.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983726,-0.081632,0.160059],[0.015348,-0.925752,-0.377819],[0.179018,-0.369214,0.911940]]
2025-10-26T18:48:48.186Z,1761504528.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982973,-0.104340,0.151254],[0.039667,-0.924229,-0.379772],[0.179419,-0.367305,0.912631]]
2025-10-26T18:48:48.590Z,1761504528.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982058,-0.126696,0.139679],[0.064133,-0.920927,-0.384421],[0.177339,-0.368566,0.912529]]
2025-10-26T18:48:49.001Z,1761504529.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980913,-0.148136,0.125954],[0.088315,-0.916512,-0.390137],[0.173232,-0.371566,0.912101]]
2025-10-26T18:48:49.068Z,1761504529.068 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:48:49.068Z,1761504529.068 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:48:49.069Z,1761504529.069 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:48:49.069Z,1761504529.069 [marl:UpdateRudder:A] Stopped
2025-10-26T18:48:49.069Z,1761504529.069 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:48:49.401Z,1761504529.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979450,-0.168542,0.110781],[0.112534,-0.912492,-0.393311],[0.167376,-0.372762,0.912707]]
2025-10-26T18:48:49.429Z,1761504529.429 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:48:49.429Z,1761504529.429 [marl:UpdateRudder:B] Stopped
2025-10-26T18:48:49.430Z,1761504529.430 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:48:49.430Z,1761504529.430 [marl:UpdateRudder] Stopped
2025-10-26T18:48:49.430Z,1761504529.430 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:48:49.802Z,1761504529.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977473,-0.188795,0.094353],[0.137393,-0.908537,-0.394568],[0.160215,-0.372716,0.914010]]
2025-10-26T18:48:49.845Z,1761504529.845 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:48:49.845Z,1761504529.845 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:48:49.845Z,1761504529.845 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:48:49.845Z,1761504529.845 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:48:49.845Z,1761504529.845 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateCommandMode] Stopped
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed] Stopped
2025-10-26T18:48:49.846Z,1761504529.846 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:48:50.206Z,1761504530.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974925,-0.208662,0.077339],[0.162345,-0.904602,-0.394130],[0.152201,-0.371692,0.915795]]
2025-10-26T18:48:50.610Z,1761504530.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971912,-0.227143,0.061587],[0.185761,-0.901088,-0.391832],[0.144497,-0.369386,0.917973]]
2025-10-26T18:48:51.022Z,1761504531.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968895,-0.242834,0.047679],[0.205817,-0.897694,-0.389596],[0.137409,-0.367665,0.919751]]
2025-10-26T18:48:51.418Z,1761504531.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965910,-0.256449,0.035376],[0.223259,-0.894372,-0.387626],[0.131046,-0.366513,0.921138]]
2025-10-26T18:48:51.822Z,1761504531.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962945,-0.268672,0.023498],[0.239103,-0.890769,-0.386471],[0.124766,-0.366532,0.922002]]
2025-10-26T18:48:52.226Z,1761504532.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959842,-0.280284,0.011983],[0.254175,-0.886920,-0.385704],[0.118735,-0.367169,0.922545]]
2025-10-26T18:48:52.633Z,1761504532.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956379,-0.292127,0.001011],[0.269509,-0.883655,-0.382778],[0.112713,-0.365808,0.923840]]
2025-10-26T18:48:53.039Z,1761504533.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952224,-0.305209,-0.010779],[0.286258,-0.879686,-0.379749],[0.106421,-0.364691,0.925027]]
2025-10-26T18:48:53.438Z,1761504533.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947754,-0.318199,-0.022621],[0.302931,-0.875515,-0.376438],[0.099977,-0.363623,0.926165]]
2025-10-26T18:48:53.842Z,1761504533.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942917,-0.331254,-0.034317],[0.319688,-0.871459,-0.371966],[0.093309,-0.361704,0.927612]]
2025-10-26T18:48:54.247Z,1761504534.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937854,-0.343956,-0.046087],[0.336024,-0.866886,-0.368235],[0.086705,-0.360837,0.928590]]
2025-10-26T18:48:54.652Z,1761504534.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932905,-0.355509,-0.057467],[0.351083,-0.862298,-0.364943],[0.080186,-0.360633,0.929255]]
2025-10-26T18:48:55.055Z,1761504535.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927960,-0.366512,-0.067527],[0.365232,-0.858312,-0.360425],[0.074140,-0.359123,0.930341]]
2025-10-26T18:48:55.459Z,1761504535.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922796,-0.377505,-0.077051],[0.379109,-0.853980,-0.356363],[0.068728,-0.358061,0.931165]]
2025-10-26T18:48:55.877Z,1761504535.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916988,-0.389369,-0.086742],[0.393773,-0.848712,-0.353030],[0.063840,-0.357881,0.931582]]
2025-10-26T18:48:56.278Z,1761504536.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901571,-0.419401,-0.106174],[0.429059,-0.835312,-0.343747],[0.055479,-0.355467,0.933041]]
2025-10-26T18:48:56.683Z,1761504536.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892248,-0.436296,-0.116356],[0.448621,-0.827251,-0.338223],[0.051309,-0.353979,0.933845]]
2025-10-26T18:48:56.842Z,1761504536.842 [DAT](INFO): DAT read: 

2025-10-26T18:48:56.845Z,1761504536.845 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:48:57.083Z,1761504537.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882500,-0.452710,-0.127465],[0.467972,-0.818245,-0.333881],[0.046854,-0.354301,0.933957]]
2025-10-26T18:48:57.498Z,1761504537.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872764,-0.467873,-0.139206],[0.486364,-0.809149,-0.329739],[0.041638,-0.355489,0.933752]]
2025-10-26T18:48:57.892Z,1761504537.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863833,-0.480780,-0.150476],[0.502483,-0.800874,-0.325748],[0.036100,-0.357003,0.933405]]
2025-10-26T18:48:58.292Z,1761504538.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855638,-0.491830,-0.161203],[0.516708,-0.793707,-0.321003],[0.029931,-0.357957,0.933258]]
2025-10-26T18:48:58.368Z,1761504538.368 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:48:58.370Z,1761504538.370 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:48:58.370Z,1761504538.370 [DAT](INFO): DAT read: Oct 26 2025 18:48:54 

2025-10-26T18:48:58.695Z,1761504538.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848278,-0.501141,-0.171122],[0.529018,-0.787458,-0.316306],[0.023763,-0.358842,0.933096]]
2025-10-26T18:48:59.098Z,1761504539.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841199,-0.509623,-0.180744],[0.540416,-0.781067,-0.312865],[0.018270,-0.360859,0.932441]]
2025-10-26T18:48:59.377Z,1761504539.377 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:48:59.378Z,1761504539.378 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:48:59.378Z,1761504539.378 [DAT](INFO): commRate: 600
2025-10-26T18:48:59.511Z,1761504539.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833870,-0.518179,-0.190137],[0.551788,-0.773940,-0.310720],[0.013853,-0.364015,0.931290]]
2025-10-26T18:48:59.932Z,1761504539.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825975,-0.527660,-0.198342],[0.563600,-0.766171,-0.308769],[0.010961,-0.366821,0.930227]]
2025-10-26T18:49:00.336Z,1761504540.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817249,-0.538241,-0.205914],[0.576207,-0.757336,-0.307290],[0.009450,-0.369782,0.929071]]
2025-10-26T18:49:00.740Z,1761504540.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808112,-0.549451,-0.212270],[0.588957,-0.748082,-0.305784],[0.009218,-0.372125,0.928137]]
2025-10-26T18:49:01.142Z,1761504541.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798771,-0.560635,-0.218296],[0.601555,-0.738336,-0.304945],[0.009787,-0.374898,0.927014]]
2025-10-26T18:49:01.447Z,1761504541.447 [DAT](INFO): entering command mode
2025-10-26T18:49:01.648Z,1761504541.648 [DAT](INFO): DAT read: 

2025-10-26T18:49:01.649Z,1761504541.649 [DAT](INFO): DAT read: user:1>

2025-10-26T18:49:01.650Z,1761504541.650 [DAT](INFO): setting verbose to 3
2025-10-26T18:49:01.900Z,1761504541.900 [DAT](INFO): DAT read: user:1>

2025-10-26T18:49:01.901Z,1761504541.901 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:49:01.901Z,1761504541.901 [DAT](INFO): set verbose to 3
2025-10-26T18:49:01.902Z,1761504541.902 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:49:01.988Z,1761504541.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777030,-0.586746,-0.227933],[0.629371,-0.718001,-0.297264],[0.010763,-0.374438,0.927190]]
2025-10-26T18:49:02.035Z,1761504542.035 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:49:02.035Z,1761504542.035 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:49:02.035Z,1761504542.035 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:49:02.040Z,1761504542.040 [marl:UpdateRudder:A] Stopped
2025-10-26T18:49:02.040Z,1761504542.040 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:49:02.152Z,1761504542.152 [DAT](INFO): DAT read: user:2>

2025-10-26T18:49:02.153Z,1761504542.153 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:49:02.153Z,1761504542.153 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:49:02.154Z,1761504542.154 [DAT](INFO): setting transmit power to 8
2025-10-26T18:49:02.404Z,1761504542.404 [DAT](INFO): DAT read: user:3>

2025-10-26T18:49:02.405Z,1761504542.405 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:49:02.405Z,1761504542.405 [DAT](INFO): set transmit power to 8
2025-10-26T18:49:02.406Z,1761504542.406 [DAT](INFO): setting local address to 11
2025-10-26T18:49:02.447Z,1761504542.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764191,-0.601276,-0.233410],[0.644904,-0.706388,-0.291743],[0.010540,-0.373474,0.927581]]
2025-10-26T18:49:02.528Z,1761504542.528 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T18:49:02.528Z,1761504542.528 [marl:UpdateRudder:B] Stopped
2025-10-26T18:49:02.528Z,1761504542.528 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:49:02.528Z,1761504542.528 [marl:UpdateRudder] Stopped
2025-10-26T18:49:02.528Z,1761504542.528 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:49:02.656Z,1761504542.656 [DAT](INFO): DAT read: user:4>

2025-10-26T18:49:02.657Z,1761504542.657 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:49:02.657Z,1761504542.657 [DAT](INFO): set local address to 11
2025-10-26T18:49:02.658Z,1761504542.658 [DAT](INFO): Setting time to: 18:49:2 And date to:10/26/2025
2025-10-26T18:49:02.878Z,1761504542.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751750,-0.615014,-0.237971],[0.659365,-0.695290,-0.286023],[0.010449,-0.371928,0.928203]]
2025-10-26T18:49:02.908Z,1761504542.908 [DAT](INFO): DAT read: user:5>

2025-10-26T18:49:02.909Z,1761504542.909 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:49:02  

2025-10-26T18:49:02.909Z,1761504542.909 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:49:02  

2025-10-26T18:49:02.910Z,1761504542.910 [DAT](INFO): setting remote address to 6
2025-10-26T18:49:02.910Z,1761504542.910 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:49:02.911Z,1761504542.911 [DAT](INFO): setting remote address to 0
2025-10-26T18:49:03.036Z,1761504543.036 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:49:03.036Z,1761504543.036 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:49:03.036Z,1761504543.036 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:49:03.036Z,1761504543.036 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:49:03.036Z,1761504543.036 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:49:03.036Z,1761504543.036 [marl:UpdateCommandMode] Stopped
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed] Stopped
2025-10-26T18:49:03.037Z,1761504543.037 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:49:03.160Z,1761504543.160 [DAT](INFO): DAT read: user:6>

2025-10-26T18:49:03.161Z,1761504543.161 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:49:03.162Z,1761504543.162 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:49:03.162Z,1761504543.162 [DAT] Communications Fault, FailCount= 2
2025-10-26T18:49:03.162Z,1761504543.162 [DAT](ERROR): Communications Fault
2025-10-26T18:49:03.163Z,1761504543.163 [DAT](INFO): DAT read: user:7>

2025-10-26T18:49:03.164Z,1761504543.164 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:49:03.164Z,1761504543.164 [DAT](INFO): set remote address to 0
2025-10-26T18:49:03.164Z,1761504543.164 [DAT](INFO): setting remote address to 6
2025-10-26T18:49:03.165Z,1761504543.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:49:03.165Z,1761504543.165 [DAT](INFO): setting remote address to 0
2025-10-26T18:49:03.256Z,1761504543.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739416,-0.627237,-0.244617],[0.673183,-0.683764,-0.281588],[0.009362,-0.372882,0.927831]]
2025-10-26T18:49:03.387Z,1761504543.387 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:49:03.568Z,1761504543.568 [DAT](INFO): Powering down
2025-10-26T18:49:03.649Z,1761504543.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726713,-0.639224,-0.251558],[0.686907,-0.672519,-0.275458],[0.006902,-0.372975,0.927816]]
2025-10-26T18:49:04.052Z,1761504544.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713211,-0.651361,-0.258956],[0.700944,-0.661376,-0.266943],[0.002609,-0.371901,0.928269]]
2025-10-26T18:49:04.455Z,1761504544.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699420,-0.663202,-0.266412],[0.714706,-0.650442,-0.257140],[-0.002750,-0.370255,0.928926]]
2025-10-26T18:49:04.632Z,1761504544.632 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:49:04.632Z,1761504544.632 [DAT] No Fault, FailCount= 2
2025-10-26T18:49:04.878Z,1761504544.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687946,-0.672863,-0.272003],[0.725720,-0.641802,-0.247833],[-0.007814,-0.367893,0.929835]]
2025-10-26T18:49:05.264Z,1761504545.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681084,-0.679577,-0.272579],[0.732114,-0.637936,-0.238845],[-0.011574,-0.362233,0.932016]]
2025-10-26T18:49:05.666Z,1761504545.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677945,-0.685276,-0.266059],[0.734953,-0.639399,-0.225860],[-0.015342,-0.348662,0.937123]]
2025-10-26T18:49:06.070Z,1761504546.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679207,-0.689976,-0.250221],[0.733700,-0.647133,-0.207129],[-0.019013,-0.324271,0.945773]]
2025-10-26T18:49:06.483Z,1761504546.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685614,-0.692617,-0.224087],[0.727636,-0.661278,-0.182366],[-0.021874,-0.288087,0.957354]]
2025-10-26T18:49:06.616Z,1761504546.616 [DAT](INFO): Powering up
2025-10-26T18:49:06.616Z,1761504546.616 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:49:06.886Z,1761504546.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697648,-0.691540,-0.187242],[0.716024,-0.681916,-0.149332],[-0.024414,-0.238251,0.970897]]
2025-10-26T18:49:07.283Z,1761504547.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714014,-0.685665,-0.141589],[0.699610,-0.706545,-0.106493],[-0.027020,-0.175095,0.984181]]
2025-10-26T18:49:07.686Z,1761504547.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734259,-0.672948,-0.089469],[0.678239,-0.732856,-0.053978],[-0.029243,-0.100315,0.994526]]
2025-10-26T18:49:08.090Z,1761504548.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755515,-0.654084,-0.037037],[0.654400,-0.756135,0.004515],[-0.030959,-0.020826,0.999304]]
2025-10-26T18:49:08.496Z,1761504548.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776902,-0.629586,0.006631],[0.628820,-0.775339,0.058610],[-0.031759,0.049704,0.998259]]
2025-10-26T18:49:08.987Z,1761504548.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797510,-0.602003,0.039626],[0.602469,-0.791228,0.104828],[-0.031753,0.107475,0.993701]]
2025-10-26T18:49:09.302Z,1761504549.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817221,-0.573014,0.061684],[0.575543,-0.805857,0.139086],[-0.029990,0.149166,0.988357]]
2025-10-26T18:49:09.713Z,1761504549.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835605,-0.544039,0.076063],[0.548700,-0.819973,0.163011],[-0.026315,0.177948,0.983688]]
2025-10-26T18:49:10.110Z,1761504550.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852450,-0.515817,0.085221],[0.522391,-0.833854,0.178314],[-0.020915,0.196522,0.980276]]
2025-10-26T18:49:10.516Z,1761504550.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867813,-0.488452,0.091186],[0.496691,-0.847535,0.187035],[-0.014074,0.207603,0.978112]]
2025-10-26T18:49:10.918Z,1761504550.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882053,-0.461453,0.095094],[0.471106,-0.861063,0.191391],[-0.006436,0.213617,0.976896]]
2025-10-26T18:49:11.322Z,1761504551.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895311,-0.434595,0.097703],[0.445439,-0.874355,0.192583],[0.001731,0.215943,0.976404]]
2025-10-26T18:49:11.731Z,1761504551.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907457,-0.408403,0.098637],[0.420043,-0.887082,0.191440],[0.009315,0.215155,0.976535]]
2025-10-26T18:49:12.130Z,1761504552.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919154,-0.381701,0.097258],[0.393559,-0.900164,0.186593],[0.016326,0.209785,0.977611]]
2025-10-26T18:49:12.550Z,1761504552.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930898,-0.352783,0.094730],[0.364547,-0.913669,0.179765],[0.023134,0.201877,0.979138]]
2025-10-26T18:49:12.947Z,1761504552.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942136,-0.322536,0.091376],[0.333959,-0.926736,0.172138],[0.029161,0.192694,0.980826]]
2025-10-26T18:49:13.038Z,1761504553.038 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:49:13.343Z,1761504553.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952579,-0.291152,0.088455],[0.302265,-0.938869,0.164802],[0.035065,0.183724,0.982352]]
2025-10-26T18:49:13.746Z,1761504553.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962099,-0.258160,0.087855],[0.269552,-0.949098,0.162954],[0.041315,0.180460,0.982714]]
2025-10-26T18:49:14.150Z,1761504554.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970524,-0.224216,0.088370],[0.236195,-0.957788,0.163874],[0.047897,0.179917,0.982515]]
2025-10-26T18:49:14.556Z,1761504554.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977856,-0.189095,0.089673],[0.201880,-0.965233,0.166041],[0.055158,0.180467,0.982033]]
2025-10-26T18:49:14.970Z,1761504554.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984037,-0.152666,0.091455],[0.166453,-0.971375,0.169481],[0.062963,0.181999,0.981281]]
2025-10-26T18:49:15.062Z,1761504555.062 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:49:15.063Z,1761504555.063 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:49:15.063Z,1761504555.063 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:49:15.063Z,1761504555.063 [marl:UpdateRudder:A] Stopped
2025-10-26T18:49:15.063Z,1761504555.063 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:49:15.362Z,1761504555.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988892,-0.115844,0.093129],[0.130688,-0.976123,0.173504],[0.070806,0.183748,0.980420]]
2025-10-26T18:49:15.408Z,1761504555.408 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:49:15.408Z,1761504555.408 [marl:UpdateRudder:B] Stopped
2025-10-26T18:49:15.408Z,1761504555.408 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:49:15.408Z,1761504555.408 [marl:UpdateRudder] Stopped
2025-10-26T18:49:15.409Z,1761504555.409 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:49:15.766Z,1761504555.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992402,-0.079219,0.094138],[0.094930,-0.979755,0.176266],[0.078269,0.183863,0.979831]]
2025-10-26T18:49:15.793Z,1761504555.793 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:49:15.793Z,1761504555.793 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:49:15.793Z,1761504555.793 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateCommandMode] Stopped
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:49:15.794Z,1761504555.794 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:49:15.795Z,1761504555.795 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:49:15.795Z,1761504555.795 [marl:UpdateSpeed] Stopped
2025-10-26T18:49:15.795Z,1761504555.795 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:49:16.172Z,1761504556.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994373,-0.047004,0.094936],[0.063592,-0.981596,0.180070],[0.084725,0.185094,0.979062]]
2025-10-26T18:49:16.574Z,1761504556.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995293,-0.018429,0.095146],[0.035522,-0.982800,0.181224],[0.090170,0.183751,0.978828]]
2025-10-26T18:49:16.982Z,1761504556.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995421,0.008727,0.095190],[0.008643,-0.983529,0.180545],[0.095198,0.180541,0.978950]]
2025-10-26T18:49:17.020Z,1761504557.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:49:17.382Z,1761504557.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994772,0.036799,0.095259],[-0.019323,-0.983793,0.178264],[0.100275,0.175491,0.979361]]
2025-10-26T18:49:17.787Z,1761504557.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993314,0.065614,0.094982],[-0.048147,-0.983260,0.175732],[0.104922,0.169984,0.979845]]
2025-10-26T18:49:17.996Z,1761504557.996 [DAT](INFO): DAT read: 

2025-10-26T18:49:17.997Z,1761504557.997 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:49:18.024Z,1761504558.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:49:18.190Z,1761504558.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991044,0.093749,0.095092],[-0.076641,-0.982484,0.169859],[0.109351,0.161050,0.980870]]
2025-10-26T18:49:18.594Z,1761504558.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988206,0.119384,0.095897],[-0.103527,-0.982307,0.156060],[0.112831,0.144292,0.983081]]
2025-10-26T18:49:19.002Z,1761504559.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985160,0.140292,0.098883],[-0.126487,-0.982842,0.134247],[0.116020,0.119748,0.986002]]
2025-10-26T18:49:19.404Z,1761504559.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982528,0.154671,0.103520],[-0.143601,-0.983832,0.107019],[0.118399,0.090283,0.988853]]
2025-10-26T18:49:19.505Z,1761504559.505 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:49:19.506Z,1761504559.506 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:49:19.506Z,1761504559.506 [DAT](INFO): DAT read: Oct 26 2025 18:49:14 

2025-10-26T18:49:19.807Z,1761504559.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980781,0.161641,0.109269],[-0.153969,-0.985195,0.075394],[0.119838,0.057121,0.991149]]
2025-10-26T18:49:20.210Z,1761504560.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980263,0.160044,0.116065],[-0.156692,-0.986935,0.037516],[0.120553,0.018589,0.992533]]
2025-10-26T18:49:20.614Z,1761504560.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981056,0.149081,0.123707],[-0.151447,-0.988416,-0.009887],[0.120800,-0.028435,0.992270]]
2025-10-26T18:49:20.765Z,1761504560.765 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:49:20.766Z,1761504560.766 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:49:20.766Z,1761504560.766 [DAT](INFO): commRate: 600
2025-10-26T18:49:21.030Z,1761504561.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982915,0.128419,0.131857],[-0.138269,-0.988026,-0.068451],[0.121488,-0.085513,0.988902]]
2025-10-26T18:49:21.826Z,1761504561.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986990,0.069207,0.145127],[-0.097703,-0.975013,-0.199511],[0.127693,-0.211095,0.969089]]
2025-10-26T18:49:22.636Z,1761504562.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988481,0.003221,0.151310],[-0.051502,-0.947265,-0.316286],[0.142312,-0.320436,0.936519]]
2025-10-26T18:49:22.832Z,1761504562.832 [DAT](INFO): entering command mode
2025-10-26T18:49:23.032Z,1761504563.032 [DAT](INFO): DAT read: 

2025-10-26T18:49:23.033Z,1761504563.033 [DAT](INFO): DAT read: user:1>

2025-10-26T18:49:23.033Z,1761504563.033 [DAT](INFO): setting verbose to 3
2025-10-26T18:49:23.284Z,1761504563.284 [DAT](INFO): DAT read: user:1>

2025-10-26T18:49:23.285Z,1761504563.285 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:49:23.285Z,1761504563.285 [DAT](INFO): set verbose to 3
2025-10-26T18:49:23.286Z,1761504563.286 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:49:23.450Z,1761504563.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987011,-0.056232,0.150489],[-0.008453,-0.917265,-0.398188],[0.160430,-0.394288,0.904876]]
2025-10-26T18:49:23.536Z,1761504563.536 [DAT](INFO): DAT read: user:2>

2025-10-26T18:49:23.537Z,1761504563.537 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:49:23.537Z,1761504563.537 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:49:23.538Z,1761504563.538 [DAT](INFO): setting transmit power to 8
2025-10-26T18:49:23.788Z,1761504563.788 [DAT](INFO): DAT read: user:3>

2025-10-26T18:49:23.789Z,1761504563.789 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:49:23.789Z,1761504563.789 [DAT](INFO): set transmit power to 8
2025-10-26T18:49:23.790Z,1761504563.790 [DAT](INFO): setting local address to 11
2025-10-26T18:49:23.867Z,1761504563.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985624,-0.081618,0.147932],[0.010636,-0.903812,-0.427797],[0.168619,-0.420074,0.891687]]
2025-10-26T18:49:24.040Z,1761504564.040 [DAT](INFO): DAT read: user:4>

2025-10-26T18:49:24.041Z,1761504564.041 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:49:24.042Z,1761504564.042 [DAT](INFO): set local address to 11
2025-10-26T18:49:24.043Z,1761504564.043 [DAT](INFO): Setting time to: 18:49:24 And date to:10/26/2025
2025-10-26T18:49:24.252Z,1761504564.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984085,-0.104447,0.143762],[0.028909,-0.892345,-0.450427],[0.175332,-0.439102,0.881163]]
2025-10-26T18:49:24.308Z,1761504564.308 [DAT](INFO): DAT read: user:5>

2025-10-26T18:49:24.309Z,1761504564.309 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:49:24  

2025-10-26T18:49:24.309Z,1761504564.309 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:49:24  

2025-10-26T18:49:24.310Z,1761504564.310 [DAT](INFO): setting remote address to 6
2025-10-26T18:49:24.310Z,1761504564.310 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:49:24.311Z,1761504564.311 [DAT](INFO): setting remote address to 0
2025-10-26T18:49:24.560Z,1761504564.560 [DAT](INFO): DAT read: user:6>

2025-10-26T18:49:24.561Z,1761504564.561 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:49:24.562Z,1761504564.562 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:49:24.562Z,1761504564.562 [DAT] Communications Fault, FailCount= 3
2025-10-26T18:49:24.562Z,1761504564.562 [DAT](ERROR): Communications Fault
2025-10-26T18:49:24.563Z,1761504564.563 [DAT](INFO): DAT read: user:7>

2025-10-26T18:49:24.564Z,1761504564.564 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:49:24.564Z,1761504564.564 [DAT](INFO): set remote address to 0
2025-10-26T18:49:24.564Z,1761504564.564 [DAT](INFO): setting remote address to 6
2025-10-26T18:49:24.565Z,1761504564.565 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:49:24.565Z,1761504564.565 [DAT](INFO): setting remote address to 0
2025-10-26T18:49:24.658Z,1761504564.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982413,-0.124764,0.138917],[0.046517,-0.884071,-0.465032],[0.180832,-0.450391,0.874327]]
2025-10-26T18:49:24.968Z,1761504564.968 [DAT](INFO): Powering down
2025-10-26T18:49:25.091Z,1761504565.091 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:49:25.119Z,1761504565.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978923,-0.158737,0.128499],[0.080992,-0.879340,-0.469255],[0.187483,-0.448958,0.873663]]
2025-10-26T18:49:25.518Z,1761504565.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977129,-0.173179,0.123399],[0.097889,-0.881485,-0.461954],[0.188775,-0.439310,0.878277]]
2025-10-26T18:49:25.924Z,1761504565.924 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:49:25.925Z,1761504565.925 [DAT] No Fault, FailCount= 3
2025-10-26T18:49:25.954Z,1761504565.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975398,-0.185766,0.118702],[0.113610,-0.885018,-0.451482],[0.188924,-0.426888,0.884349]]
2025-10-26T18:49:26.354Z,1761504566.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973898,-0.195412,0.115488],[0.125990,-0.888584,-0.441073],[0.188812,-0.415010,0.890009]]
2025-10-26T18:49:26.758Z,1761504566.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972898,-0.199984,0.116089],[0.131673,-0.891818,-0.432808],[0.190085,-0.405792,0.893980]]
2025-10-26T18:49:27.163Z,1761504567.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971738,-0.204072,0.118660],[0.135873,-0.894567,-0.425780],[0.193039,-0.397624,0.897012]]
2025-10-26T18:49:27.569Z,1761504567.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969910,-0.212196,0.119363],[0.144032,-0.895375,-0.421377],[0.196289,-0.391506,0.898996]]
2025-10-26T18:49:27.970Z,1761504567.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967555,-0.223321,0.118170],[0.155245,-0.894480,-0.419290],[0.199337,-0.387341,0.900129]]
2025-10-26T18:49:28.013Z,1761504568.013 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:49:28.013Z,1761504568.013 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:49:28.013Z,1761504568.013 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:49:28.013Z,1761504568.013 [marl:UpdateRudder:A] Stopped
2025-10-26T18:49:28.014Z,1761504568.014 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:49:28.020Z,1761504568.020 [DAT](INFO): Powering up
2025-10-26T18:49:28.020Z,1761504568.020 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:49:28.374Z,1761504568.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964604,-0.236739,0.116161],[0.168486,-0.892157,-0.419128],[0.202858,-0.384721,0.900466]]
2025-10-26T18:49:28.398Z,1761504568.398 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:49:28.398Z,1761504568.398 [marl:UpdateRudder:B] Stopped
2025-10-26T18:49:28.398Z,1761504568.398 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:49:28.398Z,1761504568.398 [marl:UpdateRudder] Stopped
2025-10-26T18:49:28.398Z,1761504568.398 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:49:28.788Z,1761504568.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961053,-0.252235,0.112935],[0.183650,-0.888253,-0.421045],[0.206517,-0.383906,0.899982]]
2025-10-26T18:49:28.879Z,1761504568.879 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:49:28.879Z,1761504568.879 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:49:28.879Z,1761504568.879 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:49:28.891Z,1761504568.891 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateCommandMode] Stopped
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:49:28.892Z,1761504568.892 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:49:28.893Z,1761504568.893 [marl:UpdateSpeed] Stopped
2025-10-26T18:49:28.893Z,1761504568.893 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:49:29.590Z,1761504569.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951932,-0.288539,0.102813],[0.218821,-0.875465,-0.430903],[0.214342,-0.387693,0.896522]]
2025-10-26T18:49:30.038Z,1761504570.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946324,-0.308710,0.095753],[0.238424,-0.866744,-0.438074],[0.218231,-0.391731,0.893825]]
2025-10-26T18:49:30.438Z,1761504570.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940039,-0.329458,0.088233],[0.258826,-0.857556,-0.444529],[0.222118,-0.395038,0.891408]]
2025-10-26T18:49:30.912Z,1761504570.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933228,-0.350267,0.079996],[0.279696,-0.848014,-0.450157],[0.225513,-0.397725,0.889359]]
2025-10-26T18:49:31.702Z,1761504571.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917866,-0.392086,0.061577],[0.322712,-0.827594,-0.459288],[0.231041,-0.401693,0.886151]]
2025-10-26T18:49:32.105Z,1761504572.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909272,-0.412986,0.051644],[0.344978,-0.817262,-0.461599],[0.232841,-0.401903,0.885584]]
2025-10-26T18:49:32.528Z,1761504572.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900468,-0.432909,0.041805],[0.366873,-0.807682,-0.461578],[0.233586,-0.400299,0.886114]]
2025-10-26T18:49:32.935Z,1761504572.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891575,-0.451755,0.031797],[0.388234,-0.798584,-0.459932],[0.233169,-0.397719,0.887385]]
2025-10-26T18:49:33.380Z,1761504573.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882857,-0.469189,0.020609],[0.409010,-0.789706,-0.457248],[0.230810,-0.395255,0.889101]]
2025-10-26T18:49:33.814Z,1761504573.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874607,-0.484727,0.010099],[0.428517,-0.782595,-0.451573],[0.226793,-0.390621,0.892177]]
2025-10-26T18:49:34.220Z,1761504574.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867724,-0.497044,0.001716],[0.444290,-0.777167,-0.445665],[0.222849,-0.385951,0.895198]]
2025-10-26T18:49:34.631Z,1761504574.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861884,-0.507081,-0.005021],[0.456994,-0.772383,-0.441114],[0.219802,-0.382483,0.897437]]
2025-10-26T18:49:34.900Z,1761504574.900 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:49:34.901Z,1761504574.901 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:49:35.026Z,1761504575.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856088,-0.516729,-0.010202],[0.468939,-0.768309,-0.435657],[0.217278,-0.377745,0.900055]]
2025-10-26T18:49:35.430Z,1761504575.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849405,-0.527499,-0.015984],[0.481942,-0.762994,-0.430782],[0.215041,-0.373612,0.902314]]
2025-10-26T18:49:35.836Z,1761504575.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841901,-0.539170,-0.022317],[0.495684,-0.756328,-0.426926],[0.213307,-0.370492,0.904011]]
2025-10-26T18:49:36.240Z,1761504576.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833438,-0.551854,-0.028934],[0.510240,-0.748372,-0.423786],[0.212215,-0.367963,0.905300]]
2025-10-26T18:49:36.645Z,1761504576.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824085,-0.565310,-0.036178],[0.525359,-0.738835,-0.422043],[0.211856,-0.366806,0.905854]]
2025-10-26T18:49:37.046Z,1761504577.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813288,-0.580238,-0.043419],[0.542016,-0.728346,-0.419203],[0.211614,-0.364466,0.906854]]
2025-10-26T18:49:37.450Z,1761504577.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801240,-0.596074,-0.052053],[0.559874,-0.716195,-0.416661],[0.211081,-0.362989,0.907570]]
2025-10-26T18:49:37.857Z,1761504577.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788830,-0.611522,-0.061550],[0.577458,-0.703126,-0.414917],[0.210453,-0.362841,0.907775]]
2025-10-26T18:49:38.258Z,1761504578.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776404,-0.626235,-0.070899],[0.594221,-0.689906,-0.413438],[0.209996,-0.363125,0.907768]]
2025-10-26T18:49:38.665Z,1761504578.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763871,-0.640424,-0.079746],[0.610317,-0.676677,-0.411850],[0.209796,-0.363270,0.907755]]
2025-10-26T18:49:39.066Z,1761504579.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751317,-0.653938,-0.088818],[0.625921,-0.663449,-0.409949],[0.209155,-0.363594,0.907774]]
2025-10-26T18:49:39.471Z,1761504579.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738618,-0.667006,-0.097707],[0.641233,-0.650441,-0.407120],[0.207999,-0.363359,0.908134]]
2025-10-26T18:49:39.612Z,1761504579.612 [DAT](INFO): DAT read: 

2025-10-26T18:49:39.613Z,1761504579.613 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:49:39.884Z,1761504579.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725773,-0.679531,-0.107193],[0.656385,-0.637385,-0.403608],[0.205941,-0.363288,0.908631]]
2025-10-26T18:49:40.278Z,1761504580.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713037,-0.691461,-0.116016],[0.671053,-0.625103,-0.398666],[0.203140,-0.362116,0.909728]]
2025-10-26T18:49:40.682Z,1761504580.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700604,-0.702499,-0.125101],[0.684989,-0.613037,-0.393669],[0.199860,-0.361499,0.910700]]
2025-10-26T18:49:41.124Z,1761504581.124 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:49:41.126Z,1761504581.126 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:49:41.126Z,1761504581.126 [DAT](INFO): DAT read: Oct 26 2025 18:49:36 

2025-10-26T18:49:41.166Z,1761504581.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679245,-0.719844,-0.143007],[0.707880,-0.591157,-0.386573],[0.193733,-0.363810,0.911104]]
2025-10-26T18:49:41.223Z,1761504581.223 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:49:41.224Z,1761504581.224 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:49:41.224Z,1761504581.224 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:49:41.224Z,1761504581.224 [marl:UpdateRudder:A] Stopped
2025-10-26T18:49:41.224Z,1761504581.224 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:49:41.539Z,1761504581.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670567,-0.726184,-0.151647],[0.716889,-0.581743,-0.384246],[0.190814,-0.366377,0.910691]]
2025-10-26T18:49:41.585Z,1761504581.585 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:49:41.585Z,1761504581.585 [marl:UpdateRudder:B] Stopped
2025-10-26T18:49:41.585Z,1761504581.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:49:41.585Z,1761504581.585 [marl:UpdateRudder] Stopped
2025-10-26T18:49:41.585Z,1761504581.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:49:41.985Z,1761504581.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661534,-0.732446,-0.160921],[0.726276,-0.572303,-0.380779],[0.186805,-0.368771,0.910556]]
2025-10-26T18:49:42.036Z,1761504582.036 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateCommandMode] Stopped
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:49:42.037Z,1761504582.037 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:49:42.038Z,1761504582.038 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:49:42.038Z,1761504582.038 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:49:42.038Z,1761504582.038 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:49:42.038Z,1761504582.038 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:49:42.038Z,1761504582.038 [marl:UpdateSpeed] Stopped
2025-10-26T18:49:42.038Z,1761504582.038 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:49:42.132Z,1761504582.132 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:49:42.134Z,1761504582.134 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:49:42.134Z,1761504582.134 [DAT](INFO): commRate: 600
2025-10-26T18:49:42.378Z,1761504582.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652314,-0.738457,-0.170787],[0.735705,-0.562699,-0.376971],[0.182275,-0.371553,0.910343]]
2025-10-26T18:49:42.774Z,1761504582.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641712,-0.745450,-0.180305],[0.745960,-0.552040,-0.372554],[0.178185,-0.373573,0.910326]]
2025-10-26T18:49:43.180Z,1761504583.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627623,-0.754078,-0.193536],[0.758460,-0.536191,-0.370456],[0.175580,-0.379296,0.908464]]
2025-10-26T18:49:43.246Z,1761504583.246 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:49:43.582Z,1761504583.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609550,-0.764208,-0.210798],[0.773125,-0.514264,-0.371228],[0.175289,-0.389255,0.904298]]
2025-10-26T18:49:43.986Z,1761504583.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588335,-0.775479,-0.229116],[0.789003,-0.488509,-0.372604],[0.177021,-0.399989,0.899262]]
2025-10-26T18:49:44.199Z,1761504584.199 [DAT](INFO): entering command mode
2025-10-26T18:49:44.393Z,1761504584.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564826,-0.787216,-0.247515],[0.805320,-0.460376,-0.373514],[0.180086,-0.410299,0.893993]]
2025-10-26T18:49:44.400Z,1761504584.400 [DAT](INFO): DAT read: 

2025-10-26T18:49:44.401Z,1761504584.401 [DAT](INFO): DAT read: user:1>

2025-10-26T18:49:44.401Z,1761504584.401 [DAT](INFO): setting verbose to 3
2025-10-26T18:49:44.652Z,1761504584.652 [DAT](INFO): DAT read: user:1>

2025-10-26T18:49:44.653Z,1761504584.653 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:49:44.654Z,1761504584.654 [DAT](INFO): set verbose to 3
2025-10-26T18:49:44.654Z,1761504584.654 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:49:44.800Z,1761504584.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538928,-0.799506,-0.265231],[0.822083,-0.430549,-0.372570],[0.183677,-0.418830,0.889294]]
2025-10-26T18:49:44.904Z,1761504584.904 [DAT](INFO): DAT read: user:2>

2025-10-26T18:49:44.905Z,1761504584.905 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:49:44.906Z,1761504584.906 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:49:44.906Z,1761504584.906 [DAT](INFO): setting transmit power to 8
2025-10-26T18:49:45.156Z,1761504585.156 [DAT](INFO): DAT read: user:3>

2025-10-26T18:49:45.157Z,1761504585.157 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:49:45.157Z,1761504585.157 [DAT](INFO): set transmit power to 8
2025-10-26T18:49:45.158Z,1761504585.158 [DAT](INFO): setting local address to 11
2025-10-26T18:49:45.198Z,1761504585.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510456,-0.812133,-0.282620],[0.839371,-0.399194,-0.368917],[0.186790,-0.425539,0.885452]]
2025-10-26T18:49:45.408Z,1761504585.408 [DAT](INFO): DAT read: user:4>

2025-10-26T18:49:45.409Z,1761504585.409 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:49:45.409Z,1761504585.409 [DAT](INFO): set local address to 11
2025-10-26T18:49:45.410Z,1761504585.410 [DAT](INFO): Setting time to: 18:49:45 And date to:10/26/2025
2025-10-26T18:49:45.602Z,1761504585.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478567,-0.825648,-0.298796],[0.857514,-0.366310,-0.361230],[0.188797,-0.429094,0.883308]]
2025-10-26T18:49:45.660Z,1761504585.660 [DAT](INFO): DAT read: user:5>

2025-10-26T18:49:45.661Z,1761504585.661 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:49:45  

2025-10-26T18:49:45.661Z,1761504585.661 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:49:45  

2025-10-26T18:49:45.662Z,1761504585.662 [DAT](INFO): setting remote address to 6
2025-10-26T18:49:45.662Z,1761504585.662 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:49:45.663Z,1761504585.663 [DAT](INFO): setting remote address to 0
2025-10-26T18:49:45.912Z,1761504585.912 [DAT](INFO): DAT read: user:6>

2025-10-26T18:49:45.913Z,1761504585.913 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:49:45.914Z,1761504585.914 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:49:45.914Z,1761504585.914 [DAT] Communications Fault, FailCount= 4
2025-10-26T18:49:45.914Z,1761504585.914 [DAT](ERROR): Communications Fault
2025-10-26T18:49:45.915Z,1761504585.915 [DAT](INFO): DAT read: user:7>

2025-10-26T18:49:45.916Z,1761504585.916 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:49:45.916Z,1761504585.916 [DAT](INFO): set remote address to 0
2025-10-26T18:49:45.916Z,1761504585.916 [DAT](INFO): setting remote address to 6
2025-10-26T18:49:45.917Z,1761504585.917 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:49:45.917Z,1761504585.917 [DAT](INFO): setting remote address to 0
2025-10-26T18:49:46.010Z,1761504586.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444276,-0.838128,-0.316479],[0.875495,-0.331224,-0.351852],[0.190072,-0.433395,0.880932]]
2025-10-26T18:49:46.303Z,1761504586.303 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:49:46.320Z,1761504586.320 [DAT](INFO): Powering down
2025-10-26T18:49:46.411Z,1761504586.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408464,-0.848636,-0.336117],[0.892633,-0.294453,-0.341326],[0.190691,-0.439449,0.877794]]
2025-10-26T18:49:46.842Z,1761504586.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371459,-0.858008,-0.354740],[0.908688,-0.257560,-0.328555],[0.190536,-0.444393,0.875335]]
2025-10-26T18:49:47.287Z,1761504587.287 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:49:47.287Z,1761504587.287 [DAT] No Fault, FailCount= 4
2025-10-26T18:49:47.310Z,1761504587.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333845,-0.866594,-0.370895],[0.923388,-0.221559,-0.313476],[0.189481,-0.447132,0.874168]]
2025-10-26T18:49:47.716Z,1761504587.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296185,-0.873951,-0.385337],[0.936575,-0.186609,-0.296655],[0.187355,-0.448762,0.873791]]
2025-10-26T18:49:48.153Z,1761504588.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258924,-0.881688,-0.394442],[0.948130,-0.154035,-0.278070],[0.184413,-0.445981,0.875838]]
2025-10-26T18:49:48.156Z,1761504588.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:49:48.580Z,1761504588.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222365,-0.889482,-0.399219],[0.958072,-0.123464,-0.258563],[0.180698,-0.439976,0.879642]]
2025-10-26T18:49:49.008Z,1761504589.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186216,-0.898297,-0.397978],[0.966529,-0.094728,-0.238431],[0.176482,-0.429057,0.885869]]
2025-10-26T18:49:49.160Z,1761504589.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:49:49.364Z,1761504589.364 [DAT](INFO): Powering up
2025-10-26T18:49:49.364Z,1761504589.364 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:49:49.384Z,1761504589.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150022,-0.907664,-0.391968],[0.973631,-0.066717,-0.218155],[0.171860,-0.414361,0.893739]]
2025-10-26T18:49:49.786Z,1761504589.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114117,-0.915228,-0.386439],[0.979323,-0.038228,-0.198659],[0.167045,-0.401119,0.900666]]
2025-10-26T18:49:50.191Z,1761504590.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078609,-0.920548,-0.382638],[0.983588,-0.009090,-0.180198],[0.162403,-0.390523,0.906155]]
2025-10-26T18:49:50.998Z,1761504590.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006155,-0.921800,-0.387616],[0.988210,0.053692,-0.143378],[0.152978,-0.383929,0.910602]]
2025-10-26T18:49:51.402Z,1761504591.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030817,-0.920120,-0.390422],[0.988420,0.086117,-0.124936],[0.148578,-0.382051,0.912119]]
2025-10-26T18:49:51.812Z,1761504591.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068893,-0.915489,-0.396400],[0.987186,0.119886,-0.105309],[0.143933,-0.384066,0.912018]]
2025-10-26T18:49:52.240Z,1761504592.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107359,-0.910346,-0.399680],[0.984327,0.153894,-0.086119],[0.139906,-0.384170,0.912600]]
2025-10-26T18:49:52.614Z,1761504592.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146416,-0.905225,-0.398910],[0.979846,0.188106,-0.067214],[0.135881,-0.381029,0.914523]]
2025-10-26T18:49:53.018Z,1761504593.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185690,-0.898339,-0.398128],[0.973727,0.222585,-0.048088],[0.131817,-0.378739,0.916068]]
2025-10-26T18:49:53.831Z,1761504593.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262651,-0.877335,-0.401619],[0.956948,0.290148,-0.008002],[0.123549,-0.382227,0.915772]]
2025-10-26T18:49:54.230Z,1761504594.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300333,-0.863892,-0.404340],[0.946363,0.322838,0.013174],[0.119155,-0.386609,0.914514]]
2025-10-26T18:49:54.288Z,1761504594.288 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:49:54.288Z,1761504594.288 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:49:54.289Z,1761504594.289 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:49:54.289Z,1761504594.289 [marl:UpdateRudder:A] Stopped
2025-10-26T18:49:54.289Z,1761504594.289 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:49:54.634Z,1761504594.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337252,-0.850098,-0.404469],[0.934415,0.354568,0.033912],[0.114583,-0.389379,0.913923]]
2025-10-26T18:49:54.659Z,1761504594.659 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:49:54.659Z,1761504594.659 [marl:UpdateRudder:B] Stopped
2025-10-26T18:49:54.659Z,1761504594.659 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:49:54.659Z,1761504594.659 [marl:UpdateRudder] Stopped
2025-10-26T18:49:54.659Z,1761504594.659 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:49:55.044Z,1761504595.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373076,-0.836727,-0.400876],[0.921274,0.385248,0.053277],[0.109859,-0.389193,0.914582]]
2025-10-26T18:49:55.110Z,1761504595.110 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:49:55.110Z,1761504595.110 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:49:55.110Z,1761504595.110 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:49:55.110Z,1761504595.110 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:49:55.110Z,1761504595.110 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:49:55.110Z,1761504595.110 [marl:UpdateCommandMode] Stopped
2025-10-26T18:49:55.111Z,1761504595.111 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:49:55.111Z,1761504595.111 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:49:55.111Z,1761504595.111 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:49:55.111Z,1761504595.111 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:49:55.115Z,1761504595.115 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:49:55.115Z,1761504595.115 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:49:55.116Z,1761504595.116 [marl:UpdateSpeed] Stopped
2025-10-26T18:49:55.116Z,1761504595.116 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:49:55.443Z,1761504595.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407431,-0.821850,-0.398199],[0.907161,0.414430,0.072843],[0.105160,-0.390910,0.914402]]
2025-10-26T18:49:55.852Z,1761504595.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439775,-0.807737,-0.392631],[0.892442,0.442056,0.090183],[0.100721,-0.390061,0.915264]]
2025-10-26T18:49:56.250Z,1761504596.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470688,-0.793709,-0.385329],[0.876979,0.468763,0.105681],[0.096748,-0.387668,0.916708]]
2025-10-26T18:49:56.654Z,1761504596.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500089,-0.779105,-0.378029],[0.860964,0.494209,0.120409],[0.093014,-0.385684,0.917930]]
2025-10-26T18:49:57.058Z,1761504597.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527971,-0.764482,-0.369883],[0.844511,0.518613,0.133575],[0.089710,-0.382894,0.919426]]
2025-10-26T18:49:57.462Z,1761504597.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554860,-0.749119,-0.361872],[0.827464,0.542010,0.146726],[0.086223,-0.380848,0.920609]]
2025-10-26T18:49:57.866Z,1761504597.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581191,-0.732941,-0.353574],[0.809556,0.564901,0.159705],[0.082680,-0.379058,0.921672]]
2025-10-26T18:49:58.271Z,1761504598.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606580,-0.715635,-0.346306],[0.791045,0.586797,0.172967],[0.079430,-0.378862,0.922038]]
2025-10-26T18:49:58.674Z,1761504598.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631049,-0.697594,-0.339321],[0.771985,0.607729,0.186291],[0.076260,-0.379510,0.922039]]
2025-10-26T18:49:59.078Z,1761504599.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654627,-0.678330,-0.333666],[0.752396,0.627409,0.200646],[0.073241,-0.382397,0.921091]]
2025-10-26T18:49:59.482Z,1761504599.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677323,-0.659011,-0.327015],[0.732311,0.646478,0.213981],[0.070393,-0.384411,0.920474]]
2025-10-26T18:49:59.893Z,1761504599.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699045,-0.638350,-0.322249],[0.711858,0.663946,0.228985],[0.067784,-0.389466,0.918543]]
2025-10-26T18:50:00.696Z,1761504600.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739806,-0.597664,-0.309006],[0.669785,0.697777,0.253958],[0.063836,-0.394847,0.916526]]
2025-10-26T18:50:00.956Z,1761504600.956 [DAT](INFO): DAT read: 

2025-10-26T18:50:00.957Z,1761504600.957 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:50:01.098Z,1761504601.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759374,-0.577298,-0.300130],[0.647644,0.714965,0.263407],[0.062518,-0.394402,0.916809]]
2025-10-26T18:50:01.502Z,1761504601.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778565,-0.556253,-0.290550],[0.624519,0.732304,0.271490],[0.061754,-0.392827,0.917537]]
2025-10-26T18:50:01.907Z,1761504601.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797552,-0.534505,-0.279669],[0.600145,0.750005,0.278062],[0.061128,-0.389611,0.918949]]
2025-10-26T18:50:02.322Z,1761504602.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816324,-0.510609,-0.269988],[0.574373,0.766929,0.286210],[0.060921,-0.388714,0.919342]]
2025-10-26T18:50:02.468Z,1761504602.468 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:50:02.469Z,1761504602.469 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:50:02.470Z,1761504602.470 [DAT](INFO): DAT read: Oct 26 2025 18:49:57 

2025-10-26T18:50:02.721Z,1761504602.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834805,-0.485410,-0.259767],[0.547185,0.783602,0.294205],[0.060744,-0.387744,0.919764]]
2025-10-26T18:50:03.118Z,1761504603.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853041,-0.459503,-0.247342],[0.518298,0.801186,0.299113],[0.060723,-0.383352,0.921604]]
2025-10-26T18:50:03.477Z,1761504603.477 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:50:03.478Z,1761504603.478 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:50:03.478Z,1761504603.478 [DAT](INFO): commRate: 600
2025-10-26T18:50:03.530Z,1761504603.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870531,-0.432042,-0.235618],[0.488375,0.817366,0.305619],[0.060545,-0.381120,0.922541]]
2025-10-26T18:50:03.926Z,1761504603.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887513,-0.403733,-0.222081],[0.456854,0.833801,0.309937],[0.060040,-0.376532,0.924456]]
2025-10-26T18:50:04.332Z,1761504604.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903406,-0.374918,-0.208073],[0.424677,0.849357,0.313435],[0.059216,-0.371522,0.926534]]
2025-10-26T18:50:04.738Z,1761504604.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918329,-0.344606,-0.194726],[0.391580,0.862748,0.319891],[0.057763,-0.370016,0.927228]]
2025-10-26T18:50:05.140Z,1761504605.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931999,-0.313279,-0.182303],[0.358080,0.873761,0.329119],[0.056183,-0.372018,0.926524]]
2025-10-26T18:50:05.543Z,1761504605.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944499,-0.281490,-0.169364],[0.323959,0.883631,0.338004],[0.054510,-0.374111,0.925780]]
2025-10-26T18:50:05.544Z,1761504605.544 [DAT](INFO): entering command mode
2025-10-26T18:50:05.744Z,1761504605.744 [DAT](INFO): DAT read: 

2025-10-26T18:50:05.745Z,1761504605.745 [DAT](INFO): DAT read: user:1>

2025-10-26T18:50:05.745Z,1761504605.745 [DAT](INFO): setting verbose to 3
2025-10-26T18:50:05.951Z,1761504605.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955650,-0.249769,-0.156039],[0.289703,0.892554,0.345571],[0.052961,-0.375450,0.925329]]
2025-10-26T18:50:05.996Z,1761504605.996 [DAT](INFO): DAT read: user:1>

2025-10-26T18:50:05.997Z,1761504605.997 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:50:05.998Z,1761504605.998 [DAT](INFO): set verbose to 3
2025-10-26T18:50:05.998Z,1761504605.998 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:50:06.248Z,1761504606.248 [DAT](INFO): DAT read: user:2>

2025-10-26T18:50:06.249Z,1761504606.249 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:50:06.249Z,1761504606.249 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:50:06.250Z,1761504606.250 [DAT](INFO): setting transmit power to 8
2025-10-26T18:50:06.357Z,1761504606.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973879,-0.185866,-0.130434],[0.221559,0.903586,0.366666],[0.049708,-0.385988,0.921164]]
2025-10-26T18:50:06.500Z,1761504606.500 [DAT](INFO): DAT read: user:3>

2025-10-26T18:50:06.501Z,1761504606.501 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:50:06.501Z,1761504606.501 [DAT](INFO): set transmit power to 8
2025-10-26T18:50:06.502Z,1761504606.502 [DAT](INFO): setting local address to 11
2025-10-26T18:50:06.752Z,1761504606.752 [DAT](INFO): DAT read: user:4>

2025-10-26T18:50:06.753Z,1761504606.753 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:50:06.754Z,1761504606.754 [DAT](INFO): set local address to 11
2025-10-26T18:50:06.754Z,1761504606.754 [DAT](INFO): Setting time to: 18:50:6 And date to:10/26/2025
2025-10-26T18:50:06.797Z,1761504606.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980949,-0.155353,-0.116637],[0.188184,0.908948,0.372021],[0.048223,-0.386883,0.920867]]
2025-10-26T18:50:07.004Z,1761504607.004 [DAT](INFO): DAT read: user:5>

2025-10-26T18:50:07.005Z,1761504607.005 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:50:06  

2025-10-26T18:50:07.005Z,1761504607.005 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:50:06  

2025-10-26T18:50:07.006Z,1761504607.006 [DAT](INFO): setting remote address to 6
2025-10-26T18:50:07.006Z,1761504607.006 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:50:07.007Z,1761504607.007 [DAT](INFO): setting remote address to 0
2025-10-26T18:50:07.159Z,1761504607.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986669,-0.125919,-0.103096],[0.155892,0.913142,0.376655],[0.046713,-0.387705,0.920599]]
2025-10-26T18:50:07.256Z,1761504607.256 [DAT](INFO): DAT read: user:6>

2025-10-26T18:50:07.257Z,1761504607.257 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:50:07.258Z,1761504607.258 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:50:07.258Z,1761504607.258 [DAT] Communications Fault, FailCount= 5
2025-10-26T18:50:07.258Z,1761504607.258 [DAT](ERROR): Communications Fault
2025-10-26T18:50:07.259Z,1761504607.259 [DAT](INFO): DAT read: user:7>

2025-10-26T18:50:07.260Z,1761504607.260 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:50:07.260Z,1761504607.260 [DAT](INFO): set remote address to 0
2025-10-26T18:50:07.260Z,1761504607.260 [DAT](INFO): setting remote address to 6
2025-10-26T18:50:07.262Z,1761504607.262 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:50:07.264Z,1761504607.264 [DAT](INFO): setting remote address to 0
2025-10-26T18:50:07.273Z,1761504607.273 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:50:07.273Z,1761504607.273 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:50:07.273Z,1761504607.273 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:50:07.274Z,1761504607.274 [marl:UpdateRudder:A] Stopped
2025-10-26T18:50:07.274Z,1761504607.274 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:50:07.535Z,1761504607.535 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:50:07.561Z,1761504607.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991071,-0.098242,-0.090151],[0.125323,0.917191,0.378225],[0.045528,-0.386146,0.921313]]
2025-10-26T18:50:07.624Z,1761504607.624 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T18:50:07.624Z,1761504607.624 [marl:UpdateRudder:B] Stopped
2025-10-26T18:50:07.624Z,1761504607.624 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:50:07.624Z,1761504607.624 [marl:UpdateRudder] Stopped
2025-10-26T18:50:07.625Z,1761504607.625 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:50:07.668Z,1761504607.668 [DAT](INFO): Powering down
2025-10-26T18:50:07.962Z,1761504607.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994424,-0.071090,-0.077892],[0.095634,0.919198,0.382006],[0.044442,-0.387325,0.920871]]
2025-10-26T18:50:07.986Z,1761504607.986 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:50:07.986Z,1761504607.986 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:50:07.986Z,1761504607.986 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:50:07.987Z,1761504607.987 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:50:07.987Z,1761504607.987 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:50:07.987Z,1761504607.987 [marl:UpdateCommandMode] Stopped
2025-10-26T18:50:07.987Z,1761504607.987 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:50:08.007Z,1761504608.007 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:50:08.007Z,1761504608.007 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:50:08.008Z,1761504608.008 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:50:08.008Z,1761504608.008 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:50:08.008Z,1761504608.008 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:50:08.008Z,1761504608.008 [marl:UpdateSpeed] Stopped
2025-10-26T18:50:08.008Z,1761504608.008 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:50:08.367Z,1761504608.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996809,-0.044872,-0.066016],[0.066906,0.920728,0.384427],[0.043533,-0.387617,0.920792]]
2025-10-26T18:50:08.655Z,1761504608.655 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:50:08.655Z,1761504608.655 [DAT] No Fault, FailCount= 5
2025-10-26T18:50:08.767Z,1761504608.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998360,-0.018473,-0.054193],[0.038147,0.920444,0.389009],[0.042696,-0.390438,0.919639]]
2025-10-26T18:50:09.170Z,1761504609.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999070,0.007742,-0.042412],[0.009646,0.918664,0.394923],[0.042020,-0.394965,0.917735]]
2025-10-26T18:50:09.574Z,1761504609.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998972,0.033387,-0.030656],[-0.018372,0.916537,0.399527],[0.041437,-0.398553,0.916209]]
2025-10-26T18:50:09.981Z,1761504609.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998129,0.058153,-0.018886],[-0.045528,0.913052,0.405293],[0.040813,-0.403675,0.913992]]
2025-10-26T18:50:10.382Z,1761504610.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996621,0.081906,-0.006198],[-0.071953,0.906930,0.415090],[0.039619,-0.413242,0.909759]]
2025-10-26T18:50:10.720Z,1761504610.720 [DAT](INFO): Powering up
2025-10-26T18:50:10.720Z,1761504610.720 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:50:10.798Z,1761504610.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994429,0.105187,0.006790],[-0.098190,0.900998,0.422566],[0.038331,-0.420879,0.906307]]
2025-10-26T18:50:11.190Z,1761504611.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991547,0.128335,0.019076],[-0.124364,0.898194,0.421641],[0.036977,-0.420449,0.906562]]
2025-10-26T18:50:11.596Z,1761504611.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987727,0.153080,0.031023],[-0.152077,0.897260,0.414483],[0.035613,-0.414114,0.909528]]
2025-10-26T18:50:11.998Z,1761504611.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982625,0.180632,0.042663],[-0.182311,0.896267,0.404312],[0.034794,-0.405065,0.913625]]
2025-10-26T18:50:12.402Z,1761504612.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976078,0.210690,0.053671],[-0.214684,0.894943,0.391138],[0.034377,-0.393303,0.918766]]
2025-10-26T18:50:12.877Z,1761504612.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967865,0.242719,0.065756],[-0.249131,0.889939,0.382024],[0.034206,-0.386130,0.921810]]
2025-10-26T18:50:13.263Z,1761504613.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958170,0.275487,0.077572],[-0.284177,0.883618,0.372106],[0.033967,-0.378585,0.924943]]
2025-10-26T18:50:13.301Z,1761504613.301 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:50:13.698Z,1761504613.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947008,0.308280,0.090223],[-0.319503,0.875117,0.363439],[0.033085,-0.373006,0.927239]]
2025-10-26T18:50:14.102Z,1761504614.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934517,0.340481,0.103684],[-0.354512,0.864589,0.356100],[0.031602,-0.369539,0.928678]]
2025-10-26T18:50:14.503Z,1761504614.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920826,0.371916,0.117298],[-0.388852,0.852852,0.348479],[0.029567,-0.366500,0.929948]]
2025-10-26T18:50:14.906Z,1761504614.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906129,0.401846,0.132097],[-0.422121,0.838893,0.343618],[0.027266,-0.367123,0.929773]]
2025-10-26T18:50:15.310Z,1761504615.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890332,0.430700,0.147672],[-0.454651,0.823505,0.339311],[0.024532,-0.369239,0.929011]]
2025-10-26T18:50:15.721Z,1761504615.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873712,0.458471,0.162582],[-0.485960,0.807731,0.333787],[0.021709,-0.370642,0.928522]]
2025-10-26T18:50:16.123Z,1761504616.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856615,0.485045,0.175901],[-0.515610,0.792290,0.326225],[0.018869,-0.370145,0.928782]]
2025-10-26T18:50:16.524Z,1761504616.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838677,0.510391,0.190056],[-0.544391,0.775303,0.320225],[0.016089,-0.372030,0.928081]]
2025-10-26T18:50:16.926Z,1761504616.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819753,0.535321,0.203562],[-0.572557,0.757592,0.313421],[0.013564,-0.373479,0.927540]]
2025-10-26T18:50:17.330Z,1761504617.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799821,0.559772,0.216660],[-0.600133,0.739007,0.306120],[0.011244,-0.374866,0.927011]]
2025-10-26T18:50:17.739Z,1761504617.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778743,0.583318,0.230864],[-0.627276,0.718661,0.300085],[0.009132,-0.378505,0.925554]]
2025-10-26T18:50:18.138Z,1761504618.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756920,0.606040,0.244514],[-0.653466,0.697675,0.293654],[0.007375,-0.382054,0.924110]]
2025-10-26T18:50:18.543Z,1761504618.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734883,0.627250,0.257883],[-0.678169,0.676387,0.287382],[0.005832,-0.386081,0.922447]]
2025-10-26T18:50:18.946Z,1761504618.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711833,0.647818,0.271340],[-0.702334,0.654017,0.281050],[0.004609,-0.390632,0.920535]]
2025-10-26T18:50:19.292Z,1761504619.292 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:50:19.356Z,1761504619.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688810,0.668012,0.281605],[-0.724933,0.632817,0.272055],[0.003532,-0.391539,0.920155]]
2025-10-26T18:50:19.767Z,1761504619.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666282,0.686877,0.290290],[-0.745695,0.612267,0.262809],[0.002783,-0.391573,0.920143]]
2025-10-26T18:50:20.158Z,1761504620.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643305,0.704227,0.300373],[-0.765607,0.590671,0.254859],[0.002057,-0.393920,0.919143]]
2025-10-26T18:50:20.199Z,1761504620.199 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:50:20.199Z,1761504620.199 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:50:20.199Z,1761504620.199 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:50:20.200Z,1761504620.200 [marl:UpdateRudder:A] Stopped
2025-10-26T18:50:20.200Z,1761504620.200 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:50:20.297Z,1761504620.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:50:20.563Z,1761504620.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620136,0.720867,0.309487],[-0.784493,0.569227,0.246072],[0.001217,-0.395389,0.918513]]
2025-10-26T18:50:20.613Z,1761504620.613 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:50:20.613Z,1761504620.613 [marl:UpdateRudder:B] Stopped
2025-10-26T18:50:20.613Z,1761504620.613 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:50:20.613Z,1761504620.613 [marl:UpdateRudder] Stopped
2025-10-26T18:50:20.613Z,1761504620.613 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode] Stopped
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:50:21.049Z,1761504621.049 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:50:21.050Z,1761504621.050 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:50:21.050Z,1761504621.050 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:50:21.050Z,1761504621.050 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:50:21.050Z,1761504621.050 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:50:21.050Z,1761504621.050 [marl:UpdateSpeed] Stopped
2025-10-26T18:50:21.050Z,1761504621.050 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:50:21.370Z,1761504621.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572353,0.753385,0.323764],[-0.820007,0.526182,0.225215],[-0.000685,-0.394391,0.918943]]
2025-10-26T18:50:21.776Z,1761504621.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547449,0.767875,0.332667],[-0.836836,0.503310,0.215368],[-0.002059,-0.396291,0.918123]]
2025-10-26T18:50:22.178Z,1761504622.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522582,0.783037,0.337284],[-0.852579,0.481877,0.202249],[-0.004161,-0.393253,0.919421]]
2025-10-26T18:50:22.312Z,1761504622.312 [DAT](INFO): DAT read: 

2025-10-26T18:50:22.313Z,1761504622.313 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:50:22.582Z,1761504622.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499284,0.797801,0.337979],[-0.866408,0.463006,0.186985],[-0.007310,-0.386186,0.922392]]
2025-10-26T18:50:22.986Z,1761504622.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477607,0.812502,0.334264],[-0.878504,0.446446,0.170048],[-0.011066,-0.374869,0.927012]]
2025-10-26T18:50:23.390Z,1761504623.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457478,0.825445,0.330687],[-0.889094,0.430884,0.154435],[-0.015011,-0.364662,0.931019]]
2025-10-26T18:50:23.795Z,1761504623.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438259,0.836265,0.329530],[-0.898650,0.415356,0.141092],[-0.018881,-0.357967,0.933543]]
2025-10-26T18:50:23.825Z,1761504623.825 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:50:23.826Z,1761504623.826 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:50:23.826Z,1761504623.826 [DAT](INFO): DAT read: Oct 26 2025 18:50:18 

2025-10-26T18:50:24.199Z,1761504624.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419378,0.845077,0.331612],[-0.907531,0.399357,0.130005],[-0.022568,-0.355469,0.934416]]
2025-10-26T18:50:24.604Z,1761504624.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400565,0.851637,0.338027],[-0.915905,0.382543,0.121566],[-0.025780,-0.358296,0.933252]]
2025-10-26T18:50:24.836Z,1761504624.836 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:50:24.841Z,1761504624.841 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:50:24.842Z,1761504624.842 [DAT](INFO): commRate: 600
2025-10-26T18:50:25.006Z,1761504625.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382374,0.856853,0.345822],[-0.923559,0.366077,0.114137],[-0.028799,-0.363030,0.931332]]
2025-10-26T18:50:25.410Z,1761504625.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363821,0.861825,0.353402],[-0.930941,0.349205,0.106795],[-0.031371,-0.367851,0.929356]]
2025-10-26T18:50:25.815Z,1761504625.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345219,0.866933,0.359515],[-0.937909,0.332521,0.098774],[-0.033916,-0.371291,0.927897]]
2025-10-26T18:50:26.222Z,1761504626.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325819,0.871943,0.365456],[-0.944736,0.315104,0.090463],[-0.036278,-0.374734,0.926422]]
2025-10-26T18:50:26.622Z,1761504626.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305364,0.877216,0.370465],[-0.951452,0.296853,0.081344],[-0.038617,-0.377319,0.925278]]
2025-10-26T18:50:26.904Z,1761504626.904 [DAT](INFO): entering command mode
2025-10-26T18:50:27.026Z,1761504627.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283597,0.882463,0.375276],[-0.958075,0.277393,0.071728],[-0.040802,-0.379884,0.924134]]
2025-10-26T18:50:27.100Z,1761504627.100 [DAT](INFO): DAT read: 

2025-10-26T18:50:27.101Z,1761504627.101 [DAT](INFO): DAT read: user:1>

2025-10-26T18:50:27.101Z,1761504627.101 [DAT](INFO): setting verbose to 3
2025-10-26T18:50:27.352Z,1761504627.352 [DAT](INFO): DAT read: user:1>

2025-10-26T18:50:27.353Z,1761504627.353 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:50:27.353Z,1761504627.353 [DAT](INFO): set verbose to 3
2025-10-26T18:50:27.354Z,1761504627.354 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:50:27.604Z,1761504627.604 [DAT](INFO): DAT read: user:2>

2025-10-26T18:50:27.605Z,1761504627.605 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:50:27.605Z,1761504627.605 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:50:27.606Z,1761504627.606 [DAT](INFO): setting transmit power to 8
2025-10-26T18:50:27.835Z,1761504627.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238400,0.894009,0.379359],[-0.970104,0.237491,0.049963],[-0.045427,-0.379929,0.923899]]
2025-10-26T18:50:27.856Z,1761504627.856 [DAT](INFO): DAT read: user:3>

2025-10-26T18:50:27.857Z,1761504627.857 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:50:27.857Z,1761504627.857 [DAT](INFO): set transmit power to 8
2025-10-26T18:50:27.858Z,1761504627.858 [DAT](INFO): setting local address to 11
2025-10-26T18:50:28.108Z,1761504628.108 [DAT](INFO): DAT read: user:4>

2025-10-26T18:50:28.109Z,1761504628.109 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:50:28.109Z,1761504628.109 [DAT](INFO): set local address to 11
2025-10-26T18:50:28.110Z,1761504628.110 [DAT](INFO): Setting time to: 18:50:28 And date to:10/26/2025
2025-10-26T18:50:28.245Z,1761504628.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215502,0.899937,0.379042],[-0.975350,0.217229,0.038775],[-0.047444,-0.378054,0.924567]]
2025-10-26T18:50:28.360Z,1761504628.360 [DAT](INFO): DAT read: user:5>

2025-10-26T18:50:28.361Z,1761504628.361 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:50:28  

2025-10-26T18:50:28.361Z,1761504628.361 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:50:28  

2025-10-26T18:50:28.362Z,1761504628.362 [DAT](INFO): setting remote address to 6
2025-10-26T18:50:28.362Z,1761504628.362 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:50:28.363Z,1761504628.363 [DAT](INFO): setting remote address to 0
2025-10-26T18:50:28.612Z,1761504628.612 [DAT](INFO): DAT read: user:6>

2025-10-26T18:50:28.613Z,1761504628.613 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:50:28.614Z,1761504628.614 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:50:28.614Z,1761504628.614 [DAT] Communications Fault, FailCount= 6
2025-10-26T18:50:28.614Z,1761504628.614 [DAT](ERROR): Communications Fault
2025-10-26T18:50:28.615Z,1761504628.615 [DAT](INFO): DAT read: user:7>

2025-10-26T18:50:28.616Z,1761504628.616 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:50:28.616Z,1761504628.616 [DAT](INFO): set remote address to 0
2025-10-26T18:50:28.616Z,1761504628.616 [DAT](INFO): setting remote address to 6
2025-10-26T18:50:28.617Z,1761504628.617 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:50:28.617Z,1761504628.617 [DAT](INFO): setting remote address to 0
2025-10-26T18:50:28.643Z,1761504628.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192268,0.905890,0.377356],[-0.980104,0.196576,0.027472],[-0.049292,-0.375130,0.925661]]
2025-10-26T18:50:28.794Z,1761504628.794 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:50:29.024Z,1761504629.024 [DAT](INFO): Powering down
2025-10-26T18:50:29.047Z,1761504629.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169296,0.911531,0.374766],[-0.984258,0.175951,0.016668],[-0.050747,-0.371688,0.926970]]
2025-10-26T18:50:29.450Z,1761504629.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146683,0.916245,0.372800],[-0.987812,0.155515,0.006451],[-0.052065,-0.369203,0.927889]]
2025-10-26T18:50:29.855Z,1761504629.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124730,0.919701,0.372279],[-0.990757,0.135613,-0.003078],[-0.053317,-0.368454,0.928116]]
2025-10-26T18:50:30.147Z,1761504630.147 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:50:30.147Z,1761504630.147 [DAT] No Fault, FailCount= 6
2025-10-26T18:50:30.258Z,1761504630.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103338,0.922234,0.372567],[-0.993152,0.116199,-0.012165],[-0.054510,-0.368759,0.927925]]
2025-10-26T18:50:30.662Z,1761504630.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082685,0.923839,0.373743],[-0.995011,0.097540,-0.020972],[-0.055830,-0.370144,0.927295]]
2025-10-26T18:50:31.067Z,1761504631.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062320,0.924645,0.375697],[-0.996425,0.079154,-0.029523],[-0.057036,-0.372514,0.926272]]
2025-10-26T18:50:31.471Z,1761504631.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042336,0.924389,0.379095],[-0.997398,0.061262,-0.037995],[-0.058346,-0.376500,0.924578]]
2025-10-26T18:50:31.874Z,1761504631.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022005,0.924152,0.381391],[-0.997989,0.042988,-0.046584],[-0.059446,-0.379599,0.923239]]
2025-10-26T18:50:32.068Z,1761504632.068 [DAT](INFO): Powering up
2025-10-26T18:50:32.068Z,1761504632.068 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:50:32.281Z,1761504632.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001520,0.923342,0.383977],[-0.998150,0.024740,-0.055541],[-0.060783,-0.383182,0.921671]]
2025-10-26T18:50:32.682Z,1761504632.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019801,0.922617,0.385208],[-0.997876,0.005676,-0.064890],[-0.062056,-0.385674,0.920546]]
2025-10-26T18:50:33.090Z,1761504633.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041826,0.921257,0.386700],[-0.997126,-0.014017,-0.074457],[-0.063174,-0.388703,0.919195]]
2025-10-26T18:50:33.161Z,1761504633.161 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:50:33.161Z,1761504633.161 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:50:33.161Z,1761504633.161 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:50:33.162Z,1761504633.162 [marl:UpdateRudder:A] Stopped
2025-10-26T18:50:33.162Z,1761504633.162 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:50:33.491Z,1761504633.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064021,0.920350,0.385821],[-0.995879,-0.034036,-0.084061],[-0.064234,-0.389613,0.918736]]
2025-10-26T18:50:33.534Z,1761504633.534 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:50:33.534Z,1761504633.534 [marl:UpdateRudder:B] Stopped
2025-10-26T18:50:33.534Z,1761504633.534 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:50:33.535Z,1761504633.535 [marl:UpdateRudder] Stopped
2025-10-26T18:50:33.535Z,1761504633.535 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:50:33.894Z,1761504633.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085780,0.919447,0.383743],[-0.994184,-0.053820,-0.093284],[-0.065117,-0.389513,0.918716]]
2025-10-26T18:50:33.937Z,1761504633.937 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:50:33.937Z,1761504633.937 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:50:33.937Z,1761504633.937 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:50:33.937Z,1761504633.937 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:50:33.937Z,1761504633.937 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:50:33.937Z,1761504633.937 [marl:UpdateCommandMode] Stopped
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed] Stopped
2025-10-26T18:50:33.938Z,1761504633.938 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:50:34.298Z,1761504634.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106660,0.918516,0.380726],[-0.992099,-0.072874,-0.102122],[-0.066056,-0.388610,0.919032]]
2025-10-26T18:50:34.713Z,1761504634.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126716,0.916530,0.379362],[-0.989686,-0.091057,-0.110587],[-0.066813,-0.389463,0.918616]]
2025-10-26T18:50:35.006Z,1761504635.006 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:50:35.006Z,1761504635.006 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:50:35.117Z,1761504635.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145993,0.914383,0.377612],[-0.986985,-0.108607,-0.118599],[-0.067434,-0.390012,0.918337]]
2025-10-26T18:50:35.511Z,1761504635.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164223,0.911408,0.377313],[-0.984100,-0.125139,-0.126046],[-0.067663,-0.392014,0.917468]]
2025-10-26T18:50:35.914Z,1761504635.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181047,0.907693,0.378569],[-0.981131,-0.140145,-0.133193],[-0.067844,-0.395541,0.915939]]
2025-10-26T18:50:36.318Z,1761504636.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194861,0.905823,0.376184],[-0.978450,-0.152815,-0.138863],[-0.068298,-0.395136,0.916080]]
2025-10-26T18:50:36.730Z,1761504636.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203769,0.906478,0.369832],[-0.976526,-0.161252,-0.142808],[-0.069816,-0.390251,0.918058]]
2025-10-26T18:50:37.129Z,1761504637.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207192,0.912185,0.353538],[-0.975573,-0.165682,-0.144248],[-0.073006,-0.374789,0.924231]]
2025-10-26T18:50:37.530Z,1761504637.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205701,0.919631,0.334613],[-0.975517,-0.165505,-0.144827],[-0.077808,-0.356212,0.931160]]
2025-10-26T18:50:37.934Z,1761504637.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201659,0.928047,0.313150],[-0.975876,-0.163067,-0.145172],[-0.083662,-0.334871,0.938543]]
2025-10-26T18:50:38.339Z,1761504638.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195745,0.935756,0.293334],[-0.976450,-0.158311,-0.146571],[-0.090716,-0.315117,0.944707]]
2025-10-26T18:50:39.212Z,1761504639.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181120,0.954142,0.238345],[-0.976727,-0.146205,-0.156935],[-0.114891,-0.261222,0.958417]]
2025-10-26T18:50:39.594Z,1761504639.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180191,0.959004,0.218730],[-0.975968,-0.146606,-0.161225],[-0.122548,-0.242524,0.962374]]
2025-10-26T18:50:40.000Z,1761504640.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181601,0.962905,0.199586],[-0.974850,-0.149617,-0.165172],[-0.129183,-0.224562,0.965859]]
2025-10-26T18:50:40.404Z,1761504640.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184827,0.965509,0.183389],[-0.973478,-0.154262,-0.168950],[-0.134833,-0.209751,0.968413]]
2025-10-26T18:50:40.813Z,1761504640.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189672,0.967027,0.169951],[-0.971993,-0.160472,-0.171693],[-0.138760,-0.197757,0.970380]]
2025-10-26T18:50:41.216Z,1761504641.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195873,0.967544,0.159661],[-0.970433,-0.167832,-0.173469],[-0.141043,-0.188919,0.971811]]
2025-10-26T18:50:41.612Z,1761504641.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203014,0.967137,0.153073],[-0.968864,-0.175779,-0.174368],[-0.141730,-0.183706,0.972710]]
2025-10-26T18:50:42.014Z,1761504642.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210166,0.966177,0.149436],[-0.967338,-0.183345,-0.175046],[-0.141727,-0.181344,0.973153]]
2025-10-26T18:50:42.418Z,1761504642.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216406,0.964803,0.149410],[-0.965984,-0.189405,-0.176069],[-0.141573,-0.182430,0.972973]]
2025-10-26T18:50:42.869Z,1761504642.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221162,0.963272,0.152299],[-0.964901,-0.193457,-0.177596],[-0.141610,-0.186231,0.972247]]
2025-10-26T18:50:43.233Z,1761504643.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224656,0.962006,0.155161],[-0.964083,-0.196281,-0.178935],[-0.141682,-0.189787,0.971549]]
2025-10-26T18:50:43.630Z,1761504643.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227451,0.960456,0.160592],[-0.963445,-0.197980,-0.180491],[-0.141559,-0.195775,0.970378]]
2025-10-26T18:50:43.669Z,1761504643.669 [DAT](INFO): DAT read: 

2025-10-26T18:50:43.670Z,1761504643.670 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:50:43.716Z,1761504643.716 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:50:44.071Z,1761504644.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230604,0.958817,0.165803],[-0.962773,-0.200136,-0.181698],[-0.141033,-0.201531,0.969276]]
2025-10-26T18:50:44.439Z,1761504644.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234383,0.956634,0.172962],[-0.961962,-0.202543,-0.183320],[-0.140338,-0.209350,0.967718]]
2025-10-26T18:50:44.874Z,1761504644.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239993,0.954432,0.177378],[-0.960747,-0.207320,-0.184347],[-0.139172,-0.214657,0.966723]]
2025-10-26T18:50:44.930Z,1761504644.930 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:50:45.182Z,1761504645.182 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:50:45.183Z,1761504645.183 [DAT](INFO): DAT read: Oct 26 2025 18:50:40 

2025-10-26T18:50:45.246Z,1761504645.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246589,0.951924,0.181752],[-0.959210,-0.212984,-0.185889],[-0.138242,-0.220176,0.965615]]
2025-10-26T18:50:45.650Z,1761504645.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254069,0.949327,0.185007],[-0.957356,-0.219639,-0.187693],[-0.137548,-0.224805,0.964647]]
2025-10-26T18:50:46.054Z,1761504646.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262229,0.947022,0.185433],[-0.955251,-0.227488,-0.189062],[-0.136862,-0.226713,0.964298]]
2025-10-26T18:50:46.085Z,1761504646.085 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:50:46.085Z,1761504646.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:50:46.086Z,1761504646.086 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:50:46.086Z,1761504646.086 [marl:UpdateRudder:A] Stopped
2025-10-26T18:50:46.086Z,1761504646.086 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:50:46.189Z,1761504646.189 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:50:46.191Z,1761504646.191 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:50:46.200Z,1761504646.200 [DAT](INFO): commRate: 600
2025-10-26T18:50:46.458Z,1761504646.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270751,0.944249,0.187319],[-0.953073,-0.235556,-0.190169],[-0.135443,-0.230017,0.963715]]
2025-10-26T18:50:46.493Z,1761504646.493 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:50:46.493Z,1761504646.493 [marl:UpdateRudder:B] Stopped
2025-10-26T18:50:46.493Z,1761504646.493 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:50:46.493Z,1761504646.493 [marl:UpdateRudder] Stopped
2025-10-26T18:50:46.494Z,1761504646.494 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:50:46.881Z,1761504646.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277563,0.941792,0.189701],[-0.951422,-0.242082,-0.190241],[-0.133245,-0.233289,0.963235]]
2025-10-26T18:50:46.952Z,1761504646.952 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateCommandMode] Stopped
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:50:46.953Z,1761504646.953 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:50:46.954Z,1761504646.954 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:50:46.954Z,1761504646.954 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:50:46.954Z,1761504646.954 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:50:46.954Z,1761504646.954 [marl:UpdateSpeed] Stopped
2025-10-26T18:50:46.954Z,1761504646.954 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:50:47.286Z,1761504647.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281463,0.939811,0.193735],[-0.950703,-0.245732,-0.189154],[-0.130163,-0.237425,0.962646]]
2025-10-26T18:50:47.679Z,1761504647.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282617,0.938215,0.199699],[-0.950938,-0.246715,-0.186678],[-0.125875,-0.242660,0.961910]]
2025-10-26T18:50:48.076Z,1761504648.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282083,0.936792,0.207003],[-0.951919,-0.246419,-0.182010],[-0.119496,-0.248392,0.961261]]
2025-10-26T18:50:48.256Z,1761504648.256 [DAT](INFO): entering command mode
2025-10-26T18:50:48.456Z,1761504648.456 [DAT](INFO): DAT read: 

2025-10-26T18:50:48.456Z,1761504648.456 [DAT](INFO): DAT read: user:1>

2025-10-26T18:50:48.457Z,1761504648.457 [DAT](INFO): setting verbose to 3
2025-10-26T18:50:48.478Z,1761504648.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280107,0.935606,0.214898],[-0.953508,-0.245234,-0.175164],[-0.111184,-0.253972,0.960800]]
2025-10-26T18:50:48.709Z,1761504648.709 [DAT](INFO): DAT read: user:1>

2025-10-26T18:50:48.710Z,1761504648.710 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:50:48.710Z,1761504648.710 [DAT](INFO): set verbose to 3
2025-10-26T18:50:48.711Z,1761504648.711 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:50:48.884Z,1761504648.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276904,0.934415,0.224039],[-0.955519,-0.243131,-0.166945],[-0.101525,-0.260301,0.960175]]
2025-10-26T18:50:48.960Z,1761504648.960 [DAT](INFO): DAT read: user:2>

2025-10-26T18:50:48.961Z,1761504648.961 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:50:48.961Z,1761504648.961 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:50:48.962Z,1761504648.962 [DAT](INFO): setting transmit power to 8
2025-10-26T18:50:49.212Z,1761504649.212 [DAT](INFO): DAT read: user:3>

2025-10-26T18:50:49.213Z,1761504649.213 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:50:49.213Z,1761504649.213 [DAT](INFO): set transmit power to 8
2025-10-26T18:50:49.214Z,1761504649.214 [DAT](INFO): setting local address to 11
2025-10-26T18:50:49.286Z,1761504649.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272733,0.933537,0.232650],[-0.957752,-0.240509,-0.157691],[-0.091256,-0.265828,0.959691]]
2025-10-26T18:50:49.464Z,1761504649.464 [DAT](INFO): DAT read: user:4>

2025-10-26T18:50:49.465Z,1761504649.465 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:50:49.465Z,1761504649.465 [DAT](INFO): set local address to 11
2025-10-26T18:50:49.466Z,1761504649.466 [DAT](INFO): Setting time to: 18:50:49 And date to:10/26/2025
2025-10-26T18:50:49.691Z,1761504649.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267402,0.932801,0.241618],[-0.960152,-0.236790,-0.148452],[-0.081263,-0.271686,0.958949]]
2025-10-26T18:50:49.717Z,1761504649.717 [DAT](INFO): DAT read: user:5>

2025-10-26T18:50:49.718Z,1761504649.718 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:50:49  

2025-10-26T18:50:49.718Z,1761504649.718 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:50:49  

2025-10-26T18:50:49.719Z,1761504649.719 [DAT](INFO): setting remote address to 6
2025-10-26T18:50:49.721Z,1761504649.721 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:50:49.722Z,1761504649.722 [DAT](INFO): setting remote address to 0
2025-10-26T18:50:49.968Z,1761504649.968 [DAT](INFO): DAT read: user:6>

2025-10-26T18:50:49.969Z,1761504649.969 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:50:49.970Z,1761504649.970 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:50:49.970Z,1761504649.970 [DAT] Communications Fault, FailCount= 7
2025-10-26T18:50:49.970Z,1761504649.970 [DAT](ERROR): Communications Fault
2025-10-26T18:50:49.971Z,1761504649.971 [DAT](INFO): DAT read: user:7>

2025-10-26T18:50:49.972Z,1761504649.972 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:50:49.972Z,1761504649.972 [DAT](INFO): set remote address to 0
2025-10-26T18:50:49.972Z,1761504649.972 [DAT](INFO): setting remote address to 6
2025-10-26T18:50:49.973Z,1761504649.973 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:50:49.973Z,1761504649.973 [DAT](INFO): setting remote address to 0
2025-10-26T18:50:50.094Z,1761504650.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261430,0.932359,0.249720],[-0.962507,-0.232428,-0.139845],[-0.072344,-0.276917,0.958167]]
2025-10-26T18:50:50.231Z,1761504650.231 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:50:50.376Z,1761504650.376 [DAT](INFO): Powering down
2025-10-26T18:50:50.416Z,1761504650.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:50:50.498Z,1761504650.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254716,0.932883,0.254653],[-0.964811,-0.227392,-0.132034],[-0.065267,-0.279323,0.957976]]
2025-10-26T18:50:50.903Z,1761504650.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247564,0.934047,0.257427],[-0.966972,-0.221567,-0.125991],[-0.060644,-0.280115,0.958049]]
2025-10-26T18:50:51.313Z,1761504651.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239854,0.936054,0.257437],[-0.969057,-0.214924,-0.121395],[-0.058303,-0.278588,0.958639]]
2025-10-26T18:50:51.420Z,1761504651.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:50:51.455Z,1761504651.455 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:50:51.456Z,1761504651.456 [DAT] No Fault, FailCount= 7
2025-10-26T18:50:51.714Z,1761504651.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232017,0.938705,0.254952],[-0.970978,-0.207863,-0.118301],[-0.058054,-0.275000,0.959690]]
2025-10-26T18:50:52.114Z,1761504652.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224077,0.941423,0.252018],[-0.972745,-0.200225,-0.116950],[-0.059639,-0.271355,0.960630]]
2025-10-26T18:50:52.519Z,1761504652.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216931,0.944547,0.246521],[-0.974220,-0.193454,-0.116062],[-0.061936,-0.265343,0.962163]]
2025-10-26T18:50:52.924Z,1761504652.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211927,0.947095,0.241034],[-0.975192,-0.188807,-0.115549],[-0.063927,-0.259543,0.963613]]
2025-10-26T18:50:53.326Z,1761504653.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211436,0.948717,0.235012],[-0.975319,-0.189149,-0.113907],[-0.063613,-0.253295,0.965295]]
2025-10-26T18:50:53.432Z,1761504653.432 [DAT](INFO): Powering up
2025-10-26T18:50:53.433Z,1761504653.433 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:50:53.734Z,1761504653.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214940,0.949291,0.229448],[-0.974726,-0.193863,-0.111027],[-0.060916,-0.247513,0.966968]]
2025-10-26T18:50:54.142Z,1761504654.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219577,0.949612,0.223657],[-0.973901,-0.199851,-0.107598],[-0.057478,-0.241446,0.968711]]
2025-10-26T18:50:54.540Z,1761504654.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223754,0.949392,0.220428],[-0.973155,-0.205121,-0.104377],[-0.053881,-0.237866,0.969802]]
2025-10-26T18:50:55.346Z,1761504655.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231324,0.947880,0.219120],[-0.971797,-0.214521,-0.097935],[-0.045825,-0.235595,0.970770]]
2025-10-26T18:50:55.751Z,1761504655.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234948,0.946710,0.220318],[-0.971121,-0.218941,-0.094813],[-0.041524,-0.236231,0.970809]]
2025-10-26T18:50:56.160Z,1761504656.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239393,0.945146,0.222237],[-0.970216,-0.224136,-0.091892],[-0.037040,-0.237617,0.970653]]
2025-10-26T18:50:56.558Z,1761504656.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244422,0.942781,0.226766],[-0.969108,-0.229555,-0.090187],[-0.032971,-0.241804,0.969765]]
2025-10-26T18:50:56.963Z,1761504656.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250279,0.939939,0.232111],[-0.967743,-0.235718,-0.088948],[-0.028893,-0.246886,0.968614]]
2025-10-26T18:50:57.373Z,1761504657.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256709,0.936790,0.237751],[-0.966165,-0.242370,-0.088217],[-0.025018,-0.252353,0.967312]]
2025-10-26T18:50:57.776Z,1761504657.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262910,0.934033,0.241788],[-0.964597,-0.249071,-0.086695],[-0.020753,-0.256021,0.966448]]
2025-10-26T18:50:58.178Z,1761504658.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268021,0.931457,0.246075],[-0.963270,-0.254697,-0.085084],[-0.016578,-0.259841,0.965509]]
2025-10-26T18:50:58.582Z,1761504658.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271474,0.929034,0.251390],[-0.962375,-0.258855,-0.082637],[-0.011699,-0.264365,0.964352]]
2025-10-26T18:50:58.987Z,1761504658.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273049,0.926946,0.257323],[-0.961981,-0.261408,-0.079112],[-0.006067,-0.269141,0.963082]]
2025-10-26T18:50:59.040Z,1761504659.040 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:50:59.040Z,1761504659.040 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:50:59.040Z,1761504659.040 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:50:59.040Z,1761504659.040 [marl:UpdateRudder:A] Stopped
2025-10-26T18:50:59.041Z,1761504659.041 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:50:59.390Z,1761504659.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272688,0.924953,0.264771],[-0.962102,-0.262363,-0.074332],[0.000712,-0.275006,0.961442]]
2025-10-26T18:50:59.437Z,1761504659.437 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:50:59.437Z,1761504659.437 [marl:UpdateRudder:B] Stopped
2025-10-26T18:50:59.437Z,1761504659.437 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:50:59.437Z,1761504659.437 [marl:UpdateRudder] Stopped
2025-10-26T18:50:59.437Z,1761504659.437 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:50:59.794Z,1761504659.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270528,0.923129,0.273217],[-0.962673,-0.261947,-0.068150],[0.008657,-0.281455,0.959535]]
2025-10-26T18:50:59.866Z,1761504659.866 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:50:59.866Z,1761504659.866 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:50:59.867Z,1761504659.867 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:50:59.867Z,1761504659.867 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:50:59.867Z,1761504659.867 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:50:59.867Z,1761504659.867 [marl:UpdateCommandMode] Stopped
2025-10-26T18:50:59.871Z,1761504659.871 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed] Stopped
2025-10-26T18:50:59.872Z,1761504659.872 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:51:00.199Z,1761504660.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266647,0.922140,0.280280],[-0.963644,-0.260225,-0.060613],[0.017042,-0.286253,0.958003]]
2025-10-26T18:51:00.602Z,1761504660.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261487,0.921671,0.286612],[-0.964879,-0.257344,-0.052743],[0.025146,-0.290338,0.956594]]
2025-10-26T18:51:01.007Z,1761504661.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254505,0.922007,0.291769],[-0.966517,-0.252720,-0.044466],[0.032739,-0.293317,0.955455]]
2025-10-26T18:51:01.410Z,1761504661.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247267,0.923694,0.292658],[-0.968154,-0.247744,-0.036062],[0.039194,-0.292255,0.955537]]
2025-10-26T18:51:01.816Z,1761504661.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238354,0.926186,0.292176],[-0.970165,-0.240812,-0.028084],[0.044349,-0.290153,0.955952]]
2025-10-26T18:51:02.219Z,1761504662.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228640,0.929736,0.288644],[-0.972323,-0.232738,-0.020535],[0.048086,-0.285350,0.957216]]
2025-10-26T18:51:02.630Z,1761504662.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217827,0.934103,0.282847],[-0.974680,-0.223193,-0.013529],[0.050492,-0.278632,0.959070]]
2025-10-26T18:51:03.026Z,1761504663.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206193,0.939195,0.274585],[-0.977135,-0.212508,-0.006891],[0.051879,-0.269728,0.961538]]
2025-10-26T18:51:03.434Z,1761504663.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194041,0.944493,0.265105],[-0.979619,-0.200861,-0.001412],[0.051916,-0.259976,0.964218]]
2025-10-26T18:51:03.834Z,1761504663.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182027,0.949425,0.255849],[-0.981982,-0.188957,0.002552],[0.050768,-0.250774,0.966713]]
2025-10-26T18:51:04.238Z,1761504664.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171037,0.953755,0.247181],[-0.984040,-0.177867,0.005401],[0.049116,-0.242312,0.968954]]
2025-10-26T18:51:04.642Z,1761504664.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164383,0.956436,0.241263],[-0.985177,-0.171354,0.008053],[0.049044,-0.236363,0.970426]]
2025-10-26T18:51:05.029Z,1761504665.029 [DAT](INFO): DAT read: 

2025-10-26T18:51:05.029Z,1761504665.029 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:51:05.060Z,1761504665.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161756,0.958096,0.236406],[-0.985534,-0.169116,0.011054],[0.050570,-0.231198,0.971592]]
2025-10-26T18:51:05.451Z,1761504665.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161751,0.958976,0.232814],[-0.985407,-0.169631,0.014091],[0.053005,-0.227137,0.972419]]
2025-10-26T18:51:05.854Z,1761504665.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162522,0.959299,0.230936],[-0.985140,-0.170932,0.016748],[0.055541,-0.224783,0.972825]]
2025-10-26T18:51:06.258Z,1761504666.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164179,0.959479,0.229011],[-0.984728,-0.173051,0.019069],[0.057927,-0.222382,0.973237]]
2025-10-26T18:51:06.540Z,1761504666.540 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:51:06.542Z,1761504666.542 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:51:06.542Z,1761504666.542 [DAT](INFO): DAT read: Oct 26 2025 18:51:01 

2025-10-26T18:51:06.662Z,1761504666.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166542,0.959573,0.226901],[-0.984216,-0.175742,0.020817],[0.059851,-0.219852,0.973696]]
2025-10-26T18:51:07.066Z,1761504667.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169815,0.959169,0.226179],[-0.983572,-0.179223,0.021575],[0.061231,-0.218799,0.973847]]
2025-10-26T18:51:07.470Z,1761504667.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173959,0.958727,0.224902],[-0.982786,-0.183451,0.021858],[0.062214,-0.217228,0.974136]]
2025-10-26T18:51:07.549Z,1761504667.549 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:51:07.550Z,1761504667.550 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:51:07.550Z,1761504667.550 [DAT](INFO): commRate: 600
2025-10-26T18:51:07.874Z,1761504667.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178742,0.958199,0.223396],[-0.981870,-0.188279,0.021970],[0.063112,-0.215419,0.974480]]
2025-10-26T18:51:08.278Z,1761504668.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184261,0.957326,0.222654],[-0.980770,-0.193914,0.022099],[0.064332,-0.214300,0.974647]]
2025-10-26T18:51:08.682Z,1761504668.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190363,0.956078,0.222883],[-0.979499,-0.200216,0.022263],[0.065910,-0.214076,0.974591]]
2025-10-26T18:51:09.094Z,1761504669.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196959,0.954252,0.224966],[-0.978005,-0.207301,0.023069],[0.068650,-0.215474,0.974093]]
2025-10-26T18:51:09.490Z,1761504669.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203313,0.951845,0.229465],[-0.976414,-0.214498,0.024626],[0.072660,-0.219046,0.973005]]
2025-10-26T18:51:09.616Z,1761504669.616 [DAT](INFO): entering command mode
2025-10-26T18:51:09.816Z,1761504669.816 [DAT](INFO): DAT read: 

2025-10-26T18:51:09.817Z,1761504669.817 [DAT](INFO): DAT read: user:1>

2025-10-26T18:51:09.817Z,1761504669.817 [DAT](INFO): setting verbose to 3
2025-10-26T18:51:09.894Z,1761504669.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208467,0.948883,0.236988],[-0.974926,-0.220900,0.026873],[0.077850,-0.225444,0.971141]]
2025-10-26T18:51:10.068Z,1761504670.068 [DAT](INFO): DAT read: user:1>

2025-10-26T18:51:10.069Z,1761504670.069 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:51:10.069Z,1761504670.069 [DAT](INFO): set verbose to 3
2025-10-26T18:51:10.070Z,1761504670.070 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:51:10.302Z,1761504670.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211566,0.945969,0.245727],[-0.973742,-0.225637,0.030255],[0.084065,-0.232874,0.968867]]
2025-10-26T18:51:10.320Z,1761504670.320 [DAT](INFO): DAT read: user:2>

2025-10-26T18:51:10.321Z,1761504670.321 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:51:10.322Z,1761504670.322 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:51:10.322Z,1761504670.322 [DAT](INFO): setting transmit power to 8
2025-10-26T18:51:10.572Z,1761504670.572 [DAT](INFO): DAT read: user:3>

2025-10-26T18:51:10.574Z,1761504670.574 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:51:10.574Z,1761504670.574 [DAT](INFO): set transmit power to 8
2025-10-26T18:51:10.575Z,1761504670.575 [DAT](INFO): setting local address to 11
2025-10-26T18:51:10.707Z,1761504670.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211328,0.942952,0.257258],[-0.973218,-0.227366,0.033925],[0.090481,-0.243199,0.965747]]
2025-10-26T18:51:10.826Z,1761504670.826 [DAT](INFO): DAT read: user:4>

2025-10-26T18:51:10.829Z,1761504670.829 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:51:10.830Z,1761504670.830 [DAT](INFO): set local address to 11
2025-10-26T18:51:10.833Z,1761504670.833 [DAT](INFO): Setting time to: 18:51:10 And date to:10/26/2025
2025-10-26T18:51:11.077Z,1761504671.077 [DAT](INFO): DAT read: user:5>

2025-10-26T18:51:11.078Z,1761504671.078 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:51:10  

2025-10-26T18:51:11.079Z,1761504671.079 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:51:10  

2025-10-26T18:51:11.081Z,1761504671.081 [DAT](INFO): setting remote address to 6
2025-10-26T18:51:11.084Z,1761504671.084 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:51:11.085Z,1761504671.085 [DAT](INFO): setting remote address to 0
2025-10-26T18:51:11.110Z,1761504671.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207485,0.940508,0.269064],[-0.973407,-0.225798,0.038644],[0.097099,-0.253891,0.962347]]
2025-10-26T18:51:11.328Z,1761504671.328 [DAT](INFO): DAT read: user:6>

2025-10-26T18:51:11.329Z,1761504671.329 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:51:11.330Z,1761504671.330 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:51:11.330Z,1761504671.330 [DAT] Communications Fault, FailCount= 8
2025-10-26T18:51:11.330Z,1761504671.330 [DAT](ERROR): Communications Fault
2025-10-26T18:51:11.331Z,1761504671.331 [DAT](INFO): DAT read: user:7>

2025-10-26T18:51:11.332Z,1761504671.332 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:51:11.332Z,1761504671.332 [DAT](INFO): set remote address to 0
2025-10-26T18:51:11.332Z,1761504671.332 [DAT](INFO): setting remote address to 6
2025-10-26T18:51:11.333Z,1761504671.333 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:51:11.333Z,1761504671.333 [DAT](INFO): setting remote address to 0
2025-10-26T18:51:11.511Z,1761504671.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201293,0.938961,0.278986],[-0.974039,-0.221993,0.044357],[0.103583,-0.262814,0.959270]]
2025-10-26T18:51:11.608Z,1761504671.608 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:51:11.608Z,1761504671.608 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-26T18:51:11.736Z,1761504671.736 [DAT](INFO): Powering down
2025-10-26T18:51:11.914Z,1761504671.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193326,0.938057,0.287530],[-0.975020,-0.216352,0.050271],[0.109365,-0.270629,0.956451]]
2025-10-26T18:51:12.350Z,1761504672.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183947,0.938420,0.292458],[-0.976347,-0.208832,0.055995],[0.113621,-0.275241,0.954637]]
2025-10-26T18:51:12.409Z,1761504672.409 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:51:12.410Z,1761504672.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:51:12.410Z,1761504672.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:51:12.410Z,1761504672.410 [marl:UpdateRudder:A] Stopped
2025-10-26T18:51:12.410Z,1761504672.410 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:51:12.727Z,1761504672.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173439,0.940098,0.293487],[-0.978033,-0.199401,0.060745],[0.115628,-0.276505,0.954031]]
2025-10-26T18:51:12.752Z,1761504672.752 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:51:12.752Z,1761504672.752 [marl:UpdateRudder:B] Stopped
2025-10-26T18:51:12.752Z,1761504672.752 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:51:12.752Z,1761504672.752 [marl:UpdateRudder] Stopped
2025-10-26T18:51:12.752Z,1761504672.752 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:51:13.199Z,1761504673.199 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:51:13.199Z,1761504673.199 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateCommandMode] Stopped
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:51:13.200Z,1761504673.200 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:51:13.201Z,1761504673.201 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:51:13.201Z,1761504673.201 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:51:13.201Z,1761504673.201 [marl:UpdateSpeed] Stopped
2025-10-26T18:51:13.201Z,1761504673.201 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:51:13.530Z,1761504673.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149892,0.947924,0.281021],[-0.982331,-0.175000,0.066342],[0.112066,-0.266111,0.957406]]
2025-10-26T18:51:13.934Z,1761504673.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138061,0.952712,0.270702],[-0.984611,-0.161592,0.066546],[0.107142,-0.257349,0.960360]]
2025-10-26T18:51:13.981Z,1761504673.981 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:51:14.343Z,1761504674.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129145,0.957205,0.258998],[-0.986309,-0.151003,0.066272],[0.102545,-0.246893,0.963602]]
2025-10-26T18:51:14.743Z,1761504674.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126442,0.960698,0.247126],[-0.986843,-0.147129,0.067042],[0.100766,-0.235397,0.966661]]
2025-10-26T18:51:15.146Z,1761504675.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126764,0.962938,0.238076],[-0.986795,-0.146818,0.068409],[0.100827,-0.226261,0.968834]]
2025-10-26T18:51:15.551Z,1761504675.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127878,0.964565,0.230785],[-0.986543,-0.147614,0.070305],[0.101881,-0.218689,0.970461]]
2025-10-26T18:51:15.956Z,1761504675.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128744,0.965396,0.226793],[-0.986303,-0.148431,0.071933],[0.103107,-0.214426,0.971283]]
2025-10-26T18:51:16.358Z,1761504676.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129080,0.965620,0.225644],[-0.986134,-0.148931,0.073214],[0.104302,-0.213065,0.971455]]
2025-10-26T18:51:16.762Z,1761504676.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128528,0.965410,0.226858],[-0.986145,-0.148609,0.073707],[0.104871,-0.214241,0.971135]]
2025-10-26T18:51:17.168Z,1761504677.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127014,0.964937,0.229705],[-0.986362,-0.147310,0.073413],[0.104676,-0.217248,0.970488]]
2025-10-26T18:51:17.582Z,1761504677.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125882,0.964298,0.232988],[-0.986549,-0.146370,0.072775],[0.104279,-0.220693,0.969753]]
2025-10-26T18:51:17.974Z,1761504677.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125191,0.963576,0.236321],[-0.986665,-0.145889,0.072163],[0.104012,-0.224135,0.968992]]
2025-10-26T18:51:18.378Z,1761504678.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124826,0.962979,0.238934],[-0.986747,-0.145653,0.071521],[0.103674,-0.226840,0.968398]]
2025-10-26T18:51:18.784Z,1761504678.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124235,0.962606,0.240740],[-0.986831,-0.145193,0.071304],[0.103591,-0.228711,0.967967]]
2025-10-26T18:51:19.186Z,1761504679.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124039,0.962167,0.242588],[-0.986829,-0.145199,0.071317],[0.103843,-0.230546,0.967505]]
2025-10-26T18:51:19.592Z,1761504679.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123510,0.961784,0.244369],[-0.986884,-0.144843,0.071275],[0.103947,-0.232360,0.967059]]
2025-10-26T18:51:19.994Z,1761504679.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123142,0.961493,0.245698],[-0.986928,-0.144589,0.071178],[0.103962,-0.233721,0.966730]]
2025-10-26T18:51:20.398Z,1761504680.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123381,0.961499,0.245556],[-0.986901,-0.144805,0.071123],[0.103942,-0.233564,0.966770]]
2025-10-26T18:51:20.816Z,1761504680.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124357,0.962174,0.242399],[-0.986824,-0.145415,0.070939],[0.103504,-0.230384,0.967580]]
2025-10-26T18:51:21.207Z,1761504681.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125882,0.962530,0.240188],[-0.986684,-0.146614,0.070420],[0.102997,-0.228125,0.968169]]
2025-10-26T18:51:21.541Z,1761504681.541 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:51:21.610Z,1761504681.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128005,0.962908,0.237535],[-0.986434,-0.148430,0.070120],[0.102777,-0.225336,0.968845]]
2025-10-26T18:51:22.014Z,1761504682.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129790,0.963490,0.234183],[-0.986215,-0.149889,0.070099],[0.102641,-0.221857,0.969662]]
2025-10-26T18:51:22.418Z,1761504682.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130848,0.963484,0.233618],[-0.986076,-0.150873,0.069934],[0.102627,-0.221214,0.969810]]
2025-10-26T18:51:22.544Z,1761504682.544 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:51:22.861Z,1761504682.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130455,0.963212,0.234956],[-0.986186,-0.150463,0.069268],[0.102071,-0.222674,0.969535]]
2025-10-26T18:51:23.636Z,1761504683.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125583,0.962421,0.240782],[-0.987033,-0.145666,0.067436],[0.099975,-0.229191,0.968234]]
2025-10-26T18:51:24.046Z,1761504684.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122274,0.961840,0.244771],[-0.987608,-0.142360,0.066055],[0.098380,-0.233661,0.967328]]
2025-10-26T18:51:24.442Z,1761504684.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118621,0.961719,0.247034],[-0.988248,-0.138505,0.064674],[0.096413,-0.236459,0.966846]]
2025-10-26T18:51:24.874Z,1761504684.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114749,0.961792,0.248576],[-0.988956,-0.134229,0.062832],[0.093797,-0.238621,0.966572]]
2025-10-26T18:51:25.249Z,1761504685.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112000,0.962079,0.248715],[-0.989509,-0.130962,0.060997],[0.091256,-0.239274,0.966654]]
2025-10-26T18:51:25.272Z,1761504685.272 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:51:25.272Z,1761504685.272 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:51:25.273Z,1761504685.273 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:51:25.273Z,1761504685.273 [marl:UpdateRudder:A] Stopped
2025-10-26T18:51:25.273Z,1761504685.273 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:51:25.652Z,1761504685.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110177,0.962321,0.248596],[-0.989981,-0.128476,0.058577],[0.088308,-0.239652,0.966834]]
2025-10-26T18:51:25.682Z,1761504685.682 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:51:25.682Z,1761504685.682 [marl:UpdateRudder:B] Stopped
2025-10-26T18:51:25.682Z,1761504685.682 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:51:25.682Z,1761504685.682 [marl:UpdateRudder] Stopped
2025-10-26T18:51:25.682Z,1761504685.682 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:51:26.065Z,1761504686.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109768,0.962967,0.246265],[-0.990263,-0.127292,0.056356],[0.085617,-0.237681,0.967563]]
2025-10-26T18:51:26.089Z,1761504686.089 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateCommandMode] Stopped
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:51:26.090Z,1761504686.090 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:51:26.090Z,1761504686.091 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:51:26.091Z,1761504686.091 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:51:26.091Z,1761504686.091 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:51:26.091Z,1761504686.091 [marl:UpdateSpeed] Stopped
2025-10-26T18:51:26.091Z,1761504686.091 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:51:26.458Z,1761504686.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110548,0.963681,0.243100],[-0.990370,-0.127325,0.054369],[0.083347,-0.234748,0.968476]]
2025-10-26T18:51:26.877Z,1761504686.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112237,0.963770,0.241970],[-0.990356,-0.128400,0.052046],[0.081230,-0.233795,0.968887]]
2025-10-26T18:51:27.268Z,1761504687.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114264,0.963936,0.240355],[-0.990307,-0.129750,0.049568],[0.078966,-0.232361,0.969419]]
2025-10-26T18:51:27.670Z,1761504687.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116829,0.963997,0.238872],[-0.990187,-0.131632,0.046929],[0.076683,-0.231045,0.969916]]
2025-10-26T18:51:28.077Z,1761504688.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119710,0.964287,0.236262],[-0.990031,-0.133737,0.044205],[0.074223,-0.228615,0.970683]]
2025-10-26T18:51:28.478Z,1761504688.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123763,0.964543,0.233110],[-0.989717,-0.136961,0.041246],[0.071710,-0.225609,0.971575]]
2025-10-26T18:51:28.885Z,1761504688.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128609,0.964640,0.230065],[-0.989308,-0.140887,0.037689],[0.068770,-0.222758,0.972445]]
2025-10-26T18:51:29.287Z,1761504689.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134531,0.964764,0.226123],[-0.988733,-0.145811,0.033866],[0.065644,-0.219019,0.973510]]
2025-10-26T18:51:29.690Z,1761504689.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141403,0.964855,0.221493],[-0.987947,-0.151774,0.030436],[0.062984,-0.214520,0.974687]]
2025-10-26T18:51:30.097Z,1761504690.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149039,0.964410,0.218406],[-0.986938,-0.158741,0.027468],[0.061160,-0.211460,0.975471]]
2025-10-26T18:51:30.498Z,1761504690.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156483,0.963902,0.215422],[-0.985883,-0.165591,0.024790],[0.059567,-0.208502,0.976206]]
2025-10-26T18:51:30.904Z,1761504690.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162441,0.962986,0.215105],[-0.985002,-0.171112,0.022190],[0.058175,-0.208274,0.976339]]
2025-10-26T18:51:31.306Z,1761504691.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166669,0.961766,0.217320],[-0.984366,-0.175030,0.019672],[0.056957,-0.210643,0.975902]]
2025-10-26T18:51:31.714Z,1761504691.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169071,0.959927,0.223506],[-0.984001,-0.177326,0.017239],[0.056182,-0.217016,0.974550]]
2025-10-26T18:51:32.117Z,1761504692.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169748,0.958270,0.230008],[-0.983914,-0.177980,0.015374],[0.055669,-0.223699,0.973067]]
2025-10-26T18:51:32.527Z,1761504692.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168948,0.956532,0.237705],[-0.984067,-0.177256,0.013861],[0.055393,-0.231576,0.971238]]
2025-10-26T18:51:32.922Z,1761504692.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166950,0.955042,0.244997],[-0.984439,-0.175287,0.012467],[0.054851,-0.239103,0.969444]]
2025-10-26T18:51:33.326Z,1761504693.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163737,0.954118,0.250699],[-0.985048,-0.171928,0.010973],[0.053572,-0.245153,0.968003]]
2025-10-26T18:51:33.733Z,1761504693.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159522,0.953588,0.255389],[-0.985839,-0.167430,0.009382],[0.051706,-0.250276,0.966793]]
2025-10-26T18:51:34.144Z,1761504694.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154470,0.954145,0.256411],[-0.986783,-0.161857,0.007825],[0.048968,-0.251813,0.966536]]
2025-10-26T18:51:34.539Z,1761504694.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148772,0.955696,0.253991],[-0.987834,-0.155390,0.006079],[0.045277,-0.249997,0.967187]]
2025-10-26T18:51:34.942Z,1761504694.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143448,0.957715,0.249411],[-0.988796,-0.149210,0.004250],[0.041285,-0.246007,0.968388]]
2025-10-26T18:51:35.240Z,1761504695.240 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:51:35.241Z,1761504695.241 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:51:35.347Z,1761504695.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139728,0.959840,0.243277],[-0.989481,-0.144645,0.002376],[0.037469,-0.240386,0.969954]]
2025-10-26T18:51:35.750Z,1761504695.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139226,0.961442,0.237163],[-0.989658,-0.143447,0.000545],[0.034544,-0.234634,0.971470]]
2025-10-26T18:51:36.157Z,1761504696.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141697,0.962998,0.229253],[-0.989401,-0.145201,-0.001600],[0.031747,-0.227050,0.973366]]
2025-10-26T18:51:36.558Z,1761504696.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146331,0.964032,0.221877],[-0.988812,-0.149106,-0.004286],[0.028952,-0.220022,0.975065]]
2025-10-26T18:51:36.964Z,1761504696.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152564,0.964839,0.214035],[-0.987947,-0.154626,-0.007175],[0.026173,-0.212550,0.976800]]
2025-10-26T18:51:37.366Z,1761504697.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159709,0.964879,0.208571],[-0.986882,-0.161108,-0.010373],[0.023594,-0.207492,0.977952]]
2025-10-26T18:51:37.770Z,1761504697.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166864,0.964296,0.205646],[-0.985753,-0.167628,-0.013828],[0.021137,-0.205023,0.978529]]
2025-10-26T18:51:38.177Z,1761504698.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172902,0.963668,0.203590],[-0.984767,-0.172998,-0.017467],[0.018388,-0.203509,0.978900]]
2025-10-26T18:51:38.200Z,1761504698.200 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:51:38.201Z,1761504698.201 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:51:38.201Z,1761504698.201 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:51:38.201Z,1761504698.201 [marl:UpdateRudder:A] Stopped
2025-10-26T18:51:38.201Z,1761504698.201 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:51:38.580Z,1761504698.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177472,0.962509,0.205134],[-0.983998,-0.176914,-0.021206],[0.015880,-0.205615,0.978504]]
2025-10-26T18:51:38.622Z,1761504698.622 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:51:38.623Z,1761504698.623 [marl:UpdateRudder:B] Stopped
2025-10-26T18:51:38.623Z,1761504698.623 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:51:38.623Z,1761504698.623 [marl:UpdateRudder] Stopped
2025-10-26T18:51:38.623Z,1761504698.623 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:51:38.984Z,1761504698.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180400,0.961621,0.206740],[-0.983501,-0.179240,-0.024484],[0.013511,-0.207746,0.978089]]
2025-10-26T18:51:39.067Z,1761504699.067 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateCommandMode] Stopped
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:51:39.068Z,1761504699.068 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:51:39.069Z,1761504699.069 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:51:39.069Z,1761504699.069 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:51:39.069Z,1761504699.069 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:51:39.069Z,1761504699.069 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:51:39.069Z,1761504699.069 [marl:UpdateSpeed] Stopped
2025-10-26T18:51:39.069Z,1761504699.069 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:51:39.386Z,1761504699.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181938,0.959995,0.212856],[-0.983248,-0.180052,-0.028384],[0.011076,-0.214455,0.976671]]
2025-10-26T18:51:39.791Z,1761504699.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182136,0.958710,0.218406],[-0.983238,-0.179465,-0.032179],[0.008345,-0.220606,0.975327]]
2025-10-26T18:51:40.201Z,1761504700.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181343,0.957446,0.224526],[-0.983406,-0.177785,-0.036141],[0.005314,-0.227354,0.973798]]
2025-10-26T18:51:40.598Z,1761504700.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179406,0.956359,0.230630],[-0.983773,-0.174856,-0.040190],[0.001891,-0.234098,0.972211]]
2025-10-26T18:51:41.009Z,1761504701.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175807,0.956064,0.234593],[-0.984423,-0.170322,-0.043607],[-0.001735,-0.238605,0.971115]]
2025-10-26T18:51:41.406Z,1761504701.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168019,0.959988,0.224036],[-0.985763,-0.162149,-0.044485],[-0.006378,-0.228320,0.973565]]
2025-10-26T18:51:41.811Z,1761504701.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154646,0.967846,0.198390],[-0.987890,-0.148933,-0.043493],[-0.012548,-0.202713,0.979158]]
2025-10-26T18:51:42.221Z,1761504702.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137726,0.977273,0.161148],[-0.990279,-0.132665,-0.041803],[-0.019474,-0.165339,0.986045]]
2025-10-26T18:51:42.625Z,1761504702.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120015,0.984957,0.124322],[-0.992425,-0.115716,-0.041267],[-0.026260,-0.128332,0.991383]]
2025-10-26T18:51:43.022Z,1761504703.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102856,0.990653,0.089601],[-0.994174,-0.099464,-0.041542],[-0.032241,-0.093352,0.995111]]
2025-10-26T18:51:43.430Z,1761504703.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087109,0.994531,0.057621],[-0.995488,-0.084717,-0.042734],[-0.037618,-0.061084,0.997424]]
2025-10-26T18:51:43.831Z,1761504703.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072689,0.996903,0.029995],[-0.996455,-0.071313,-0.044631],[-0.042354,-0.033132,0.998553]]
2025-10-26T18:51:44.234Z,1761504704.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059991,0.998154,0.009513],[-0.997137,-0.059485,-0.046675],[-0.046023,-0.012286,0.998865]]
2025-10-26T18:51:44.274Z,1761504704.274 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:51:44.639Z,1761504704.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048134,0.998838,-0.002319],[-0.997657,-0.048189,-0.048567],[-0.048622,-0.000024,0.998817]]
2025-10-26T18:51:45.042Z,1761504705.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036792,0.999257,-0.011491],[-0.998049,-0.037324,-0.050051],[-0.050442,0.009628,0.998681]]
2025-10-26T18:51:45.451Z,1761504705.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024506,0.999544,-0.017651],[-0.998359,-0.025383,-0.051323],[-0.051748,0.016365,0.998526]]
2025-10-26T18:51:45.850Z,1761504705.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010502,0.999752,-0.019630],[-0.998566,-0.011516,-0.052289],[-0.052502,0.019052,0.998439]]
2025-10-26T18:51:46.257Z,1761504706.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005676,0.999782,-0.020073],[-0.998591,0.004608,-0.052873],[-0.052769,0.020345,0.998399]]
2025-10-26T18:51:46.658Z,1761504706.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023087,0.999574,-0.017854],[-0.998353,0.022113,-0.052939],[-0.052522,0.019047,0.998438]]
2025-10-26T18:51:47.064Z,1761504707.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041680,0.999022,-0.014774],[-0.997750,0.040840,-0.053164],[-0.052509,0.016957,0.998476]]
2025-10-26T18:51:47.870Z,1761504707.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082070,0.996591,-0.008402],[-0.995235,0.081508,-0.053519],[-0.052652,0.012755,0.998531]]
2025-10-26T18:51:48.274Z,1761504708.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103198,0.994644,-0.005854],[-0.993225,0.102732,-0.054313],[-0.053421,0.011420,0.998507]]
2025-10-26T18:51:48.678Z,1761504708.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123961,0.992284,-0.002610],[-0.990791,0.123629,-0.055211],[-0.054462,0.009430,0.998471]]
2025-10-26T18:51:49.082Z,1761504709.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143640,0.989630,-0.000638],[-0.988064,0.143376,-0.056337],[-0.055661,0.008723,0.998412]]
2025-10-26T18:51:49.489Z,1761504709.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161429,0.986884,0.001117],[-0.985278,0.161230,-0.056845],[-0.056280,0.008076,0.998382]]
2025-10-26T18:51:49.892Z,1761504709.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176386,0.984318,0.002445],[-0.982732,0.176242,-0.056364],[-0.055911,0.007539,0.998407]]
2025-10-26T18:51:50.294Z,1761504710.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189710,0.981835,0.003194],[-0.980281,0.189591,-0.055720],[-0.055313,0.007440,0.998441]]
2025-10-26T18:51:50.700Z,1761504710.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201895,0.979400,0.003842],[-0.977875,0.201797,-0.055125],[-0.054764,0.007372,0.998472]]
2025-10-26T18:51:51.102Z,1761504711.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213426,0.976952,0.003734],[-0.975457,0.213308,-0.054622],[-0.054160,0.008016,0.998500]]
2025-10-26T18:51:51.506Z,1761504711.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224147,0.974545,0.004425],[-0.973104,0.224059,-0.053539],[-0.053168,0.007694,0.998556]]
2025-10-26T18:51:51.556Z,1761504711.556 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:51:51.556Z,1761504711.556 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:51:51.556Z,1761504711.556 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:51:51.557Z,1761504711.557 [marl:UpdateRudder:A] Stopped
2025-10-26T18:51:51.557Z,1761504711.557 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:51:51.911Z,1761504711.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234515,0.972095,0.005825],[-0.970729,0.234496,-0.051937],[-0.051854,0.006525,0.998633]]
2025-10-26T18:51:51.935Z,1761504711.935 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:51:51.935Z,1761504711.935 [marl:UpdateRudder:B] Stopped
2025-10-26T18:51:51.935Z,1761504711.935 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:51:51.935Z,1761504711.935 [marl:UpdateRudder] Stopped
2025-10-26T18:51:51.935Z,1761504711.935 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:51:52.322Z,1761504712.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244917,0.969527,0.005790],[-0.968254,0.244895,-0.050096],[-0.049987,0.006663,0.998728]]
2025-10-26T18:51:52.389Z,1761504712.389 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:51:52.389Z,1761504712.389 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:51:52.389Z,1761504712.389 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:51:52.389Z,1761504712.389 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateCommandMode] Stopped
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:51:52.390Z,1761504712.390 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:51:52.391Z,1761504712.391 [marl:UpdateSpeed] Stopped
2025-10-26T18:51:52.391Z,1761504712.391 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:51:52.664Z,1761504712.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:51:52.723Z,1761504712.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256577,0.966501,0.006637],[-0.965321,0.256594,-0.048118],[-0.048209,0.005939,0.998820]]
2025-10-26T18:51:53.122Z,1761504713.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269448,0.962989,0.007015],[-0.961895,0.269479,-0.046255],[-0.046433,0.005716,0.998905]]
2025-10-26T18:51:53.526Z,1761504713.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283951,0.958818,0.006270],[-0.957781,0.283938,-0.045110],[-0.045033,0.006804,0.998962]]
2025-10-26T18:51:53.668Z,1761504713.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:51:53.932Z,1761504713.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299513,0.954073,0.005999],[-0.953064,0.299476,-0.044538],[-0.044289,0.007623,0.998990]]
2025-10-26T18:51:54.334Z,1761504714.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315512,0.948893,0.007405],[-0.947894,0.315524,-0.044052],[-0.044137,0.006880,0.999002]]
2025-10-26T18:51:54.740Z,1761504714.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331513,0.943417,0.008021],[-0.942405,0.331533,-0.044256],[-0.044411,0.007113,0.998988]]
2025-10-26T18:51:55.142Z,1761504715.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347634,0.937591,0.008568],[-0.936558,0.347659,-0.044646],[-0.044838,0.007496,0.998966]]
2025-10-26T18:51:55.548Z,1761504715.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364019,0.931333,0.010411],[-0.930273,0.364107,-0.044931],[-0.045637,0.006671,0.998936]]
2025-10-26T18:51:55.960Z,1761504715.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380347,0.924776,0.011230],[-0.923687,0.380450,-0.045381],[-0.046240,0.006887,0.998907]]
2025-10-26T18:51:56.354Z,1761504716.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396515,0.917960,0.011168],[-0.916867,0.396595,-0.045469],[-0.046168,0.007790,0.998903]]
2025-10-26T18:51:56.758Z,1761504716.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412767,0.910771,0.010926],[-0.909701,0.412822,-0.044975],[-0.045473,0.008625,0.998928]]
2025-10-26T18:51:57.163Z,1761504717.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429326,0.903094,0.009991],[-0.902043,0.429321,-0.044732],[-0.044687,0.010192,0.998949]]
2025-10-26T18:51:57.566Z,1761504717.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446463,0.894744,0.010247],[-0.893747,0.446463,-0.043431],[-0.043434,0.010232,0.999004]]
2025-10-26T18:51:57.970Z,1761504717.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463984,0.885794,0.009386],[-0.884858,0.463942,-0.042237],[-0.041768,0.011292,0.999064]]
2025-10-26T18:51:58.374Z,1761504718.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481449,0.876429,0.008907],[-0.875571,0.481389,-0.040491],[-0.039776,0.011696,0.999140]]
2025-10-26T18:51:58.780Z,1761504718.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498046,0.867096,0.009721],[-0.866356,0.498038,-0.037232],[-0.037125,0.010122,0.999259]]
2025-10-26T18:51:59.182Z,1761504719.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513622,0.857952,0.010516],[-0.857334,0.513664,-0.033582],[-0.034214,0.008233,0.999381]]
2025-10-26T18:51:59.586Z,1761504719.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527952,0.849191,0.011897],[-0.848704,0.528059,-0.029223],[-0.031098,0.005331,0.999502]]
2025-10-26T18:51:59.991Z,1761504719.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541017,0.840879,0.014982],[-0.840521,0.541224,-0.024515],[-0.028723,0.000670,0.999587]]
2025-10-26T18:52:00.394Z,1761504720.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552284,0.833479,0.017192],[-0.833244,0.552541,-0.020049],[-0.026210,-0.003252,0.999651]]
2025-10-26T18:52:00.801Z,1761504720.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562712,0.826428,0.019288],[-0.826311,0.562997,-0.015637],[-0.023782,-0.007139,0.999692]]
2025-10-26T18:52:01.202Z,1761504721.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572359,0.819707,0.022037],[-0.819713,0.572664,-0.011205],[-0.021805,-0.011650,0.999694]]
2025-10-26T18:52:01.608Z,1761504721.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581657,0.813189,0.019979],[-0.813195,0.581906,-0.009959],[-0.019724,-0.010455,0.999751]]
2025-10-26T18:52:02.010Z,1761504722.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591121,0.806333,0.020072],[-0.806386,0.591344,-0.007389],[-0.017828,-0.011818,0.999771]]
2025-10-26T18:52:02.420Z,1761504722.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600655,0.799311,0.017780],[-0.799350,0.600830,-0.006549],[-0.015918,-0.010279,0.999820]]
2025-10-26T18:52:02.849Z,1761504722.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610239,0.792098,0.013783],[-0.792101,0.610355,-0.006570],[-0.013616,-0.006908,0.999883]]
2025-10-26T18:52:03.223Z,1761504723.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619793,0.784698,0.010300],[-0.784688,0.619863,-0.005875],[-0.010995,-0.004441,0.999930]]
2025-10-26T18:52:03.626Z,1761504723.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628960,0.777424,0.004676],[-0.777398,0.628977,-0.006355],[-0.007881,0.000362,0.999969]]
2025-10-26T18:52:04.031Z,1761504724.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638592,0.769546,-0.000500],[-0.769531,0.638575,-0.006563],[-0.004731,0.004576,0.999978]]
2025-10-26T18:52:04.438Z,1761504724.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649407,0.760430,-0.004171],[-0.760439,0.649383,-0.005864],[-0.001751,0.006980,0.999974]]
2025-10-26T18:52:04.462Z,1761504724.462 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:52:04.462Z,1761504724.462 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:52:04.462Z,1761504724.462 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:52:04.462Z,1761504724.462 [marl:UpdateRudder:A] Stopped
2025-10-26T18:52:04.462Z,1761504724.462 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:52:04.871Z,1761504724.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661473,0.749922,-0.008395],[-0.749968,0.661451,-0.005616],[0.001341,0.010011,0.999949]]
2025-10-26T18:52:04.962Z,1761504724.962 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:52:04.962Z,1761504724.962 [marl:UpdateRudder:B] Stopped
2025-10-26T18:52:04.962Z,1761504724.962 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:52:04.962Z,1761504724.962 [marl:UpdateRudder] Stopped
2025-10-26T18:52:04.963Z,1761504724.963 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:52:05.242Z,1761504725.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674738,0.737954,-0.012298],[-0.738042,0.674736,-0.004947],[0.004647,0.012414,0.999912]]
2025-10-26T18:52:05.278Z,1761504725.278 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:52:05.278Z,1761504725.278 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:52:05.278Z,1761504725.278 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateCommandMode] Stopped
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:52:05.279Z,1761504725.279 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:52:05.280Z,1761504725.280 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:52:05.280Z,1761504725.280 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:52:05.280Z,1761504725.280 [marl:UpdateSpeed] Stopped
2025-10-26T18:52:05.280Z,1761504725.280 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:52:05.646Z,1761504725.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688756,0.724824,-0.015667],[-0.724948,0.688794,-0.003744],[0.008078,0.013936,0.999870]]
2025-10-26T18:52:06.050Z,1761504726.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702587,0.711325,-0.019706],[-0.711496,0.702686,-0.002515],[0.012059,0.015788,0.999803]]
2025-10-26T18:52:06.462Z,1761504726.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716527,0.697188,-0.022761],[-0.697361,0.716720,0.000476],[0.016645,0.015531,0.999741]]
2025-10-26T18:52:06.884Z,1761504726.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744044,0.667705,-0.023842],[-0.667656,0.744386,0.011138],[0.025185,0.007631,0.999654]]
2025-10-26T18:52:07.666Z,1761504727.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756299,0.653894,-0.020852],[-0.653605,0.756586,0.019441],[0.028489,-0.001074,0.999593]]
2025-10-26T18:52:08.503Z,1761504728.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776452,0.629765,0.022764],[-0.629326,0.773023,0.079905],[0.032725,-0.076368,0.996542]]
2025-10-26T18:52:08.536Z,1761504728.536 [CTD_Seabird](ERROR): Failed to parse device response: .19
2025-10-26T18:52:08.913Z,1761504728.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777762,0.626890,0.045769],[-0.627684,0.770778,0.109156],[0.033151,-0.113625,0.992970]]
2025-10-26T18:52:09.312Z,1761504729.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777169,0.625737,0.066798],[-0.628381,0.765947,0.135878],[0.033860,-0.147575,0.988471]]
2025-10-26T18:52:09.719Z,1761504729.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775462,0.625641,0.085039],[-0.630446,0.759864,0.158568],[0.034588,-0.176576,0.983679]]
2025-10-26T18:52:10.118Z,1761504730.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773233,0.626417,0.098552],[-0.633151,0.754069,0.174644],[0.035085,-0.197439,0.979687]]
2025-10-26T18:52:10.523Z,1761504730.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770846,0.628045,0.106562],[-0.636024,0.749438,0.183889],[0.035630,-0.209526,0.977154]]
2025-10-26T18:52:10.928Z,1761504730.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768576,0.629827,0.112288],[-0.638750,0.745604,0.189927],[0.035899,-0.217697,0.975356]]
2025-10-26T18:52:11.330Z,1761504731.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766397,0.632288,0.113344],[-0.641344,0.743218,0.190540],[0.036237,-0.218721,0.975114]]
2025-10-26T18:52:11.737Z,1761504731.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764406,0.634949,0.111909],[-0.643687,0.741685,0.188601],[0.036751,-0.216202,0.975657]]
2025-10-26T18:52:12.138Z,1761504732.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762753,0.637365,0.109423],[-0.645602,0.740682,0.185977],[0.037487,-0.212498,0.976442]]
2025-10-26T18:52:12.543Z,1761504732.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761609,0.639236,0.106441],[-0.646912,0.740284,0.182990],[0.038177,-0.208225,0.977336]]
2025-10-26T18:52:12.946Z,1761504732.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761085,0.640641,0.101630],[-0.647473,0.740877,0.178550],[0.039091,-0.201695,0.978668]]
2025-10-26T18:52:13.350Z,1761504733.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761561,0.640736,0.097380],[-0.646876,0.742294,0.174792],[0.039711,-0.196107,0.979778]]
2025-10-26T18:52:13.754Z,1761504733.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762726,0.639704,0.095014],[-0.645470,0.743852,0.173355],[0.040220,-0.193551,0.980265]]
2025-10-26T18:52:14.159Z,1761504734.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764735,0.637627,0.092804],[-0.643073,0.746221,0.172081],[0.040472,-0.191276,0.980702]]
2025-10-26T18:52:14.566Z,1761504734.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767248,0.634744,0.091818],[-0.640049,0.748686,0.172643],[0.040842,-0.191228,0.980696]]
2025-10-26T18:52:14.639Z,1761504734.639 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:52:14.966Z,1761504734.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770407,0.631059,0.090761],[-0.636218,0.751758,0.173455],[0.041230,-0.191375,0.980651]]
2025-10-26T18:52:15.374Z,1761504735.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773727,0.627081,0.090086],[-0.632176,0.754989,0.174199],[0.041223,-0.191733,0.980581]]
2025-10-26T18:52:15.776Z,1761504735.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777417,0.622622,0.089244],[-0.627641,0.758636,0.174751],[0.041100,-0.191868,0.980560]]
2025-10-26T18:52:16.178Z,1761504736.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781342,0.617767,0.088706],[-0.622760,0.762426,0.175715],[0.040919,-0.192536,0.980436]]
2025-10-26T18:52:16.586Z,1761504736.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785029,0.613074,0.088712],[-0.618115,0.765821,0.177350],[0.040791,-0.194059,0.980141]]
2025-10-26T18:52:16.990Z,1761504736.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788259,0.608963,0.088381],[-0.613987,0.768836,0.178634],[0.040831,-0.195075,0.979938]]
2025-10-26T18:52:17.398Z,1761504737.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790687,0.605759,0.088714],[-0.610828,0.770793,0.181018],[0.041274,-0.197318,0.979470]]
2025-10-26T18:52:17.461Z,1761504737.461 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:52:17.462Z,1761504737.462 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:52:17.462Z,1761504737.462 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:52:17.462Z,1761504737.462 [marl:UpdateRudder:A] Stopped
2025-10-26T18:52:17.462Z,1761504737.462 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:52:17.794Z,1761504737.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792523,0.603268,0.089300],[-0.608411,0.772114,0.183511],[0.041757,-0.199768,0.978953]]
2025-10-26T18:52:17.833Z,1761504737.833 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:52:17.833Z,1761504737.833 [marl:UpdateRudder:B] Stopped
2025-10-26T18:52:17.833Z,1761504737.833 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:52:17.833Z,1761504737.833 [marl:UpdateRudder] Stopped
2025-10-26T18:52:17.833Z,1761504737.833 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:52:18.198Z,1761504738.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793763,0.601559,0.089816],[-0.606754,0.772889,0.185718],[0.042302,-0.201912,0.978490]]
2025-10-26T18:52:18.250Z,1761504738.250 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:52:18.250Z,1761504738.250 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:52:18.251Z,1761504738.251 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:52:18.251Z,1761504738.251 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:52:18.251Z,1761504738.251 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:52:18.251Z,1761504738.251 [marl:UpdateCommandMode] Stopped
2025-10-26T18:52:18.251Z,1761504738.251 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:52:18.251Z,1761504738.251 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:52:18.252Z,1761504738.252 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:52:18.252Z,1761504738.252 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:52:18.252Z,1761504738.252 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:52:18.252Z,1761504738.252 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:52:18.252Z,1761504738.252 [marl:UpdateSpeed] Stopped
2025-10-26T18:52:18.252Z,1761504738.252 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:52:18.602Z,1761504738.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794841,0.600145,0.089744],[-0.605307,0.773715,0.186997],[0.042789,-0.202955,0.978253]]
2025-10-26T18:52:19.009Z,1761504739.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795537,0.599339,0.088952],[-0.604326,0.774276,0.187846],[0.043711,-0.203195,0.978162]]
2025-10-26T18:52:19.410Z,1761504739.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796327,0.598449,0.087873],[-0.603237,0.775103,0.187935],[0.044359,-0.202666,0.978243]]
2025-10-26T18:52:19.817Z,1761504739.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797650,0.596823,0.086927],[-0.601463,0.776479,0.187944],[0.044672,-0.202197,0.978326]]
2025-10-26T18:52:20.218Z,1761504740.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799345,0.594850,0.084857],[-0.599179,0.778513,0.186820],[0.045067,-0.200179,0.978722]]
2025-10-26T18:52:20.622Z,1761504740.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802417,0.591511,0.079010],[-0.595053,0.783054,0.180935],[0.045156,-0.192200,0.980316]]
2025-10-26T18:52:21.030Z,1761504741.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808471,0.584906,0.065267],[-0.586907,0.793015,0.163301],[0.043758,-0.170330,0.984415]]
2025-10-26T18:52:21.432Z,1761504741.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817678,0.573583,0.049041],[-0.574208,0.806547,0.140599],[0.041091,-0.143125,0.988851]]
2025-10-26T18:52:21.834Z,1761504741.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827686,0.560183,0.033626],[-0.559921,0.820299,0.116610],[0.037740,-0.115345,0.992608]]
2025-10-26T18:52:22.238Z,1761504742.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837563,0.545998,0.019364],[-0.545243,0.833108,0.092953],[0.034619,-0.088412,0.995482]]
2025-10-26T18:52:22.642Z,1761504742.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846689,0.532026,0.008124],[-0.531141,0.844173,0.072536],[0.031733,-0.065730,0.997333]]
2025-10-26T18:52:23.057Z,1761504743.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855001,0.518626,0.000224],[-0.517811,0.853634,0.056403],[0.029061,-0.048341,0.998408]]
2025-10-26T18:52:23.450Z,1761504743.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862696,0.505699,-0.004885],[-0.505026,0.861975,0.044140],[0.026532,-0.035612,0.999013]]
2025-10-26T18:52:23.808Z,1761504743.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:52:23.861Z,1761504743.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870158,0.492711,-0.007869],[-0.492190,0.869793,0.034767],[0.023975,-0.026380,0.999364]]
2025-10-26T18:52:24.258Z,1761504744.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877673,0.479154,-0.010113],[-0.478785,0.877546,0.026019],[0.021342,-0.017994,0.999610]]
2025-10-26T18:52:24.666Z,1761504744.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885535,0.464409,-0.012322],[-0.464185,0.885569,0.017311],[0.018951,-0.009610,0.999774]]
2025-10-26T18:52:24.813Z,1761504744.813 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:52:25.066Z,1761504745.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893630,0.448588,-0.013919],[-0.448488,0.893735,0.009798],[0.016835,-0.002513,0.999855]]
2025-10-26T18:52:25.470Z,1761504745.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901822,0.431841,-0.015160],[-0.431851,0.901940,0.002782],[0.014875,0.004038,0.999881]]
2025-10-26T18:52:25.875Z,1761504745.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910122,0.414057,-0.015310],[-0.414146,0.910205,-0.003077],[0.012661,0.009141,0.999878]]
2025-10-26T18:52:26.279Z,1761504746.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918419,0.395330,-0.014864],[-0.395472,0.918441,-0.008170],[0.010422,0.013381,0.999856]]
2025-10-26T18:52:26.682Z,1761504746.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926566,0.375856,-0.014439],[-0.376038,0.926512,-0.013060],[0.008469,0.017530,0.999810]]
2025-10-26T18:52:27.087Z,1761504747.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934248,0.356387,-0.012976],[-0.356562,0.934144,-0.015438],[0.006620,0.019049,0.999797]]
2025-10-26T18:52:27.490Z,1761504747.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941274,0.337449,-0.011449],[-0.337605,0.941138,-0.016813],[0.005101,0.019690,0.999793]]
2025-10-26T18:52:27.895Z,1761504747.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947310,0.320169,-0.009773],[-0.320291,0.947184,-0.015998],[0.004135,0.018285,0.999824]]
2025-10-26T18:52:28.298Z,1761504748.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952382,0.304817,-0.007394],[-0.304888,0.952312,-0.012053],[0.003367,0.013733,0.999900]]
2025-10-26T18:52:28.704Z,1761504748.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956755,0.290862,-0.004284],[-0.290885,0.956738,-0.006255],[0.002279,0.007231,0.999971]]
2025-10-26T18:52:29.115Z,1761504749.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960570,0.278032,-0.001937],[-0.278036,0.960568,-0.002265],[0.001231,0.002714,0.999996]]
2025-10-26T18:52:29.512Z,1761504749.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964044,0.265743,0.000390],[-0.265743,0.964043,0.001474],[0.000015,-0.001525,0.999999]]
2025-10-26T18:52:29.914Z,1761504749.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967208,0.253977,0.002220],[-0.253985,0.967199,0.004245],[-0.001069,-0.004670,0.999988]]
2025-10-26T18:52:30.322Z,1761504750.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970033,0.242949,0.003344],[-0.242965,0.970019,0.005559],[-0.001893,-0.006205,0.999979]]
2025-10-26T18:52:30.376Z,1761504750.376 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:52:30.377Z,1761504750.377 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:52:30.377Z,1761504750.377 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:52:30.377Z,1761504750.377 [marl:UpdateRudder:A] Stopped
2025-10-26T18:52:30.377Z,1761504750.377 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:52:30.727Z,1761504750.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972659,0.232203,0.004110],[-0.232223,0.972648,0.005311],[-0.002765,-0.006120,0.999977]]
2025-10-26T18:52:30.752Z,1761504750.752 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:52:30.752Z,1761504750.752 [marl:UpdateRudder:B] Stopped
2025-10-26T18:52:30.752Z,1761504750.752 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:52:30.752Z,1761504750.752 [marl:UpdateRudder] Stopped
2025-10-26T18:52:30.752Z,1761504750.752 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:52:31.126Z,1761504751.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975350,0.220609,0.004829],[-0.220628,0.975351,0.003774],[-0.003878,-0.004746,0.999981]]
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode] Stopped
2025-10-26T18:52:31.181Z,1761504751.181 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed] Stopped
2025-10-26T18:52:31.182Z,1761504751.182 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:52:31.530Z,1761504751.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978320,0.207024,0.005657],[-0.207038,0.978331,0.001924],[-0.005136,-0.003053,0.999982]]
2025-10-26T18:52:31.934Z,1761504751.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981529,0.191203,0.006499],[-0.191198,0.981551,-0.001462],[-0.006658,0.000193,0.999978]]
2025-10-26T18:52:32.343Z,1761504752.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984822,0.173409,0.007431],[-0.173375,0.984843,-0.004933],[-0.008174,0.003570,0.999960]]
2025-10-26T18:52:32.744Z,1761504752.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987962,0.154463,0.008526],[-0.154379,0.987963,-0.009752],[-0.009929,0.008318,0.999916]]
2025-10-26T18:52:33.146Z,1761504753.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990850,0.134606,0.009873],[-0.134461,0.990818,-0.014122],[-0.011684,0.012665,0.999852]]
2025-10-26T18:52:33.550Z,1761504753.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993361,0.114455,0.011567],[-0.114255,0.993312,-0.016646],[-0.013395,0.015214,0.999795]]
2025-10-26T18:52:33.955Z,1761504753.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995480,0.093984,0.013659],[-0.093758,0.995461,-0.016363],[-0.015135,0.015008,0.999773]]
2025-10-26T18:52:34.360Z,1761504754.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997183,0.073398,0.015479],[-0.073155,0.997196,-0.015737],[-0.016591,0.014560,0.999756]]
2025-10-26T18:52:34.762Z,1761504754.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998491,0.052302,0.016712],[-0.052055,0.998533,-0.014920],[-0.017468,0.014027,0.999749]]
2025-10-26T18:52:35.166Z,1761504755.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999370,0.030869,0.017491],[-0.030656,0.999454,-0.012313],[-0.017861,0.011769,0.999771]]
2025-10-26T18:52:35.315Z,1761504755.315 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:52:35.315Z,1761504755.315 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:52:35.571Z,1761504755.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999795,0.009564,0.017835],[-0.009372,0.999898,-0.010803],[-0.017937,0.010634,0.999783]]
2025-10-26T18:52:35.976Z,1761504755.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999797,-0.010351,0.017305],[0.010491,0.999913,-0.008006],[-0.017221,0.008185,0.999818]]
2025-10-26T18:52:36.378Z,1761504756.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999481,-0.027768,0.016355],[0.027834,0.999605,-0.003855],[-0.016242,0.004308,0.999859]]
2025-10-26T18:52:36.782Z,1761504756.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998939,-0.043405,0.015421],[0.043375,0.999056,0.002274],[-0.015505,-0.001603,0.999878]]
2025-10-26T18:52:37.189Z,1761504757.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998219,-0.057799,0.014773],[0.057706,0.998311,0.006660],[-0.015133,-0.005795,0.999869]]
2025-10-26T18:52:37.591Z,1761504757.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997311,-0.071882,0.014293],[0.071753,0.997379,0.009348],[-0.014927,-0.008297,0.999854]]
2025-10-26T18:52:37.994Z,1761504757.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996205,-0.085890,0.014058],[0.085738,0.996256,0.011114],[-0.014960,-0.009867,0.999839]]
2025-10-26T18:52:38.398Z,1761504758.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994888,-0.099998,0.014097],[0.099849,0.994943,0.010902],[-0.015116,-0.009439,0.999841]]
2025-10-26T18:52:38.823Z,1761504758.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993401,-0.113748,0.014667],[0.113630,0.993486,0.008594],[-0.015549,-0.006871,0.999856]]
2025-10-26T18:52:39.210Z,1761504759.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991829,-0.126598,0.015769],[0.126529,0.991949,0.005312],[-0.016314,-0.003274,0.999862]]
2025-10-26T18:52:39.610Z,1761504759.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990093,-0.139325,0.017424],[0.139338,0.990245,0.000455],[-0.017317,0.001977,0.999848]]
2025-10-26T18:52:40.014Z,1761504760.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988325,-0.151065,0.019821],[0.151211,0.988483,-0.006092],[-0.018673,0.009018,0.999785]]
2025-10-26T18:52:40.420Z,1761504760.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986612,-0.161498,0.022717],[0.161799,0.986749,-0.012118],[-0.020459,0.015631,0.999668]]
2025-10-26T18:52:40.856Z,1761504760.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984878,-0.171301,0.025895],[0.171770,0.984989,-0.017110],[-0.022575,0.021300,0.999518]]
2025-10-26T18:52:41.226Z,1761504761.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983062,-0.180972,0.028937],[0.181576,0.983178,-0.019777],[-0.024871,0.024697,0.999386]]
2025-10-26T18:52:41.630Z,1761504761.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980761,-0.192535,0.032233],[0.193245,0.980935,-0.020558],[-0.027660,0.026391,0.999269]]
2025-10-26T18:52:42.035Z,1761504762.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977568,-0.207554,0.035814],[0.208364,0.977835,-0.020562],[-0.030752,0.027563,0.999147]]
2025-10-26T18:52:42.441Z,1761504762.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973489,-0.225280,0.039612],[0.226220,0.973848,-0.021069],[-0.033830,0.029472,0.998993]]
2025-10-26T18:52:42.873Z,1761504762.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968429,-0.245645,0.042463],[0.246686,0.968863,-0.021235],[-0.035925,0.031040,0.998872]]
2025-10-26T18:52:43.246Z,1761504763.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962547,-0.267576,0.043661],[0.268554,0.963092,-0.018222],[-0.037174,0.029265,0.998880]]
2025-10-26T18:52:43.288Z,1761504763.288 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:52:43.288Z,1761504763.288 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:52:43.288Z,1761504763.288 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:52:43.289Z,1761504763.289 [marl:UpdateRudder:A] Stopped
2025-10-26T18:52:43.289Z,1761504763.289 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:52:43.650Z,1761504763.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956019,-0.290003,0.043891],[0.290863,0.956654,-0.014539],[-0.037772,0.026665,0.998931]]
2025-10-26T18:52:43.730Z,1761504763.730 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:52:43.730Z,1761504763.730 [marl:UpdateRudder:B] Stopped
2025-10-26T18:52:43.730Z,1761504763.730 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:52:43.730Z,1761504763.730 [marl:UpdateRudder] Stopped
2025-10-26T18:52:43.730Z,1761504763.730 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:52:44.054Z,1761504764.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949161,-0.311850,0.042932],[0.312559,0.949838,-0.010744],[-0.037428,0.023616,0.999020]]
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode] Stopped
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:52:44.090Z,1761504764.090 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:52:44.091Z,1761504764.091 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:52:44.091Z,1761504764.091 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:52:44.091Z,1761504764.091 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:52:44.091Z,1761504764.091 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:52:44.091Z,1761504764.091 [marl:UpdateSpeed] Stopped
2025-10-26T18:52:44.092Z,1761504764.092 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:52:44.458Z,1761504764.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941793,-0.333639,0.041365],[0.334239,0.942451,-0.008373],[-0.036191,0.021712,0.999109]]
2025-10-26T18:52:44.877Z,1761504764.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934303,-0.354454,0.037953],[0.354873,0.934902,-0.004728],[-0.033807,0.017886,0.999268]]
2025-10-26T18:52:44.956Z,1761504764.956 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:52:45.277Z,1761504765.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926928,-0.373644,0.034574],[0.373958,0.927441,-0.002875],[-0.030992,0.015594,0.999398]]
2025-10-26T18:52:45.670Z,1761504765.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920051,-0.390622,0.030351],[0.390807,0.920473,-0.000178],[-0.027868,0.012025,0.999539]]
2025-10-26T18:52:46.074Z,1761504766.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913965,-0.404926,0.026518],[0.405016,0.914307,0.002114],[-0.025102,0.008808,0.999646]]
2025-10-26T18:52:46.479Z,1761504766.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908873,-0.416511,0.021635],[0.416462,0.909127,0.006943],[-0.022561,0.002700,0.999742]]
2025-10-26T18:52:46.884Z,1761504766.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905915,-0.423231,0.013926],[0.422949,0.905947,0.019329],[-0.020797,-0.011621,0.999716]]
2025-10-26T18:52:47.296Z,1761504767.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905493,-0.424351,0.002795],[0.423900,0.904798,0.040625],[-0.019768,-0.035600,0.999171]]
2025-10-26T18:52:47.691Z,1761504767.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906829,-0.421386,-0.009794],[0.421058,0.904571,0.066787],[-0.019284,-0.064688,0.997719]]
2025-10-26T18:52:48.094Z,1761504768.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909087,-0.415961,-0.023166],[0.416170,0.904186,0.096179],[-0.019061,-0.097076,0.995094]]
2025-10-26T18:52:48.498Z,1761504768.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911718,-0.409327,-0.034955],[0.410371,0.903462,0.123905],[-0.019138,-0.127311,0.991678]]
2025-10-26T18:52:48.902Z,1761504768.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914303,-0.402563,-0.044636],[0.404571,0.902459,0.147949],[-0.019277,-0.153329,0.987987]]
2025-10-26T18:52:49.313Z,1761504769.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916683,-0.396291,-0.051435],[0.399147,0.901767,0.165827],[-0.019334,-0.172541,0.984813]]
2025-10-26T18:52:49.723Z,1761504769.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918854,-0.390615,-0.055918],[0.394136,0.901669,0.177902],[-0.019072,-0.185506,0.982458]]
2025-10-26T18:52:50.114Z,1761504770.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920551,-0.386225,-0.058446],[0.390170,0.901943,0.185110],[-0.018780,-0.193207,0.980978]]
2025-10-26T18:52:50.518Z,1761504770.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921867,-0.382934,-0.059355],[0.387069,0.902680,0.188007],[-0.018416,-0.196292,0.980373]]
2025-10-26T18:52:50.928Z,1761504770.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922449,-0.381399,-0.060183],[0.385709,0.903036,0.189087],[-0.017770,-0.197636,0.980114]]
2025-10-26T18:52:51.333Z,1761504771.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921715,-0.383284,-0.059447],[0.387533,0.903679,0.182162],[-0.016099,-0.190939,0.981470]]
2025-10-26T18:52:51.748Z,1761504771.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920533,-0.386063,-0.059786],[0.390374,0.903114,0.178867],[-0.015060,-0.187992,0.982055]]
2025-10-26T18:52:52.138Z,1761504772.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919114,-0.389356,-0.060263],[0.393748,0.902359,0.175247],[-0.013855,-0.184800,0.982679]]
2025-10-26T18:52:52.544Z,1761504772.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917477,-0.393105,-0.060869],[0.397584,0.901285,0.172079],[-0.012785,-0.182079,0.983201]]
2025-10-26T18:52:52.948Z,1761504772.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915676,-0.397129,-0.061861],[0.401742,0.899807,0.170149],[-0.011908,-0.180653,0.983475]]
2025-10-26T18:52:53.350Z,1761504773.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913542,-0.401677,-0.064004],[0.406603,0.897698,0.169744],[-0.010726,-0.181093,0.983407]]
2025-10-26T18:52:53.762Z,1761504773.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911271,-0.406407,-0.066478],[0.411694,0.895272,0.170280],[-0.009687,-0.182540,0.983151]]
2025-10-26T18:52:54.158Z,1761504774.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908873,-0.411290,-0.069210],[0.416985,0.892677,0.171029],[-0.008560,-0.184303,0.982832]]
2025-10-26T18:52:54.563Z,1761504774.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906320,-0.416367,-0.072263],[0.422527,0.889865,0.172079],[-0.007344,-0.186491,0.982429]]
2025-10-26T18:52:54.944Z,1761504774.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:52:54.966Z,1761504774.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903767,-0.421341,-0.075352],[0.427985,0.887148,0.172620],[-0.005883,-0.188258,0.982102]]
2025-10-26T18:52:55.370Z,1761504775.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901398,-0.425694,-0.079157],[0.432968,0.884302,0.174782],[-0.004405,-0.191820,0.981420]]
2025-10-26T18:52:55.779Z,1761504775.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899414,-0.429237,-0.082529],[0.437090,0.882023,0.176035],[-0.002768,-0.194401,0.980918]]
2025-10-26T18:52:55.948Z,1761504775.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:52:56.180Z,1761504776.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898312,-0.430816,-0.086213],[0.439356,0.880427,0.178365],[-0.000938,-0.198106,0.980180]]
2025-10-26T18:52:56.203Z,1761504776.203 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:52:56.203Z,1761504776.203 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:52:56.203Z,1761504776.203 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:52:56.204Z,1761504776.204 [marl:UpdateRudder:A] Stopped
2025-10-26T18:52:56.204Z,1761504776.204 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:52:56.582Z,1761504776.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897662,-0.431523,-0.089393],[0.440685,0.879310,0.180584],[0.000678,-0.201497,0.979489]]
2025-10-26T18:52:56.634Z,1761504776.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:52:56.634Z,1761504776.634 [marl:UpdateRudder:B] Stopped
2025-10-26T18:52:56.634Z,1761504776.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:52:56.634Z,1761504776.634 [marl:UpdateRudder] Stopped
2025-10-26T18:52:56.634Z,1761504776.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:52:56.986Z,1761504776.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897578,-0.431067,-0.092387],[0.440851,0.878579,0.183708],[0.001978,-0.205621,0.978630]]
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode] Stopped
2025-10-26T18:52:57.049Z,1761504777.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed] Stopped
2025-10-26T18:52:57.050Z,1761504777.050 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:52:57.413Z,1761504777.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897981,-0.429768,-0.094492],[0.440023,0.878453,0.186279],[0.002950,-0.208854,0.977943]]
2025-10-26T18:52:57.795Z,1761504777.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898594,-0.428342,-0.095137],[0.438766,0.878974,0.186788],[0.003614,-0.209590,0.977783]]
2025-10-26T18:52:58.198Z,1761504778.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899330,-0.426880,-0.094754],[0.437252,0.879931,0.185829],[0.004051,-0.208553,0.978003]]
2025-10-26T18:52:58.602Z,1761504778.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900029,-0.425486,-0.094386],[0.435809,0.880731,0.185428],[0.004232,-0.208025,0.978114]]
2025-10-26T18:52:59.006Z,1761504779.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900264,-0.425488,-0.092114],[0.435327,0.881775,0.181556],[0.003974,-0.203548,0.979057]]
2025-10-26T18:52:59.412Z,1761504779.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898994,-0.429374,-0.086308],[0.437949,0.882863,0.169571],[0.003389,-0.190242,0.981731]]
2025-10-26T18:52:59.814Z,1761504779.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895592,-0.438434,-0.075441],[0.444871,0.883489,0.146757],[0.002307,-0.164996,0.986292]]
2025-10-26T18:53:00.218Z,1761504780.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889570,-0.452526,-0.062330],[0.456796,0.881642,0.118508],[0.001325,-0.133893,0.990995]]
2025-10-26T18:53:00.622Z,1761504780.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880921,-0.470804,-0.048173],[0.473263,0.876404,0.089099],[0.000271,-0.101288,0.994857]]
2025-10-26T18:53:01.027Z,1761504781.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870438,-0.491179,-0.032868],[0.492277,0.868385,0.059760],[-0.000811,-0.068198,0.997671]]
2025-10-26T18:53:01.430Z,1761504781.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859175,-0.511284,-0.020158],[0.511680,0.858407,0.036350],[-0.001281,-0.041546,0.999136]]
2025-10-26T18:53:01.834Z,1761504781.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847289,-0.531061,-0.008696],[0.531130,0.847120,0.016962],[-0.001642,-0.018991,0.999818]]
2025-10-26T18:53:02.244Z,1761504782.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834961,-0.550309,-0.000315],[0.550306,0.834955,0.003802],[-0.001830,-0.003348,0.999993]]
2025-10-26T18:53:02.643Z,1761504782.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822815,-0.568282,0.005650],[0.568308,0.822798,-0.005390],[-0.001586,0.007646,0.999970]]
2025-10-26T18:53:03.046Z,1761504783.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810510,-0.585639,0.010069],[0.585725,0.810416,-0.012339],[-0.000934,0.015899,0.999873]]
2025-10-26T18:53:03.450Z,1761504783.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798155,-0.602344,0.011425],[0.602452,0.798020,-0.014688],[-0.000271,0.018607,0.999827]]
2025-10-26T18:53:03.854Z,1761504783.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785952,-0.618180,0.011561],[0.618287,0.785800,-0.015444],[0.000463,0.019286,0.999814]]
2025-10-26T18:53:04.260Z,1761504784.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773748,-0.633410,0.010351],[0.633492,0.773604,-0.014956],[0.001466,0.018129,0.999835]]
2025-10-26T18:53:04.662Z,1761504784.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761847,-0.647709,0.007936],[0.647750,0.761722,-0.014142],[0.003115,0.015915,0.999869]]
2025-10-26T18:53:05.066Z,1761504785.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750991,-0.660294,0.004986],[0.660300,0.750910,-0.011769],[0.004027,0.012131,0.999918]]
2025-10-26T18:53:05.470Z,1761504785.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741169,-0.671317,0.001623],[0.671298,0.741125,-0.009651],[0.005276,0.008243,0.999952]]
2025-10-26T18:53:05.879Z,1761504785.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731644,-0.681685,-0.001790],[0.681655,0.731632,-0.007865],[0.006671,0.004535,0.999967]]
2025-10-26T18:53:06.278Z,1761504786.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722522,-0.691326,-0.005460],[0.691301,0.722543,-0.005909],[0.008030,0.000495,0.999968]]
2025-10-26T18:53:06.682Z,1761504786.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713827,-0.700268,-0.008742],[0.700258,0.713875,-0.004644],[0.009493,-0.002806,0.999951]]
2025-10-26T18:53:07.086Z,1761504787.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705216,-0.708894,-0.011840],[0.708912,0.705289,-0.003344],[0.010721,-0.006035,0.999924]]
2025-10-26T18:53:07.491Z,1761504787.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697059,-0.716879,-0.013920],[0.716920,0.697150,-0.002674],[0.011621,-0.008115,0.999900]]
2025-10-26T18:53:07.902Z,1761504787.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688948,-0.724642,-0.015619],[0.724704,0.689057,-0.002318],[0.012442,-0.009722,0.999875]]
2025-10-26T18:53:08.298Z,1761504788.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680903,-0.732179,-0.016886],[0.732260,0.681022,-0.001912],[0.012900,-0.011063,0.999856]]
2025-10-26T18:53:08.709Z,1761504788.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673047,-0.739390,-0.017620],[0.739483,0.673173,-0.001730],[0.013141,-0.011865,0.999843]]
2025-10-26T18:53:09.107Z,1761504789.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665099,-0.746565,-0.016846],[0.746646,0.665218,-0.002100],[0.012774,-0.011181,0.999856]]
2025-10-26T18:53:09.175Z,1761504789.175 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:53:09.175Z,1761504789.175 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:53:09.175Z,1761504789.175 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:53:09.175Z,1761504789.175 [marl:UpdateRudder:A] Stopped
2025-10-26T18:53:09.175Z,1761504789.175 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:53:09.512Z,1761504789.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656838,-0.753851,-0.016514],[0.753935,0.656947,-0.001669],[0.012107,-0.011354,0.999862]]
2025-10-26T18:53:09.554Z,1761504789.554 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:53:09.554Z,1761504789.554 [marl:UpdateRudder:B] Stopped
2025-10-26T18:53:09.554Z,1761504789.554 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:53:09.554Z,1761504789.554 [marl:UpdateRudder] Stopped
2025-10-26T18:53:09.554Z,1761504789.554 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:53:09.918Z,1761504789.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648156,-0.761360,-0.014993],[0.761426,0.648250,-0.001887],[0.011155,-0.010193,0.999886]]
2025-10-26T18:53:09.956Z,1761504789.956 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:53:09.956Z,1761504789.956 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:53:09.956Z,1761504789.956 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateCommandMode] Stopped
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:53:09.957Z,1761504789.957 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:53:09.958Z,1761504789.958 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:53:09.958Z,1761504789.958 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:53:09.958Z,1761504789.958 [marl:UpdateSpeed] Stopped
2025-10-26T18:53:09.958Z,1761504789.958 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:53:10.318Z,1761504790.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638357,-0.769633,-0.012843],[0.769676,0.638431,-0.002302],[0.009971,-0.008416,0.999915]]
2025-10-26T18:53:10.729Z,1761504790.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627351,-0.778660,-0.010945],[0.778688,0.627407,-0.002370],[0.008712,-0.007036,0.999937]]
2025-10-26T18:53:11.126Z,1761504791.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615359,-0.788202,-0.008478],[0.788217,0.615394,-0.002178],[0.006934,-0.005342,0.999962]]
2025-10-26T18:53:11.530Z,1761504791.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601310,-0.798995,-0.005840],[0.799000,0.601328,-0.001993],[0.005104,-0.003468,0.999981]]
2025-10-26T18:53:11.937Z,1761504791.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585818,-0.810439,-0.002222],[0.810436,0.585822,-0.002318],[0.003180,-0.000443,0.999995]]
2025-10-26T18:53:12.340Z,1761504792.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568701,-0.822544,0.001240],[0.822544,0.568697,-0.002421],[0.001286,0.002397,0.999996]]
2025-10-26T18:53:12.743Z,1761504792.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550204,-0.835021,0.003982],[0.835030,0.550199,-0.002301],[-0.000270,0.004591,0.999989]]
2025-10-26T18:53:13.146Z,1761504793.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530632,-0.847576,0.006671],[0.847601,0.530626,-0.002923],[-0.001062,0.007205,0.999974]]
2025-10-26T18:53:13.550Z,1761504793.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510171,-0.860024,0.009184],[0.860072,0.510155,-0.004205],[-0.001069,0.010044,0.999949]]
2025-10-26T18:53:13.965Z,1761504793.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488858,-0.872301,0.010401],[0.872363,0.488823,-0.005912],[0.000073,0.011964,0.999928]]
2025-10-26T18:53:14.358Z,1761504794.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467198,-0.884110,0.008703],[0.884149,0.467145,-0.007477],[0.002545,0.011189,0.999934]]
2025-10-26T18:53:14.763Z,1761504794.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445928,-0.895038,0.007465],[0.895049,0.445847,-0.010385],[0.005967,0.011312,0.999918]]
2025-10-26T18:53:15.166Z,1761504795.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425091,-0.905128,0.006386],[0.905093,0.424974,-0.014267],[0.010200,0.011845,0.999878]]
2025-10-26T18:53:15.298Z,1761504795.298 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:53:15.570Z,1761504795.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405819,-0.913942,0.004495],[0.913832,0.405680,-0.018284],[0.014887,0.011527,0.999823]]
2025-10-26T18:53:15.974Z,1761504795.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389946,-0.920838,0.000392],[0.920639,0.389853,-0.020934],[0.019124,0.008524,0.999781]]
2025-10-26T18:53:16.379Z,1761504796.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377856,-0.925860,-0.002778],[0.925597,0.377817,-0.022915],[0.022266,0.006088,0.999734]]
2025-10-26T18:53:16.782Z,1761504796.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367642,-0.929947,-0.006203],[0.929647,0.367682,-0.023805],[0.024418,0.002985,0.999697]]
2025-10-26T18:53:17.193Z,1761504797.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358371,-0.933518,-0.010737],[0.933222,0.358528,-0.023541],[0.025825,-0.001584,0.999665]]
2025-10-26T18:53:17.590Z,1761504797.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350021,-0.936636,-0.014099],[0.936371,0.350267,-0.022874],[0.026363,-0.005195,0.999639]]
2025-10-26T18:53:18.001Z,1761504798.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342091,-0.939547,-0.015020],[0.939311,0.342358,-0.022039],[0.025849,-0.006569,0.999644]]
2025-10-26T18:53:18.398Z,1761504798.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334127,-0.942415,-0.014595],[0.942216,0.334375,-0.020573],[0.024268,-0.006877,0.999682]]
2025-10-26T18:53:18.812Z,1761504798.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326098,-0.945246,-0.013067],[0.945086,0.326299,-0.018460],[0.021713,-0.006330,0.999744]]
2025-10-26T18:53:19.208Z,1761504799.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317291,-0.948250,-0.012145],[0.948157,0.317451,-0.014918],[0.018001,-0.006782,0.999815]]
2025-10-26T18:53:19.610Z,1761504799.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306797,-0.951719,-0.010350],[0.951673,0.306905,-0.011259],[0.013892,-0.006395,0.999883]]
2025-10-26T18:53:20.014Z,1761504800.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292752,-0.956153,-0.008266],[0.956131,0.292818,-0.008488],[0.010536,-0.005418,0.999930]]
2025-10-26T18:53:20.418Z,1761504800.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275983,-0.961138,-0.006853],[0.961124,0.276029,-0.007005],[0.008624,-0.004654,0.999952]]
2025-10-26T18:53:20.866Z,1761504800.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258006,-0.966130,-0.005000],[0.966116,0.258035,-0.006188],[0.007268,-0.003234,0.999968]]
2025-10-26T18:53:21.226Z,1761504801.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238834,-0.971059,-0.001857],[0.971035,0.238841,-0.006707],[0.006957,-0.000201,0.999976]]
2025-10-26T18:53:21.630Z,1761504801.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218663,-0.975800,-0.000157],[0.975772,0.218658,-0.007564],[0.007416,0.001501,0.999971]]
2025-10-26T18:53:22.034Z,1761504802.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198419,-0.980117,0.000931],[0.980077,0.198402,-0.009219],[0.008851,0.002742,0.999957]]
2025-10-26T18:53:22.058Z,1761504802.058 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:53:22.058Z,1761504802.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:53:22.059Z,1761504802.059 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:53:22.059Z,1761504802.059 [marl:UpdateRudder:A] Stopped
2025-10-26T18:53:22.059Z,1761504802.059 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:53:22.454Z,1761504802.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178679,-0.983904,0.002519],[0.983847,0.178640,-0.011512],[0.010877,0.004535,0.999931]]
2025-10-26T18:53:22.478Z,1761504802.478 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:53:22.478Z,1761504802.478 [marl:UpdateRudder:B] Stopped
2025-10-26T18:53:22.478Z,1761504802.478 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:53:22.478Z,1761504802.478 [marl:UpdateRudder] Stopped
2025-10-26T18:53:22.478Z,1761504802.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:53:22.880Z,1761504802.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160605,-0.987013,0.003435],[0.986932,0.160543,-0.013822],[0.013091,0.005610,0.999899]]
2025-10-26T18:53:22.953Z,1761504802.953 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:53:22.953Z,1761504802.953 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:53:22.953Z,1761504802.953 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:53:22.953Z,1761504802.953 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateCommandMode] Stopped
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:53:22.954Z,1761504802.954 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:53:22.955Z,1761504802.955 [marl:UpdateSpeed] Stopped
2025-10-26T18:53:22.955Z,1761504802.955 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:53:23.246Z,1761504803.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143983,-0.989569,0.004714],[0.989463,0.143891,-0.016086],[0.015240,0.006980,0.999859]]
2025-10-26T18:53:23.659Z,1761504803.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128067,-0.991754,0.004776],[0.991618,0.127964,-0.017870],[0.017111,0.007024,0.999829]]
2025-10-26T18:53:24.054Z,1761504804.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113307,-0.993551,0.004223],[0.993397,0.113210,-0.018615],[0.018016,0.006304,0.999818]]
2025-10-26T18:53:24.458Z,1761504804.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099250,-0.995053,0.004301],[0.994900,0.099155,-0.018523],[0.018005,0.006117,0.999819]]
2025-10-26T18:53:24.879Z,1761504804.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084795,-0.996390,0.003993],[0.996241,0.084709,-0.018107],[0.017703,0.005514,0.999828]]
2025-10-26T18:53:25.268Z,1761504805.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072005,-0.997404,-0.000379],[0.997262,0.072001,-0.016852],[0.016836,0.000835,0.999858]]
2025-10-26T18:53:25.676Z,1761504805.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063082,-0.997944,-0.011342],[0.997879,0.063252,-0.015356],[0.016042,-0.010349,0.999818]]
2025-10-26T18:53:26.074Z,1761504806.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057947,-0.997822,-0.031524],[0.998204,0.058393,-0.013407],[0.015219,-0.030690,0.999413]]
2025-10-26T18:53:26.076Z,1761504806.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:53:26.479Z,1761504806.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055912,-0.996610,-0.060345],[0.998328,0.056691,-0.011259],[0.014642,-0.059614,0.998114]]
2025-10-26T18:53:26.889Z,1761504806.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054658,-0.994347,-0.091027],[0.998401,0.055742,-0.009407],[0.014428,-0.090367,0.995804]]
2025-10-26T18:53:27.080Z,1761504807.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:53:27.288Z,1761504807.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053896,-0.991136,-0.121424],[0.998446,0.055218,-0.007550],[0.014188,-0.120829,0.992572]]
2025-10-26T18:53:27.690Z,1761504807.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052664,-0.987486,-0.148653],[0.998514,0.054160,-0.006029],[0.014005,-0.148115,0.988871]]
2025-10-26T18:53:28.095Z,1761504808.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050661,-0.984033,-0.170624],[0.998616,0.052324,-0.005265],[0.014108,-0.170121,0.985322]]
2025-10-26T18:53:28.499Z,1761504808.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047844,-0.981045,-0.187781],[0.998754,0.049659,-0.004967],[0.014197,-0.187309,0.982198]]
2025-10-26T18:53:28.909Z,1761504808.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043770,-0.979297,-0.197643],[0.998938,0.045747,-0.005449],[0.014378,-0.197194,0.980259]]
2025-10-26T18:53:29.306Z,1761504809.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039520,-0.978415,-0.202835],[0.999119,0.041558,-0.005794],[0.014098,-0.202428,0.979196]]
2025-10-26T18:53:29.716Z,1761504809.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034865,-0.977956,-0.205880],[0.999299,0.036932,-0.006205],[0.013672,-0.205519,0.978558]]
2025-10-26T18:53:30.117Z,1761504810.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029878,-0.977821,-0.207301],[0.999457,0.032114,-0.007427],[0.013920,-0.206966,0.978249]]
2025-10-26T18:53:30.519Z,1761504810.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024951,-0.978184,-0.206238],[0.999586,0.027372,-0.008892],[0.014343,-0.205930,0.978462]]
2025-10-26T18:53:30.922Z,1761504810.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020265,-0.978669,-0.204440],[0.999677,0.022965,-0.010845],[0.015308,-0.204154,0.978819]]
2025-10-26T18:53:31.326Z,1761504811.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015988,-0.979236,-0.202093],[0.999733,0.019028,-0.013110],[0.016683,-0.201829,0.979279]]
2025-10-26T18:53:31.734Z,1761504811.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012712,-0.980024,-0.198475],[0.999748,0.016126,-0.015595],[0.018484,-0.198227,0.979982]]
2025-10-26T18:53:32.152Z,1761504812.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011052,-0.980670,-0.195357],[0.999728,0.014847,-0.017973],[0.020525,-0.195105,0.980568]]
2025-10-26T18:53:32.538Z,1761504812.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011262,-0.980868,-0.194346],[0.999684,0.015416,-0.019875],[0.022491,-0.194060,0.980732]]
2025-10-26T18:53:32.942Z,1761504812.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012428,-0.981246,-0.192358],[0.999629,0.016853,-0.021386],[0.024226,-0.192021,0.981092]]
2025-10-26T18:53:33.346Z,1761504813.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014423,-0.981309,-0.191899],[0.999564,0.019092,-0.022507],[0.025750,-0.191491,0.981157]]
2025-10-26T18:53:33.751Z,1761504813.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016946,-0.981343,-0.191516],[0.999490,0.021808,-0.023309],[0.027050,-0.191023,0.981213]]
2025-10-26T18:53:34.154Z,1761504814.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019952,-0.981302,-0.191439],[0.999412,0.024916,-0.023556],[0.027886,-0.190856,0.981222]]
2025-10-26T18:53:34.558Z,1761504814.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023538,-0.980824,-0.193467],[0.999335,0.028472,-0.022760],[0.027832,-0.192802,0.980843]]
2025-10-26T18:53:34.962Z,1761504814.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027373,-0.980415,-0.195033],[0.999263,0.032088,-0.021054],[0.026900,-0.194313,0.980571]]
2025-10-26T18:53:35.022Z,1761504815.022 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:53:35.022Z,1761504815.022 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:53:35.022Z,1761504815.022 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:53:35.022Z,1761504815.022 [marl:UpdateRudder:A] Stopped
2025-10-26T18:53:35.022Z,1761504815.022 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:53:35.367Z,1761504815.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031099,-0.979998,-0.196561],[0.999202,0.035415,-0.018479],[0.025071,-0.195829,0.980318]]
2025-10-26T18:53:35.414Z,1761504815.414 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:53:35.414Z,1761504815.414 [marl:UpdateRudder:B] Stopped
2025-10-26T18:53:35.414Z,1761504815.414 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:53:35.414Z,1761504815.414 [marl:UpdateRudder] Stopped
2025-10-26T18:53:35.414Z,1761504815.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:53:35.468Z,1761504815.468 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:53:35.468Z,1761504815.468 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:53:35.772Z,1761504815.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034432,-0.979292,-0.199503],[0.999144,0.038312,-0.015621],[0.022941,-0.198794,0.979773]]
2025-10-26T18:53:35.825Z,1761504815.825 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:53:35.825Z,1761504815.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:53:35.825Z,1761504815.825 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:53:35.825Z,1761504815.825 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:53:35.825Z,1761504815.825 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:53:35.825Z,1761504815.825 [marl:UpdateCommandMode] Stopped
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed] Stopped
2025-10-26T18:53:35.826Z,1761504815.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:53:36.180Z,1761504816.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036661,-0.977946,-0.205617],[0.999144,0.039813,-0.011215],[0.019154,-0.205030,0.978568]]
2025-10-26T18:53:36.585Z,1761504816.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034546,-0.977623,-0.207507],[0.999240,0.037538,-0.010495],[0.018050,-0.206987,0.978177]]
2025-10-26T18:53:36.987Z,1761504816.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030919,-0.977940,-0.206583],[0.999382,0.033708,-0.009995],[0.016738,-0.206146,0.978378]]
2025-10-26T18:53:37.391Z,1761504817.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026208,-0.978007,-0.206920],[0.999538,0.028831,-0.009673],[0.015426,-0.206571,0.978310]]
2025-10-26T18:53:37.792Z,1761504817.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020608,-0.978559,-0.204931],[0.999684,0.023115,-0.009845],[0.014370,-0.204663,0.978727]]
2025-10-26T18:53:38.196Z,1761504818.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014573,-0.979098,-0.202865],[0.999806,0.016953,-0.009999],[0.013230,-0.202680,0.979156]]
2025-10-26T18:53:38.602Z,1761504818.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008251,-0.979916,-0.199238],[0.999889,0.010557,-0.010514],[0.012406,-0.199129,0.979895]]
2025-10-26T18:53:39.002Z,1761504819.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001732,-0.980701,-0.195508],[0.999928,0.004021,-0.011311],[0.011879,-0.195474,0.980637]]
2025-10-26T18:53:39.406Z,1761504819.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004461,-0.981431,-0.191762],[0.999919,-0.002090,-0.012565],[0.011930,-0.191802,0.981361]]
2025-10-26T18:53:39.813Z,1761504819.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010109,-0.982005,-0.188584],[0.999870,-0.007563,-0.014215],[0.012533,-0.188703,0.981954]]
2025-10-26T18:53:40.214Z,1761504820.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014606,-0.982220,-0.187166],[0.999804,-0.011847,-0.015851],[0.013352,-0.187361,0.982200]]
2025-10-26T18:53:40.623Z,1761504820.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017835,-0.982461,-0.185612],[0.999740,-0.014881,-0.017292],[0.014227,-0.185872,0.982471]]
2025-10-26T18:53:41.022Z,1761504821.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020000,-0.981872,-0.188489],[0.999688,-0.016812,-0.018495],[0.014990,-0.188800,0.981901]]
2025-10-26T18:53:41.426Z,1761504821.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021402,-0.981570,-0.189902],[0.999648,-0.018036,-0.019434],[0.015650,-0.190251,0.981611]]
2025-10-26T18:53:41.830Z,1761504821.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022632,-0.981239,-0.191463],[0.999613,-0.019113,-0.020210],[0.016172,-0.191846,0.981292]]
2025-10-26T18:53:42.234Z,1761504822.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023471,-0.980782,-0.193692],[0.999589,-0.019832,-0.020707],[0.016468,-0.194098,0.980844]]
2025-10-26T18:53:42.639Z,1761504822.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024414,-0.980466,-0.195169],[0.999565,-0.020704,-0.021026],[0.016574,-0.195597,0.980544]]
2025-10-26T18:53:43.045Z,1761504823.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025667,-0.980380,-0.195436],[0.999536,-0.021966,-0.021083],[0.016377,-0.195887,0.980490]]
2025-10-26T18:53:43.446Z,1761504823.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027566,-0.980207,-0.196045],[0.999487,-0.023833,-0.021380],[0.016285,-0.196534,0.980362]]
2025-10-26T18:53:43.850Z,1761504823.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029564,-0.980147,-0.196057],[0.999436,-0.025866,-0.021398],[0.015902,-0.196579,0.980359]]
2025-10-26T18:53:44.254Z,1761504824.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032320,-0.980281,-0.194946],[0.999354,-0.028631,-0.021715],[0.015705,-0.195522,0.980573]]
2025-10-26T18:53:44.659Z,1761504824.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035539,-0.980509,-0.193233],[0.999242,-0.031788,-0.022479],[0.015899,-0.193885,0.980895]]
2025-10-26T18:53:45.062Z,1761504825.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039115,-0.980743,-0.191346],[0.999105,-0.035298,-0.023317],[0.016114,-0.192087,0.981246]]
2025-10-26T18:53:45.466Z,1761504825.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042620,-0.980609,-0.191282],[0.998953,-0.038638,-0.024503],[0.016637,-0.192126,0.981229]]
2025-10-26T18:53:45.518Z,1761504825.518 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:53:45.870Z,1761504825.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045833,-0.980535,-0.190919],[0.998804,-0.041726,-0.025481],[0.017018,-0.191859,0.981275]]
2025-10-26T18:53:46.276Z,1761504826.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049152,-0.980513,-0.190206],[0.998636,-0.044882,-0.026691],[0.017634,-0.191258,0.981381]]
2025-10-26T18:53:46.678Z,1761504826.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052041,-0.980320,-0.190431],[0.998476,-0.047574,-0.027958],[0.018348,-0.191596,0.981302]]
2025-10-26T18:53:47.089Z,1761504827.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053943,-0.980148,-0.190787],[0.998361,-0.049286,-0.029073],[0.019092,-0.192042,0.981201]]
2025-10-26T18:53:47.488Z,1761504827.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054938,-0.979947,-0.191535],[0.998288,-0.050051,-0.030265],[0.020072,-0.192870,0.981019]]
2025-10-26T18:53:47.891Z,1761504827.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055350,-0.979692,-0.192715],[0.998229,-0.050083,-0.032101],[0.021797,-0.194151,0.980730]]
2025-10-26T18:53:48.294Z,1761504828.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054948,-0.978975,-0.196438],[0.998201,-0.049130,-0.034370],[0.023997,-0.197974,0.979914]]
2025-10-26T18:53:48.340Z,1761504828.340 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:53:48.341Z,1761504828.341 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:53:48.341Z,1761504828.341 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:53:48.341Z,1761504828.341 [marl:UpdateRudder:A] Stopped
2025-10-26T18:53:48.341Z,1761504828.341 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:53:48.700Z,1761504828.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053740,-0.978652,-0.198373],[0.998201,-0.047359,-0.036777],[0.026597,-0.199992,0.979436]]
2025-10-26T18:53:48.755Z,1761504828.755 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:53:48.759Z,1761504828.759 [marl:UpdateRudder:B] Stopped
2025-10-26T18:53:48.759Z,1761504828.759 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:53:48.760Z,1761504828.760 [marl:UpdateRudder] Stopped
2025-10-26T18:53:48.760Z,1761504828.760 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:53:49.105Z,1761504829.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051996,-0.978035,-0.201849],[0.998218,-0.044978,-0.039204],[0.029264,-0.203528,0.978632]]
2025-10-26T18:53:49.166Z,1761504829.166 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:53:49.166Z,1761504829.166 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:53:49.166Z,1761504829.166 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:53:49.167Z,1761504829.167 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:53:49.167Z,1761504829.167 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:53:49.167Z,1761504829.167 [marl:UpdateCommandMode] Stopped
2025-10-26T18:53:49.171Z,1761504829.171 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:53:49.171Z,1761504829.171 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:53:49.172Z,1761504829.172 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:53:49.172Z,1761504829.172 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:53:49.172Z,1761504829.172 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:53:49.172Z,1761504829.172 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:53:49.172Z,1761504829.172 [marl:UpdateSpeed] Stopped
2025-10-26T18:53:49.172Z,1761504829.172 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:53:49.508Z,1761504829.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049305,-0.977857,-0.203381],[0.998264,-0.041676,-0.041629],[0.032232,-0.205081,0.978214]]
2025-10-26T18:53:49.910Z,1761504829.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046451,-0.977944,-0.203636],[0.998298,-0.038254,-0.044009],[0.035249,-0.205334,0.978057]]
2025-10-26T18:53:50.314Z,1761504830.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043238,-0.977846,-0.204812],[0.998367,-0.034631,-0.045425],[0.037326,-0.206442,0.977747]]
2025-10-26T18:53:50.721Z,1761504830.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039593,-0.977833,-0.205609],[0.998481,-0.030829,-0.045659],[0.038308,-0.207104,0.977569]]
2025-10-26T18:53:51.123Z,1761504831.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036003,-0.978269,-0.204189],[0.998619,-0.027396,-0.044824],[0.038256,-0.205521,0.977905]]
2025-10-26T18:53:51.526Z,1761504831.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033609,-0.978498,-0.203498],[0.998743,-0.025306,-0.043265],[0.037185,-0.204697,0.978119]]
2025-10-26T18:53:51.930Z,1761504831.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032356,-0.978849,-0.202011],[0.998829,-0.024394,-0.041780],[0.035968,-0.203126,0.978492]]
2025-10-26T18:53:52.334Z,1761504832.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033064,-0.979128,-0.200538],[0.998850,-0.025400,-0.040669],[0.034726,-0.201652,0.978841]]
2025-10-26T18:53:52.741Z,1761504832.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036149,-0.979017,-0.200544],[0.998796,-0.028735,-0.039759],[0.033162,-0.201740,0.978878]]
2025-10-26T18:53:53.143Z,1761504833.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041112,-0.978849,-0.200409],[0.998658,-0.033934,-0.039125],[0.031497,-0.201749,0.978931]]
2025-10-26T18:53:53.547Z,1761504833.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047691,-0.978551,-0.200411],[0.998414,-0.040691,-0.038906],[0.029917,-0.201948,0.978939]]
2025-10-26T18:53:53.950Z,1761504833.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055455,-0.978229,-0.199982],[0.998054,-0.048587,-0.039090],[0.028522,-0.201760,0.979019]]
2025-10-26T18:53:54.355Z,1761504834.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063990,-0.977903,-0.199026],[0.997561,-0.057109,-0.040129],[0.027876,-0.201108,0.979172]]
2025-10-26T18:53:54.758Z,1761504834.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073138,-0.977819,-0.196265],[0.996914,-0.066049,-0.042432],[0.028528,-0.198763,0.979632]]
2025-10-26T18:53:55.162Z,1761504835.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082513,-0.977648,-0.193380],[0.996127,-0.074991,-0.045913],[0.030385,-0.196420,0.980049]]
2025-10-26T18:53:55.572Z,1761504835.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091766,-0.977589,-0.189467],[0.995213,-0.083615,-0.050592],[0.033616,-0.193203,0.980583]]
2025-10-26T18:53:55.974Z,1761504835.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100413,-0.977636,-0.184784],[0.994230,-0.091552,-0.055902],[0.037735,-0.189331,0.981188]]
2025-10-26T18:53:56.375Z,1761504836.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107483,-0.977404,-0.182015],[0.993314,-0.097816,-0.061306],[0.042116,-0.187387,0.981383]]
2025-10-26T18:53:56.778Z,1761504836.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111761,-0.977375,-0.179577],[0.992662,-0.101408,-0.065863],[0.046162,-0.185620,0.981537]]
2025-10-26T18:53:57.182Z,1761504837.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112978,-0.977324,-0.179090],[0.992385,-0.102091,-0.068914],[0.049068,-0.185512,0.981416]]
2025-10-26T18:53:57.224Z,1761504837.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:53:57.586Z,1761504837.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112057,-0.977208,-0.180298],[0.992391,-0.100736,-0.070796],[0.051020,-0.186860,0.981061]]
2025-10-26T18:53:57.991Z,1761504837.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109531,-0.977230,-0.181729],[0.992621,-0.097968,-0.071452],[0.052022,-0.188214,0.980749]]
2025-10-26T18:53:58.228Z,1761504838.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:53:58.396Z,1761504838.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106253,-0.977100,-0.184353],[0.992951,-0.094473,-0.071572],[0.052516,-0.190658,0.980251]]
2025-10-26T18:53:58.841Z,1761504838.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102609,-0.977029,-0.186776],[0.993322,-0.090684,-0.071331],[0.052755,-0.192848,0.979809]]
2025-10-26T18:53:59.329Z,1761504839.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099197,-0.977000,-0.188759],[0.993682,-0.087254,-0.070585],[0.052492,-0.194568,0.979483]]
2025-10-26T18:53:59.734Z,1761504839.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096180,-0.976436,-0.193191],[0.994013,-0.084116,-0.069726],[0.051832,-0.198740,0.978681]]
2025-10-26T18:54:00.134Z,1761504840.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093756,-0.976091,-0.196103],[0.994295,-0.081737,-0.068528],[0.050861,-0.201410,0.978186]]
2025-10-26T18:54:00.552Z,1761504840.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093141,-0.975530,-0.199163],[0.994405,-0.081132,-0.067653],[0.049839,-0.204350,0.977628]]
2025-10-26T18:54:00.942Z,1761504840.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093716,-0.975234,-0.200339],[0.994395,-0.081797,-0.066988],[0.048942,-0.205494,0.977434]]
2025-10-26T18:54:01.346Z,1761504841.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095784,-0.974927,-0.200855],[0.994238,-0.083948,-0.066658],[0.048125,-0.206082,0.977351]]
2025-10-26T18:54:01.388Z,1761504841.388 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:54:01.388Z,1761504841.388 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:54:01.388Z,1761504841.388 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:54:01.389Z,1761504841.389 [marl:UpdateRudder:A] Stopped
2025-10-26T18:54:01.389Z,1761504841.389 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:54:01.750Z,1761504841.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099081,-0.974755,-0.200087],[0.993962,-0.087422,-0.066311],[0.047146,-0.205449,0.977532]]
2025-10-26T18:54:01.782Z,1761504841.782 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:54:01.782Z,1761504841.782 [marl:UpdateRudder:B] Stopped
2025-10-26T18:54:01.782Z,1761504841.782 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:54:01.782Z,1761504841.782 [marl:UpdateRudder] Stopped
2025-10-26T18:54:01.782Z,1761504841.782 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:54:02.157Z,1761504842.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103770,-0.974579,-0.198566],[0.993521,-0.092267,-0.066354],[0.046346,-0.204165,0.977839]]
2025-10-26T18:54:02.182Z,1761504842.182 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:54:02.182Z,1761504842.182 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:54:02.182Z,1761504842.182 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:54:02.182Z,1761504842.182 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:54:02.183Z,1761504842.183 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:54:02.183Z,1761504842.183 [marl:UpdateCommandMode] Stopped
2025-10-26T18:54:02.183Z,1761504842.183 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:54:02.183Z,1761504842.183 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:54:02.183Z,1761504842.183 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:54:02.183Z,1761504842.183 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:54:02.184Z,1761504842.184 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:54:02.184Z,1761504842.184 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:54:02.184Z,1761504842.184 [marl:UpdateSpeed] Stopped
2025-10-26T18:54:02.184Z,1761504842.184 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:54:02.560Z,1761504842.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108943,-0.974284,-0.197237],[0.992997,-0.097542,-0.066654],[0.045701,-0.203117,0.978087]]
2025-10-26T18:54:02.962Z,1761504842.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114201,-0.974099,-0.195163],[0.992427,-0.102913,-0.067066],[0.045245,-0.201344,0.978475]]
2025-10-26T18:54:03.371Z,1761504843.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119193,-0.974000,-0.192659],[0.991842,-0.107976,-0.067747],[0.045183,-0.199162,0.978924]]
2025-10-26T18:54:03.771Z,1761504843.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123594,-0.973894,-0.190406],[0.991286,-0.112357,-0.068763],[0.045574,-0.197246,0.979294]]
2025-10-26T18:54:04.174Z,1761504844.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127168,-0.973946,-0.187772],[0.990800,-0.115898,-0.069872],[0.046290,-0.194930,0.979724]]
2025-10-26T18:54:04.578Z,1761504844.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129499,-0.974333,-0.184133],[0.990458,-0.118274,-0.070735],[0.047141,-0.191537,0.980353]]
2025-10-26T18:54:04.982Z,1761504844.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130459,-0.974214,-0.184088],[0.990295,-0.119066,-0.071690],[0.047923,-0.191654,0.980292]]
2025-10-26T18:54:05.394Z,1761504845.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130423,-0.974282,-0.183752],[0.990260,-0.118900,-0.072437],[0.048726,-0.191410,0.980300]]
2025-10-26T18:54:05.790Z,1761504845.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129569,-0.974386,-0.183801],[0.990344,-0.117948,-0.072853],[0.049308,-0.191466,0.980260]]
2025-10-26T18:54:06.194Z,1761504846.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128602,-0.974335,-0.184752],[0.990447,-0.116842,-0.073235],[0.049769,-0.192405,0.980053]]
2025-10-26T18:54:06.598Z,1761504846.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127639,-0.974408,-0.185035],[0.990569,-0.115871,-0.073121],[0.049809,-0.192623,0.980008]]
2025-10-26T18:54:07.018Z,1761504847.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127347,-0.973996,-0.187388],[0.990621,-0.115465,-0.073056],[0.049520,-0.194934,0.979566]]
2025-10-26T18:54:07.428Z,1761504847.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129772,-0.973770,-0.186898],[0.990365,-0.118107,-0.072298],[0.048328,-0.194479,0.979715]]
2025-10-26T18:54:07.815Z,1761504847.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132537,-0.973330,-0.187248],[0.990065,-0.121053,-0.071539],[0.046965,-0.194869,0.979704]]
2025-10-26T18:54:08.219Z,1761504848.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136573,-0.972823,-0.186985],[0.989575,-0.125266,-0.071064],[0.045710,-0.194741,0.979789]]
2025-10-26T18:54:08.625Z,1761504848.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141816,-0.971827,-0.188258],[0.988866,-0.130424,-0.071646],[0.045074,-0.196323,0.979503]]
2025-10-26T18:54:09.055Z,1761504849.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147592,-0.970956,-0.188309],[0.988051,-0.136199,-0.072146],[0.044403,-0.196707,0.979456]]
2025-10-26T18:54:09.427Z,1761504849.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153966,-0.970154,-0.187341],[0.987092,-0.142561,-0.072984],[0.044099,-0.196159,0.979580]]
2025-10-26T18:54:09.830Z,1761504849.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159905,-0.969074,-0.187954],[0.986171,-0.148424,-0.073737],[0.043560,-0.197145,0.979406]]
2025-10-26T18:54:10.234Z,1761504850.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165235,-0.968314,-0.187259],[0.985314,-0.153784,-0.074214],[0.043065,-0.196771,0.979503]]
2025-10-26T18:54:10.639Z,1761504850.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170355,-0.967423,-0.187274],[0.984444,-0.158798,-0.075184],[0.042996,-0.197169,0.979426]]
2025-10-26T18:54:11.042Z,1761504851.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174632,-0.966947,-0.185789],[0.983722,-0.163217,-0.075178],[0.042369,-0.195893,0.979710]]
2025-10-26T18:54:11.446Z,1761504851.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177933,-0.966588,-0.184517],[0.983161,-0.166686,-0.074902],[0.041643,-0.194738,0.979971]]
2025-10-26T18:54:11.850Z,1761504851.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179846,-0.966285,-0.184253],[0.982839,-0.168695,-0.074634],[0.041035,-0.194514,0.980041]]
2025-10-26T18:54:12.256Z,1761504852.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180524,-0.966121,-0.184447],[0.982731,-0.169425,-0.074392],[0.040621,-0.194691,0.980023]]
2025-10-26T18:54:12.658Z,1761504852.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179975,-0.966125,-0.184965],[0.982881,-0.169087,-0.073177],[0.039423,-0.194969,0.980017]]
2025-10-26T18:54:13.062Z,1761504853.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179191,-0.966064,-0.186042],[0.983075,-0.168499,-0.071911],[0.038123,-0.195779,0.979907]]
2025-10-26T18:54:13.466Z,1761504853.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177803,-0.966065,-0.187362],[0.983385,-0.167345,-0.070359],[0.036617,-0.196759,0.979768]]
2025-10-26T18:54:13.871Z,1761504853.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176209,-0.965758,-0.190426],[0.983728,-0.165877,-0.069030],[0.035079,-0.199491,0.979272]]
2025-10-26T18:54:14.276Z,1761504854.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174661,-0.965518,-0.193051],[0.984065,-0.164543,-0.067386],[0.033297,-0.201745,0.978872]]
2025-10-26T18:54:14.302Z,1761504854.302 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:54:14.302Z,1761504854.302 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:54:14.303Z,1761504854.303 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:54:14.303Z,1761504854.303 [marl:UpdateRudder:A] Stopped
2025-10-26T18:54:14.303Z,1761504854.303 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:54:14.678Z,1761504854.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173745,-0.965468,-0.194126],[0.984288,-0.163951,-0.065550],[0.031459,-0.202465,0.978784]]
2025-10-26T18:54:14.784Z,1761504854.784 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:54:14.784Z,1761504854.784 [marl:UpdateRudder:B] Stopped
2025-10-26T18:54:14.784Z,1761504854.784 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:54:14.784Z,1761504854.784 [marl:UpdateRudder] Stopped
2025-10-26T18:54:14.784Z,1761504854.784 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:54:15.082Z,1761504855.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173002,-0.965413,-0.195061],[0.984488,-0.163625,-0.063332],[0.029224,-0.202991,0.978744]]
2025-10-26T18:54:15.153Z,1761504855.153 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:54:15.153Z,1761504855.153 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:54:15.153Z,1761504855.153 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:54:15.153Z,1761504855.153 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:54:15.153Z,1761504855.153 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:54:15.153Z,1761504855.153 [marl:UpdateCommandMode] Stopped
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed] Stopped
2025-10-26T18:54:15.154Z,1761504855.154 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:54:15.507Z,1761504855.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173787,-0.965492,-0.193968],[0.984426,-0.165012,-0.060642],[0.026543,-0.201486,0.979132]]
2025-10-26T18:54:15.555Z,1761504855.555 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:54:15.892Z,1761504855.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175327,-0.965520,-0.192437],[0.984230,-0.167230,-0.057670],[0.023500,-0.199513,0.979613]]
2025-10-26T18:54:16.294Z,1761504856.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177779,-0.965206,-0.191762],[0.983853,-0.170237,-0.055251],[0.020684,-0.198488,0.979885]]
2025-10-26T18:54:16.701Z,1761504856.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181635,-0.965091,-0.188701],[0.983207,-0.174773,-0.052530],[0.017717,-0.195073,0.980629]]
2025-10-26T18:54:17.102Z,1761504857.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186352,-0.964663,-0.186276],[0.982371,-0.180090,-0.050146],[0.014827,-0.192337,0.981217]]
2025-10-26T18:54:17.509Z,1761504857.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191851,-0.963969,-0.184276],[0.981347,-0.186065,-0.048356],[0.012327,-0.190115,0.981684]]
2025-10-26T18:54:17.910Z,1761504857.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197069,-0.963311,-0.182195],[0.980334,-0.191639,-0.047123],[0.010479,-0.187898,0.982133]]
2025-10-26T18:54:18.315Z,1761504858.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201618,-0.962684,-0.180527],[0.979421,-0.196430,-0.046354],[0.009164,-0.186158,0.982477]]
2025-10-26T18:54:18.725Z,1761504858.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204963,-0.961947,-0.180690],[0.978732,-0.199819,-0.046422],[0.008551,-0.186362,0.982444]]
2025-10-26T18:54:19.122Z,1761504859.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206973,-0.961172,-0.182511],[0.978311,-0.201740,-0.046995],[0.008351,-0.188279,0.982080]]
2025-10-26T18:54:19.534Z,1761504859.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207726,-0.960926,-0.182953],[0.978153,-0.202498,-0.047016],[0.008131,-0.188722,0.981997]]
2025-10-26T18:54:19.933Z,1761504859.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207135,-0.960485,-0.185912],[0.978275,-0.201689,-0.047959],[0.008567,-0.191807,0.981395]]
2025-10-26T18:54:20.334Z,1761504860.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205413,-0.960575,-0.187354],[0.978634,-0.199847,-0.048337],[0.008989,-0.193280,0.981102]]
2025-10-26T18:54:20.740Z,1761504860.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202886,-0.960457,-0.190680],[0.979159,-0.197162,-0.048727],[0.009205,-0.196592,0.980442]]
2025-10-26T18:54:21.142Z,1761504861.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199775,-0.960589,-0.193286],[0.979803,-0.194081,-0.048159],[0.008748,-0.199003,0.979960]]
2025-10-26T18:54:21.548Z,1761504861.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196618,-0.961133,-0.193814],[0.980455,-0.191330,-0.045827],[0.006963,-0.199037,0.979967]]
2025-10-26T18:54:21.950Z,1761504861.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193454,-0.961589,-0.194736],[0.981100,-0.188733,-0.042691],[0.004298,-0.199315,0.979926]]
2025-10-26T18:54:22.354Z,1761504862.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191470,-0.961750,-0.195900],[0.981498,-0.187362,-0.039466],[0.001252,-0.199832,0.979829]]
2025-10-26T18:54:22.759Z,1761504862.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190981,-0.961588,-0.197167],[0.981590,-0.187628,-0.035728],[-0.002638,-0.200360,0.979719]]
2025-10-26T18:54:23.162Z,1761504863.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192548,-0.961442,-0.196355],[0.981264,-0.190039,-0.031724],[-0.006814,-0.198785,0.980020]]
2025-10-26T18:54:23.566Z,1761504863.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195792,-0.960489,-0.197801],[0.980581,-0.194071,-0.028245],[-0.011258,-0.199491,0.979835]]
2025-10-26T18:54:23.978Z,1761504863.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200650,-0.959427,-0.198087],[0.979533,-0.199778,-0.024587],[-0.015984,-0.198966,0.979876]]
2025-10-26T18:54:24.374Z,1761504864.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207094,-0.958206,-0.197369],[0.978105,-0.207027,-0.021203],[-0.020544,-0.197439,0.980100]]
2025-10-26T18:54:24.779Z,1761504864.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214250,-0.956902,-0.196048],[0.976468,-0.214888,-0.018270],[-0.024646,-0.195348,0.980424]]
2025-10-26T18:54:25.182Z,1761504865.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222022,-0.955336,-0.195038],[0.974642,-0.223172,-0.016346],[-0.027911,-0.193721,0.980660]]
2025-10-26T18:54:25.586Z,1761504865.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230208,-0.953547,-0.194298],[0.972680,-0.231611,-0.015784],[-0.029951,-0.192624,0.980815]]
2025-10-26T18:54:25.990Z,1761504865.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238126,-0.952145,-0.191614],[0.970756,-0.239524,-0.016178],[-0.030492,-0.189863,0.981337]]
2025-10-26T18:54:26.396Z,1761504866.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245420,-0.950574,-0.190207],[0.968958,-0.246575,-0.017947],[-0.029840,-0.188707,0.981580]]
2025-10-26T18:54:26.829Z,1761504866.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251537,-0.949110,-0.189523],[0.967447,-0.252196,-0.021035],[-0.027833,-0.188645,0.981651]]
2025-10-26T18:54:27.202Z,1761504867.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256640,-0.947952,-0.188477],[0.966171,-0.256768,-0.024167],[-0.025486,-0.188303,0.981780]]
2025-10-26T18:54:27.251Z,1761504867.251 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:54:27.251Z,1761504867.251 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:54:27.251Z,1761504867.251 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:54:27.251Z,1761504867.251 [marl:UpdateRudder:A] Stopped
2025-10-26T18:54:27.252Z,1761504867.252 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:54:27.606Z,1761504867.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260402,-0.946858,-0.188813],[0.965242,-0.259825,-0.028250],[-0.022309,-0.189607,0.981607]]
2025-10-26T18:54:27.633Z,1761504867.633 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:54:27.633Z,1761504867.633 [marl:UpdateRudder:B] Stopped
2025-10-26T18:54:27.633Z,1761504867.633 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:54:27.633Z,1761504867.633 [marl:UpdateRudder] Stopped
2025-10-26T18:54:27.633Z,1761504867.633 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:54:28.011Z,1761504868.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262007,-0.946316,-0.189310],[0.964871,-0.260808,-0.031670],[-0.019404,-0.190958,0.981406]]
2025-10-26T18:54:28.041Z,1761504868.041 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:54:28.041Z,1761504868.041 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:54:28.041Z,1761504868.041 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateCommandMode] Stopped
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:54:28.042Z,1761504868.042 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:54:28.043Z,1761504868.043 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:54:28.043Z,1761504868.043 [marl:UpdateSpeed] Stopped
2025-10-26T18:54:28.043Z,1761504868.043 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:54:28.348Z,1761504868.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:54:28.414Z,1761504868.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261325,-0.946232,-0.190670],[0.965103,-0.259597,-0.034437],[-0.016912,-0.193016,0.981050]]
2025-10-26T18:54:28.857Z,1761504868.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258897,-0.946646,-0.191922],[0.965788,-0.256801,-0.036159],[-0.015056,-0.194717,0.980744]]
2025-10-26T18:54:29.222Z,1761504869.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255251,-0.947036,-0.194859],[0.966777,-0.252855,-0.037507],[-0.013750,-0.197959,0.980114]]
2025-10-26T18:54:29.352Z,1761504869.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:54:29.628Z,1761504869.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251152,-0.947546,-0.197687],[0.967862,-0.248561,-0.038228],[-0.012914,-0.200934,0.979520]]
2025-10-26T18:54:30.031Z,1761504870.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246785,-0.948184,-0.200112],[0.968988,-0.244131,-0.038229],[-0.012606,-0.203340,0.979027]]
2025-10-26T18:54:30.440Z,1761504870.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242416,-0.948545,-0.203707],[0.970082,-0.239853,-0.037565],[-0.013227,-0.206719,0.978311]]
2025-10-26T18:54:30.872Z,1761504870.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237893,-0.948943,-0.207155],[0.971180,-0.235627,-0.035915],[-0.014730,-0.209729,0.977649]]
2025-10-26T18:54:31.242Z,1761504871.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233633,-0.949693,-0.208565],[0.972170,-0.231990,-0.032661],[-0.017367,-0.210391,0.977463]]
2025-10-26T18:54:31.647Z,1761504871.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229536,-0.950422,-0.209789],[0.973086,-0.228609,-0.029000],[-0.020398,-0.210800,0.977316]]
2025-10-26T18:54:32.050Z,1761504872.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226648,-0.951011,-0.210257],[0.973679,-0.226572,-0.024778],[-0.024074,-0.210338,0.977332]]
2025-10-26T18:54:32.475Z,1761504872.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224880,-0.951436,-0.210235],[0.973960,-0.225871,-0.019609],[-0.028829,-0.209170,0.977454]]
2025-10-26T18:54:32.877Z,1761504872.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224618,-0.951549,-0.210005],[0.973854,-0.226722,-0.014324],[-0.033983,-0.207732,0.977595]]
2025-10-26T18:54:33.262Z,1761504873.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226634,-0.951122,-0.209771],[0.973206,-0.229723,-0.009855],[-0.038816,-0.206384,0.977701]]
2025-10-26T18:54:33.666Z,1761504873.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230736,-0.950174,-0.209595],[0.972053,-0.234680,-0.006209],[-0.043288,-0.205170,0.977769]]
2025-10-26T18:54:34.071Z,1761504874.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237071,-0.949288,-0.206519],[0.970350,-0.241686,-0.002963],[-0.047100,-0.201098,0.978438]]
2025-10-26T18:54:34.476Z,1761504874.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244406,-0.948067,-0.203555],[0.968350,-0.249598,-0.000171],[-0.050645,-0.197155,0.979063]]
2025-10-26T18:54:34.881Z,1761504874.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252292,-0.946743,-0.200065],[0.966149,-0.257973,0.002411],[-0.053894,-0.192685,0.979780]]
2025-10-26T18:54:35.282Z,1761504875.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260160,-0.945093,-0.197777],[0.963912,-0.266191,0.004066],[-0.056490,-0.189582,0.980238]]
2025-10-26T18:54:35.686Z,1761504875.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267599,-0.943141,-0.197171],[0.961748,-0.273893,0.004853],[-0.058581,-0.188330,0.980357]]
2025-10-26T18:54:35.845Z,1761504875.845 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:54:35.845Z,1761504875.845 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:54:36.092Z,1761504876.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274360,-0.941327,-0.196545],[0.959771,-0.280742,0.004821],[-0.059716,-0.187316,0.980483]]
2025-10-26T18:54:36.494Z,1761504876.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280549,-0.939578,-0.196174],[0.957975,-0.286828,0.003764],[-0.059804,-0.186874,0.980562]]
2025-10-26T18:54:36.898Z,1761504876.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286380,-0.937844,-0.196047],[0.956339,-0.292259,0.001107],[-0.058334,-0.187170,0.980594]]
2025-10-26T18:54:37.302Z,1761504877.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292118,-0.935918,-0.196786],[0.954784,-0.297281,-0.003449],[-0.055273,-0.188896,0.980440]]
2025-10-26T18:54:37.713Z,1761504877.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297041,-0.934302,-0.197094],[0.953531,-0.301145,-0.009526],[-0.050454,-0.190765,0.980338]]
2025-10-26T18:54:38.110Z,1761504878.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301079,-0.932910,-0.197562],[0.952543,-0.303967,-0.016286],[-0.044859,-0.193090,0.980155]]
2025-10-26T18:54:38.514Z,1761504878.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303266,-0.932076,-0.198154],[0.952102,-0.304924,-0.022849],[-0.039125,-0.195593,0.979905]]
2025-10-26T18:54:38.955Z,1761504878.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303343,-0.932181,-0.197541],[0.952278,-0.303940,-0.028045],[-0.033898,-0.196621,0.979893]]
2025-10-26T18:54:39.322Z,1761504879.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301620,-0.932414,-0.199073],[0.952971,-0.301294,-0.032676],[-0.029512,-0.199566,0.979440]]
2025-10-26T18:54:39.732Z,1761504879.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299025,-0.932905,-0.200679],[0.953896,-0.297922,-0.036404],[-0.025826,-0.202313,0.978980]]
2025-10-26T18:54:40.134Z,1761504880.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296110,-0.933457,-0.202429],[0.954889,-0.294297,-0.039712],[-0.022505,-0.205056,0.978491]]
2025-10-26T18:54:40.185Z,1761504880.185 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:54:40.185Z,1761504880.185 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:54:40.185Z,1761504880.185 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:54:40.186Z,1761504880.186 [marl:UpdateRudder:A] Stopped
2025-10-26T18:54:40.186Z,1761504880.186 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:54:40.537Z,1761504880.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292860,-0.934246,-0.203510],[0.955941,-0.290592,-0.041634],[-0.020242,-0.206737,0.978187]]
2025-10-26T18:54:40.570Z,1761504880.570 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:54:40.570Z,1761504880.570 [marl:UpdateRudder:B] Stopped
2025-10-26T18:54:40.570Z,1761504880.570 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:54:40.570Z,1761504880.570 [marl:UpdateRudder] Stopped
2025-10-26T18:54:40.570Z,1761504880.570 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:54:40.939Z,1761504880.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289439,-0.935172,-0.204153],[0.957009,-0.286949,-0.042361],[-0.018967,-0.207637,0.978022]]
2025-10-26T18:54:40.990Z,1761504880.990 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:54:40.991Z,1761504880.991 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:54:40.991Z,1761504880.991 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:54:40.991Z,1761504880.991 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:54:41.007Z,1761504881.007 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateCommandMode] Stopped
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:54:41.008Z,1761504881.008 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:54:41.009Z,1761504881.009 [marl:UpdateSpeed] Stopped
2025-10-26T18:54:41.009Z,1761504881.009 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:54:41.342Z,1761504881.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285714,-0.936181,-0.204775],[0.958130,-0.283256,-0.041867],[-0.018809,-0.208163,0.977913]]
2025-10-26T18:54:41.747Z,1761504881.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281785,-0.937350,-0.204873],[0.959275,-0.279621,-0.040056],[-0.019740,-0.207817,0.977969]]
2025-10-26T18:54:42.167Z,1761504882.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277565,-0.938479,-0.205461],[0.960471,-0.275819,-0.037685],[-0.021304,-0.207799,0.977939]]
2025-10-26T18:54:42.554Z,1761504882.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273351,-0.939751,-0.205296],[0.961625,-0.272208,-0.034357],[-0.023596,-0.206810,0.978097]]
2025-10-26T18:54:42.958Z,1761504882.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269515,-0.940701,-0.206018],[0.962628,-0.269088,-0.030637],[-0.026617,-0.206576,0.978069]]
2025-10-26T18:54:43.362Z,1761504883.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267898,-0.941071,-0.206437],[0.963035,-0.267830,-0.028812],[-0.028176,-0.206525,0.978036]]
2025-10-26T18:54:43.769Z,1761504883.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268183,-0.941039,-0.206211],[0.962940,-0.268234,-0.028250],[-0.028728,-0.206145,0.978100]]
2025-10-26T18:54:44.187Z,1761504884.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269764,-0.940613,-0.206094],[0.962502,-0.269751,-0.028711],[-0.028588,-0.206111,0.978111]]
2025-10-26T18:54:44.574Z,1761504884.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272048,-0.940247,-0.204759],[0.961870,-0.271940,-0.029225],[-0.028204,-0.204902,0.978376]]
2025-10-26T18:54:44.978Z,1761504884.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275073,-0.939623,-0.203575],[0.961026,-0.274808,-0.030143],[-0.027621,-0.203933,0.978595]]
2025-10-26T18:54:45.388Z,1761504885.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278927,-0.938841,-0.201936],[0.959909,-0.278667,-0.030309],[-0.027818,-0.202294,0.978930]]
2025-10-26T18:54:45.786Z,1761504885.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284038,-0.937937,-0.198987],[0.958388,-0.283908,-0.029802],[-0.028541,-0.199171,0.979549]]
2025-10-26T18:54:45.819Z,1761504885.819 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:54:46.194Z,1761504886.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289953,-0.936683,-0.196348],[0.956578,-0.290031,-0.029006],[-0.029778,-0.196233,0.980105]]
2025-10-26T18:54:46.594Z,1761504886.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296572,-0.935093,-0.194028],[0.954488,-0.296947,-0.027840],[-0.031583,-0.193454,0.980601]]
2025-10-26T18:54:47.000Z,1761504887.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303391,-0.933422,-0.191515],[0.952264,-0.304157,-0.026116],[-0.033874,-0.190296,0.981142]]
2025-10-26T18:54:47.410Z,1761504887.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310085,-0.931533,-0.189986],[0.950007,-0.311282,-0.024285],[-0.036516,-0.188018,0.981486]]
2025-10-26T18:54:47.806Z,1761504887.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316564,-0.929486,-0.189324],[0.947742,-0.318268,-0.022161],[-0.039658,-0.186445,0.981665]]
2025-10-26T18:54:48.214Z,1761504888.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322448,-0.927722,-0.188042],[0.945620,-0.324676,-0.019696],[-0.042781,-0.184167,0.981963]]
2025-10-26T18:54:48.615Z,1761504888.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327776,-0.925783,-0.188385],[0.943682,-0.330331,-0.018591],[-0.045018,-0.183869,0.981919]]
2025-10-26T18:54:49.020Z,1761504889.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332740,-0.923823,-0.189302],[0.941913,-0.335302,-0.019290],[-0.045653,-0.184725,0.981729]]
2025-10-26T18:54:49.422Z,1761504889.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337561,-0.921826,-0.190499],[0.940262,-0.339730,-0.022169],[-0.044283,-0.186602,0.981437]]
2025-10-26T18:54:49.826Z,1761504889.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342508,-0.919809,-0.191415],[0.938633,-0.343837,-0.027297],[-0.040707,-0.189018,0.981130]]
2025-10-26T18:54:50.235Z,1761504890.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347311,-0.917930,-0.191778],[0.937094,-0.347382,-0.034365],[-0.035075,-0.191650,0.980837]]
2025-10-26T18:54:50.636Z,1761504890.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351763,-0.916259,-0.191655],[0.935669,-0.350288,-0.042679],[-0.028030,-0.194339,0.980534]]
2025-10-26T18:54:51.039Z,1761504891.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355115,-0.914941,-0.191770],[0.934599,-0.351962,-0.051443],[-0.020428,-0.197496,0.980091]]
2025-10-26T18:54:51.443Z,1761504891.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356548,-0.914497,-0.191227],[0.934180,-0.351909,-0.058885],[-0.013444,-0.199636,0.979778]]
2025-10-26T18:54:51.846Z,1761504891.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355683,-0.914888,-0.190971],[0.934575,-0.349844,-0.064638],[-0.007674,-0.201467,0.979465]]
2025-10-26T18:54:52.269Z,1761504892.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350109,-0.916878,-0.191724],[0.936709,-0.342699,-0.071645],[-0.000014,-0.204673,0.978830]]
2025-10-26T18:54:53.065Z,1761504893.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343081,-0.919110,-0.193732],[0.939302,-0.335126,-0.073498],[0.002628,-0.207189,0.978297]]
2025-10-26T18:54:53.124Z,1761504893.124 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:54:53.124Z,1761504893.124 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:54:53.124Z,1761504893.124 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:54:53.124Z,1761504893.124 [marl:UpdateRudder:A] Stopped
2025-10-26T18:54:53.125Z,1761504893.125 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:54:53.469Z,1761504893.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339450,-0.920559,-0.193250],[0.940621,-0.331710,-0.072108],[0.002277,-0.206253,0.978496]]
2025-10-26T18:54:53.523Z,1761504893.523 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:54:53.523Z,1761504893.523 [marl:UpdateRudder:B] Stopped
2025-10-26T18:54:53.524Z,1761504893.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:54:53.524Z,1761504893.524 [marl:UpdateRudder] Stopped
2025-10-26T18:54:53.524Z,1761504893.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:54:53.883Z,1761504893.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335774,-0.921760,-0.193945],[0.941942,-0.328407,-0.069954],[0.000787,-0.206174,0.978515]]
2025-10-26T18:54:53.953Z,1761504893.953 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:54:53.953Z,1761504893.953 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateCommandMode] Stopped
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:54:53.954Z,1761504893.954 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:54:53.955Z,1761504893.955 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:54:53.955Z,1761504893.955 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:54:53.955Z,1761504893.955 [marl:UpdateSpeed] Stopped
2025-10-26T18:54:53.955Z,1761504893.955 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:54:54.274Z,1761504894.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331653,-0.923011,-0.195079],[0.943399,-0.324921,-0.066514],[-0.001992,-0.206097,0.978530]]
2025-10-26T18:54:54.675Z,1761504894.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327556,-0.924368,-0.195578],[0.944817,-0.321613,-0.062338],[-0.005277,-0.205204,0.978705]]
2025-10-26T18:54:55.080Z,1761504895.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324226,-0.925474,-0.195895],[0.945943,-0.318995,-0.058594],[-0.008263,-0.204304,0.978873]]
2025-10-26T18:54:55.482Z,1761504895.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322433,-0.926241,-0.195229],[0.946531,-0.317816,-0.055419],[-0.010716,-0.202659,0.979191]]
2025-10-26T18:54:55.888Z,1761504895.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322607,-0.926230,-0.194994],[0.946455,-0.318302,-0.053910],[-0.012134,-0.201945,0.979322]]
2025-10-26T18:54:56.298Z,1761504896.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324666,-0.925551,-0.194798],[0.945746,-0.320397,-0.053945],[-0.012484,-0.201744,0.979359]]
2025-10-26T18:54:56.694Z,1761504896.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328109,-0.924654,-0.193284],[0.944550,-0.323966,-0.053591],[-0.013064,-0.200150,0.979678]]
2025-10-26T18:54:57.098Z,1761504897.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332498,-0.923599,-0.190815],[0.943004,-0.328530,-0.053021],[-0.013719,-0.197568,0.980193]]
2025-10-26T18:54:57.515Z,1761504897.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337607,-0.922328,-0.187968],[0.941172,-0.333896,-0.052053],[-0.014752,-0.194484,0.980795]]
2025-10-26T18:54:57.907Z,1761504897.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343261,-0.920951,-0.184447],[0.939102,-0.339895,-0.050584],[-0.016107,-0.190578,0.981540]]
2025-10-26T18:54:58.310Z,1761504898.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349545,-0.919145,-0.181631],[0.936749,-0.346553,-0.049023],[-0.017885,-0.187278,0.982144]]
2025-10-26T18:54:58.719Z,1761504898.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355931,-0.917150,-0.179300],[0.934304,-0.353288,-0.047569],[-0.019717,-0.184452,0.982644]]
2025-10-26T18:54:59.118Z,1761504899.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362322,-0.914745,-0.178785],[0.931803,-0.359945,-0.046729],[-0.021607,-0.183523,0.982778]]
2025-10-26T18:54:59.480Z,1761504899.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:54:59.529Z,1761504899.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368561,-0.912285,-0.178602],[0.929320,-0.366330,-0.046553],[-0.022957,-0.183136,0.982820]]
2025-10-26T18:54:59.927Z,1761504899.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374411,-0.909611,-0.180070],[0.926968,-0.372066,-0.047935],[-0.023396,-0.184867,0.982485]]
2025-10-26T18:55:00.332Z,1761504900.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380265,-0.906873,-0.181603],[0.924599,-0.377566,-0.050598],[-0.022681,-0.187151,0.982069]]
2025-10-26T18:55:00.484Z,1761504900.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:55:00.737Z,1761504900.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386011,-0.904254,-0.182539],[0.922261,-0.382729,-0.054336],[-0.020729,-0.189322,0.981696]]
2025-10-26T18:55:01.140Z,1761504901.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391339,-0.901666,-0.183992],[0.920079,-0.387179,-0.059550],[-0.017544,-0.192592,0.981122]]
2025-10-26T18:55:01.542Z,1761504901.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395634,-0.899280,-0.186466],[0.918304,-0.390404,-0.065590],[-0.013813,-0.197182,0.980269]]
2025-10-26T18:55:01.946Z,1761504901.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397903,-0.897853,-0.188503],[0.917369,-0.391709,-0.070696],[-0.010364,-0.201057,0.979525]]
2025-10-26T18:55:02.357Z,1761504902.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398526,-0.896831,-0.192021],[0.917125,-0.391421,-0.075304],[-0.007626,-0.206118,0.978497]]
2025-10-26T18:55:02.756Z,1761504902.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397760,-0.896795,-0.193770],[0.917471,-0.390127,-0.077769],[-0.005852,-0.208712,0.977960]]
2025-10-26T18:55:03.159Z,1761504903.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396642,-0.896950,-0.195333],[0.917959,-0.388750,-0.078901],[-0.005166,-0.210603,0.977558]]
2025-10-26T18:55:03.562Z,1761504903.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395447,-0.897590,-0.194815],[0.918474,-0.387648,-0.078328],[-0.005213,-0.209907,0.977707]]
2025-10-26T18:55:03.967Z,1761504903.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394159,-0.898292,-0.194193],[0.919022,-0.386663,-0.076748],[-0.006146,-0.208718,0.977956]]
2025-10-26T18:55:04.370Z,1761504904.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393025,-0.899088,-0.192800],[0.919497,-0.385992,-0.074398],[-0.007529,-0.206519,0.978414]]
2025-10-26T18:55:04.774Z,1761504904.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392811,-0.899494,-0.191338],[0.919577,-0.386184,-0.072386],[-0.008781,-0.204384,0.978851]]
2025-10-26T18:55:05.178Z,1761504905.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393960,-0.899376,-0.189524],[0.919078,-0.387606,-0.071106],[-0.009510,-0.202200,0.979298]]
2025-10-26T18:55:05.583Z,1761504905.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395210,-0.899451,-0.186542],[0.918531,-0.389264,-0.069094],[-0.010467,-0.198651,0.980014]]
2025-10-26T18:55:05.987Z,1761504905.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397044,-0.899039,-0.184622],[0.917737,-0.391259,-0.068379],[-0.010760,-0.196584,0.980428]]
2025-10-26T18:55:06.390Z,1761504906.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399501,-0.898213,-0.183339],[0.916672,-0.393706,-0.068616],[-0.010549,-0.195474,0.980652]]
2025-10-26T18:55:06.454Z,1761504906.454 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:55:06.454Z,1761504906.454 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:55:06.454Z,1761504906.454 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:55:06.454Z,1761504906.454 [marl:UpdateRudder:A] Stopped
2025-10-26T18:55:06.454Z,1761504906.454 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:55:06.798Z,1761504906.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401322,-0.897369,-0.183490],[0.915875,-0.395481,-0.069045],[-0.010608,-0.195763,0.980594]]
2025-10-26T18:55:06.904Z,1761504906.904 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:55:06.904Z,1761504906.904 [marl:UpdateRudder:B] Stopped
2025-10-26T18:55:06.905Z,1761504906.905 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:55:06.905Z,1761504906.905 [marl:UpdateRudder] Stopped
2025-10-26T18:55:06.905Z,1761504906.905 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:55:07.198Z,1761504907.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402690,-0.896954,-0.182523],[0.915273,-0.396927,-0.068736],[-0.010795,-0.194738,0.980796]]
2025-10-26T18:55:07.269Z,1761504907.269 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:55:07.269Z,1761504907.269 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:55:07.269Z,1761504907.269 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateCommandMode] Stopped
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:55:07.270Z,1761504907.270 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:55:07.271Z,1761504907.271 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:55:07.271Z,1761504907.271 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:55:07.271Z,1761504907.271 [marl:UpdateSpeed] Stopped
2025-10-26T18:55:07.271Z,1761504907.271 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:55:07.602Z,1761504907.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403829,-0.896529,-0.182093],[0.914771,-0.398073,-0.068791],[-0.010813,-0.194354,0.980872]]
2025-10-26T18:55:08.006Z,1761504908.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404666,-0.896171,-0.181998],[0.914400,-0.398908,-0.068882],[-0.010870,-0.194293,0.980883]]
2025-10-26T18:55:08.410Z,1761504908.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404805,-0.896229,-0.181403],[0.914339,-0.399088,-0.068658],[-0.010862,-0.193657,0.981009]]
2025-10-26T18:55:08.875Z,1761504908.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404890,-0.896363,-0.180551],[0.914304,-0.399192,-0.068518],[-0.010657,-0.192821,0.981176]]
2025-10-26T18:55:09.221Z,1761504909.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404664,-0.896459,-0.180576],[0.914401,-0.399009,-0.068285],[-0.010837,-0.192751,0.981188]]
2025-10-26T18:55:09.622Z,1761504909.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404173,-0.896825,-0.179859],[0.914611,-0.398709,-0.067217],[-0.011430,-0.191668,0.981393]]
2025-10-26T18:55:10.026Z,1761504910.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404452,-0.896431,-0.181192],[0.914485,-0.398924,-0.067649],[-0.011640,-0.193058,0.981118]]
2025-10-26T18:55:10.434Z,1761504910.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405203,-0.896221,-0.180548],[0.914152,-0.399717,-0.067475],[-0.011695,-0.192390,0.981249]]
2025-10-26T18:55:10.868Z,1761504910.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406473,-0.895583,-0.180862],[0.913596,-0.400789,-0.068628],[-0.011026,-0.193130,0.981111]]
2025-10-26T18:55:11.238Z,1761504911.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408415,-0.894612,-0.181292],[0.912739,-0.402488,-0.070081],[-0.010272,-0.194095,0.980929]]
2025-10-26T18:55:11.642Z,1761504911.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410504,-0.893714,-0.181000],[0.911810,-0.404362,-0.071365],[-0.009409,-0.194334,0.980890]]
2025-10-26T18:55:12.046Z,1761504912.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411959,-0.893098,-0.180735],[0.911163,-0.405608,-0.072558],[-0.008506,-0.194570,0.980852]]
2025-10-26T18:55:12.457Z,1761504912.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413496,-0.892209,-0.181614],[0.910473,-0.406880,-0.074084],[-0.007796,-0.195988,0.980575]]
2025-10-26T18:55:12.878Z,1761504912.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414477,-0.891842,-0.181178],[0.910029,-0.407804,-0.074456],[-0.007482,-0.195738,0.980628]]
2025-10-26T18:55:13.258Z,1761504913.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415607,-0.891303,-0.181244],[0.909515,-0.408861,-0.074935],[-0.007314,-0.195988,0.980579]]
2025-10-26T18:55:13.662Z,1761504913.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416690,-0.890665,-0.181895],[0.909019,-0.409859,-0.075495],[-0.007311,-0.196804,0.980416]]
2025-10-26T18:55:14.068Z,1761504914.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418432,-0.890042,-0.180943],[0.908217,-0.411680,-0.075241],[-0.007523,-0.195819,0.980611]]
2025-10-26T18:55:14.470Z,1761504914.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421068,-0.889062,-0.179639],[0.906989,-0.414574,-0.074156],[-0.008544,-0.194156,0.980934]]
2025-10-26T18:55:14.880Z,1761504914.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425034,-0.887238,-0.179319],[0.905126,-0.418705,-0.073714],[-0.009680,-0.193638,0.981025]]
2025-10-26T18:55:15.279Z,1761504915.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429646,-0.885180,-0.178498],[0.902927,-0.423611,-0.072647],[-0.011308,-0.192384,0.981255]]
2025-10-26T18:55:15.684Z,1761504915.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434534,-0.882687,-0.179007],[0.900561,-0.428701,-0.072150],[-0.013055,-0.192558,0.981199]]
2025-10-26T18:55:16.086Z,1761504916.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439361,-0.880149,-0.179723],[0.898188,-0.433726,-0.071697],[-0.014846,-0.192926,0.981101]]
2025-10-26T18:55:16.118Z,1761504916.118 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:55:16.490Z,1761504916.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443785,-0.877600,-0.181311],[0.895976,-0.438322,-0.071421],[-0.016794,-0.194146,0.980829]]
2025-10-26T18:55:16.895Z,1761504916.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447683,-0.875300,-0.182838],[0.894007,-0.442297,-0.071588],[-0.018208,-0.195507,0.980533]]
2025-10-26T18:55:17.314Z,1761504917.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451247,-0.872986,-0.185127],[0.892201,-0.445706,-0.072968],[-0.018812,-0.198097,0.980002]]
2025-10-26T18:55:17.705Z,1761504917.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454601,-0.871069,-0.185949],[0.890509,-0.448754,-0.074921],[-0.018184,-0.199648,0.979699]]
2025-10-26T18:55:18.106Z,1761504918.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458264,-0.868829,-0.187430],[0.888671,-0.451703,-0.078922],[-0.016093,-0.202730,0.979102]]
2025-10-26T18:55:18.518Z,1761504918.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462188,-0.866822,-0.187088],[0.886700,-0.454616,-0.084186],[-0.012079,-0.204801,0.978729]]
2025-10-26T18:55:18.914Z,1761504918.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466399,-0.864564,-0.187089],[0.884552,-0.457347,-0.091657],[-0.006322,-0.208239,0.978058]]
2025-10-26T18:55:19.323Z,1761504919.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470679,-0.863002,-0.183544],[0.882304,-0.460215,-0.098700],[0.000709,-0.208398,0.978044]]
2025-10-26T18:55:19.768Z,1761504919.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474290,-0.861586,-0.180882],[0.880330,-0.462235,-0.106571],[0.008210,-0.209781,0.977714]]
2025-10-26T18:55:19.842Z,1761504919.842 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:55:19.842Z,1761504919.842 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:55:19.842Z,1761504919.842 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:55:19.842Z,1761504919.842 [marl:UpdateRudder:A] Stopped
2025-10-26T18:55:19.842Z,1761504919.842 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:55:20.128Z,1761504920.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475868,-0.861378,-0.177698],[0.879386,-0.462503,-0.113008],[0.015157,-0.210042,0.977575]]
2025-10-26T18:55:20.153Z,1761504920.153 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:55:20.153Z,1761504920.153 [marl:UpdateRudder:B] Stopped
2025-10-26T18:55:20.153Z,1761504920.153 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:55:20.153Z,1761504920.153 [marl:UpdateRudder] Stopped
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode] Stopped
2025-10-26T18:55:20.154Z,1761504920.154 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:55:20.155Z,1761504920.155 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:55:20.155Z,1761504920.155 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:55:20.155Z,1761504920.155 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:55:20.155Z,1761504920.155 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:55:20.155Z,1761504920.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:55:20.155Z,1761504920.155 [marl:UpdateSpeed] Stopped
2025-10-26T18:55:20.156Z,1761504920.156 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:55:20.530Z,1761504920.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473896,-0.862870,-0.175722],[0.880353,-0.459703,-0.116842],[0.020039,-0.210068,0.977481]]
2025-10-26T18:55:20.934Z,1761504920.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470522,-0.864937,-0.174621],[0.882077,-0.455801,-0.119099],[0.023421,-0.210068,0.977406]]
2025-10-26T18:55:21.345Z,1761504921.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467548,-0.866712,-0.173808],[0.883584,-0.452433,-0.120759],[0.026027,-0.210034,0.977348]]
2025-10-26T18:55:21.743Z,1761504921.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464970,-0.868073,-0.173931],[0.884897,-0.449568,-0.121844],[0.027576,-0.210565,0.977191]]
2025-10-26T18:55:22.146Z,1761504922.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462736,-0.869664,-0.171927],[0.886056,-0.447618,-0.120595],[0.027919,-0.208141,0.977700]]
2025-10-26T18:55:22.559Z,1761504922.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460757,-0.870843,-0.171277],[0.887119,-0.446039,-0.118617],[0.026900,-0.206597,0.978056]]
2025-10-26T18:55:22.956Z,1761504922.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459049,-0.871961,-0.170168],[0.888064,-0.445022,-0.115316],[0.024823,-0.204056,0.978644]]
2025-10-26T18:55:23.358Z,1761504923.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458891,-0.872353,-0.168582],[0.888190,-0.445450,-0.112663],[0.023187,-0.201433,0.979228]]
2025-10-26T18:55:23.767Z,1761504923.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460490,-0.871636,-0.167925],[0.887378,-0.447218,-0.112055],[0.022572,-0.200614,0.979410]]
2025-10-26T18:55:24.166Z,1761504924.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464290,-0.869756,-0.167211],[0.885396,-0.450982,-0.112649],[0.022568,-0.200349,0.979465]]
2025-10-26T18:55:24.571Z,1761504924.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469179,-0.867391,-0.165845],[0.882782,-0.455599,-0.114570],[0.023819,-0.200159,0.979474]]
2025-10-26T18:55:24.976Z,1761504924.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474476,-0.864892,-0.163814],[0.879889,-0.460522,-0.117110],[0.025848,-0.199704,0.979515]]
2025-10-26T18:55:25.378Z,1761504925.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480020,-0.862124,-0.162243],[0.876803,-0.465544,-0.120351],[0.028226,-0.200026,0.979384]]
2025-10-26T18:55:25.786Z,1761504925.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485216,-0.859531,-0.160534],[0.873866,-0.470298,-0.123202],[0.030397,-0.200065,0.979311]]
2025-10-26T18:55:26.187Z,1761504926.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490047,-0.857086,-0.158924],[0.871092,-0.474717,-0.125865],[0.032433,-0.200117,0.979235]]
2025-10-26T18:55:26.592Z,1761504926.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494482,-0.854777,-0.157620],[0.868500,-0.478682,-0.128732],[0.034587,-0.200549,0.979073]]
2025-10-26T18:55:26.994Z,1761504926.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498519,-0.852656,-0.156383],[0.866104,-0.482277,-0.131428],[0.036643,-0.200963,0.978913]]
2025-10-26T18:55:27.398Z,1761504927.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501574,-0.851194,-0.154573],[0.864270,-0.485127,-0.132997],[0.038219,-0.200300,0.978989]]
2025-10-26T18:55:27.802Z,1761504927.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504435,-0.849915,-0.152280],[0.862549,-0.487957,-0.133816],[0.039426,-0.198851,0.979236]]
2025-10-26T18:55:28.208Z,1761504928.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507314,-0.848594,-0.150069],[0.860815,-0.490853,-0.134390],[0.040381,-0.197359,0.979499]]
2025-10-26T18:55:28.611Z,1761504928.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510444,-0.847010,-0.148394],[0.858906,-0.493857,-0.135598],[0.041567,-0.196672,0.979588]]
2025-10-26T18:55:29.014Z,1761504929.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513260,-0.845527,-0.147133],[0.857180,-0.496547,-0.136691],[0.042517,-0.196277,0.979626]]
2025-10-26T18:55:29.418Z,1761504929.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516202,-0.844002,-0.145593],[0.855367,-0.499420,-0.137578],[0.043404,-0.195553,0.979732]]
2025-10-26T18:55:29.824Z,1761504929.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519121,-0.842565,-0.143519],[0.853540,-0.502308,-0.138407],[0.044526,-0.194349,0.979921]]
2025-10-26T18:55:30.226Z,1761504930.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521288,-0.841533,-0.141711],[0.852122,-0.504273,-0.139990],[0.046345,-0.193730,0.979960]]
2025-10-26T18:55:30.604Z,1761504930.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:55:30.630Z,1761504930.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522830,-0.840653,-0.141251],[0.851038,-0.505267,-0.142964],[0.048814,-0.194956,0.979597]]
2025-10-26T18:55:31.035Z,1761504931.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522924,-0.840810,-0.139961],[0.850816,-0.504939,-0.145430],[0.051607,-0.195130,0.979419]]
2025-10-26T18:55:31.440Z,1761504931.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522401,-0.840949,-0.141075],[0.850947,-0.503539,-0.149457],[0.054648,-0.198124,0.978652]]
2025-10-26T18:55:31.608Z,1761504931.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:55:31.842Z,1761504931.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521151,-0.841721,-0.141093],[0.851521,-0.501660,-0.152475],[0.057561,-0.199606,0.978184]]
2025-10-26T18:55:32.256Z,1761504932.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519381,-0.842734,-0.141571],[0.852433,-0.499303,-0.155098],[0.060019,-0.201235,0.977703]]
2025-10-26T18:55:32.650Z,1761504932.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517347,-0.843604,-0.143822],[0.853557,-0.496573,-0.157656],[0.061581,-0.204323,0.976965]]
2025-10-26T18:55:33.055Z,1761504933.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515546,-0.844583,-0.144540],[0.854610,-0.494603,-0.158144],[0.062076,-0.205056,0.976780]]
2025-10-26T18:55:33.141Z,1761504933.141 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:55:33.141Z,1761504933.141 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateRudder:A] Stopped
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:55:33.142Z,1761504933.142 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:55:33.143Z,1761504933.143 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:55:33.143Z,1761504933.143 [marl:UpdateCommandMode] Stopped
2025-10-26T18:55:33.143Z,1761504933.143 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:55:33.143Z,1761504933.143 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:55:33.143Z,1761504933.143 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:55:33.143Z,1761504933.143 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:55:33.148Z,1761504933.148 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:55:33.148Z,1761504933.148 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:55:33.148Z,1761504933.148 [marl:UpdateSpeed] Stopped
2025-10-26T18:55:33.148Z,1761504933.148 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:55:33.460Z,1761504933.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514670,-0.844953,-0.145498],[0.855203,-0.493803,-0.157436],[0.061178,-0.205458,0.976752]]
2025-10-26T18:55:33.524Z,1761504933.524 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:55:33.524Z,1761504933.524 [marl:UpdateRudder:B] Stopped
2025-10-26T18:55:33.524Z,1761504933.524 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:55:33.524Z,1761504933.524 [marl:UpdateRudder] Stopped
2025-10-26T18:55:33.524Z,1761504933.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:55:33.862Z,1761504933.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515041,-0.844527,-0.146653],[0.855059,-0.494210,-0.156941],[0.060064,-0.206228,0.976659]]
2025-10-26T18:55:34.266Z,1761504934.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517015,-0.843328,-0.146605],[0.854014,-0.496619,-0.155012],[0.057919,-0.205346,0.976974]]
2025-10-26T18:55:34.673Z,1761504934.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520961,-0.840883,-0.146680],[0.851781,-0.500978,-0.153265],[0.055395,-0.204785,0.977238]]
2025-10-26T18:55:35.076Z,1761504935.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525706,-0.838240,-0.144870],[0.849071,-0.506632,-0.149673],[0.052066,-0.201689,0.978065]]
2025-10-26T18:55:35.478Z,1761504935.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530800,-0.835158,-0.144096],[0.846128,-0.512564,-0.146100],[0.048158,-0.199474,0.978719]]
2025-10-26T18:55:35.883Z,1761504935.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535858,-0.831927,-0.144059],[0.843170,-0.518433,-0.142447],[0.043821,-0.197798,0.979263]]
2025-10-26T18:55:36.044Z,1761504936.044 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:55:36.044Z,1761504936.044 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:55:36.286Z,1761504936.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540812,-0.829022,-0.142287],[0.840203,-0.524428,-0.137960],[0.039753,-0.194160,0.980164]]
2025-10-26T18:55:36.691Z,1761504936.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545396,-0.826374,-0.140176],[0.837388,-0.529948,-0.133926],[0.036387,-0.190424,0.981027]]
2025-10-26T18:55:37.094Z,1761504937.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550014,-0.823206,-0.140771],[0.834447,-0.534744,-0.133217],[0.034389,-0.190737,0.981039]]
2025-10-26T18:55:37.498Z,1761504937.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554580,-0.820333,-0.139622],[0.831419,-0.539314,-0.133728],[0.034402,-0.190247,0.981133]]
2025-10-26T18:55:37.908Z,1761504937.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559096,-0.817382,-0.138916],[0.828315,-0.543366,-0.136558],[0.036138,-0.191415,0.980844]]
2025-10-26T18:55:38.314Z,1761504938.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567300,-0.811969,-0.137395],[0.822329,-0.549608,-0.147328],[0.044112,-0.196563,0.979498]]
2025-10-26T18:55:38.722Z,1761504938.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570156,-0.810090,-0.136661],[0.820070,-0.551272,-0.153574],[0.049072,-0.199632,0.978641]]
2025-10-26T18:55:39.119Z,1761504939.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571377,-0.809290,-0.136303],[0.818942,-0.551414,-0.158990],[0.053510,-0.202467,0.977826]]
2025-10-26T18:55:39.524Z,1761504939.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571178,-0.809411,-0.136417],[0.818828,-0.550277,-0.163450],[0.057231,-0.205061,0.977074]]
2025-10-26T18:55:39.925Z,1761504939.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569306,-0.810744,-0.136328],[0.819918,-0.547773,-0.166370],[0.060207,-0.206493,0.976594]]
2025-10-26T18:55:40.326Z,1761504940.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566012,-0.813118,-0.135904],[0.822058,-0.544274,-0.167293],[0.062060,-0.206410,0.976496]]
2025-10-26T18:55:40.736Z,1761504940.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562029,-0.815787,-0.136441],[0.824729,-0.540201,-0.167346],[0.062813,-0.206580,0.976411]]
2025-10-26T18:55:41.135Z,1761504941.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558020,-0.818432,-0.137048],[0.827440,-0.536255,-0.166651],[0.062900,-0.206394,0.976445]]
2025-10-26T18:55:41.540Z,1761504941.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554601,-0.820670,-0.137547],[0.829797,-0.533114,-0.165003],[0.062085,-0.205647,0.976655]]
2025-10-26T18:55:41.942Z,1761504941.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551352,-0.822812,-0.137808],[0.832063,-0.530322,-0.162570],[0.060682,-0.204298,0.977026]]
2025-10-26T18:55:42.346Z,1761504942.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548581,-0.824635,-0.137971],[0.834043,-0.528169,-0.159407],[0.058581,-0.202521,0.977524]]
2025-10-26T18:55:42.750Z,1761504942.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546216,-0.825963,-0.139404],[0.835748,-0.526188,-0.157007],[0.056329,-0.202266,0.977709]]
2025-10-26T18:55:43.159Z,1761504943.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544306,-0.827161,-0.139766],[0.837115,-0.524745,-0.154533],[0.054483,-0.201114,0.978052]]
2025-10-26T18:55:43.558Z,1761504943.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542408,-0.827889,-0.142809],[0.838508,-0.522978,-0.152966],[0.051953,-0.202717,0.977858]]
2025-10-26T18:55:43.962Z,1761504943.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541428,-0.828384,-0.143650],[0.839249,-0.522324,-0.151122],[0.050155,-0.202380,0.978022]]
2025-10-26T18:55:44.366Z,1761504944.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541291,-0.828303,-0.144632],[0.839446,-0.522457,-0.149565],[0.048321,-0.202369,0.978116]]
2025-10-26T18:55:44.772Z,1761504944.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542207,-0.827785,-0.144163],[0.838933,-0.523749,-0.147912],[0.046934,-0.201142,0.978437]]
2025-10-26T18:55:45.177Z,1761504945.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544215,-0.826388,-0.144610],[0.837755,-0.526129,-0.146132],[0.044678,-0.200675,0.978639]]
2025-10-26T18:55:45.579Z,1761504945.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547158,-0.824434,-0.144660],[0.835963,-0.529519,-0.144136],[0.042231,-0.199795,0.978927]]
2025-10-26T18:55:45.984Z,1761504945.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551170,-0.821824,-0.144279],[0.833465,-0.534111,-0.141639],[0.039342,-0.198319,0.979348]]
2025-10-26T18:55:46.009Z,1761504946.009 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:55:46.009Z,1761504946.009 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:55:46.009Z,1761504946.009 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:55:46.009Z,1761504946.009 [marl:UpdateRudder:A] Stopped
2025-10-26T18:55:46.009Z,1761504946.009 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:55:46.009Z,1761504946.009 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateCommandMode] Stopped
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:55:46.010Z,1761504946.010 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:55:46.011Z,1761504946.011 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:55:46.011Z,1761504946.011 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:55:46.011Z,1761504946.011 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:55:46.011Z,1761504946.011 [marl:UpdateSpeed] Stopped
2025-10-26T18:55:46.011Z,1761504946.011 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:55:46.386Z,1761504946.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556331,-0.818582,-0.142901],[0.830185,-0.540101,-0.138141],[0.035899,-0.195486,0.980049]]
2025-10-26T18:55:46.424Z,1761504946.424 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:55:46.424Z,1761504946.424 [marl:UpdateRudder:B] Stopped
2025-10-26T18:55:46.424Z,1761504946.424 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:55:46.424Z,1761504946.424 [marl:UpdateRudder] Stopped
2025-10-26T18:55:46.424Z,1761504946.424 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:55:46.426Z,1761504946.426 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:55:46.794Z,1761504946.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562275,-0.814749,-0.141532],[0.826340,-0.546995,-0.134013],[0.031770,-0.192306,0.980821]]
2025-10-26T18:55:47.205Z,1761504947.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568896,-0.810302,-0.140596],[0.821971,-0.554640,-0.129378],[0.026855,-0.189169,0.981577]]
2025-10-26T18:55:47.600Z,1761504947.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575228,-0.806099,-0.138985],[0.817714,-0.562238,-0.123417],[0.021344,-0.184643,0.982574]]
2025-10-26T18:55:48.002Z,1761504948.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580983,-0.802021,-0.138638],[0.813765,-0.569105,-0.117927],[0.015680,-0.181333,0.983297]]
2025-10-26T18:55:48.406Z,1761504948.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586272,-0.798177,-0.138557],[0.810047,-0.575390,-0.112914],[0.010401,-0.178436,0.983896]]
2025-10-26T18:55:48.453Z,1761504948.453 [marl:SendObservationData] Running Loop=1
2025-10-26T18:55:48.453Z,1761504948.453 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T18:55:48.453Z,1761504948.453 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T18:55:48.454Z,1761504948.454 [marl:SendObservationData:A] Running Loop=1
2025-10-26T18:55:48.455Z,1761504948.455 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9b000000004051400000000000404263239079f085c05e775b5c0f4654402f4b3940000000404eb33340000000 n/a str  and temp var is  nan n/a str 
2025-10-26T18:55:48.455Z,1761504948.455 [marl:SendObservationData:A] Stopped
2025-10-26T18:55:48.455Z,1761504948.455 [marl:SendObservationData:B] Running Loop=1
2025-10-26T18:55:48.836Z,1761504948.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589769,-0.795201,-0.140815],[0.807547,-0.579352,-0.110538],[0.006318,-0.178906,0.983846]]
2025-10-26T18:55:48.922Z,1761504948.922 [marl:SendObservationData:B] Stopped
2025-10-26T18:55:48.922Z,1761504948.922 [marl:SendObservationData:C] Running Loop=1
2025-10-26T18:55:49.221Z,1761504949.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589215,-0.793851,-0.150423],[0.807965,-0.577938,-0.114801],[0.004200,-0.189179,0.981934]]
2025-10-26T18:55:49.246Z,1761504949.246 [marl:SendObservationData:C] Stopped
2025-10-26T18:55:49.247Z,1761504949.247 [marl:SendObservationData:E] Running Loop=1
2025-10-26T18:55:49.619Z,1761504949.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584132,-0.793548,-0.170503],[0.811647,-0.569957,-0.127977],[0.004376,-0.213143,0.977011]]
2025-10-26T18:55:49.677Z,1761504949.677 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.014412 min 
2025-10-26T18:55:49.677Z,1761504949.677 [marl:SendObservationData:E] Stopped
2025-10-26T18:55:49.679Z,1761504949.679 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T18:55:49.679Z,1761504949.679 [marl:SendObservationData] Stopped
2025-10-26T18:55:49.679Z,1761504949.679 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T18:55:49.679Z,1761504949.679 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T18:55:50.022Z,1761504950.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575604,-0.793505,-0.197560],[0.817700,-0.556500,-0.147224],[0.006881,-0.246288,0.969172]]
2025-10-26T18:55:50.428Z,1761504950.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564906,-0.793567,-0.226126],[0.825072,-0.539320,-0.168494],[0.011757,-0.281753,0.959415]]
2025-10-26T18:55:50.868Z,1761504950.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552922,-0.794458,-0.251225],[0.833028,-0.520379,-0.187803],[0.018470,-0.313118,0.949535]]
2025-10-26T18:55:51.234Z,1761504951.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540010,-0.795346,-0.275344],[0.841232,-0.499619,-0.206663],[0.026802,-0.343228,0.938869]]
2025-10-26T18:55:51.638Z,1761504951.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525777,-0.797338,-0.296329],[0.849879,-0.477846,-0.222192],[0.035563,-0.368667,0.928881]]
2025-10-26T18:55:52.044Z,1761504952.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509815,-0.801205,-0.313305],[0.859178,-0.455731,-0.232642],[0.043611,-0.387789,0.920716]]
2025-10-26T18:55:52.449Z,1761504952.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491964,-0.806662,-0.327516],[0.869156,-0.433288,-0.238390],[0.050392,-0.401942,0.914277]]
2025-10-26T18:55:52.876Z,1761504952.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473183,-0.814027,-0.336835],[0.879156,-0.411851,-0.239713],[0.056407,-0.409559,0.910538]]
2025-10-26T18:55:53.254Z,1761504953.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454199,-0.822230,-0.342989],[0.888741,-0.391389,-0.238650],[0.061983,-0.413223,0.908518]]
2025-10-26T18:55:53.662Z,1761504953.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435417,-0.830941,-0.346338],[0.897740,-0.372206,-0.235639],[0.066893,-0.413522,0.908033]]
2025-10-26T18:55:54.062Z,1761504954.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416807,-0.839759,-0.347960],[0.906195,-0.353852,-0.231516],[0.071291,-0.411817,0.908474]]
2025-10-26T18:55:54.466Z,1761504954.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398303,-0.848859,-0.347554],[0.914175,-0.336348,-0.226171],[0.075088,-0.407810,0.909974]]
2025-10-26T18:55:54.909Z,1761504954.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380201,-0.857460,-0.346712],[0.921581,-0.319464,-0.220523],[0.078328,-0.403367,0.911680]]
2025-10-26T18:55:55.307Z,1761504955.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362330,-0.865685,-0.345409],[0.928533,-0.303097,-0.214381],[0.080894,-0.398400,0.913638]]
2025-10-26T18:55:55.738Z,1761504955.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344591,-0.873238,-0.344547],[0.935112,-0.287004,-0.207834],[0.082602,-0.393807,0.915474]]
2025-10-26T18:55:56.132Z,1761504956.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326747,-0.880011,-0.344698],[0.941464,-0.271050,-0.200445],[0.082963,-0.390015,0.917063]]
2025-10-26T18:55:56.534Z,1761504956.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308614,-0.886355,-0.345155],[0.947644,-0.255217,-0.191925],[0.082024,-0.386315,0.918713]]
2025-10-26T18:55:56.940Z,1761504956.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289839,-0.891510,-0.348141],[0.953741,-0.238703,-0.182756],[0.079827,-0.385006,0.919455]]
2025-10-26T18:55:57.342Z,1761504957.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270283,-0.896169,-0.351894],[0.959746,-0.221792,-0.172324],[0.076384,-0.384305,0.920041]]
2025-10-26T18:55:58.156Z,1761504958.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232868,-0.902800,-0.361560],[0.970205,-0.190091,-0.150227],[0.066895,-0.385770,0.920167]]
2025-10-26T18:55:58.559Z,1761504958.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216154,-0.905319,-0.365615],[0.974374,-0.176148,-0.139885],[0.062238,-0.386482,0.920195]]
2025-10-26T18:55:58.958Z,1761504958.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202421,-0.907455,-0.368171],[0.977512,-0.164531,-0.131907],[0.059124,-0.386593,0.920353]]
2025-10-26T18:55:59.010Z,1761504959.010 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:55:59.011Z,1761504959.011 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:55:59.011Z,1761504959.011 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:55:59.043Z,1761504959.043 [marl:UpdateRudder:A] Stopped
2025-10-26T18:55:59.043Z,1761504959.043 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode] Stopped
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:55:59.044Z,1761504959.044 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:55:59.045Z,1761504959.045 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:55:59.045Z,1761504959.045 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:55:59.045Z,1761504959.045 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:55:59.045Z,1761504959.045 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:55:59.045Z,1761504959.045 [marl:UpdateSpeed] Stopped
2025-10-26T18:55:59.045Z,1761504959.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:55:59.440Z,1761504959.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191455,-0.909074,-0.370039],[0.979829,-0.155026,-0.126104],[0.057272,-0.386719,0.920418]]
2025-10-26T18:55:59.482Z,1761504959.482 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:55:59.482Z,1761504959.482 [marl:UpdateRudder:B] Stopped
2025-10-26T18:55:59.482Z,1761504959.482 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:55:59.482Z,1761504959.482 [marl:UpdateRudder] Stopped
2025-10-26T18:55:59.482Z,1761504959.482 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:55:59.838Z,1761504959.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181067,-0.910513,-0.371728],[0.981884,-0.145904,-0.120894],[0.055839,-0.386884,0.920436]]
2025-10-26T18:56:00.269Z,1761504960.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170802,-0.912226,-0.372385],[0.983795,-0.136974,-0.115695],[0.054533,-0.386111,0.920839]]
2025-10-26T18:56:00.697Z,1761504960.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160572,-0.914129,-0.372270],[0.985575,-0.128066,-0.110637],[0.053461,-0.384665,0.921507]]
2025-10-26T18:56:01.094Z,1761504961.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150345,-0.915984,-0.371980],[0.987231,-0.119063,-0.105826],[0.052646,-0.383141,0.922189]]
2025-10-26T18:56:01.498Z,1761504961.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140115,-0.917973,-0.371072],[0.988746,-0.109878,-0.101526],[0.052426,-0.381121,0.923038]]
2025-10-26T18:56:01.728Z,1761504961.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:56:01.902Z,1761504961.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129406,-0.919760,-0.370535],[0.990186,-0.099970,-0.097664],[0.052785,-0.379537,0.923670]]
2025-10-26T18:56:02.309Z,1761504962.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117798,-0.921286,-0.370616],[0.991597,-0.089031,-0.093857],[0.053473,-0.378557,0.924032]]
2025-10-26T18:56:02.718Z,1761504962.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104353,-0.922638,-0.371280],[0.993076,-0.076414,-0.089226],[0.053952,-0.378020,0.924224]]
2025-10-26T18:56:02.733Z,1761504962.733 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:56:03.114Z,1761504963.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088514,-0.923754,-0.372616],[0.994614,-0.061716,-0.083269],[0.053924,-0.377980,0.924242]]
2025-10-26T18:56:03.518Z,1761504963.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070977,-0.924997,-0.373286],[0.996032,-0.045584,-0.076431],[0.053682,-0.377230,0.924562]]
2025-10-26T18:56:03.922Z,1761504963.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052554,-0.925976,-0.373908],[0.997193,-0.028663,-0.069177],[0.053340,-0.376494,0.924882]]
2025-10-26T18:56:04.344Z,1761504964.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014116,-0.927327,-0.373987],[0.998577,0.006161,-0.052967],[0.051422,-0.374202,0.925920]]
2025-10-26T18:56:05.148Z,1761504965.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024667,-0.927178,-0.373808],[0.998519,0.040990,-0.035778],[0.048495,-0.372372,0.926816]]
2025-10-26T18:56:05.548Z,1761504965.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043761,-0.926514,-0.373706],[0.997964,0.057911,-0.026714],[0.046393,-0.371776,0.927163]]
2025-10-26T18:56:05.946Z,1761504965.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062365,-0.925610,-0.373306],[0.997083,0.074273,-0.017585],[0.044004,-0.371120,0.927542]]
2025-10-26T18:56:06.354Z,1761504966.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080055,-0.925134,-0.371104],[0.995929,0.089710,-0.008799],[0.041432,-0.368889,0.928550]]
2025-10-26T18:56:06.753Z,1761504966.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096885,-0.923968,-0.369995],[0.994537,0.104389,-0.000260],[0.038863,-0.367948,0.929034]]
2025-10-26T18:56:07.158Z,1761504967.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113375,-0.922524,-0.368912],[0.992887,0.118783,0.008099],[0.036349,-0.367206,0.929429]]
2025-10-26T18:56:07.962Z,1761504967.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145197,-0.918572,-0.367619],[0.988911,0.146445,0.024663],[0.031181,-0.367124,0.929649]]
2025-10-26T18:56:08.370Z,1761504968.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160819,-0.916656,-0.365895],[0.986567,0.160066,0.032616],[0.028670,-0.366225,0.930084]]
2025-10-26T18:56:08.773Z,1761504968.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176569,-0.913754,-0.365892],[0.983936,0.173796,0.040794],[0.026314,-0.367217,0.929763]]
2025-10-26T18:56:09.174Z,1761504969.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191851,-0.910778,-0.365617],[0.981114,0.187346,0.048131],[0.024660,-0.367946,0.929520]]
2025-10-26T18:56:09.641Z,1761504969.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207920,-0.907254,-0.365596],[0.977875,0.201589,0.055875],[0.023007,-0.369125,0.929095]]
2025-10-26T18:56:10.018Z,1761504970.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223819,-0.903273,-0.366064],[0.974385,0.215819,0.063218],[0.021900,-0.370836,0.928440]]
2025-10-26T18:56:10.425Z,1761504970.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240535,-0.899048,-0.365864],[0.970425,0.230681,0.071139],[0.020441,-0.372155,0.927945]]
2025-10-26T18:56:10.880Z,1761504970.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257917,-0.894573,-0.364990],[0.965984,0.246121,0.079374],[0.018826,-0.373046,0.927622]]
2025-10-26T18:56:11.246Z,1761504971.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274729,-0.890369,-0.362998],[0.961365,0.261162,0.087010],[0.017330,-0.372878,0.927719]]
2025-10-26T18:56:11.515Z,1761504971.515 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:56:11.515Z,1761504971.515 [DAT] No Fault, FailCount= 8
2025-10-26T18:56:11.650Z,1761504971.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291952,-0.886111,-0.359960],[0.956302,0.276679,0.094526],[0.015833,-0.371828,0.928167]]
2025-10-26T18:56:11.656Z,1761504971.656 [DAT](INFO): Powering up
2025-10-26T18:56:11.656Z,1761504971.656 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:56:12.054Z,1761504972.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310086,-0.880882,-0.357622],[0.950603,0.292878,0.102840],[0.014150,-0.371846,0.928187]]
2025-10-26T18:56:12.107Z,1761504972.107 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:56:12.131Z,1761504972.131 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:56:12.131Z,1761504972.131 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:56:12.132Z,1761504972.132 [marl:UpdateRudder:A] Stopped
2025-10-26T18:56:12.132Z,1761504972.132 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:56:12.132Z,1761504972.132 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:56:12.132Z,1761504972.132 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:56:12.132Z,1761504972.132 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:56:12.132Z,1761504972.132 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateCommandMode] Stopped
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:56:12.133Z,1761504972.133 [marl:UpdateSpeed] Stopped
2025-10-26T18:56:12.134Z,1761504972.134 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:56:12.458Z,1761504972.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328579,-0.875403,-0.354549],[0.944397,0.309406,0.111279],[0.012285,-0.371399,0.928392]]
2025-10-26T18:56:12.514Z,1761504972.514 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:56:12.514Z,1761504972.514 [marl:UpdateRudder:B] Stopped
2025-10-26T18:56:12.514Z,1761504972.514 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:56:12.514Z,1761504972.514 [marl:UpdateRudder] Stopped
2025-10-26T18:56:12.514Z,1761504972.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:56:13.266Z,1761504973.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366967,-0.863582,-0.345775],[0.930207,0.343483,0.129361],[0.007054,-0.369114,0.929357]]
2025-10-26T18:56:13.673Z,1761504973.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386510,-0.856595,-0.341841],[0.922277,0.360560,0.139292],[0.003937,-0.369109,0.929378]]
2025-10-26T18:56:14.074Z,1761504974.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405481,-0.849560,-0.337391],[0.914104,0.377014,0.149248],[0.000406,-0.368928,0.929458]]
2025-10-26T18:56:14.478Z,1761504974.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423814,-0.842160,-0.333388],[0.905742,0.392552,0.159795],[-0.003700,-0.369687,0.929149]]
2025-10-26T18:56:14.883Z,1761504974.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441017,-0.834685,-0.329858],[0.897458,0.406622,0.170962],[-0.008572,-0.371430,0.928421]]
2025-10-26T18:56:15.288Z,1761504975.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457210,-0.827461,-0.325986],[0.889244,0.419439,0.182529],[-0.014305,-0.373335,0.927586]]
2025-10-26T18:56:15.691Z,1761504975.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471690,-0.820815,-0.322136],[0.881525,0.430448,0.193981],[-0.020559,-0.375470,0.926607]]
2025-10-26T18:56:16.103Z,1761504976.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484519,-0.815222,-0.317261],[0.874365,0.440134,0.204372],[-0.026971,-0.376424,0.926055]]
2025-10-26T18:56:16.499Z,1761504976.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495357,-0.810573,-0.312397],[0.868065,0.448249,0.213393],[-0.032939,-0.376887,0.925674]]
2025-10-26T18:56:16.524Z,1761504976.524 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:56:16.902Z,1761504976.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504553,-0.806340,-0.308614],[0.862541,0.454999,0.221358],[-0.038071,-0.377879,0.925072]]
2025-10-26T18:56:17.306Z,1761504977.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512442,-0.803044,-0.304176],[0.857694,0.461319,0.227035],[-0.041997,-0.377232,0.925166]]
2025-10-26T18:56:18.119Z,1761504978.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527566,-0.796145,-0.296356],[0.848255,0.474704,0.234778],[-0.046236,-0.375246,0.925771]]
2025-10-26T18:56:18.518Z,1761504978.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535970,-0.791851,-0.292760],[0.842943,0.482748,0.237489],[-0.046727,-0.374067,0.926224]]
2025-10-26T18:56:18.922Z,1761504978.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545264,-0.786906,-0.288905],[0.836988,0.492066,0.239419],[-0.046240,-0.372357,0.926937]]
2025-10-26T18:56:19.326Z,1761504979.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555590,-0.780975,-0.285303],[0.830237,0.502511,0.241225],[-0.045023,-0.370892,0.927584]]
2025-10-26T18:56:19.737Z,1761504979.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566663,-0.775119,-0.279433],[0.822810,0.514511,0.241377],[-0.043324,-0.366700,0.929330]]
2025-10-26T18:56:20.136Z,1761504980.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578886,-0.767737,-0.274720],[0.814336,0.527050,0.243054],[-0.041810,-0.364415,0.930298]]
2025-10-26T18:56:20.538Z,1761504980.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592872,-0.758991,-0.269139],[0.804251,0.541033,0.245891],[-0.041016,-0.362237,0.931183]]
2025-10-26T18:56:20.942Z,1761504980.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608186,-0.748703,-0.263729],[0.792708,0.555478,0.251112],[-0.041513,-0.361783,0.931337]]
2025-10-26T18:56:21.347Z,1761504981.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623915,-0.738202,-0.256492],[0.780297,0.570304,0.256691],[-0.043212,-0.360293,0.931838]]
2025-10-26T18:56:21.753Z,1761504981.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639645,-0.726851,-0.250083],[0.767322,0.584519,0.263732],[-0.045515,-0.360589,0.931614]]
2025-10-26T18:56:22.607Z,1761504982.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669240,-0.703782,-0.238345],[0.741275,0.610234,0.279510],[-0.051268,-0.363739,0.930089]]
2025-10-26T18:56:22.962Z,1761504982.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683011,-0.692589,-0.231982],[0.728371,0.622139,0.287087],[-0.054508,-0.365053,0.929390]]
2025-10-26T18:56:23.252Z,1761504983.252 [DAT](INFO): DAT read: 

2025-10-26T18:56:23.253Z,1761504983.253 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:56:23.771Z,1761504983.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709136,-0.670302,-0.218681],[0.702473,0.645082,0.300668],[-0.060471,-0.366832,0.928320]]
2025-10-26T18:56:24.174Z,1761504984.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721722,-0.658424,-0.213530],[0.689324,0.655678,0.308089],[-0.062846,-0.369546,0.927085]]
2025-10-26T18:56:24.587Z,1761504984.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734384,-0.646215,-0.207571],[0.675626,0.666762,0.314576],[-0.064883,-0.371260,0.926259]]
2025-10-26T18:56:24.768Z,1761504984.768 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:56:24.769Z,1761504984.769 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:56:24.770Z,1761504984.770 [DAT](INFO): DAT read: Oct 26 2025 18:56:19 

2025-10-26T18:56:24.982Z,1761504984.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746906,-0.633509,-0.201985],[0.661572,0.677533,0.321358],[-0.066731,-0.373652,0.925165]]
2025-10-26T18:56:25.042Z,1761504985.042 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:56:25.042Z,1761504985.042 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:56:25.042Z,1761504985.042 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:56:25.042Z,1761504985.042 [marl:UpdateRudder:A] Stopped
2025-10-26T18:56:25.042Z,1761504985.042 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:56:25.042Z,1761504985.042 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:56:25.043Z,1761504985.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:56:25.043Z,1761504985.043 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:56:25.043Z,1761504985.043 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:56:25.043Z,1761504985.043 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:56:25.043Z,1761504985.043 [marl:UpdateCommandMode] Stopped
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed] Stopped
2025-10-26T18:56:25.044Z,1761504985.044 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:56:25.386Z,1761504985.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759607,-0.620223,-0.195758],[0.646769,0.688675,0.327745],[-0.068461,-0.375567,0.924263]]
2025-10-26T18:56:25.410Z,1761504985.410 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:56:25.410Z,1761504985.410 [marl:UpdateRudder:B] Stopped
2025-10-26T18:56:25.410Z,1761504985.410 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:56:25.410Z,1761504985.410 [marl:UpdateRudder] Stopped
2025-10-26T18:56:25.411Z,1761504985.411 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:56:25.773Z,1761504985.773 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:56:25.774Z,1761504985.774 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:56:25.774Z,1761504985.774 [DAT](INFO): commRate: 600
2025-10-26T18:56:25.809Z,1761504985.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772439,-0.606383,-0.188780],[0.631197,0.700144,0.333751],[-0.070208,-0.376959,0.923565]]
2025-10-26T18:56:26.194Z,1761504986.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784947,-0.592453,-0.181265],[0.615366,0.711522,0.339207],[-0.071990,-0.377804,0.923083]]
2025-10-26T18:56:26.598Z,1761504986.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797104,-0.578944,-0.171610],[0.599217,0.723270,0.343248],[-0.074601,-0.376436,0.923434]]
2025-10-26T18:56:27.002Z,1761504987.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807689,-0.567391,-0.160330],[0.584382,0.734238,0.345532],[-0.078331,-0.372777,0.924609]]
2025-10-26T18:56:27.408Z,1761504987.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815068,-0.560992,-0.144750],[0.573297,0.744885,0.341286],[-0.083637,-0.361156,0.928747]]
2025-10-26T18:56:27.828Z,1761504987.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818549,-0.560462,-0.125932],[0.567281,0.754195,0.330729],[-0.090384,-0.342157,0.935286]]
2025-10-26T18:56:27.839Z,1761504987.839 [DAT](INFO): entering command mode
2025-10-26T18:56:28.040Z,1761504988.040 [DAT](INFO): DAT read: 

2025-10-26T18:56:28.041Z,1761504988.041 [DAT](INFO): DAT read: user:1>

2025-10-26T18:56:28.041Z,1761504988.041 [DAT](INFO): setting verbose to 3
2025-10-26T18:56:28.226Z,1761504988.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819067,-0.563733,-0.106464],[0.565268,0.761317,0.317598],[-0.097988,-0.320315,0.942230]]
2025-10-26T18:56:28.292Z,1761504988.292 [DAT](INFO): DAT read: user:1>

2025-10-26T18:56:28.293Z,1761504988.293 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:56:28.293Z,1761504988.293 [DAT](INFO): set verbose to 3
2025-10-26T18:56:28.293Z,1761504988.293 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:56:28.545Z,1761504988.545 [DAT](INFO): DAT read: user:2>

2025-10-26T18:56:28.546Z,1761504988.546 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:56:28.547Z,1761504988.547 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:56:28.547Z,1761504988.547 [DAT](INFO): setting transmit power to 8
2025-10-26T18:56:28.630Z,1761504988.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817437,-0.569257,-0.087998],[0.566224,0.766053,0.304225],[-0.105771,-0.298512,0.948527]]
2025-10-26T18:56:28.796Z,1761504988.796 [DAT](INFO): DAT read: user:3>

2025-10-26T18:56:28.797Z,1761504988.797 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:56:28.797Z,1761504988.797 [DAT](INFO): set transmit power to 8
2025-10-26T18:56:28.798Z,1761504988.798 [DAT](INFO): setting local address to 11
2025-10-26T18:56:29.043Z,1761504989.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814855,-0.575174,-0.072013],[0.568491,0.768683,0.293163],[-0.113265,-0.279824,0.953346]]
2025-10-26T18:56:29.049Z,1761504989.049 [DAT](INFO): DAT read: user:4>

2025-10-26T18:56:29.051Z,1761504989.051 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:56:29.052Z,1761504989.052 [DAT](INFO): set local address to 11
2025-10-26T18:56:29.054Z,1761504989.054 [DAT](INFO): Setting time to: 18:56:29 And date to:10/26/2025
2025-10-26T18:56:29.300Z,1761504989.300 [DAT](INFO): DAT read: user:5>

2025-10-26T18:56:29.301Z,1761504989.301 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:56:29  

2025-10-26T18:56:29.301Z,1761504989.301 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:56:29  

2025-10-26T18:56:29.302Z,1761504989.302 [DAT](INFO): setting remote address to 6
2025-10-26T18:56:29.302Z,1761504989.302 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:56:29.303Z,1761504989.303 [DAT](INFO): setting remote address to 0
2025-10-26T18:56:29.438Z,1761504989.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811445,-0.581597,-0.057460],[0.571877,0.769903,0.283208],[-0.120474,-0.262668,0.957336]]
2025-10-26T18:56:29.553Z,1761504989.553 [DAT](INFO): DAT read: user:6>

2025-10-26T18:56:29.555Z,1761504989.555 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:56:29.556Z,1761504989.556 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:56:29.556Z,1761504989.556 [DAT] Communications Fault, FailCount= 1
2025-10-26T18:56:29.557Z,1761504989.557 [DAT](ERROR): Communications Fault
2025-10-26T18:56:29.558Z,1761504989.558 [DAT](INFO): DAT read: user:7>

2025-10-26T18:56:29.562Z,1761504989.562 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:56:29.564Z,1761504989.564 [DAT](INFO): set remote address to 0
2025-10-26T18:56:29.564Z,1761504989.564 [DAT](INFO): setting remote address to 6
2025-10-26T18:56:29.565Z,1761504989.565 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:56:29.566Z,1761504989.566 [DAT](INFO): setting remote address to 0
2025-10-26T18:56:29.842Z,1761504989.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807912,-0.587593,-0.044856],[0.575467,0.770257,0.274850],[-0.126949,-0.247868,0.960440]]
2025-10-26T18:56:29.972Z,1761504989.972 [DAT](INFO): Powering down
2025-10-26T18:56:30.052Z,1761504990.052 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:56:30.246Z,1761504990.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804130,-0.593418,-0.035060],[0.579504,0.769400,0.268698],[-0.132475,-0.236385,0.962586]]
2025-10-26T18:56:30.658Z,1761504990.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800436,-0.598747,-0.028357],[0.583545,0.767552,0.265217],[-0.137033,-0.228837,0.963772]]
2025-10-26T18:56:30.943Z,1761504990.943 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:56:30.943Z,1761504990.943 [DAT] No Fault, FailCount= 1
2025-10-26T18:56:31.062Z,1761504991.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796720,-0.603878,-0.023839],[0.587761,0.765071,0.263066],[-0.140621,-0.223602,0.964483]]
2025-10-26T18:56:31.459Z,1761504991.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793219,-0.608539,-0.022024],[0.591945,0.762096,0.262319],[-0.142847,-0.221113,0.964730]]
2025-10-26T18:56:31.866Z,1761504991.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790727,-0.611789,-0.021556],[0.594936,0.759696,0.262513],[-0.144226,-0.220400,0.964688]]
2025-10-26T18:56:32.267Z,1761504992.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790768,-0.611749,-0.021193],[0.594628,0.759500,0.263775],[-0.145268,-0.221187,0.964351]]
2025-10-26T18:56:32.670Z,1761504992.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792049,-0.610091,-0.021163],[0.592748,0.760317,0.265646],[-0.145978,-0.222949,0.963838]]
2025-10-26T18:56:32.865Z,1761504992.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:56:33.020Z,1761504993.020 [DAT](INFO): Powering up
2025-10-26T18:56:33.020Z,1761504993.020 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:56:33.089Z,1761504993.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794090,-0.607426,-0.021318],[0.589873,0.761739,0.267962],[-0.146528,-0.225360,0.963194]]
2025-10-26T18:56:33.480Z,1761504993.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796707,-0.603990,-0.021312],[0.586168,0.763649,0.270643],[-0.147191,-0.228115,0.962444]]
2025-10-26T18:56:33.869Z,1761504993.869 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:56:33.947Z,1761504993.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799603,-0.600153,-0.021236],[0.582082,0.765858,0.273208],[-0.147703,-0.230819,0.961721]]
2025-10-26T18:56:34.286Z,1761504994.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802733,-0.595974,-0.020842],[0.577615,0.768366,0.275635],[-0.148257,-0.233300,0.961036]]
2025-10-26T18:56:34.695Z,1761504994.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805807,-0.591842,-0.019981],[0.573193,0.771052,0.277360],[-0.148747,-0.234951,0.960558]]
2025-10-26T18:56:35.101Z,1761504995.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809072,-0.587398,-0.019129],[0.568578,0.774083,0.278416],[-0.148734,-0.236135,0.960270]]
2025-10-26T18:56:35.498Z,1761504995.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812395,-0.582850,-0.017331],[0.563809,0.777577,0.278379],[-0.148777,-0.235924,0.960315]]
2025-10-26T18:56:35.902Z,1761504995.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815755,-0.578161,-0.016546],[0.558908,0.780581,0.279848],[-0.148882,-0.237535,0.959902]]
2025-10-26T18:56:36.181Z,1761504996.181 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:56:36.181Z,1761504996.181 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:56:36.306Z,1761504996.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819232,-0.573249,-0.015656],[0.553825,0.783801,0.280952],[-0.148784,-0.238835,0.959594]]
2025-10-26T18:56:37.114Z,1761504997.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824902,-0.565127,-0.012947],[0.545452,0.789751,0.280670],[-0.148389,-0.238587,0.959717]]
2025-10-26T18:56:37.522Z,1761504997.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826867,-0.562278,-0.011585],[0.542485,0.791989,0.280113],[-0.148327,-0.237901,0.959897]]
2025-10-26T18:56:37.923Z,1761504997.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828010,-0.560610,-0.010773],[0.540737,0.793279,0.279843],[-0.148336,-0.237538,0.959985]]
2025-10-26T18:56:37.976Z,1761504997.976 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:56:37.976Z,1761504997.976 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:56:37.976Z,1761504997.976 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateRudder:A] Stopped
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:56:37.977Z,1761504997.977 [marl:UpdateCommandMode] Stopped
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed] Stopped
2025-10-26T18:56:37.978Z,1761504997.978 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:56:38.366Z,1761504998.366 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:56:38.366Z,1761504998.366 [marl:UpdateRudder:B] Stopped
2025-10-26T18:56:38.366Z,1761504998.366 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:56:38.366Z,1761504998.366 [marl:UpdateRudder] Stopped
2025-10-26T18:56:38.366Z,1761504998.366 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:56:38.735Z,1761504998.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827768,-0.560971,-0.010600],[0.541112,0.793184,0.279388],[-0.148321,-0.237004,0.960120]]
2025-10-26T18:56:39.134Z,1761504999.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826632,-0.562620,-0.011720],[0.543044,0.792061,0.278824],[-0.147590,-0.236849,0.960271]]
2025-10-26T18:56:39.544Z,1761504999.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825191,-0.564666,-0.014580],[0.545724,0.790317,0.278538],[-0.145758,-0.237804,0.960314]]
2025-10-26T18:56:39.942Z,1761504999.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823256,-0.567367,-0.018548],[0.549352,0.788032,0.277883],[-0.143045,-0.238958,0.960436]]
2025-10-26T18:56:40.347Z,1761505000.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820814,-0.570721,-0.023308],[0.553906,0.785340,0.276457],[-0.139475,-0.239830,0.960744]]
2025-10-26T18:56:40.752Z,1761505000.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818181,-0.574254,-0.028493],[0.558804,0.782547,0.274514],[-0.135344,-0.240524,0.961161]]
2025-10-26T18:56:41.154Z,1761505001.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816411,-0.576395,-0.035236],[0.562568,0.780087,0.273829],[-0.130346,-0.243379,0.961133]]
2025-10-26T18:56:41.559Z,1761505001.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816522,-0.575469,-0.046113],[0.563761,0.777600,0.278410],[-0.124359,-0.253325,0.959355]]
2025-10-26T18:56:42.013Z,1761505002.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822863,-0.562306,-0.081907],[0.557814,0.771843,0.305127],[-0.108356,-0.296767,0.948783]]
2025-10-26T18:56:42.441Z,1761505002.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828282,-0.551024,-0.101593],[0.551518,0.769777,0.321359],[-0.098872,-0.322206,0.941492]]
2025-10-26T18:56:42.871Z,1761505002.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835341,-0.536218,-0.121142],[0.542563,0.768708,0.338693],[-0.088491,-0.348652,0.933066]]
2025-10-26T18:56:43.246Z,1761505003.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843414,-0.519195,-0.138165],[0.531615,0.769283,0.354385],[-0.077707,-0.372344,0.924836]]
2025-10-26T18:56:43.653Z,1761505003.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851842,-0.501485,-0.151255],[0.519511,0.772009,0.366212],[-0.066880,-0.390533,0.918156]]
2025-10-26T18:56:44.055Z,1761505004.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860577,-0.483367,-0.160509],[0.506219,0.777030,0.374121],[-0.056117,-0.403212,0.913384]]
2025-10-26T18:56:44.404Z,1761505004.404 [DAT](INFO): DAT read: 

2025-10-26T18:56:44.405Z,1761505004.405 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:56:44.458Z,1761505004.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869824,-0.464545,-0.166145],[0.491267,0.784531,0.378375],[-0.045426,-0.410742,0.910619]]
2025-10-26T18:56:44.875Z,1761505004.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879375,-0.445325,-0.168478],[0.474844,0.794283,0.378996],[-0.034958,-0.413280,0.909933]]
2025-10-26T18:56:45.266Z,1761505005.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888909,-0.425457,-0.169785],[0.457405,0.804210,0.379510],[-0.024922,-0.415010,0.909475]]
2025-10-26T18:56:45.679Z,1761505005.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898210,-0.405661,-0.169284],[0.439276,0.814390,0.379218],[-0.015971,-0.414980,0.909690]]
2025-10-26T18:56:45.917Z,1761505005.917 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:56:45.919Z,1761505005.919 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:56:45.920Z,1761505005.920 [DAT](INFO): DAT read: Oct 26 2025 18:56:41 

2025-10-26T18:56:46.125Z,1761505006.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906519,-0.387049,-0.168569],[0.422098,0.823952,0.378070],[-0.007439,-0.413880,0.910301]]
2025-10-26T18:56:46.529Z,1761505006.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914311,-0.368659,-0.167708],[0.405013,0.832947,0.377047],[0.000690,-0.412662,0.910884]]
2025-10-26T18:56:46.580Z,1761505006.580 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:56:46.953Z,1761505006.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921490,-0.350952,-0.166401],[0.388318,0.841426,0.375783],[0.008133,-0.410896,0.911646]]
2025-10-26T18:56:47.178Z,1761505007.178 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:56:47.183Z,1761505007.183 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:56:47.183Z,1761505007.183 [DAT](INFO): commRate: 600
2025-10-26T18:56:47.417Z,1761505007.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927609,-0.334995,-0.165286],[0.373249,0.849024,0.373958],[0.015058,-0.408579,0.912599]]
2025-10-26T18:56:48.222Z,1761505008.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938640,-0.303684,-0.163496],[0.343766,0.862146,0.372194],[0.027928,-0.405560,0.913642]]
2025-10-26T18:56:48.626Z,1761505008.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943304,-0.288989,-0.163290],[0.330131,0.867981,0.370975],[0.034525,-0.403849,0.914174]]
2025-10-26T18:56:49.031Z,1761505009.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947601,-0.274636,-0.163180],[0.316793,0.873685,0.369211],[0.041170,-0.401559,0.914908]]
2025-10-26T18:56:49.244Z,1761505009.244 [DAT](INFO): entering command mode
2025-10-26T18:56:49.434Z,1761505009.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951600,-0.260114,-0.163703],[0.303574,0.878630,0.368581],[0.047961,-0.400438,0.915068]]
2025-10-26T18:56:49.444Z,1761505009.444 [DAT](INFO): DAT read: 

2025-10-26T18:56:49.445Z,1761505009.445 [DAT](INFO): DAT read: user:1>

2025-10-26T18:56:49.445Z,1761505009.445 [DAT](INFO): setting verbose to 3
2025-10-26T18:56:49.697Z,1761505009.697 [DAT](INFO): DAT read: user:1>

2025-10-26T18:56:49.698Z,1761505009.698 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:56:49.699Z,1761505009.699 [DAT](INFO): set verbose to 3
2025-10-26T18:56:49.699Z,1761505009.699 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:56:49.838Z,1761505009.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955103,-0.246717,-0.164042],[0.291172,0.883964,0.365824],[0.054752,-0.397164,0.916113]]
2025-10-26T18:56:49.948Z,1761505009.948 [DAT](INFO): DAT read: user:2>

2025-10-26T18:56:49.949Z,1761505009.949 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:56:49.949Z,1761505009.949 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:56:49.950Z,1761505009.950 [DAT](INFO): setting transmit power to 8
2025-10-26T18:56:50.200Z,1761505010.200 [DAT](INFO): DAT read: user:3>

2025-10-26T18:56:50.201Z,1761505010.201 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:56:50.201Z,1761505010.201 [DAT](INFO): set transmit power to 8
2025-10-26T18:56:50.202Z,1761505010.202 [DAT](INFO): setting local address to 11
2025-10-26T18:56:50.258Z,1761505010.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958230,-0.233780,-0.164748],[0.279356,0.888507,0.364026],[0.061278,-0.394844,0.916703]]
2025-10-26T18:56:50.452Z,1761505010.452 [DAT](INFO): DAT read: user:4>

2025-10-26T18:56:50.454Z,1761505010.454 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:56:50.454Z,1761505010.454 [DAT](INFO): set local address to 11
2025-10-26T18:56:50.455Z,1761505010.455 [DAT](INFO): Setting time to: 18:56:50 And date to:10/26/2025
2025-10-26T18:56:50.669Z,1761505010.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961180,-0.220987,-0.165221],[0.267588,0.892619,0.362807],[0.067304,-0.392934,0.917100]]
2025-10-26T18:56:50.704Z,1761505010.704 [DAT](INFO): DAT read: user:5>

2025-10-26T18:56:50.705Z,1761505010.705 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:56:50  

2025-10-26T18:56:50.705Z,1761505010.705 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:56:50  

2025-10-26T18:56:50.706Z,1761505010.706 [DAT](INFO): setting remote address to 6
2025-10-26T18:56:50.706Z,1761505010.706 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:56:50.707Z,1761505010.707 [DAT](INFO): setting remote address to 0
2025-10-26T18:56:50.753Z,1761505010.753 [CTD_Seabird](ERROR): Failed to parse device response: 14.06,1
2025-10-26T18:56:50.956Z,1761505010.956 [DAT](INFO): DAT read: user:6>

2025-10-26T18:56:50.957Z,1761505010.957 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:56:50.958Z,1761505010.958 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:56:50.958Z,1761505010.958 [DAT] Communications Fault, FailCount= 2
2025-10-26T18:56:50.958Z,1761505010.958 [DAT](ERROR): Communications Fault
2025-10-26T18:56:50.959Z,1761505010.959 [DAT](INFO): DAT read: user:7>

2025-10-26T18:56:50.960Z,1761505010.960 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:56:50.960Z,1761505010.960 [DAT](INFO): set remote address to 0
2025-10-26T18:56:50.960Z,1761505010.960 [DAT](INFO): setting remote address to 6
2025-10-26T18:56:50.961Z,1761505010.961 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:56:50.961Z,1761505010.961 [DAT](INFO): setting remote address to 0
2025-10-26T18:56:51.232Z,1761505011.232 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:56:51.255Z,1761505011.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966737,-0.195158,-0.165326],[0.243604,0.899541,0.362605],[0.077952,-0.390818,0.917161]]
2025-10-26T18:56:51.332Z,1761505011.332 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:56:51.332Z,1761505011.332 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:56:51.332Z,1761505011.332 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateRudder:A] Stopped
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:56:51.333Z,1761505011.333 [marl:UpdateCommandMode] Stopped
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed] Stopped
2025-10-26T18:56:51.334Z,1761505011.334 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:56:51.364Z,1761505011.364 [DAT](INFO): Powering down
2025-10-26T18:56:51.654Z,1761505011.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969477,-0.181837,-0.164470],[0.230909,0.902687,0.363095],[0.082441,-0.389989,0.917122]]
2025-10-26T18:56:51.719Z,1761505011.719 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:56:51.720Z,1761505011.720 [marl:UpdateRudder:B] Stopped
2025-10-26T18:56:51.720Z,1761505011.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:56:51.720Z,1761505011.720 [marl:UpdateRudder] Stopped
2025-10-26T18:56:51.720Z,1761505011.720 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:56:52.058Z,1761505012.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972184,-0.167936,-0.163267],[0.217666,0.905195,0.365024],[0.086488,-0.390408,0.916570]]
2025-10-26T18:56:52.303Z,1761505012.303 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:56:52.303Z,1761505012.303 [DAT] No Fault, FailCount= 2
2025-10-26T18:56:52.464Z,1761505012.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974747,-0.153609,-0.162089],[0.204016,0.907711,0.366657],[0.090809,-0.390467,0.916127]]
2025-10-26T18:56:53.300Z,1761505013.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979447,-0.124807,-0.158451],[0.175950,0.912758,0.368665],[0.098615,-0.388968,0.915958]]
2025-10-26T18:56:53.712Z,1761505013.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981555,-0.110827,-0.155781],[0.161899,0.915227,0.368983],[0.101682,-0.387397,0.916288]]
2025-10-26T18:56:54.142Z,1761505014.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983707,-0.096064,-0.151960],[0.146861,0.916925,0.371053],[0.103691,-0.387325,0.916094]]
2025-10-26T18:56:54.416Z,1761505014.416 [DAT](INFO): Powering up
2025-10-26T18:56:54.416Z,1761505014.416 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:56:54.548Z,1761505014.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985752,-0.081208,-0.147307],[0.131422,0.918418,0.373144],[0.104987,-0.387187,0.916004]]
2025-10-26T18:56:54.950Z,1761505014.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987597,-0.066701,-0.142141],[0.116046,0.919889,0.374617],[0.105766,-0.386466,0.916219]]
2025-10-26T18:56:55.354Z,1761505015.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989326,-0.051002,-0.136499],[0.099581,0.920515,0.377804],[0.106380,-0.387364,0.915769]]
2025-10-26T18:56:55.763Z,1761505015.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990861,-0.035226,-0.130203],[0.082709,0.921198,0.380201],[0.106550,-0.387496,0.915693]]
2025-10-26T18:56:56.220Z,1761505016.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992132,-0.019159,-0.123721],[0.065461,0.921759,0.382198],[0.106718,-0.387290,0.915761]]
2025-10-26T18:56:56.618Z,1761505016.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993150,-0.002520,-0.116820],[0.047538,0.922003,0.384254],[0.106740,-0.387175,0.915807]]
2025-10-26T18:56:57.044Z,1761505017.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993908,0.014230,-0.109295],[0.029079,0.922640,0.384565],[0.106312,-0.385401,0.916605]]
2025-10-26T18:56:57.491Z,1761505017.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994397,0.031153,-0.101020],[0.010345,0.922329,0.386267],[0.105207,-0.385148,0.916838]]
2025-10-26T18:56:58.290Z,1761505018.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994366,0.062954,-0.085286],[-0.025641,0.923503,0.382732],[0.102857,-0.378389,0.919914]]
2025-10-26T18:56:58.695Z,1761505018.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993932,0.077363,-0.078188],[-0.042059,0.924139,0.379734],[0.101634,-0.374141,0.921786]]
2025-10-26T18:56:59.099Z,1761505019.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993332,0.090404,-0.071544],[-0.056917,0.924219,0.377598],[0.100258,-0.371008,0.923202]]
2025-10-26T18:56:59.502Z,1761505019.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992575,0.102815,-0.064991],[-0.071060,0.923814,0.376188],[0.098718,-0.368776,0.924261]]
2025-10-26T18:56:59.906Z,1761505019.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991703,0.114481,-0.058479],[-0.084369,0.922839,0.375834],[0.096993,-0.367781,0.924840]]
2025-10-26T18:57:00.310Z,1761505020.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990673,0.125998,-0.051885],[-0.097343,0.920851,0.377568],[0.095351,-0.368996,0.924527]]
2025-10-26T18:57:00.721Z,1761505020.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989524,0.137226,-0.044853],[-0.110224,0.918748,0.379146],[0.093238,-0.370230,0.924249]]
2025-10-26T18:57:01.119Z,1761505021.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988241,0.148289,-0.037292],[-0.123076,0.916145,0.381485],[0.090735,-0.372409,0.923623]]
2025-10-26T18:57:01.522Z,1761505021.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986574,0.160682,-0.029201],[-0.137316,0.912943,0.384290],[0.088407,-0.375121,0.922751]]
2025-10-26T18:57:01.926Z,1761505021.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984348,0.175063,-0.020277],[-0.153687,0.909020,0.387381],[0.086248,-0.378201,0.921697]]
2025-10-26T18:57:02.336Z,1761505022.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981629,0.190465,-0.011255],[-0.171274,0.905647,0.387903],[0.084075,-0.378849,0.921632]]
2025-10-26T18:57:02.741Z,1761505022.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978464,0.206407,-0.002308],[-0.189340,0.901900,0.388237],[0.082217,-0.379438,0.921557]]
2025-10-26T18:57:03.606Z,1761505023.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966464,0.255967,0.020710],[-0.244354,0.891812,0.380738],[0.078987,-0.373030,0.924451]]
2025-10-26T18:57:03.992Z,1761505023.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:57:04.437Z,1761505024.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957329,0.286944,0.034425],[-0.278709,0.885156,0.372585],[0.076439,-0.366281,0.927359]]
2025-10-26T18:57:04.482Z,1761505024.482 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:57:04.482Z,1761505024.482 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:57:04.482Z,1761505024.482 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:57:04.482Z,1761505024.482 [marl:UpdateRudder:A] Stopped
2025-10-26T18:57:04.482Z,1761505024.482 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:57:04.482Z,1761505024.482 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateCommandMode] Stopped
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:57:04.483Z,1761505024.483 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:57:04.484Z,1761505024.484 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:57:04.484Z,1761505024.484 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:57:04.484Z,1761505024.484 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:57:04.484Z,1761505024.484 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:57:04.484Z,1761505024.484 [marl:UpdateSpeed] Stopped
2025-10-26T18:57:04.484Z,1761505024.484 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:57:04.886Z,1761505024.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952591,0.301211,0.042928],[-0.295163,0.880649,0.370589],[0.073821,-0.365691,0.927804]]
2025-10-26T18:57:04.980Z,1761505024.980 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:57:04.980Z,1761505024.980 [marl:UpdateRudder:B] Stopped
2025-10-26T18:57:04.980Z,1761505024.980 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:57:04.980Z,1761505024.980 [marl:UpdateRudder] Stopped
2025-10-26T18:57:04.980Z,1761505024.980 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:57:04.996Z,1761505024.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:57:05.239Z,1761505025.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947582,0.315323,0.051577],[-0.311555,0.876060,0.368039],[0.070866,-0.364816,0.928379]]
2025-10-26T18:57:05.642Z,1761505025.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942368,0.328941,0.061162],[-0.327780,0.870996,0.365958],[0.067107,-0.364915,0.928619]]
2025-10-26T18:57:06.020Z,1761505026.020 [DAT](INFO): DAT read: 

2025-10-26T18:57:06.021Z,1761505026.021 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:57:06.046Z,1761505026.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936484,0.343150,0.072435],[-0.345108,0.864878,0.364537],[0.062444,-0.366381,0.928367]]
2025-10-26T18:57:06.457Z,1761505026.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930833,0.355967,0.082690],[-0.361063,0.860887,0.358480],[0.056420,-0.363541,0.929868]]
2025-10-26T18:57:06.887Z,1761505026.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926173,0.366291,0.089632],[-0.373902,0.861123,0.344477],[0.048995,-0.352559,0.934506]]
2025-10-26T18:57:07.258Z,1761505027.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922775,0.373924,0.093096],[-0.383187,0.864943,0.324101],[0.040667,-0.334746,0.941431]]
2025-10-26T18:57:07.283Z,1761505027.283 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:57:07.533Z,1761505027.533 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:57:07.534Z,1761505027.534 [DAT](INFO): DAT read: Oct 26 2025 18:57:02 

2025-10-26T18:57:08.066Z,1761505028.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919060,0.382586,0.094638],[-0.393415,0.876249,0.278232],[0.023522,-0.292944,0.955840]]
2025-10-26T18:57:08.470Z,1761505028.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918650,0.383720,0.094030],[-0.394782,0.882458,0.255763],[0.015164,-0.272078,0.962156]]
2025-10-26T18:57:08.577Z,1761505028.577 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:57:08.579Z,1761505028.579 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:57:08.579Z,1761505028.579 [DAT](INFO): commRate: 600
2025-10-26T18:57:08.892Z,1761505028.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918985,0.383248,0.092671],[-0.394229,0.888883,0.233390],[0.007073,-0.251015,0.967957]]
2025-10-26T18:57:09.280Z,1761505029.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919866,0.381274,0.092071],[-0.392232,0.894731,0.213564],[-0.000952,-0.232563,0.972581]]
2025-10-26T18:57:09.682Z,1761505029.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921000,0.378315,0.092932],[-0.389463,0.899555,0.197787],[-0.008772,-0.218356,0.975830]]
2025-10-26T18:57:10.087Z,1761505030.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922151,0.374755,0.095896],[-0.386481,0.903080,0.187291],[-0.016413,-0.209773,0.977612]]
2025-10-26T18:57:10.492Z,1761505030.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923184,0.370958,0.100608],[-0.383602,0.905661,0.180634],[-0.024109,-0.205352,0.978391]]
2025-10-26T18:57:10.636Z,1761505030.636 [DAT](INFO): entering command mode
2025-10-26T18:57:10.838Z,1761505030.838 [DAT](INFO): DAT read: 

2025-10-26T18:57:10.839Z,1761505030.839 [DAT](INFO): DAT read: use:1>

2025-10-26T18:57:10.840Z,1761505030.840 [DAT](INFO): unknown deviceResponse_: use:1>

2025-10-26T18:57:10.841Z,1761505030.841 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:10.894Z,1761505030.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924279,0.366595,0.106381],[-0.380400,0.907736,0.176949],[-0.031698,-0.204017,0.978454]]
2025-10-26T18:57:11.088Z,1761505031.088 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:11.298Z,1761505031.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925217,0.362175,0.113152],[-0.377395,0.909279,0.175456],[-0.039340,-0.205038,0.977963]]
2025-10-26T18:57:11.340Z,1761505031.340 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:11.592Z,1761505031.592 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:11.705Z,1761505031.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926036,0.357751,0.120296],[-0.374509,0.910546,0.175067],[-0.046905,-0.207171,0.977180]]
2025-10-26T18:57:11.844Z,1761505031.844 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:12.096Z,1761505032.096 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:12.107Z,1761505032.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926741,0.353331,0.127702],[-0.371779,0.911448,0.176188],[-0.054141,-0.210758,0.976038]]
2025-10-26T18:57:12.348Z,1761505032.348 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:12.510Z,1761505032.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927313,0.349155,0.134840],[-0.369328,0.912037,0.178287],[-0.060730,-0.215128,0.974696]]
2025-10-26T18:57:12.604Z,1761505032.604 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:12.858Z,1761505032.858 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:12.923Z,1761505032.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927821,0.345436,0.140788],[-0.367052,0.912713,0.179522],[-0.066485,-0.218241,0.973628]]
2025-10-26T18:57:13.109Z,1761505033.109 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:13.319Z,1761505033.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928248,0.342170,0.145859],[-0.365053,0.913267,0.180773],[-0.071353,-0.221049,0.972649]]
2025-10-26T18:57:13.360Z,1761505033.360 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:13.612Z,1761505033.612 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:13.766Z,1761505033.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928480,0.339626,0.150264],[-0.363664,0.913501,0.182385],[-0.075324,-0.223986,0.971677]]
2025-10-26T18:57:13.864Z,1761505033.864 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:14.116Z,1761505034.116 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:14.127Z,1761505034.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928332,0.337895,0.155004],[-0.363282,0.913059,0.185335],[-0.078904,-0.228363,0.970373]]
2025-10-26T18:57:14.368Z,1761505034.368 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:14.530Z,1761505034.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927515,0.338097,0.159393],[-0.364691,0.912038,0.187582],[-0.081951,-0.232114,0.969230]]
2025-10-26T18:57:14.620Z,1761505034.620 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:14.872Z,1761505034.872 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:14.940Z,1761505034.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926129,0.339542,0.164307],[-0.367484,0.910427,0.189942],[-0.085096,-0.236291,0.967949]]
2025-10-26T18:57:15.126Z,1761505035.126 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:15.339Z,1761505035.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923934,0.342660,0.170087],[-0.372210,0.907898,0.192823],[-0.088349,-0.241464,0.966380]]
2025-10-26T18:57:15.376Z,1761505035.376 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:15.628Z,1761505035.628 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:15.743Z,1761505035.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921328,0.346735,0.175869],[-0.377721,0.905444,0.193642],[-0.092097,-0.244837,0.965180]]
2025-10-26T18:57:15.880Z,1761505035.880 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:16.132Z,1761505036.132 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:16.147Z,1761505036.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918365,0.351539,0.181731],[-0.383924,0.902809,0.193747],[-0.095959,-0.247702,0.964073]]
2025-10-26T18:57:16.385Z,1761505036.385 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:16.550Z,1761505036.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915297,0.357202,0.186114],[-0.390322,0.900651,0.190987],[-0.099403,-0.247454,0.963787]]
2025-10-26T18:57:16.581Z,1761505036.581 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:57:16.636Z,1761505036.636 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:16.889Z,1761505036.889 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:16.962Z,1761505036.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912293,0.363044,0.189526],[-0.396495,0.898829,0.186809],[-0.102532,-0.245571,0.963941]]
2025-10-26T18:57:17.140Z,1761505037.140 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:17.358Z,1761505037.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909466,0.368831,0.191924],[-0.402268,0.897274,0.181877],[-0.105127,-0.242616,0.964410]]
2025-10-26T18:57:17.393Z,1761505037.393 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:17.406Z,1761505037.406 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:57:17.406Z,1761505037.406 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:57:17.407Z,1761505037.407 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:57:17.408Z,1761505037.408 [marl:UpdateRudder:A] Stopped
2025-10-26T18:57:17.408Z,1761505037.408 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:57:17.408Z,1761505037.408 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:57:17.408Z,1761505037.408 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:57:17.408Z,1761505037.408 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:57:17.408Z,1761505037.408 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:57:17.409Z,1761505037.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:57:17.409Z,1761505037.409 [marl:UpdateCommandMode] Stopped
2025-10-26T18:57:17.409Z,1761505037.409 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:57:17.409Z,1761505037.409 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:57:17.409Z,1761505037.409 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:57:17.409Z,1761505037.409 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:57:17.410Z,1761505037.410 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:57:17.410Z,1761505037.410 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:57:17.410Z,1761505037.410 [marl:UpdateSpeed] Stopped
2025-10-26T18:57:17.410Z,1761505037.410 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:57:17.644Z,1761505037.644 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:17.762Z,1761505037.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906869,0.374616,0.193008],[-0.407547,0.896157,0.175522],[-0.107212,-0.237835,0.965370]]
2025-10-26T18:57:17.821Z,1761505037.821 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:57:17.821Z,1761505037.821 [marl:UpdateRudder:B] Stopped
2025-10-26T18:57:17.821Z,1761505037.821 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:57:17.821Z,1761505037.821 [marl:UpdateRudder] Stopped
2025-10-26T18:57:17.821Z,1761505037.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:57:17.897Z,1761505037.897 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:18.148Z,1761505038.148 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:18.168Z,1761505038.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904313,0.380848,0.192802],[-0.412819,0.895190,0.167976],[-0.108621,-0.231495,0.966753]]
2025-10-26T18:57:18.401Z,1761505038.401 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:18.570Z,1761505038.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901694,0.387234,0.192345],[-0.418325,0.893797,0.161649],[-0.109322,-0.226221,0.967922]]
2025-10-26T18:57:18.652Z,1761505038.652 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:18.904Z,1761505038.904 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:18.974Z,1761505038.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898983,0.393763,0.191781],[-0.424083,0.892008,0.156448],[-0.109467,-0.221975,0.968888]]
2025-10-26T18:57:19.156Z,1761505039.156 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:19.378Z,1761505039.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896451,0.400039,0.190642],[-0.429536,0.890195,0.151830],[-0.108971,-0.217996,0.969847]]
2025-10-26T18:57:19.408Z,1761505039.408 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:19.660Z,1761505039.660 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:19.784Z,1761505039.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894744,0.404769,0.188667],[-0.433266,0.889186,0.147069],[-0.108231,-0.213332,0.970966]]
2025-10-26T18:57:19.912Z,1761505039.912 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:20.164Z,1761505040.164 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:20.187Z,1761505040.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894348,0.407036,0.185642],[-0.434336,0.889444,0.142273],[-0.107208,-0.207873,0.972263]]
2025-10-26T18:57:20.418Z,1761505040.418 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:20.591Z,1761505040.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894235,0.407997,0.184071],[-0.434998,0.889061,0.142642],[-0.105453,-0.207626,0.972508]]
2025-10-26T18:57:20.668Z,1761505040.668 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:20.921Z,1761505040.921 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:20.994Z,1761505040.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893081,0.410176,0.184831],[-0.438112,0.886319,0.149989],[-0.102298,-0.214929,0.971257]]
2025-10-26T18:57:21.173Z,1761505041.173 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:21.408Z,1761505041.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890593,0.412986,0.190490],[-0.444151,0.879884,0.168922],[-0.097846,-0.235047,0.967046]]
2025-10-26T18:57:21.424Z,1761505041.424 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:21.676Z,1761505041.676 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:21.802Z,1761505041.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887019,0.416573,0.199160],[-0.452389,0.870404,0.194271],[-0.092421,-0.262420,0.960518]]
2025-10-26T18:57:21.928Z,1761505041.928 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:22.180Z,1761505042.180 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:22.206Z,1761505042.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882740,0.420925,0.208786],[-0.461878,0.858930,0.221151],[-0.086244,-0.291652,0.952628]]
2025-10-26T18:57:22.433Z,1761505042.433 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:22.640Z,1761505042.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877897,0.426162,0.218365],[-0.472214,0.846128,0.247146],[-0.079441,-0.320083,0.944053]]
2025-10-26T18:57:22.684Z,1761505042.684 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:22.936Z,1761505042.936 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:23.022Z,1761505043.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872847,0.431301,0.228291],[-0.482548,0.832531,0.272103],[-0.072701,-0.347666,0.934796]]
2025-10-26T18:57:23.188Z,1761505043.188 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:23.418Z,1761505043.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867822,0.436809,0.236819],[-0.492444,0.819619,0.292785],[-0.066210,-0.370705,0.926388]]
2025-10-26T18:57:23.440Z,1761505043.440 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:23.692Z,1761505043.692 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:23.823Z,1761505043.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862820,0.443125,0.243272],[-0.501962,0.807950,0.308627],[-0.059791,-0.388403,0.919548]]
2025-10-26T18:57:23.945Z,1761505043.945 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:24.196Z,1761505044.196 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:24.226Z,1761505044.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857510,0.450816,0.247874],[-0.511737,0.797000,0.320805],[-0.052932,-0.401940,0.914135]]
2025-10-26T18:57:24.448Z,1761505044.448 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:24.631Z,1761505044.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851758,0.460429,0.250029],[-0.521937,0.787309,0.328216],[-0.045730,-0.410060,0.910911]]
2025-10-26T18:57:24.700Z,1761505044.700 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:24.952Z,1761505044.952 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:25.042Z,1761505045.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845649,0.470971,0.251127],[-0.532346,0.778234,0.333106],[-0.038552,-0.415377,0.908832]]
2025-10-26T18:57:25.204Z,1761505045.204 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:25.438Z,1761505045.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839262,0.482302,0.251047],[-0.542827,0.769786,0.335810],[-0.031291,-0.418107,0.907859]]
2025-10-26T18:57:25.460Z,1761505045.460 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:25.713Z,1761505045.713 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T18:57:25.713Z,1761505045.713 [DAT](FAULT): failed to enter command mode
2025-10-26T18:57:25.842Z,1761505045.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832508,0.494476,0.249847],[-0.553497,0.761808,0.336586],[-0.023902,-0.418500,0.907902]]
2025-10-26T18:57:26.016Z,1761505046.016 [DAT](INFO): entering command mode
2025-10-26T18:57:26.216Z,1761505046.216 [DAT](INFO): DAT read: user:1>

2025-10-26T18:57:26.217Z,1761505046.217 [DAT](INFO): DAT read: Command '+++' not found

2025-10-26T18:57:26.217Z,1761505046.217 [DAT](INFO): DAT read: Error

2025-10-26T18:57:26.218Z,1761505046.218 [DAT](INFO): setting verbose to 3
2025-10-26T18:57:26.254Z,1761505046.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825097,0.507288,0.248744],[-0.564752,0.753327,0.336979],[-0.016440,-0.418519,0.908059]]
2025-10-26T18:57:26.468Z,1761505046.468 [DAT](INFO): DAT read: user:2>

2025-10-26T18:57:26.469Z,1761505046.469 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:57:26.469Z,1761505046.469 [DAT](INFO): set verbose to 3
2025-10-26T18:57:26.470Z,1761505046.470 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:57:26.650Z,1761505046.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817104,0.520526,0.247776],[-0.576412,0.744772,0.336249],[-0.009510,-0.417572,0.908594]]
2025-10-26T18:57:26.721Z,1761505046.721 [DAT](INFO): DAT read: user:3>

2025-10-26T18:57:26.722Z,1761505046.722 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:57:26.722Z,1761505046.722 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:57:26.723Z,1761505046.723 [DAT](INFO): setting transmit power to 8
2025-10-26T18:57:26.972Z,1761505046.972 [DAT](INFO): DAT read: user:4>

2025-10-26T18:57:26.973Z,1761505046.973 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:57:26.973Z,1761505046.973 [DAT](INFO): set transmit power to 8
2025-10-26T18:57:26.974Z,1761505046.974 [DAT](INFO): setting local address to 11
2025-10-26T18:57:27.226Z,1761505047.226 [DAT](INFO): DAT read: user:5>

2025-10-26T18:57:27.227Z,1761505047.227 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:57:27.227Z,1761505047.227 [DAT](INFO): set local address to 11
2025-10-26T18:57:27.228Z,1761505047.228 [DAT](INFO): Setting time to: 18:57:27 And date to:10/26/2025
2025-10-26T18:57:27.476Z,1761505047.476 [DAT](INFO): DAT read: user:6>

2025-10-26T18:57:27.477Z,1761505047.477 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:57:27  

2025-10-26T18:57:27.477Z,1761505047.477 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:57:27  

2025-10-26T18:57:27.478Z,1761505047.478 [DAT](INFO): setting remote address to 6
2025-10-26T18:57:27.478Z,1761505047.478 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:57:27.478Z,1761505047.478 [DAT](INFO): setting remote address to 0
2025-10-26T18:57:27.729Z,1761505047.729 [DAT](INFO): DAT read: user:7>

2025-10-26T18:57:27.730Z,1761505047.730 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:57:27.731Z,1761505047.731 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:57:27.731Z,1761505047.731 [DAT] Communications Fault, FailCount= 3
2025-10-26T18:57:27.731Z,1761505047.731 [DAT](ERROR): Communications Fault
2025-10-26T18:57:27.732Z,1761505047.732 [DAT](INFO): DAT read: user:8>

2025-10-26T18:57:27.733Z,1761505047.733 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:57:27.733Z,1761505047.733 [DAT](INFO): set remote address to 0
2025-10-26T18:57:27.733Z,1761505047.733 [DAT](INFO): setting remote address to 6
2025-10-26T18:57:27.734Z,1761505047.734 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:57:27.734Z,1761505047.734 [DAT](INFO): setting remote address to 0
2025-10-26T18:57:27.847Z,1761505047.847 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:57:27.901Z,1761505047.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787829,0.563859,0.247767],[-0.615824,0.715140,0.330658],[0.009256,-0.413083,0.910646]]
2025-10-26T18:57:28.140Z,1761505048.140 [DAT](INFO): Powering down
2025-10-26T18:57:28.286Z,1761505048.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777098,0.579140,0.246405],[-0.629192,0.705309,0.326582],[0.015345,-0.408823,0.912485]]
2025-10-26T18:57:28.694Z,1761505048.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766085,0.594496,0.244312],[-0.642391,0.695687,0.321486],[0.021158,-0.403229,0.914855]]
2025-10-26T18:57:29.094Z,1761505049.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754795,0.609051,0.243600],[-0.655403,0.684911,0.318345],[0.027044,-0.399942,0.916141]]
2025-10-26T18:57:29.527Z,1761505049.527 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:57:29.527Z,1761505049.527 [DAT] No Fault, FailCount= 3
2025-10-26T18:57:29.549Z,1761505049.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743190,0.623669,0.242293],[-0.668261,0.673983,0.314919],[0.033104,-0.395959,0.917671]]
2025-10-26T18:57:29.950Z,1761505049.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731965,0.637256,0.241106],[-0.680239,0.663367,0.311799],[0.038754,-0.392236,0.919048]]
2025-10-26T18:57:30.406Z,1761505050.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720252,0.650774,0.240270],[-0.692315,0.652336,0.308478],[0.044013,-0.388525,0.920387]]
2025-10-26T18:57:30.470Z,1761505050.470 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:57:30.470Z,1761505050.470 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:57:30.470Z,1761505050.470 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:57:30.471Z,1761505050.471 [marl:UpdateRudder:A] Stopped
2025-10-26T18:57:30.471Z,1761505050.471 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:57:30.471Z,1761505050.471 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:57:30.471Z,1761505050.471 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:57:30.471Z,1761505050.471 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:57:30.475Z,1761505050.475 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateCommandMode] Stopped
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:57:30.476Z,1761505050.476 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:57:30.477Z,1761505050.477 [marl:UpdateSpeed] Stopped
2025-10-26T18:57:30.477Z,1761505050.477 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:57:30.844Z,1761505050.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694966,0.676805,0.242811],[-0.717036,0.627107,0.304296],[0.053681,-0.385580,0.921112]]
2025-10-26T18:57:30.917Z,1761505050.917 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T18:57:30.917Z,1761505050.917 [marl:UpdateRudder:B] Stopped
2025-10-26T18:57:30.917Z,1761505050.917 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:57:30.917Z,1761505050.917 [marl:UpdateRudder] Stopped
2025-10-26T18:57:30.917Z,1761505050.917 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:57:31.340Z,1761505051.340 [DAT](INFO): Powering up
2025-10-26T18:57:31.340Z,1761505051.340 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:57:31.614Z,1761505051.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681535,0.689716,0.244544],[-0.729454,0.613649,0.302212],[0.058376,-0.384351,0.921339]]
2025-10-26T18:57:32.019Z,1761505052.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668270,0.702097,0.245917],[-0.741251,0.600469,0.299974],[0.062945,-0.382749,0.921705]]
2025-10-26T18:57:32.422Z,1761505052.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655831,0.713484,0.246633],[-0.751864,0.588033,0.298191],[0.067726,-0.380997,0.922093]]
2025-10-26T18:57:32.889Z,1761505052.889 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T18:57:32.889Z,1761505052.889 [NAL9602] Data Fault, FailCount= 1
2025-10-26T18:57:32.889Z,1761505052.889 [NAL9602](ERROR): Data Fault
2025-10-26T18:57:32.947Z,1761505052.947 [marl:NeedComms] Running Loop=1
2025-10-26T18:57:32.947Z,1761505052.947 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T18:57:32.963Z,1761505052.963 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T18:57:32.963Z,1761505052.963 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T18:57:32.964Z,1761505052.964 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T18:57:32.964Z,1761505052.964 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T18:57:32.964Z,1761505052.964 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T18:57:32.965Z,1761505052.965 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T18:57:32.965Z,1761505052.965 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T18:57:32.965Z,1761505052.965 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T18:57:32.966Z,1761505052.966 [marl:NeedComms:A] Running Loop=1
2025-10-26T18:57:32.967Z,1761505052.967 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T18:57:32.971Z,1761505052.971 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T18:57:32.972Z,1761505052.972 [marl:NeedComms:A] Stopped
2025-10-26T18:57:33.311Z,1761505053.311 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T18:57:33.348Z,1761505053.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624673,0.740386,0.248217],[-0.776750,0.556462,0.294973],[0.080270,-0.377064,0.922702]]
2025-10-26T18:57:33.353Z,1761505053.353 [NAL9602](INFO): Powering down
2025-10-26T18:57:33.743Z,1761505053.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615214,0.747467,0.250610],[-0.784033,0.546840,0.293697],[0.082485,-0.377173,0.922462]]
2025-10-26T18:57:34.143Z,1761505054.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604281,0.754771,0.255277],[-0.792597,0.536672,0.289436],[0.081458,-0.377232,0.922529]]
2025-10-26T18:57:34.368Z,1761505054.368 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T18:57:34.368Z,1761505054.368 [NAL9602] No Fault, FailCount= 1
2025-10-26T18:57:34.546Z,1761505054.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589686,0.763809,0.262423],[-0.804161,0.525199,0.278371],[0.074798,-0.375181,0.923929]]
2025-10-26T18:57:35.124Z,1761505055.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:57:35.437Z,1761505055.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552534,0.784269,0.282185],[-0.832353,0.501520,0.235936],[0.043515,-0.365240,0.929896]]
2025-10-26T18:57:35.846Z,1761505055.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530490,0.795374,0.293190],[-0.847387,0.488307,0.208547],[0.022707,-0.359077,0.933032]]
2025-10-26T18:57:36.129Z,1761505056.129 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:57:36.364Z,1761505056.364 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:57:36.364Z,1761505056.364 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:57:36.649Z,1761505056.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482914,0.819125,0.309562],[-0.875409,0.460183,0.147953],[-0.021263,-0.342442,0.939298]]
2025-10-26T18:57:37.454Z,1761505057.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435123,0.840382,0.323151],[-0.898168,0.430229,0.090536],[-0.062944,-0.329638,0.942007]]
2025-10-26T18:57:37.863Z,1761505057.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414447,0.848133,0.330005],[-0.906302,0.417616,0.064909],[-0.082764,-0.325986,0.941745]]
2025-10-26T18:57:38.263Z,1761505058.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395948,0.853980,0.337556],[-0.912604,0.406736,0.041473],[-0.101879,-0.324476,0.940391]]
2025-10-26T18:57:38.666Z,1761505058.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378545,0.858187,0.346725],[-0.917792,0.396527,0.020567],[-0.119836,-0.326007,0.937741]]
2025-10-26T18:57:39.475Z,1761505059.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344386,0.863144,0.369297],[-0.926566,0.375856,-0.014409],[-0.151239,-0.337216,0.929200]]
2025-10-26T18:57:39.880Z,1761505059.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327322,0.863359,0.384021],[-0.930351,0.365537,-0.028816],[-0.165252,-0.347842,0.922875]]
2025-10-26T18:57:40.686Z,1761505060.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293255,0.864256,0.408734],[-0.936605,0.345469,-0.058496],[-0.191760,-0.365668,0.910777]]
2025-10-26T18:57:41.494Z,1761505061.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262930,0.865085,0.427195],[-0.939999,0.329464,-0.088627],[-0.217415,-0.378261,0.899805]]
2025-10-26T18:57:41.898Z,1761505061.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249051,0.866625,0.432360],[-0.940381,0.323163,-0.106066],[-0.231642,-0.380167,0.895441]]
2025-10-26T18:57:42.303Z,1761505062.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235702,0.870047,0.432970],[-0.939787,0.317513,-0.126434],[-0.247477,-0.377099,0.892497]]
2025-10-26T18:57:42.707Z,1761505062.707 [DAT](INFO): DAT read: 

2025-10-26T18:57:42.708Z,1761505062.708 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:57:42.739Z,1761505062.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222554,0.875039,0.429856],[-0.938287,0.311978,-0.149289],[-0.264739,-0.370104,0.890470]]
2025-10-26T18:57:43.110Z,1761505063.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206518,0.881563,0.424497],[-0.936986,0.303135,-0.173682],[-0.281792,-0.361879,0.888615]]
2025-10-26T18:57:43.515Z,1761505063.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185319,0.890784,0.414923],[-0.936758,0.287705,-0.199276],[-0.296888,-0.351753,0.887766]]
2025-10-26T18:57:43.537Z,1761505063.537 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateRudder:A] Stopped
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:57:43.538Z,1761505063.538 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateCommandMode] Stopped
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:57:43.539Z,1761505063.539 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:57:43.540Z,1761505063.540 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:57:43.540Z,1761505063.540 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:57:43.540Z,1761505063.540 [marl:UpdateSpeed] Stopped
2025-10-26T18:57:43.540Z,1761505063.540 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:57:43.919Z,1761505063.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160497,0.899449,0.406488],[-0.937039,0.268256,-0.223600],[-0.310160,-0.345007,0.885873]]
2025-10-26T18:57:43.943Z,1761505063.943 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:57:43.943Z,1761505063.943 [marl:UpdateRudder:B] Stopped
2025-10-26T18:57:43.943Z,1761505063.943 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:57:43.943Z,1761505063.943 [marl:UpdateRudder] Stopped
2025-10-26T18:57:43.943Z,1761505063.943 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:57:44.219Z,1761505064.219 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:57:44.220Z,1761505064.220 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:57:44.221Z,1761505064.221 [DAT](INFO): DAT read: Oct 26 2025 18:57:39 

2025-10-26T18:57:44.333Z,1761505064.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133924,0.906773,0.399783],[-0.937368,0.246816,-0.245809],[-0.321566,-0.341824,0.883035]]
2025-10-26T18:57:45.477Z,1761505065.477 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:57:45.478Z,1761505065.478 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:57:45.478Z,1761505065.478 [DAT](INFO): commRate: 600
2025-10-26T18:57:45.534Z,1761505065.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051985,0.920098,0.388223],[-0.935259,0.181151,-0.304097],[-0.350126,-0.347280,0.869947]]
2025-10-26T18:57:45.997Z,1761505065.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024164,0.922732,0.384684],[-0.933512,0.158520,-0.321600],[-0.357731,-0.351336,0.865212]]
2025-10-26T18:57:46.398Z,1761505066.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002646,0.924603,0.380922],[-0.931218,0.136551,-0.337916],[-0.364454,-0.355615,0.860646]]
2025-10-26T18:57:46.885Z,1761505066.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044976,0.930747,0.362887],[-0.925353,0.098063,-0.366204],[-0.376429,-0.352269,0.856859]]
2025-10-26T18:57:46.934Z,1761505066.934 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:57:47.427Z,1761505067.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054914,0.937054,0.344840],[-0.921794,0.085163,-0.378210],[-0.383771,-0.338640,0.859094]]
2025-10-26T18:57:47.544Z,1761505067.544 [DAT](INFO): entering command mode
2025-10-26T18:57:47.744Z,1761505067.744 [DAT](INFO): DAT read: 

2025-10-26T18:57:47.745Z,1761505067.745 [DAT](INFO): DAT read: user:1>

2025-10-26T18:57:47.745Z,1761505067.745 [DAT](INFO): setting verbose to 3
2025-10-26T18:57:47.833Z,1761505067.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059434,0.943961,0.324663],[-0.918262,0.075852,-0.388640],[-0.391487,-0.321224,0.862295]]
2025-10-26T18:57:47.996Z,1761505067.996 [DAT](INFO): DAT read: user:1>

2025-10-26T18:57:47.997Z,1761505067.997 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:57:47.997Z,1761505067.997 [DAT](INFO): set verbose to 3
2025-10-26T18:57:47.997Z,1761505067.997 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:57:48.230Z,1761505068.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060780,0.950495,0.304736],[-0.914867,0.069039,-0.397809],[-0.399155,-0.302972,0.865381]]
2025-10-26T18:57:48.248Z,1761505068.248 [DAT](INFO): DAT read: user:2>

2025-10-26T18:57:48.249Z,1761505068.249 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:57:48.249Z,1761505068.249 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:57:48.250Z,1761505068.250 [DAT](INFO): setting transmit power to 8
2025-10-26T18:57:48.500Z,1761505068.500 [DAT](INFO): DAT read: user:3>

2025-10-26T18:57:48.501Z,1761505068.501 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:57:48.501Z,1761505068.501 [DAT](INFO): set transmit power to 8
2025-10-26T18:57:48.502Z,1761505068.502 [DAT](INFO): setting local address to 11
2025-10-26T18:57:48.635Z,1761505068.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060339,0.956100,0.286763],[-0.911578,0.064265,-0.406074],[-0.406676,-0.285908,0.867682]]
2025-10-26T18:57:48.753Z,1761505068.753 [DAT](INFO): DAT read: user:4>

2025-10-26T18:57:48.754Z,1761505068.754 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:57:48.754Z,1761505068.754 [DAT](INFO): set local address to 11
2025-10-26T18:57:48.755Z,1761505068.755 [DAT](INFO): Setting time to: 18:57:48 And date to:10/26/2025
2025-10-26T18:57:49.004Z,1761505069.004 [DAT](INFO): DAT read: user:5>

2025-10-26T18:57:49.005Z,1761505069.005 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:57:48  

2025-10-26T18:57:49.005Z,1761505069.005 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:57:48  

2025-10-26T18:57:49.006Z,1761505069.006 [DAT](INFO): setting remote address to 6
2025-10-26T18:57:49.006Z,1761505069.006 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:57:49.007Z,1761505069.007 [DAT](INFO): setting remote address to 0
2025-10-26T18:57:49.040Z,1761505069.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059585,0.960602,0.271467],[-0.908411,0.060556,-0.413670],[-0.413811,-0.271252,0.869012]]
2025-10-26T18:57:49.256Z,1761505069.256 [DAT](INFO): DAT read: user:6>

2025-10-26T18:57:49.257Z,1761505069.257 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:57:49.258Z,1761505069.258 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:57:49.258Z,1761505069.258 [DAT] Communications Fault, FailCount= 4
2025-10-26T18:57:49.258Z,1761505069.258 [DAT](ERROR): Communications Fault
2025-10-26T18:57:49.259Z,1761505069.259 [DAT](INFO): DAT read: user:7>

2025-10-26T18:57:49.260Z,1761505069.260 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:57:49.260Z,1761505069.260 [DAT](INFO): set remote address to 0
2025-10-26T18:57:49.260Z,1761505069.260 [DAT](INFO): setting remote address to 6
2025-10-26T18:57:49.261Z,1761505069.261 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:57:49.261Z,1761505069.261 [DAT](INFO): setting remote address to 0
2025-10-26T18:57:49.442Z,1761505069.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059424,0.963541,0.260879],[-0.905380,0.058045,-0.420617],[-0.420424,-0.261189,0.868921]]
2025-10-26T18:57:49.665Z,1761505069.665 [DAT](INFO): Powering down
2025-10-26T18:57:49.728Z,1761505069.728 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:57:49.846Z,1761505069.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058822,0.966035,0.251628],[-0.902523,0.056255,-0.426952],[-0.426606,-0.252214,0.868559]]
2025-10-26T18:57:50.252Z,1761505070.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059012,0.968152,0.243310],[-0.900003,0.053846,-0.432544],[-0.431870,-0.244505,0.868162]]
2025-10-26T18:57:50.654Z,1761505070.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059427,0.969153,0.239189],[-0.898178,0.052646,-0.436468],[-0.435596,-0.240772,0.867344]]
2025-10-26T18:57:50.773Z,1761505070.773 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:57:50.773Z,1761505070.773 [DAT] No Fault, FailCount= 4
2025-10-26T18:57:51.058Z,1761505071.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060168,0.969222,0.238722],[-0.897324,0.052243,-0.438270],[-0.437252,-0.240580,0.866563]]
2025-10-26T18:57:51.462Z,1761505071.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060497,0.968154,0.242938],[-0.897424,0.053799,-0.437877],[-0.437002,-0.244509,0.865589]]
2025-10-26T18:57:51.868Z,1761505071.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060541,0.967046,0.247300],[-0.898243,0.055266,-0.436010],[-0.435309,-0.248533,0.865296]]
2025-10-26T18:57:52.270Z,1761505072.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059786,0.965528,0.253339],[-0.899552,0.057901,-0.432959],[-0.432703,-0.253776,0.865081]]
2025-10-26T18:57:52.675Z,1761505072.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058763,0.964869,0.256074],[-0.901218,0.059055,-0.429323],[-0.429363,-0.256007,0.866087]]
2025-10-26T18:57:52.713Z,1761505072.713 [DAT](INFO): Powering up
2025-10-26T18:57:52.713Z,1761505072.713 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:57:53.483Z,1761505073.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055718,0.966006,0.252444],[-0.904996,0.057939,-0.421457],[-0.421756,-0.251944,0.871003]]
2025-10-26T18:57:53.886Z,1761505073.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052962,0.967805,0.246066],[-0.906966,0.056491,-0.417399],[-0.417861,-0.245280,0.874774]]
2025-10-26T18:57:54.298Z,1761505074.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048941,0.969145,0.241583],[-0.909064,0.056979,-0.412742],[-0.413772,-0.239815,0.878226]]
2025-10-26T18:57:54.698Z,1761505074.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044011,0.970605,0.236618],[-0.911425,0.057981,-0.407362],[-0.409107,-0.233588,0.882082]]
2025-10-26T18:57:55.098Z,1761505075.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038103,0.971916,0.232225],[-0.914162,0.059949,-0.400892],[-0.403555,-0.227566,0.886204]]
2025-10-26T18:57:55.502Z,1761505075.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031492,0.972775,0.229601],[-0.917380,0.063057,-0.392985],[-0.396764,-0.223007,0.890419]]
2025-10-26T18:57:55.906Z,1761505075.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024074,0.973093,0.229152],[-0.920984,0.067571,-0.383696],[-0.388856,-0.220283,0.894576]]
2025-10-26T18:57:56.311Z,1761505076.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016292,0.972151,0.233790],[-0.924488,0.074419,-0.373877],[-0.380864,-0.222227,0.897529]]
2025-10-26T18:57:56.765Z,1761505076.765 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:57:56.765Z,1761505076.765 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:57:56.766Z,1761505076.766 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:57:56.766Z,1761505076.766 [marl:UpdateRudder:A] Stopped
2025-10-26T18:57:56.767Z,1761505076.767 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:57:56.767Z,1761505076.767 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:57:56.767Z,1761505076.767 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:57:56.768Z,1761505076.768 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:57:56.768Z,1761505076.768 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:57:56.769Z,1761505076.769 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:57:56.769Z,1761505076.769 [marl:UpdateCommandMode] Stopped
2025-10-26T18:57:56.769Z,1761505076.769 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:57:56.769Z,1761505076.769 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:57:56.769Z,1761505076.769 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:57:56.770Z,1761505076.770 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:57:56.770Z,1761505076.770 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:57:56.770Z,1761505076.770 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:57:56.771Z,1761505076.771 [marl:UpdateSpeed] Stopped
2025-10-26T18:57:56.771Z,1761505076.771 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:57:57.177Z,1761505077.177 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:57:57.177Z,1761505077.177 [marl:UpdateRudder:B] Stopped
2025-10-26T18:57:57.177Z,1761505077.177 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:57:57.177Z,1761505077.177 [marl:UpdateRudder] Stopped
2025-10-26T18:57:57.177Z,1761505077.177 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:57:57.522Z,1761505077.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003626,0.969957,0.243250],[-0.933275,0.084081,-0.349183],[-0.359145,-0.228285,0.904931]]
2025-10-26T18:57:57.927Z,1761505077.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004406,0.970333,0.241732],[-0.935209,0.081593,-0.344566],[-0.354068,-0.227588,0.907105]]
2025-10-26T18:57:58.330Z,1761505078.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006515,0.971247,0.237985],[-0.936500,0.077517,-0.341992],[-0.350607,-0.225101,0.909068]]
2025-10-26T18:57:58.737Z,1761505078.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009584,0.972786,0.231508],[-0.937415,0.071851,-0.340722],[-0.348083,-0.220285,0.911215]]
2025-10-26T18:57:59.542Z,1761505079.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018014,0.975820,0.217831],[-0.939102,0.058263,-0.338663],[-0.343165,-0.210667,0.915345]]
2025-10-26T18:57:59.946Z,1761505079.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023346,0.977158,0.211226],[-0.940184,0.050368,-0.336924],[-0.339867,-0.206457,0.917532]]
2025-10-26T18:58:00.358Z,1761505080.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029181,0.977948,0.206799],[-0.941434,0.042640,-0.334491],[-0.335933,-0.204449,0.919429]]
2025-10-26T18:58:00.762Z,1761505080.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035467,0.978616,0.202614],[-0.942969,0.034377,-0.331101],[-0.330986,-0.202802,0.921585]]
2025-10-26T18:58:01.158Z,1761505081.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042061,0.978126,0.203716],[-0.944726,0.027420,-0.326712],[-0.325152,-0.206197,0.922908]]
2025-10-26T18:58:01.562Z,1761505081.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048770,0.977345,0.205956],[-0.946550,0.020600,-0.321899],[-0.318849,-0.210646,0.924101]]
2025-10-26T18:58:01.966Z,1761505081.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054619,0.976421,0.208851],[-0.948216,0.014823,-0.317280],[-0.312894,-0.215366,0.925048]]
2025-10-26T18:58:02.372Z,1761505082.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060338,0.975981,0.209334],[-0.949700,0.008432,-0.313049],[-0.307295,-0.217694,0.926380]]
2025-10-26T18:58:02.789Z,1761505082.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066932,0.975253,0.210719],[-0.950944,0.001579,-0.309360],[-0.302036,-0.221088,0.927305]]
2025-10-26T18:58:03.582Z,1761505083.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082174,0.972101,0.219697],[-0.952479,-0.011725,-0.304378],[-0.293310,-0.234269,0.926869]]
2025-10-26T18:58:03.593Z,1761505083.593 [NAL9602](INFO): Powering up NAL9602
2025-10-26T18:58:03.988Z,1761505083.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089783,0.971086,0.221202],[-0.952727,-0.019013,-0.303231],[-0.290258,-0.237971,0.926887]]
2025-10-26T18:58:04.304Z,1761505084.304 [DAT](INFO): DAT read: 

2025-10-26T18:58:04.305Z,1761505084.305 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:58:04.390Z,1761505084.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096346,0.970455,0.221209],[-0.952731,-0.025580,-0.302735],[-0.288133,-0.239920,0.927048]]
2025-10-26T18:58:04.821Z,1761505084.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099974,0.970427,0.219720],[-0.952629,-0.029607,-0.302690],[-0.287233,-0.239573,0.927417]]
2025-10-26T18:58:05.198Z,1761505085.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099793,0.971133,0.216663],[-0.952658,-0.030401,-0.302521],[-0.287201,-0.236595,0.928191]]
2025-10-26T18:58:05.607Z,1761505085.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097724,0.972329,0.212192],[-0.953198,-0.030149,-0.300840],[-0.286118,-0.231660,0.929769]]
2025-10-26T18:58:05.816Z,1761505085.816 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:58:05.818Z,1761505085.818 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:58:05.818Z,1761505085.818 [DAT](INFO): DAT read: Oct 26 2025 18:58:00 

2025-10-26T18:58:06.006Z,1761505086.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095069,0.973181,0.209478],[-0.954529,-0.029389,-0.296666],[-0.282553,-0.228157,0.931723]]
2025-10-26T18:58:06.248Z,1761505086.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:58:06.410Z,1761505086.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091342,0.973320,0.210489],[-0.956655,-0.027071,-0.289964],[-0.276529,-0.227851,0.933603]]
2025-10-26T18:58:06.828Z,1761505086.828 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:58:06.832Z,1761505086.832 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:58:06.833Z,1761505086.833 [DAT](INFO): commRate: 600
2025-10-26T18:58:06.905Z,1761505086.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082243,0.973122,0.215102],[-0.961448,-0.020644,-0.274210],[-0.262399,-0.229361,0.937305]]
2025-10-26T18:58:07.253Z,1761505087.253 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:58:07.622Z,1761505087.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077034,0.972185,0.221185],[-0.963113,-0.015190,-0.268666],[-0.257834,-0.233723,0.937494]]
2025-10-26T18:58:08.026Z,1761505088.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071799,0.971434,0.226189],[-0.963990,-0.009366,-0.265774],[-0.256063,-0.237126,0.937125]]
2025-10-26T18:58:08.430Z,1761505088.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066241,0.970807,0.230535],[-0.964042,-0.002676,-0.265736],[-0.257361,-0.239848,0.936076]]
2025-10-26T18:58:08.876Z,1761505088.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053603,0.971692,0.230091],[-0.962088,0.011453,-0.272498],[-0.267419,-0.235975,0.934239]]
2025-10-26T18:58:08.899Z,1761505088.899 [DAT](INFO): entering command mode
2025-10-26T18:58:09.096Z,1761505089.096 [DAT](INFO): DAT read: 

2025-10-26T18:58:09.096Z,1761505089.096 [DAT](INFO): DAT read: user:1>

2025-10-26T18:58:09.097Z,1761505089.097 [DAT](INFO): setting verbose to 3
2025-10-26T18:58:09.348Z,1761505089.348 [DAT](INFO): DAT read: user:1>

2025-10-26T18:58:09.349Z,1761505089.349 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:58:09.349Z,1761505089.349 [DAT](INFO): set verbose to 3
2025-10-26T18:58:09.350Z,1761505089.350 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:58:09.600Z,1761505089.600 [DAT](INFO): DAT read: user:2>

2025-10-26T18:58:09.601Z,1761505089.601 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:58:09.601Z,1761505089.601 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:58:09.602Z,1761505089.602 [DAT](INFO): setting transmit power to 8
2025-10-26T18:58:09.646Z,1761505089.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047005,0.972995,0.225990],[-0.960327,0.018241,-0.278280],[-0.274888,-0.230105,0.933536]]
2025-10-26T18:58:09.689Z,1761505089.689 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:58:09.689Z,1761505089.689 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:58:09.689Z,1761505089.689 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateRudder:A] Stopped
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:58:09.690Z,1761505089.690 [marl:UpdateCommandMode] Stopped
2025-10-26T18:58:09.691Z,1761505089.691 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:58:09.691Z,1761505089.691 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:58:09.691Z,1761505089.691 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:58:09.691Z,1761505089.691 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:58:09.692Z,1761505089.692 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:58:09.692Z,1761505089.692 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:58:09.692Z,1761505089.692 [marl:UpdateSpeed] Stopped
2025-10-26T18:58:09.692Z,1761505089.692 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:58:09.852Z,1761505089.852 [DAT](INFO): DAT read: user:3>

2025-10-26T18:58:09.853Z,1761505089.853 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:58:09.853Z,1761505089.853 [DAT](INFO): set transmit power to 8
2025-10-26T18:58:09.854Z,1761505089.854 [DAT](INFO): setting local address to 11
2025-10-26T18:58:10.104Z,1761505090.104 [DAT](INFO): DAT read: user:4>

2025-10-26T18:58:10.105Z,1761505090.105 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:58:10.106Z,1761505090.106 [DAT](INFO): set local address to 11
2025-10-26T18:58:10.106Z,1761505090.106 [DAT](INFO): Setting time to: 18:58:10 And date to:10/26/2025
2025-10-26T18:58:10.117Z,1761505090.117 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:58:10.117Z,1761505090.117 [marl:UpdateRudder:B] Stopped
2025-10-26T18:58:10.117Z,1761505090.117 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:58:10.118Z,1761505090.118 [marl:UpdateRudder] Stopped
2025-10-26T18:58:10.118Z,1761505090.118 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:58:10.356Z,1761505090.356 [DAT](INFO): DAT read: user:5>

2025-10-26T18:58:10.357Z,1761505090.357 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:58:10  

2025-10-26T18:58:10.357Z,1761505090.357 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:58:10  

2025-10-26T18:58:10.358Z,1761505090.358 [DAT](INFO): setting remote address to 6
2025-10-26T18:58:10.358Z,1761505090.358 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:58:10.359Z,1761505090.359 [DAT](INFO): setting remote address to 0
2025-10-26T18:58:10.450Z,1761505090.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041811,0.977443,0.207020],[-0.956554,0.020678,-0.290822],[-0.288543,-0.210185,0.934112]]
2025-10-26T18:58:10.608Z,1761505090.608 [DAT](INFO): DAT read: user:6>

2025-10-26T18:58:10.609Z,1761505090.609 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:58:10.610Z,1761505090.610 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:58:10.610Z,1761505090.610 [DAT] Communications Fault, FailCount= 5
2025-10-26T18:58:10.610Z,1761505090.610 [DAT](ERROR): Communications Fault
2025-10-26T18:58:10.611Z,1761505090.611 [DAT](INFO): DAT read: user:7>

2025-10-26T18:58:10.612Z,1761505090.612 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:58:10.612Z,1761505090.612 [DAT](INFO): set remote address to 0
2025-10-26T18:58:10.612Z,1761505090.612 [DAT](INFO): setting remote address to 6
2025-10-26T18:58:10.613Z,1761505090.613 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:58:10.613Z,1761505090.613 [DAT](INFO): setting remote address to 0
2025-10-26T18:58:10.628Z,1761505090.628 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:58:10.887Z,1761505090.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048022,0.981310,0.186343],[-0.953116,0.010783,-0.302413],[-0.298770,-0.192129,0.934785]]
2025-10-26T18:58:11.016Z,1761505091.016 [DAT](INFO): Powering down
2025-10-26T18:58:11.664Z,1761505091.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052533,0.982170,0.180505],[-0.951337,0.005739,-0.308100],[-0.303642,-0.187907,0.934073]]
2025-10-26T18:58:12.240Z,1761505092.240 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:58:12.240Z,1761505092.240 [DAT] No Fault, FailCount= 5
2025-10-26T18:58:12.475Z,1761505092.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062845,0.982542,0.175105],[-0.947277,-0.003490,-0.320397],[-0.314193,-0.186008,0.930959]]
2025-10-26T18:58:12.887Z,1761505092.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066052,0.985819,0.154268],[-0.941145,-0.010190,-0.337849],[-0.331486,-0.167505,0.928472]]
2025-10-26T18:58:13.686Z,1761505093.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053916,0.994050,0.094648],[-0.932526,-0.016231,-0.360738],[-0.357055,-0.107711,0.927852]]
2025-10-26T18:58:14.068Z,1761505094.068 [DAT](INFO): Powering up
2025-10-26T18:58:14.068Z,1761505094.068 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:58:14.094Z,1761505094.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045085,0.997057,0.062004],[-0.927692,-0.018760,-0.372875],[-0.370614,-0.074331,0.925808]]
2025-10-26T18:58:14.492Z,1761505094.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034581,0.998751,0.036077],[-0.923175,-0.018096,-0.383954],[-0.382821,-0.046583,0.922647]]
2025-10-26T18:58:14.495Z,1761505094.495 [NAL9602](INFO): NAL9602 initialized
2025-10-26T18:58:14.899Z,1761505094.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022148,0.999637,0.015325],[-0.919595,-0.014356,-0.392606],[-0.392244,-0.022788,0.919579]]
2025-10-26T18:58:15.299Z,1761505095.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007702,0.999970,0.000156],[-0.917711,-0.007006,-0.397187],[-0.397174,-0.003202,0.917738]]
2025-10-26T18:58:15.706Z,1761505095.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008037,0.999951,-0.005837],[-0.918142,0.005067,-0.396219],[-0.396170,0.008543,0.918137]]
2025-10-26T18:58:16.106Z,1761505096.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025042,0.999638,-0.009784],[-0.920363,0.019233,-0.390593],[-0.390264,0.018786,0.920511]]
2025-10-26T18:58:16.511Z,1761505096.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043877,0.999000,-0.008622],[-0.923043,0.037236,-0.382891],[-0.382187,0.024759,0.923753]]
2025-10-26T18:58:16.921Z,1761505096.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065282,0.997864,-0.002457],[-0.924653,0.059566,-0.376123],[-0.375173,0.026826,0.926567]]
2025-10-26T18:58:16.993Z,1761505096.993 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:58:17.318Z,1761505097.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088785,0.996046,0.003111],[-0.924142,0.083540,-0.372803],[-0.371589,0.030225,0.927905]]
2025-10-26T18:58:17.735Z,1761505097.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114719,0.993361,0.008603],[-0.920887,0.109589,-0.374108],[-0.372567,0.034995,0.927345]]
2025-10-26T18:58:18.131Z,1761505098.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142097,0.989694,0.017723],[-0.914655,0.138127,-0.379904],[-0.378436,0.037773,0.924856]]
2025-10-26T18:58:18.530Z,1761505098.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165802,0.985828,0.025535],[-0.907377,0.162647,-0.387573],[-0.386233,0.041090,0.921485]]
2025-10-26T18:58:18.937Z,1761505098.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177772,0.983701,0.027022],[-0.903984,0.174093,-0.390518],[-0.388857,0.044996,0.920199]]
2025-10-26T18:58:19.338Z,1761505099.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188509,0.981517,0.033004],[-0.900808,0.186198,-0.392269],[-0.391164,0.044216,0.919258]]
2025-10-26T18:58:19.751Z,1761505099.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198851,0.979118,0.042254],[-0.898423,0.199348,-0.391276],[-0.391529,0.039843,0.919303]]
2025-10-26T18:58:20.146Z,1761505100.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208712,0.976625,0.051401],[-0.896955,0.212103,-0.387922],[-0.389757,0.034859,0.920258]]
2025-10-26T18:58:20.551Z,1761505100.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218709,0.973882,0.061002],[-0.895325,0.225141,-0.384324],[-0.388020,0.029438,0.921181]]
2025-10-26T18:58:20.957Z,1761505100.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231840,0.970299,0.069060],[-0.891879,0.240370,-0.383111],[-0.388332,0.027227,0.921117]]
2025-10-26T18:58:21.360Z,1761505101.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248775,0.965698,0.074418],[-0.887049,0.258017,-0.382845],[-0.388914,0.029230,0.920810]]
2025-10-26T18:58:21.762Z,1761505101.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267957,0.960360,0.076867],[-0.882017,0.276631,-0.381473],[-0.387615,0.034421,0.921179]]
2025-10-26T18:58:22.166Z,1761505102.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286962,0.954750,0.078130],[-0.877678,0.294723,-0.377914],[-0.383841,0.039874,0.922538]]
2025-10-26T18:58:22.570Z,1761505102.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303559,0.949350,0.081161],[-0.874542,0.311420,-0.371744],[-0.378190,0.041867,0.924781]]
2025-10-26T18:58:22.629Z,1761505102.629 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:58:22.629Z,1761505102.629 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:58:22.629Z,1761505102.629 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:58:22.629Z,1761505102.629 [marl:UpdateRudder:A] Stopped
2025-10-26T18:58:22.629Z,1761505102.629 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:58:22.629Z,1761505102.629 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateCommandMode] Stopped
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:58:22.630Z,1761505102.630 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:58:22.631Z,1761505102.631 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:58:22.631Z,1761505102.631 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:58:22.631Z,1761505102.631 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:58:22.631Z,1761505102.631 [marl:UpdateSpeed] Stopped
2025-10-26T18:58:22.631Z,1761505102.631 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:58:22.978Z,1761505102.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317470,0.944248,0.087229],[-0.872043,0.326847,-0.364296],[-0.372496,0.039586,0.927189]]
2025-10-26T18:58:23.049Z,1761505103.049 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:58:23.049Z,1761505103.049 [marl:UpdateRudder:B] Stopped
2025-10-26T18:58:23.049Z,1761505103.049 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:58:23.050Z,1761505103.050 [marl:UpdateRudder] Stopped
2025-10-26T18:58:23.050Z,1761505103.050 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:58:23.378Z,1761505103.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330662,0.938619,0.098271],[-0.868404,0.343379,-0.357722],[-0.369509,0.032946,0.928643]]
2025-10-26T18:58:23.782Z,1761505103.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347303,0.930948,0.112768],[-0.861535,0.364248,-0.353669],[-0.370323,0.025677,0.928548]]
2025-10-26T18:58:24.190Z,1761505104.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362385,0.923586,0.125165],[-0.855978,0.382933,-0.347368],[-0.368754,0.018743,0.929338]]
2025-10-26T18:58:24.590Z,1761505104.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376056,0.917229,0.131424],[-0.852542,0.398065,-0.338697],[-0.362978,0.015325,0.931672]]
2025-10-26T18:58:24.994Z,1761505104.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388718,0.911711,0.132972],[-0.849890,0.410544,-0.330365],[-0.355788,0.015407,0.934440]]
2025-10-26T18:58:25.398Z,1761505105.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400077,0.906500,0.134895],[-0.847051,0.421938,-0.323222],[-0.349918,0.015051,0.936659]]
2025-10-26T18:58:25.672Z,1761505105.672 [DAT](INFO): DAT read: 

2025-10-26T18:58:25.673Z,1761505105.673 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:58:25.803Z,1761505105.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411984,0.899622,0.144743],[-0.843050,0.436608,-0.314071],[-0.345740,0.007367,0.938301]]
2025-10-26T18:58:26.214Z,1761505106.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421502,0.892561,0.160220],[-0.838710,0.450890,-0.305390],[-0.344822,-0.005656,0.938651]]
2025-10-26T18:58:26.610Z,1761505106.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426244,0.886772,0.178750],[-0.835340,0.461678,-0.298430],[-0.347164,-0.022113,0.937544]]
2025-10-26T18:58:26.935Z,1761505106.935 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:58:27.014Z,1761505107.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427564,0.881204,0.201664],[-0.832559,0.470769,-0.291928],[-0.352185,-0.043080,0.934938]]
2025-10-26T18:58:27.185Z,1761505107.185 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:58:27.186Z,1761505107.186 [DAT](INFO): DAT read: Oct 26 2025 18:58:22 

2025-10-26T18:58:27.419Z,1761505107.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427770,0.875600,0.224361],[-0.831964,0.478440,-0.280945],[-0.353339,-0.066481,0.933130]]
2025-10-26T18:58:27.824Z,1761505107.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427432,0.871102,0.241834],[-0.834763,0.482993,-0.264362],[-0.347091,-0.088877,0.933610]]
2025-10-26T18:58:28.193Z,1761505108.193 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:58:28.194Z,1761505108.194 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:58:28.194Z,1761505108.194 [DAT](INFO): commRate: 600
2025-10-26T18:58:28.233Z,1761505108.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427046,0.867030,0.256692],[-0.839404,0.485671,-0.243976],[-0.336202,-0.111279,0.935193]]
2025-10-26T18:58:28.630Z,1761505108.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430557,0.860707,0.271669],[-0.841225,0.491754,-0.224764],[-0.327050,-0.131761,0.935776]]
2025-10-26T18:58:29.041Z,1761505109.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439732,0.850904,0.287398],[-0.838337,0.503680,-0.208560],[-0.322221,-0.149226,0.934829]]
2025-10-26T18:58:29.439Z,1761505109.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448259,0.842813,0.297876],[-0.837228,0.512609,-0.190476],[-0.313229,-0.164007,0.935409]]
2025-10-26T18:58:29.842Z,1761505109.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449647,0.839114,0.306113],[-0.842853,0.512046,-0.165554],[-0.295662,-0.183568,0.937490]]
2025-10-26T18:58:30.247Z,1761505110.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444566,0.834840,0.324660],[-0.851357,0.506487,-0.136610],[-0.278483,-0.215669,0.935913]]
2025-10-26T18:58:30.259Z,1761505110.259 [DAT](INFO): entering command mode
2025-10-26T18:58:30.460Z,1761505110.460 [DAT](INFO): DAT read: 

2025-10-26T18:58:30.461Z,1761505110.461 [DAT](INFO): DAT read: user:1>

2025-10-26T18:58:30.461Z,1761505110.461 [DAT](INFO): setting verbose to 3
2025-10-26T18:58:30.650Z,1761505110.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440608,0.825530,0.352653],[-0.856271,0.504450,-0.111042],[-0.269565,-0.253041,0.929142]]
2025-10-26T18:58:30.703Z,1761505110.703 [marl:NeedComms:C] Running Loop=1
2025-10-26T18:58:30.713Z,1761505110.713 [DAT](INFO): DAT read: user:1>

2025-10-26T18:58:30.715Z,1761505110.715 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:58:30.715Z,1761505110.715 [DAT](INFO): set verbose to 3
2025-10-26T18:58:30.715Z,1761505110.715 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:58:30.964Z,1761505110.964 [DAT](INFO): DAT read: user:2>

2025-10-26T18:58:30.965Z,1761505110.965 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:58:30.965Z,1761505110.965 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:58:30.966Z,1761505110.966 [DAT](INFO): setting transmit power to 8
2025-10-26T18:58:31.065Z,1761505111.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441926,0.818120,0.367941],[-0.852694,0.510495,-0.110940],[-0.278594,-0.264714,0.923207]]
2025-10-26T18:58:31.218Z,1761505111.218 [DAT](INFO): DAT read: user:3>

2025-10-26T18:58:31.219Z,1761505111.219 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:58:31.220Z,1761505111.220 [DAT](INFO): set transmit power to 8
2025-10-26T18:58:31.220Z,1761505111.220 [DAT](INFO): setting local address to 11
2025-10-26T18:58:31.315Z,1761505111.315 [Radio_Surface](INFO): Powering up
2025-10-26T18:58:31.458Z,1761505111.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436657,0.826593,0.355069],[-0.853713,0.505211,-0.126240],[-0.283734,-0.248003,0.926277]]
2025-10-26T18:58:31.468Z,1761505111.468 [DAT](INFO): DAT read: user:4>

2025-10-26T18:58:31.469Z,1761505111.469 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:58:31.469Z,1761505111.469 [DAT](INFO): set local address to 11
2025-10-26T18:58:31.470Z,1761505111.470 [DAT](INFO): Setting time to: 18:58:31 And date to:10/26/2025
2025-10-26T18:58:31.720Z,1761505111.720 [DAT](INFO): DAT read: user:5>

2025-10-26T18:58:31.722Z,1761505111.722 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:58:31  

2025-10-26T18:58:31.723Z,1761505111.723 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:58:31  

2025-10-26T18:58:31.724Z,1761505111.724 [DAT](INFO): setting remote address to 6
2025-10-26T18:58:31.725Z,1761505111.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:58:31.726Z,1761505111.726 [DAT](INFO): setting remote address to 0
2025-10-26T18:58:31.862Z,1761505111.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426065,0.843439,0.327230],[-0.862598,0.487783,-0.134134],[-0.272751,-0.225118,0.935376]]
2025-10-26T18:58:31.972Z,1761505111.972 [DAT](INFO): DAT read: user:6>

2025-10-26T18:58:31.973Z,1761505111.973 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T18:58:31.974Z,1761505111.974 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T18:58:31.974Z,1761505111.974 [DAT] Communications Fault, FailCount= 6
2025-10-26T18:58:31.974Z,1761505111.974 [DAT](ERROR): Communications Fault
2025-10-26T18:58:31.975Z,1761505111.975 [DAT](INFO): DAT read: user:7>

2025-10-26T18:58:31.976Z,1761505111.976 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:58:31.976Z,1761505111.976 [DAT](INFO): set remote address to 0
2025-10-26T18:58:31.976Z,1761505111.976 [DAT](INFO): setting remote address to 6
2025-10-26T18:58:31.978Z,1761505111.978 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:58:31.980Z,1761505111.980 [DAT](INFO): setting remote address to 0
2025-10-26T18:58:32.088Z,1761505112.088 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T18:58:32.268Z,1761505112.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424175,0.851877,0.307216],[-0.865762,0.480966,-0.138305],[-0.265579,-0.207310,0.941536]]
2025-10-26T18:58:32.384Z,1761505112.384 [DAT](INFO): Powering down
2025-10-26T18:58:32.692Z,1761505112.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429175,0.852262,0.299095],[-0.868876,0.480011,-0.121017],[-0.246707,-0.207939,0.946519]]
2025-10-26T18:58:33.074Z,1761505113.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436349,0.853869,0.283740],[-0.879391,0.471450,-0.066381],[-0.190450,-0.220553,0.956601]]
2025-10-26T18:58:33.478Z,1761505113.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448032,0.861273,0.239743],[-0.881285,0.470572,-0.043575],[-0.150346,-0.191759,0.969858]]
2025-10-26T18:58:33.580Z,1761505113.580 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T18:58:33.580Z,1761505113.580 [DAT] No Fault, FailCount= 6
2025-10-26T18:58:33.884Z,1761505113.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454331,0.874577,0.169406],[-0.883916,0.466229,-0.036378],[-0.110797,-0.133213,0.984875]]
2025-10-26T18:58:34.286Z,1761505114.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450857,0.885156,0.115008],[-0.888490,0.457387,-0.037181],[-0.085514,-0.085420,0.992669]]
2025-10-26T18:58:34.693Z,1761505114.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457446,0.882665,0.107917],[-0.886056,0.462697,-0.028569],[-0.075150,-0.082552,0.993749]]
2025-10-26T18:58:35.097Z,1761505115.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458873,0.881275,0.113093],[-0.887126,0.461517,0.003144],[-0.049423,-0.101771,0.993579]]
2025-10-26T18:58:35.435Z,1761505115.435 [DAT](INFO): Powering up
2025-10-26T18:58:35.436Z,1761505115.436 [DAT](DEBUG): Initializing DAT.
2025-10-26T18:58:35.500Z,1761505115.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455917,0.882422,0.116063],[-0.889489,0.456267,0.025103],[-0.030804,-0.114682,0.992925]]
2025-10-26T18:58:35.526Z,1761505115.526 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:58:35.526Z,1761505115.526 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:58:35.526Z,1761505115.526 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:58:35.527Z,1761505115.527 [marl:UpdateRudder:A] Stopped
2025-10-26T18:58:35.527Z,1761505115.527 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:58:35.527Z,1761505115.527 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:58:35.527Z,1761505115.527 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:58:35.527Z,1761505115.527 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:58:35.527Z,1761505115.527 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateCommandMode] Stopped
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:58:35.528Z,1761505115.528 [marl:UpdateSpeed] Stopped
2025-10-26T18:58:35.529Z,1761505115.529 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:58:35.902Z,1761505115.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457338,0.881414,0.118114],[-0.888974,0.456679,0.034195],[-0.023800,-0.120639,0.992411]]
2025-10-26T18:58:35.947Z,1761505115.947 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:58:35.948Z,1761505115.948 [marl:UpdateRudder:B] Stopped
2025-10-26T18:58:35.948Z,1761505115.948 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:58:35.948Z,1761505115.948 [marl:UpdateRudder] Stopped
2025-10-26T18:58:35.948Z,1761505115.948 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:58:36.306Z,1761505116.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453093,0.879976,0.142652],[-0.891228,0.450811,0.049819],[-0.020469,-0.149708,0.988518]]
2025-10-26T18:58:36.437Z,1761505116.437 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:58:36.437Z,1761505116.437 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:58:36.576Z,1761505116.576 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T18:58:36.576Z,1761505116.576 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T18:58:36.722Z,1761505116.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448948,0.879808,0.156153],[-0.893228,0.446628,0.051654],[-0.024296,-0.162670,0.986381]]
2025-10-26T18:58:37.114Z,1761505117.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442182,0.884531,0.148593],[-0.896312,0.441900,0.036730],[-0.033175,-0.149427,0.988216]]
2025-10-26T18:58:37.372Z,1761505117.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:58:37.518Z,1761505117.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444237,0.887123,0.125163],[-0.895295,0.444753,0.025345],[-0.033183,-0.123317,0.991812]]
2025-10-26T18:58:37.922Z,1761505117.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454350,0.886650,0.086125],[-0.890582,0.454347,0.020774],[-0.020712,-0.086140,0.996068]]
2025-10-26T18:58:38.328Z,1761505118.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452038,0.889974,0.060060],[-0.891957,0.451638,0.020862],[-0.008559,-0.063001,0.997977]]
2025-10-26T18:58:38.376Z,1761505118.376 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T18:58:38.376Z,1761505118.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:58:38.736Z,1761505118.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434094,0.898427,0.066274],[-0.900867,0.432852,0.032824],[0.000803,-0.073953,0.997261]]
2025-10-26T18:58:39.134Z,1761505119.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417904,0.903167,0.098216],[-0.908482,0.415931,0.040759],[-0.004039,-0.106260,0.994330]]
2025-10-26T18:58:39.540Z,1761505119.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409883,0.905645,0.108647],[-0.912055,0.408533,0.035437],[-0.012293,-0.113617,0.993449]]
2025-10-26T18:58:39.942Z,1761505119.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428144,0.901174,0.067661],[-0.903603,0.428047,0.016654],[-0.013954,-0.068269,0.997569]]
2025-10-26T18:58:40.346Z,1761505120.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444453,0.895547,0.021396],[-0.895596,0.444737,-0.010862],[-0.019243,-0.014335,0.999712]]
2025-10-26T18:58:40.751Z,1761505120.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445973,0.895008,0.008319],[-0.894862,0.446051,-0.016153],[-0.018168,-0.000241,0.999835]]
2025-10-26T18:58:41.159Z,1761505121.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443010,0.895986,0.030846],[-0.896480,0.443040,0.006222],[-0.008091,-0.030410,0.999505]]
2025-10-26T18:58:41.559Z,1761505121.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441876,0.893392,0.081214],[-0.896938,0.438408,0.057443],[0.015714,-0.098227,0.995040]]
2025-10-26T18:58:41.962Z,1761505121.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447374,0.886210,0.120368],[-0.893108,0.435607,0.112270],[0.047062,-0.157729,0.986360]]
2025-10-26T18:58:42.366Z,1761505122.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442794,0.887342,0.128678],[-0.894757,0.428042,0.127244],[0.057829,-0.171478,0.983489]]
2025-10-26T18:58:42.770Z,1761505122.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429991,0.897223,0.100491],[-0.901592,0.420898,0.099883],[0.047321,-0.133551,0.989912]]
2025-10-26T18:58:43.185Z,1761505123.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423381,0.903557,0.065826],[-0.905505,0.419774,0.062049],[0.028433,-0.085876,0.995900]]
2025-10-26T18:58:43.578Z,1761505123.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415180,0.908764,0.042120],[-0.909730,0.414527,0.023628],[0.004012,-0.048127,0.998833]]
2025-10-26T18:58:43.983Z,1761505123.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407834,0.912210,0.039306],[-0.912928,0.408119,0.000826],[-0.015288,-0.036220,0.999227]]
2025-10-26T18:58:44.386Z,1761505124.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416398,0.907866,0.048896],[-0.909125,0.416375,0.011155],[-0.010231,-0.049097,0.998742]]
2025-10-26T18:58:44.795Z,1761505124.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420249,0.905147,0.064033],[-0.907377,0.419776,0.021328],[-0.007574,-0.067065,0.997720]]
2025-10-26T18:58:45.212Z,1761505125.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403610,0.911759,0.076121],[-0.914846,0.403307,0.019998],[-0.012467,-0.077711,0.996898]]
2025-10-26T18:58:45.598Z,1761505125.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393134,0.916064,0.079197],[-0.919291,0.393344,0.013590],[-0.018702,-0.078148,0.996766]]
2025-10-26T18:58:46.003Z,1761505126.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387497,0.919188,0.070281],[-0.921684,0.387826,0.009459],[-0.018562,-0.068442,0.997482]]
2025-10-26T18:58:46.406Z,1761505126.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382261,0.921271,0.071662],[-0.923985,0.382031,0.017432],[-0.011318,-0.072878,0.997277]]
2025-10-26T18:58:46.851Z,1761505126.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385082,0.919333,0.080861],[-0.922850,0.382849,0.042128],[0.007772,-0.090846,0.995835]]
2025-10-26T18:58:47.033Z,1761505127.033 [DAT](INFO): DAT read: 

2025-10-26T18:58:47.034Z,1761505127.034 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T18:58:47.220Z,1761505127.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397004,0.914969,0.072243],[-0.917291,0.392881,0.064980],[0.031072,-0.092065,0.995268]]
2025-10-26T18:58:47.257Z,1761505127.257 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:58:47.619Z,1761505127.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411756,0.907773,0.080030],[-0.910418,0.405922,0.079789],[0.039945,-0.105714,0.993594]]
2025-10-26T18:58:48.294Z,1761505128.294 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T18:58:48.426Z,1761505128.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394412,0.911866,0.113749],[-0.918923,0.390775,0.053628],[0.004451,-0.125678,0.992061]]
2025-10-26T18:58:48.481Z,1761505128.481 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:58:48.481Z,1761505128.481 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:58:48.481Z,1761505128.481 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateRudder:A] Stopped
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:58:48.482Z,1761505128.482 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:58:48.483Z,1761505128.483 [marl:UpdateCommandMode] Stopped
2025-10-26T18:58:48.483Z,1761505128.483 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:58:48.483Z,1761505128.483 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:58:48.483Z,1761505128.483 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:58:48.483Z,1761505128.483 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:58:48.483Z,1761505128.483 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:58:48.484Z,1761505128.484 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:58:48.484Z,1761505128.484 [marl:UpdateSpeed] Stopped
2025-10-26T18:58:48.484Z,1761505128.484 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:58:48.545Z,1761505128.545 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T18:58:48.546Z,1761505128.546 [DAT](INFO): DAT read: Oct 26 2025 18:58:43 

2025-10-26T18:58:48.861Z,1761505128.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391435,0.917780,0.066764],[-0.920192,0.389999,0.033883],[0.005059,-0.074699,0.997193]]
2025-10-26T18:58:48.950Z,1761505128.950 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:58:48.950Z,1761505128.950 [marl:UpdateRudder:B] Stopped
2025-10-26T18:58:48.950Z,1761505128.950 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:58:48.951Z,1761505128.951 [marl:UpdateRudder] Stopped
2025-10-26T18:58:48.951Z,1761505128.951 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:58:49.248Z,1761505129.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402218,0.915460,0.012357],[-0.915263,0.401724,0.030185],[0.022669,-0.023451,0.999468]]
2025-10-26T18:58:49.553Z,1761505129.553 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T18:58:49.554Z,1761505129.554 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T18:58:49.554Z,1761505129.554 [DAT](INFO): commRate: 600
2025-10-26T18:58:49.638Z,1761505129.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407244,0.913279,-0.008592],[-0.912224,0.407198,0.045131],[0.044716,-0.010541,0.998944]]
2025-10-26T18:58:50.042Z,1761505130.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407422,0.912975,0.022013],[-0.911570,0.405101,0.070241],[0.055210,-0.048684,0.997287]]
2025-10-26T18:58:50.448Z,1761505130.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413145,0.907017,0.081431],[-0.908310,0.404000,0.108430],[0.065450,-0.118762,0.990763]]
2025-10-26T18:58:50.872Z,1761505130.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410931,0.902402,0.129640],[-0.908191,0.392801,0.144556],[0.079525,-0.177141,0.980967]]
2025-10-26T18:58:51.254Z,1761505131.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395260,0.908292,0.137025],[-0.915876,0.378277,0.134453],[0.070289,-0.178642,0.981400]]
2025-10-26T18:58:51.619Z,1761505131.619 [DAT](INFO): entering command mode
2025-10-26T18:58:51.660Z,1761505131.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393881,0.914222,0.095167],[-0.918072,0.386260,0.089143],[0.044737,-0.122482,0.991462]]
2025-10-26T18:58:51.820Z,1761505131.820 [DAT](INFO): DAT read: 

2025-10-26T18:58:51.821Z,1761505131.821 [DAT](INFO): DAT read: user:1>

2025-10-26T18:58:51.821Z,1761505131.821 [DAT](INFO): setting verbose to 3
2025-10-26T18:58:52.063Z,1761505132.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409318,0.911506,0.040196],[-0.912025,0.407508,0.046334],[0.025853,-0.055625,0.998117]]
2025-10-26T18:58:52.072Z,1761505132.072 [DAT](INFO): DAT read: user:1>

2025-10-26T18:58:52.073Z,1761505132.073 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T18:58:52.073Z,1761505132.073 [DAT](INFO): set verbose to 3
2025-10-26T18:58:52.074Z,1761505132.074 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T18:58:52.324Z,1761505132.324 [DAT](INFO): DAT read: user:2>

2025-10-26T18:58:52.325Z,1761505132.325 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T18:58:52.325Z,1761505132.325 [DAT](INFO): set DatVerbose to 27440
2025-10-26T18:58:52.326Z,1761505132.326 [DAT](INFO): setting transmit power to 8
2025-10-26T18:58:52.467Z,1761505132.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426420,0.904504,-0.006171],[-0.904054,0.426408,0.029368],[0.029194,-0.006944,0.999550]]
2025-10-26T18:58:52.576Z,1761505132.576 [DAT](INFO): DAT read: user:3>

2025-10-26T18:58:52.577Z,1761505132.577 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T18:58:52.577Z,1761505132.577 [DAT](INFO): set transmit power to 8
2025-10-26T18:58:52.578Z,1761505132.578 [DAT](INFO): setting local address to 11
2025-10-26T18:58:52.830Z,1761505132.830 [DAT](INFO): DAT read: user:4>

2025-10-26T18:58:52.834Z,1761505132.834 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T18:58:52.835Z,1761505132.835 [DAT](INFO): set local address to 11
2025-10-26T18:58:52.840Z,1761505132.840 [DAT](INFO): Setting time to: 18:58:52 And date to:10/26/2025
2025-10-26T18:58:52.878Z,1761505132.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429394,0.902970,-0.016308],[-0.902367,0.429703,0.033014],[0.036818,0.000540,0.999322]]
2025-10-26T18:58:53.080Z,1761505133.080 [DAT](INFO): DAT read: user:5>

2025-10-26T18:58:53.081Z,1761505133.081 [DAT](INFO): DAT read: Sun Oct 26, 2025  18:58:52  

2025-10-26T18:58:53.081Z,1761505133.081 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  18:58:52  

2025-10-26T18:58:53.082Z,1761505133.082 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:58:53.082Z,1761505133.082 [DAT](INFO): setting remote address to 0
2025-10-26T18:58:53.274Z,1761505133.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416811,0.908837,0.016877],[-0.908132,0.415536,0.051237],[0.039553,-0.036683,0.998544]]
2025-10-26T18:58:53.332Z,1761505133.332 [DAT](INFO): DAT read: user:6>

2025-10-26T18:58:53.333Z,1761505133.333 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T18:58:53.334Z,1761505133.334 [DAT](INFO): set remote address to 0
2025-10-26T18:58:53.334Z,1761505133.334 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:58:53.334Z,1761505133.334 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:58:53.584Z,1761505133.584 [DAT](INFO): DAT read: user:7>

2025-10-26T18:58:53.585Z,1761505133.585 [DAT](INFO): DAT read: Tx time:18:58:52.6681

2025-10-26T18:58:53.585Z,1761505133.585 [DAT](INFO): Ping request sent.
2025-10-26T18:58:53.585Z,1761505133.585 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:58:53.586Z,1761505133.586 [DAT](INFO): publishing transmit ping time
2025-10-26T18:58:53.586Z,1761505133.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931
2025-10-26T18:58:53.686Z,1761505133.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412471,0.909185,0.057015],[-0.910329,0.409024,0.063246],[0.034181,-0.077989,0.996368]]
2025-10-26T18:58:53.836Z,1761505133.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250962
2025-10-26T18:58:54.082Z,1761505134.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426353,0.901972,0.068340],[-0.903923,0.422007,0.069522],[0.033867,-0.091415,0.995237]]
2025-10-26T18:58:54.088Z,1761505134.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986
2025-10-26T18:58:54.340Z,1761505134.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754950
2025-10-26T18:58:54.486Z,1761505134.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438149,0.897114,0.056673],[-0.897134,0.432464,0.090141],[0.056358,-0.090339,0.994315]]
2025-10-26T18:58:54.592Z,1761505134.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006841
2025-10-26T18:58:54.847Z,1761505134.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261313
2025-10-26T18:58:54.895Z,1761505134.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437200,0.897057,0.064382],[-0.895768,0.427939,0.120286],[0.080352,-0.110260,0.990649]]
2025-10-26T18:58:55.096Z,1761505135.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887
2025-10-26T18:58:55.294Z,1761505135.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438168,0.894120,0.092508],[-0.895345,0.424986,0.133211],[0.079792,-0.141196,0.986761]]
2025-10-26T18:58:55.348Z,1761505135.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763029
2025-10-26T18:58:55.600Z,1761505135.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978
2025-10-26T18:58:55.702Z,1761505135.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439389,0.893018,0.097246],[-0.896066,0.428098,0.117464],[0.063267,-0.138751,0.988304]]
2025-10-26T18:58:55.852Z,1761505135.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266939
2025-10-26T18:58:56.104Z,1761505136.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518990
2025-10-26T18:58:56.356Z,1761505136.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771003
2025-10-26T18:58:56.508Z,1761505136.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471423,0.881879,-0.007046],[-0.880170,0.470980,0.058978],[0.055330,-0.021602,0.998234]]
2025-10-26T18:58:56.609Z,1761505136.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023220
2025-10-26T18:58:56.865Z,1761505136.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279471
2025-10-26T18:58:56.910Z,1761505136.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485809,0.872838,-0.046295],[-0.867579,0.487968,0.095881],[0.106279,-0.006415,0.994316]]
2025-10-26T18:58:57.113Z,1761505137.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527168
2025-10-26T18:58:57.315Z,1761505137.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481234,0.876056,-0.030662],[-0.863894,0.479905,0.152898],[0.148662,-0.047091,0.987766]]
2025-10-26T18:58:57.364Z,1761505137.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779025
2025-10-26T18:58:57.616Z,1761505137.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030971
2025-10-26T18:58:57.731Z,1761505137.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472454,0.875892,0.097983],[-0.875675,0.453897,0.164837],[0.099905,-0.163679,0.981442]]
2025-10-26T18:58:57.868Z,1761505137.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283017
2025-10-26T18:58:58.124Z,1761505138.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538383
2025-10-26T18:58:58.134Z,1761505138.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484599,0.866823,0.117399],[-0.871850,0.467736,0.145257],[0.071000,-0.172746,0.982404]]
2025-10-26T18:58:58.372Z,1761505138.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786969
2025-10-26T18:58:58.530Z,1761505138.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497421,0.865054,0.065225],[-0.865768,0.490256,0.100473],[0.054938,-0.106448,0.992799]]
2025-10-26T18:58:58.624Z,1761505138.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039063
2025-10-26T18:58:58.876Z,1761505138.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290983
2025-10-26T18:58:58.935Z,1761505138.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510205,0.859782,-0.021587],[-0.858261,0.510601,0.051716],[0.055486,-0.007858,0.998429]]
2025-10-26T18:58:59.128Z,1761505139.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542987
2025-10-26T18:58:59.339Z,1761505139.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514833,0.853862,-0.076599],[-0.854087,0.518575,0.040187],[0.074037,0.044732,0.996252]]
2025-10-26T18:58:59.380Z,1761505139.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794947
2025-10-26T18:58:59.632Z,1761505139.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046894
2025-10-26T18:58:59.742Z,1761505139.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519912,0.850407,-0.080616],[-0.846184,0.525637,0.087627],[0.116893,0.022658,0.992886]]
2025-10-26T18:58:59.884Z,1761505139.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298949
2025-10-26T18:59:00.136Z,1761505140.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551109
2025-10-26T18:59:00.144Z,1761505140.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536120,0.842361,-0.054808],[-0.829392,0.537725,0.151527],[0.157112,-0.035779,0.986933]]
2025-10-26T18:59:00.388Z,1761505140.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802940
2025-10-26T18:59:00.547Z,1761505140.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535547,0.844344,-0.016480],[-0.823834,0.526630,0.209663],[0.185707,-0.098708,0.977635]]
2025-10-26T18:59:00.640Z,1761505140.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054860
2025-10-26T18:59:00.892Z,1761505140.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307100
2025-10-26T18:59:00.954Z,1761505140.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525992,0.849938,0.030625],[-0.827008,0.502734,0.251628],[0.198472,-0.157681,0.967339]]
2025-10-26T18:59:01.144Z,1761505141.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558891
2025-10-26T18:59:01.356Z,1761505141.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516246,0.853818,0.066967],[-0.833152,0.482560,0.270174],[0.198364,-0.195270,0.960480]]
2025-10-26T18:59:01.385Z,1761505141.385 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:59:01.385Z,1761505141.385 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:59:01.385Z,1761505141.385 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:59:01.385Z,1761505141.385 [marl:UpdateRudder:A] Stopped
2025-10-26T18:59:01.385Z,1761505141.385 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:59:01.385Z,1761505141.385 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateCommandMode] Stopped
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:59:01.386Z,1761505141.386 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:59:01.387Z,1761505141.387 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:59:01.387Z,1761505141.387 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:59:01.387Z,1761505141.387 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:59:01.387Z,1761505141.387 [marl:UpdateSpeed] Stopped
2025-10-26T18:59:01.387Z,1761505141.387 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:59:01.398Z,1761505141.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813079
2025-10-26T18:59:01.649Z,1761505141.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064017
2025-10-26T18:59:01.758Z,1761505141.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519458,0.851639,0.069823],[-0.829402,0.482859,0.280962],[0.205564,-0.203859,0.957175]]
2025-10-26T18:59:01.819Z,1761505141.819 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:59:01.819Z,1761505141.819 [marl:UpdateRudder:B] Stopped
2025-10-26T18:59:01.819Z,1761505141.819 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:59:01.820Z,1761505141.820 [marl:UpdateRudder] Stopped
2025-10-26T18:59:01.820Z,1761505141.820 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:59:01.900Z,1761505141.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314976
2025-10-26T18:59:02.156Z,1761505142.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571054
2025-10-26T18:59:02.171Z,1761505142.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531954,0.845786,0.040881],[-0.823909,0.505843,0.255534],[0.195447,-0.169615,0.965935]]
2025-10-26T18:59:02.408Z,1761505142.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823013
2025-10-26T18:59:02.567Z,1761505142.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550827,0.834613,0.003282],[-0.821213,0.541272,0.180648],[0.148994,-0.102201,0.983542]]
2025-10-26T18:59:02.661Z,1761505142.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075392
2025-10-26T18:59:02.913Z,1761505142.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327670
2025-10-26T18:59:02.970Z,1761505142.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572129,0.819266,-0.038357],[-0.810669,0.571983,0.125105],[0.124434,-0.040481,0.991402]]
2025-10-26T18:59:03.165Z,1761505143.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579797
2025-10-26T18:59:03.374Z,1761505143.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576362,0.813944,-0.072807],[-0.805431,0.580869,0.117778],[0.138156,-0.009241,0.990367]]
2025-10-26T18:59:03.416Z,1761505143.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831078
2025-10-26T18:59:03.668Z,1761505143.668 [DAT](INFO): Reached modem response timeout
2025-10-26T18:59:03.779Z,1761505143.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570269,0.819605,-0.055148],[-0.811229,0.572458,0.119160],[0.129234,-0.023216,0.991342]]
2025-10-26T18:59:04.187Z,1761505144.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569561,0.821815,0.014856],[-0.814618,0.561981,0.143443],[0.109535,-0.093801,0.989547]]
2025-10-26T18:59:04.586Z,1761505144.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581423,0.810416,0.071922],[-0.807279,0.563648,0.174932],[0.101229,-0.159771,0.981950]]
2025-10-26T18:59:04.990Z,1761505144.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598128,0.798824,0.064210],[-0.795566,0.582214,0.167634],[0.096526,-0.151350,0.983756]]
2025-10-26T18:59:05.395Z,1761505145.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602483,0.798132,0.000177],[-0.790956,0.597037,0.133922],[0.106782,-0.080826,0.990992]]
2025-10-26T18:59:05.798Z,1761505145.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595798,0.799185,-0.079544],[-0.792889,0.601075,0.100181],[0.127875,0.003382,0.991784]]
2025-10-26T18:59:05.940Z,1761505145.940 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:59:05.941Z,1761505145.941 [DAT](INFO): response not received
2025-10-26T18:59:05.941Z,1761505145.941 [DAT](ERROR): No response from remote modem.
2025-10-26T18:59:05.941Z,1761505145.941 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-26T18:59:06.203Z,1761505146.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596817,0.795002,-0.108537],[-0.792622,0.605172,0.074282],[0.124738,0.041696,0.991313]]
2025-10-26T18:59:06.606Z,1761505146.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611166,0.786260,-0.090942],[-0.780487,0.617772,0.095910],[0.131592,0.012361,0.991227]]
2025-10-26T18:59:07.012Z,1761505147.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609575,0.790365,-0.061172],[-0.772657,0.609623,0.177090],[0.177257,-0.060685,0.982292]]
2025-10-26T18:59:07.414Z,1761505147.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601156,0.798886,-0.019812],[-0.770932,0.586293,0.248845],[0.210415,-0.134321,0.968341]]
2025-10-26T18:59:07.818Z,1761505147.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608986,0.793007,0.016635],[-0.768055,0.584327,0.262017],[0.198061,-0.172341,0.964920]]
2025-10-26T18:59:08.223Z,1761505148.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623675,0.780987,0.032995],[-0.766602,0.602844,0.221136],[0.152814,-0.163211,0.974685]]
2025-10-26T18:59:08.496Z,1761505148.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:59:08.627Z,1761505148.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634157,0.773152,0.008981],[-0.761837,0.622807,0.178090],[0.132098,-0.119779,0.983973]]
2025-10-26T18:59:09.030Z,1761505149.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643534,0.764710,-0.032902],[-0.752576,0.639993,0.155041],[0.139618,-0.075012,0.987360]]
2025-10-26T18:59:09.434Z,1761505149.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641214,0.765790,-0.049093],[-0.752278,0.639945,0.156679],[0.151400,-0.063533,0.986429]]
2025-10-26T18:59:09.500Z,1761505149.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:59:09.839Z,1761505149.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630111,0.775464,-0.040209],[-0.761962,0.627455,0.160356],[0.149580,-0.070405,0.986240]]
2025-10-26T18:59:10.244Z,1761505150.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634241,0.773130,-0.002861],[-0.762983,0.626506,0.159206],[0.124879,-0.098792,0.987241]]
2025-10-26T18:59:10.656Z,1761505150.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646905,0.762064,0.027790],[-0.755964,0.636089,0.154629],[0.100160,-0.121038,0.987582]]
2025-10-26T18:59:11.050Z,1761505151.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663635,0.748008,0.008462],[-0.740706,0.655490,0.147267],[0.104610,-0.104000,0.989061]]
2025-10-26T18:59:11.454Z,1761505151.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662480,0.748137,-0.037566],[-0.737687,0.660297,0.140805],[0.130146,-0.065569,0.989324]]
2025-10-26T18:59:11.862Z,1761505151.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644882,0.762543,-0.051529],[-0.750037,0.644379,0.149063],[0.146871,-0.057479,0.987484]]
2025-10-26T18:59:12.266Z,1761505152.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638302,0.769606,-0.016630],[-0.756286,0.630990,0.172869],[0.143534,-0.097766,0.984804]]
2025-10-26T18:59:12.669Z,1761505152.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647665,0.761312,0.030560],[-0.754207,0.634893,0.167579],[0.108177,-0.131584,0.985385]]
2025-10-26T18:59:13.071Z,1761505153.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658688,0.751304,0.040897],[-0.749978,0.651211,0.116005],[0.060522,-0.107083,0.992406]]
2025-10-26T18:59:13.475Z,1761505153.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669428,0.742876,-0.000753],[-0.741289,0.668064,0.064662],[0.048539,-0.042729,0.997907]]
2025-10-26T18:59:13.883Z,1761505153.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684004,0.726901,-0.061266],[-0.725193,0.686673,0.050743],[0.078955,0.009722,0.996831]]
2025-10-26T18:59:14.283Z,1761505154.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691582,0.717525,-0.082901],[-0.713365,0.696510,0.077359],[0.113249,0.005639,0.993551]]
2025-10-26T18:59:14.686Z,1761505154.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695379,0.716836,-0.050935],[-0.709047,0.695912,0.113838],[0.117049,-0.043046,0.992193]]
2025-10-26T18:59:14.745Z,1761505154.745 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:59:14.745Z,1761505154.745 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:59:14.746Z,1761505154.746 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:59:14.746Z,1761505154.746 [marl:UpdateRudder:A] Stopped
2025-10-26T18:59:14.746Z,1761505154.746 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:59:14.746Z,1761505154.746 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:59:14.746Z,1761505154.746 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:59:14.746Z,1761505154.746 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateCommandMode] Stopped
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:59:14.747Z,1761505154.747 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:59:14.748Z,1761505154.748 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:59:14.748Z,1761505154.748 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:59:14.748Z,1761505154.748 [marl:UpdateSpeed] Stopped
2025-10-26T18:59:14.748Z,1761505154.748 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:59:15.090Z,1761505155.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689729,0.724067,0.000035],[-0.715649,0.681704,0.152073],[0.110088,-0.104914,0.988369]]
2025-10-26T18:59:15.188Z,1761505155.188 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:59:15.189Z,1761505155.189 [marl:UpdateRudder:B] Stopped
2025-10-26T18:59:15.189Z,1761505155.189 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:59:15.189Z,1761505155.189 [marl:UpdateRudder] Stopped
2025-10-26T18:59:15.189Z,1761505155.189 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:59:15.494Z,1761505155.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679242,0.733415,0.027070],[-0.725446,0.665362,0.176128],[0.111163,-0.139271,0.983995]]
2025-10-26T18:59:15.902Z,1761505155.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676402,0.736052,0.026599],[-0.726695,0.661050,0.186888],[0.119976,-0.145741,0.982021]]
2025-10-26T18:59:16.307Z,1761505156.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685548,0.728001,0.006237],[-0.719005,0.675682,0.162743],[0.114263,-0.116053,0.986649]]
2025-10-26T18:59:16.711Z,1761505156.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682988,0.730226,-0.017252],[-0.723441,0.679524,0.121982],[0.100798,-0.070832,0.992382]]
2025-10-26T18:59:17.110Z,1761505157.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675319,0.737271,-0.019397],[-0.731755,0.673086,0.107192],[0.092085,-0.058195,0.994049]]
2025-10-26T18:59:17.514Z,1761505157.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678755,0.734195,0.015810],[-0.729748,0.671922,0.126445],[0.082212,-0.097363,0.991848]]
2025-10-26T18:59:17.583Z,1761505157.583 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:59:17.808Z,1761505157.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:59:17.808Z,1761505157.808 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:59:17.928Z,1761505157.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687779,0.723656,0.057295],[-0.722283,0.674307,0.153680],[0.072577,-0.147081,0.986458]]
2025-10-26T18:59:18.060Z,1761505158.060 [DAT](INFO): DAT read: user:8>

2025-10-26T18:59:18.061Z,1761505158.061 [DAT](INFO): DAT read: Tx time:18:59:17.1181

2025-10-26T18:59:18.061Z,1761505158.061 [DAT](INFO): Ping request sent.
2025-10-26T18:59:18.061Z,1761505158.061 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:59:18.062Z,1761505158.062 [DAT](INFO): publishing transmit ping time
2025-10-26T18:59:18.062Z,1761505158.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-10-26T18:59:18.312Z,1761505158.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251018
2025-10-26T18:59:18.324Z,1761505158.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696562,0.714192,0.068782],[-0.716444,0.687148,0.120565],[0.038843,-0.133260,0.990320]]
2025-10-26T18:59:18.564Z,1761505158.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502884
2025-10-26T18:59:18.730Z,1761505158.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703947,0.708749,0.046179],[-0.710152,0.703449,0.029027],[-0.011912,-0.053228,0.998511]]
2025-10-26T18:59:18.819Z,1761505158.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757276
2025-10-26T18:59:19.068Z,1761505159.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006945
2025-10-26T18:59:19.142Z,1761505159.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701216,0.712886,-0.009431],[-0.712871,0.700883,-0.024068],[-0.010548,0.023600,0.999666]]
2025-10-26T18:59:19.320Z,1761505159.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258875
2025-10-26T18:59:19.537Z,1761505159.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696492,0.714283,-0.068542],[-0.716166,0.697917,-0.004289],[0.044773,0.052075,0.997639]]
2025-10-26T18:59:19.573Z,1761505159.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511554
2025-10-26T18:59:19.824Z,1761505159.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762920
2025-10-26T18:59:19.941Z,1761505159.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700809,0.708804,-0.080397],[-0.707075,0.705134,0.053201],[0.094400,0.019563,0.995342]]
2025-10-26T18:59:20.076Z,1761505160.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884
2025-10-26T18:59:20.336Z,1761505160.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274965
2025-10-26T18:59:20.344Z,1761505160.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706363,0.707328,-0.027191],[-0.700270,0.703889,0.119002],[0.103313,-0.065018,0.992522]]
2025-10-26T18:59:20.588Z,1761505160.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526931
2025-10-26T18:59:20.748Z,1761505160.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707247,0.704376,0.060460],[-0.702890,0.691423,0.166976],[0.075810,-0.160590,0.984106]]
2025-10-26T18:59:20.842Z,1761505160.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780537
2025-10-26T18:59:21.093Z,1761505161.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031474
2025-10-26T18:59:21.154Z,1761505161.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702573,0.701628,0.118786],[-0.710540,0.682512,0.171205],[0.039049,-0.204686,0.978048]]
2025-10-26T18:59:21.348Z,1761505161.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286322
2025-10-26T18:59:21.554Z,1761505161.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703826,0.702708,0.104068],[-0.710079,0.691734,0.131500],[0.020418,-0.166450,0.985839]]
2025-10-26T18:59:21.596Z,1761505161.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535008
2025-10-26T18:59:21.848Z,1761505161.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786872
2025-10-26T18:59:21.958Z,1761505161.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700313,0.712752,0.039328],[-0.713180,0.696246,0.081337],[0.030591,-0.085009,0.995910]]
2025-10-26T18:59:22.100Z,1761505162.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038923
2025-10-26T18:59:22.357Z,1761505162.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.295467
2025-10-26T18:59:22.368Z,1761505162.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694432,0.719548,-0.003936],[-0.719346,0.694349,0.020522],[0.017499,-0.011420,0.999782]]
2025-10-26T18:59:22.609Z,1761505162.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547400
2025-10-26T18:59:22.769Z,1761505162.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687885,0.725787,0.006969],[-0.725586,0.687875,-0.018781],[-0.018425,0.007863,0.999799]]
2025-10-26T18:59:22.863Z,1761505162.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.801160
2025-10-26T18:59:23.113Z,1761505163.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051580
2025-10-26T18:59:23.170Z,1761505163.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690948,0.721918,0.037740],[-0.722583,0.691255,0.006312],[-0.021531,-0.031632,0.999268]]
2025-10-26T18:59:23.365Z,1761505163.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303484
2025-10-26T18:59:23.574Z,1761505163.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692377,0.719169,0.058396],[-0.721185,0.687245,0.087101],[0.022507,-0.102421,0.994486]]
2025-10-26T18:59:23.617Z,1761505163.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.555380
2025-10-26T18:59:23.868Z,1761505163.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807026
2025-10-26T18:59:24.028Z,1761505164.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694715,0.717275,0.053736],[-0.715351,0.681182,0.155770],[0.075126,-0.146656,0.986331]]
2025-10-26T18:59:24.121Z,1761505164.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059676
2025-10-26T18:59:24.372Z,1761505164.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310950
2025-10-26T18:59:24.393Z,1761505164.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695238,0.717973,0.034041],[-0.712655,0.682372,0.162760],[0.093629,-0.137416,0.986078]]
2025-10-26T18:59:24.625Z,1761505164.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563332
2025-10-26T18:59:24.790Z,1761505164.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693998,0.719402,0.028774],[-0.716637,0.686381,0.123739],[0.069269,-0.106495,0.991897]]
2025-10-26T18:59:24.876Z,1761505164.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814995
2025-10-26T18:59:25.129Z,1761505165.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067179
2025-10-26T18:59:25.197Z,1761505165.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699468,0.714477,0.016359],[-0.712580,0.695498,0.092256],[0.054537,-0.076187,0.995601]]
2025-10-26T18:59:25.380Z,1761505165.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319046
2025-10-26T18:59:25.596Z,1761505165.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697840,0.716253,-0.000742],[-0.714165,0.695884,0.075597],[0.054663,-0.052225,0.997138]]
2025-10-26T18:59:25.634Z,1761505165.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572287
2025-10-26T18:59:25.884Z,1761505165.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822933
2025-10-26T18:59:25.998Z,1761505165.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694538,0.719346,0.012592],[-0.718697,0.692895,0.058064],[0.033043,-0.049378,0.998233]]
2025-10-26T18:59:26.137Z,1761505166.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075094
2025-10-26T18:59:26.388Z,1761505166.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326849
2025-10-26T18:59:26.403Z,1761505166.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699104,0.712061,0.064977],[-0.714983,0.697101,0.053389],[-0.007279,-0.083781,0.996458]]
2025-10-26T18:59:26.640Z,1761505166.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578947
2025-10-26T18:59:26.826Z,1761505166.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704872,0.703275,0.092514],[-0.709125,0.701810,0.067850],[-0.017211,-0.113430,0.993397]]
2025-10-26T18:59:26.900Z,1761505166.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838911
2025-10-26T18:59:27.153Z,1761505167.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.091492
2025-10-26T18:59:27.212Z,1761505167.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713397,0.697750,0.064880],[-0.700759,0.710502,0.064220],[-0.001288,-0.091280,0.995824]]
2025-10-26T18:59:27.404Z,1761505167.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.342949
2025-10-26T18:59:27.620Z,1761505167.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712960,0.701063,0.014114],[-0.700732,0.711595,0.051063],[0.025755,-0.046296,0.998596]]
2025-10-26T18:59:27.656Z,1761505167.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.595007
2025-10-26T18:59:27.908Z,1761505167.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846864
2025-10-26T18:59:28.018Z,1761505168.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700141,0.713295,-0.031828],[-0.712364,0.700858,0.036533],[0.048365,-0.002905,0.998825]]
2025-10-26T18:59:28.058Z,1761505168.058 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:59:28.058Z,1761505168.058 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:59:28.058Z,1761505168.058 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:59:28.059Z,1761505168.059 [marl:UpdateRudder:A] Stopped
2025-10-26T18:59:28.059Z,1761505168.059 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:59:28.160Z,1761505168.160 [DAT](INFO): Reached modem response timeout
2025-10-26T18:59:28.423Z,1761505168.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699555,0.713837,-0.032554],[-0.712655,0.700288,0.041472],[0.052401,-0.005812,0.998609]]
2025-10-26T18:59:28.447Z,1761505168.447 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T18:59:28.447Z,1761505168.447 [marl:UpdateRudder:B] Stopped
2025-10-26T18:59:28.447Z,1761505168.447 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateRudder] Stopped
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:59:28.448Z,1761505168.448 [marl:UpdateCommandMode] Stopped
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed] Stopped
2025-10-26T18:59:28.449Z,1761505168.449 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:59:28.860Z,1761505168.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705936,0.708276,0.000132],[-0.705686,0.703339,0.085562],[0.060509,-0.060494,0.996333]]
2025-10-26T18:59:29.231Z,1761505169.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702183,0.711112,0.035478],[-0.709397,0.694496,0.120125],[0.060783,-0.109518,0.992125]]
2025-10-26T18:59:29.637Z,1761505169.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695994,0.716156,0.052081],[-0.716263,0.687326,0.120622],[0.050588,-0.121256,0.991331]]
2025-10-26T18:59:30.044Z,1761505170.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693316,0.720289,0.022273],[-0.717547,0.687160,0.113739],[0.066620,-0.094839,0.993261]]
2025-10-26T18:59:30.049Z,1761505170.049 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185926.00,A,3646.37316,N,12151.94690,W,0.914,78.17,261025,,,A*49
2025-10-26T18:59:30.051Z,1761505170.051 [NAL9602](INFO): GPS fix at 20251026T185926: (36.772886, -121.865782)
2025-10-26T18:59:30.065Z,1761505170.065 [UniversalFixResidualReporter](INFO): Fix residual: 3.5 %DT, over the last 620.1 m. Residual distance 21.4 m at bearing -17.6 degrees. Fix at (36.7729, -121.8658) with 102.2 m made good.
2025-10-26T18:59:30.075Z,1761505170.075 [marl:NeedComms:C] Stopped
2025-10-26T18:59:30.100Z,1761505170.100 [marl:NeedComms:D] Running Loop=1
2025-10-26T18:59:30.103Z,1761505170.103 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505152.00. Resetting abort timer.
2025-10-26T18:59:30.428Z,1761505170.428 [DAT](INFO): DAT read: Response Not Received

2025-10-26T18:59:30.429Z,1761505170.429 [DAT](INFO): response not received
2025-10-26T18:59:30.429Z,1761505170.429 [DAT](ERROR): No response from remote modem.
2025-10-26T18:59:30.460Z,1761505170.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692918,0.720239,-0.033460],[-0.714375,0.692080,0.103408],[0.097636,-0.047751,0.994076]]
2025-10-26T18:59:30.879Z,1761505170.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694937,0.717721,-0.044037],[-0.712776,0.695647,0.089593],[0.094937,-0.030873,0.995004]]
2025-10-26T18:59:31.278Z,1761505171.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700598,0.713552,-0.002369],[-0.711226,0.698574,0.078431],[0.057620,-0.053264,0.996917]]
2025-10-26T18:59:31.682Z,1761505171.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701788,0.710609,0.050270],[-0.712170,0.698092,0.074039],[0.017519,-0.087760,0.995988]]
2025-10-26T18:59:32.086Z,1761505172.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703251,0.706153,0.082377],[-0.710942,0.698398,0.082479],[0.000711,-0.116569,0.993182]]
2025-10-26T18:59:32.491Z,1761505172.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707617,0.702656,0.074519],[-0.706491,0.701743,0.091804],[0.012214,-0.117609,0.992985]]
2025-10-26T18:59:32.894Z,1761505172.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708398,0.705078,0.032218],[-0.704942,0.704518,0.081930],[0.035069,-0.080750,0.996117]]
2025-10-26T18:59:33.298Z,1761505173.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702765,0.711372,-0.008488],[-0.710140,0.702164,0.051635],[0.042692,-0.030260,0.998630]]
2025-10-26T18:59:33.707Z,1761505173.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692804,0.720710,-0.024469],[-0.719605,0.693148,0.041415],[0.046809,-0.011084,0.998842]]
2025-10-26T18:59:34.114Z,1761505174.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696667,0.717091,-0.020847],[-0.714818,0.696333,0.064466],[0.060745,-0.030010,0.997702]]
2025-10-26T18:59:34.510Z,1761505174.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705312,0.708790,-0.012360],[-0.704009,0.702386,0.105000],[0.083105,-0.065356,0.994395]]
2025-10-26T18:59:34.914Z,1761505174.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708521,0.705683,0.003007],[-0.700215,0.702488,0.127317],[0.087733,-0.092313,0.991857]]
2025-10-26T18:59:35.321Z,1761505175.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703526,0.709966,0.031601],[-0.707979,0.696305,0.118002],[0.061774,-0.105390,0.992510]]
2025-10-26T18:59:35.732Z,1761505175.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696948,0.714637,0.059652],[-0.716827,0.691862,0.086520],[0.020560,-0.103060,0.994463]]
2025-10-26T18:59:36.132Z,1761505176.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707114,0.705166,0.052251],[-0.707041,0.706070,0.039467],[-0.009062,-0.064851,0.997854]]
2025-10-26T18:59:36.532Z,1761505176.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721431,0.692473,0.004193],[-0.692395,0.721225,0.020573],[0.011222,-0.017745,0.999780]]
2025-10-26T18:59:36.612Z,1761505176.612 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T18:59:36.613Z,1761505176.613 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T18:59:36.934Z,1761505176.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731804,0.680071,-0.044354],[-0.678967,0.733144,0.038770],[0.058884,0.001743,0.998263]]
2025-10-26T18:59:37.338Z,1761505177.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740840,0.670958,-0.031178],[-0.668685,0.741119,0.060020],[0.063377,-0.023617,0.997710]]
2025-10-26T18:59:37.749Z,1761505177.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741116,0.671178,0.016378],[-0.669675,0.737281,0.089171],[0.047775,-0.077054,0.995882]]
2025-10-26T18:59:38.146Z,1761505178.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736991,0.675000,0.034910],[-0.673783,0.729613,0.116971],[0.053485,-0.109728,0.992522]]
2025-10-26T18:59:38.550Z,1761505178.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746088,0.665012,0.033351],[-0.663235,0.737795,0.125611],[0.058927,-0.115836,0.991519]]
2025-10-26T18:59:39.622Z,1761505179.622 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T18:59:40.624Z,1761505180.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T18:59:40.714Z,1761505180.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748905,0.661659,0.036733],[-0.662352,0.745649,0.072784],[0.020768,-0.078838,0.996671]]
2025-10-26T18:59:41.092Z,1761505181.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755925,0.654652,-0.002869],[-0.654516,0.755844,0.017551],[0.013658,-0.011390,0.999842]]
2025-10-26T18:59:41.490Z,1761505181.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756959,0.653461,-0.001641],[-0.653050,0.756568,0.033633],[0.023219,-0.024387,0.999433]]
2025-10-26T18:59:41.894Z,1761505181.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760578,0.649144,0.011543],[-0.647849,0.757654,0.079067],[0.042580,-0.067615,0.996802]]
2025-10-26T18:59:42.298Z,1761505182.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757632,0.651092,0.045518],[-0.651450,0.750080,0.113990],[0.040076,-0.116015,0.992439]]
2025-10-26T18:59:42.735Z,1761505182.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759349,0.646637,0.072452],[-0.650178,0.749651,0.123663],[0.025652,-0.141010,0.989676]]
2025-10-26T18:59:43.116Z,1761505183.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769669,0.636201,0.053465],[-0.637779,0.762346,0.109850],[0.029128,-0.118646,0.992509]]
2025-10-26T18:59:43.178Z,1761505183.178 [marl:UpdateRudder] Running Loop=1
2025-10-26T18:59:43.178Z,1761505183.178 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T18:59:43.178Z,1761505183.178 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T18:59:43.179Z,1761505183.179 [marl:UpdateRudder:A] Stopped
2025-10-26T18:59:43.179Z,1761505183.179 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T18:59:43.511Z,1761505183.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768751,0.639522,0.005769],[-0.638326,0.766693,0.068717],[0.039523,-0.056509,0.997620]]
2025-10-26T18:59:43.550Z,1761505183.550 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T18:59:43.550Z,1761505183.550 [marl:UpdateRudder:B] Stopped
2025-10-26T18:59:43.550Z,1761505183.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T18:59:43.550Z,1761505183.550 [marl:UpdateRudder] Stopped
2025-10-26T18:59:43.551Z,1761505183.551 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T18:59:43.551Z,1761505183.551 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T18:59:43.551Z,1761505183.551 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T18:59:43.551Z,1761505183.551 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateCommandMode:A] Stopped
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateCommandMode] Stopped
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateSpeed] Running Loop=1
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T18:59:43.552Z,1761505183.552 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T18:59:43.553Z,1761505183.553 [marl:UpdateSpeed:A] Stopped
2025-10-26T18:59:43.553Z,1761505183.553 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T18:59:43.553Z,1761505183.553 [marl:UpdateSpeed] Stopped
2025-10-26T18:59:43.553Z,1761505183.553 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T18:59:43.914Z,1761505183.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764381,0.644111,-0.029019],[-0.643690,0.764932,0.023294],[0.037201,0.000874,0.999307]]
2025-10-26T18:59:44.318Z,1761505184.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777199,0.628136,-0.037513],[-0.628021,0.778027,0.016233],[0.039383,0.010943,0.999164]]
2025-10-26T18:59:44.323Z,1761505184.323 [NAL9602](INFO): SBD MO Status=1, MOMSN=2958, MT Status=0, MTMSN=0
2025-10-26T18:59:44.376Z,1761505184.376 [NAL9602](INFO): Sent 83 bytes from file Logs/20251026T180417/Courier0015.lzma
2025-10-26T18:59:44.376Z,1761505184.376 [NAL9602](INFO): Packets left to send: 0
2025-10-26T18:59:44.728Z,1761505184.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788672,0.613385,-0.041895],[-0.611716,0.789706,0.046556],[0.061641,-0.011089,0.998037]]
2025-10-26T18:59:45.440Z,1761505185.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767374,0.640777,0.023292],[-0.635732,0.755594,0.157869],[0.083560,-0.135952,0.987185]]
2025-10-26T18:59:45.838Z,1761505185.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777560,0.626220,0.056999],[-0.626254,0.763051,0.159871],[0.056621,-0.160005,0.985491]]
2025-10-26T18:59:47.917Z,1761505187.917 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T18:59:48.069Z,1761505188.069 [DAT](DEBUG): Acoustic response timeout
2025-10-26T18:59:48.070Z,1761505188.070 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T18:59:48.116Z,1761505188.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793089,0.608778,-0.019974],[-0.608177,0.793264,0.029195],[0.033618,-0.011007,0.999374]]
2025-10-26T18:59:48.321Z,1761505188.321 [DAT](INFO): DAT read: user:9>

2025-10-26T18:59:48.322Z,1761505188.322 [DAT](INFO): DAT read: Tx time:18:59:47.4180

2025-10-26T18:59:48.322Z,1761505188.322 [DAT](INFO): Ping request sent.
2025-10-26T18:59:48.322Z,1761505188.322 [DAT](INFO): transmitted an acoustic signal
2025-10-26T18:59:48.322Z,1761505188.322 [DAT](INFO): publishing transmit ping time
2025-10-26T18:59:48.323Z,1761505188.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000902
2025-10-26T18:59:48.494Z,1761505188.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790477,0.611825,0.028574],[-0.612486,0.789806,0.032673],[-0.002578,-0.043329,0.999058]]
2025-10-26T18:59:48.577Z,1761505188.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253956
2025-10-26T18:59:48.826Z,1761505188.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504065
2025-10-26T18:59:48.903Z,1761505188.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798111,0.599571,0.059440],[-0.601765,0.798140,0.029177],[-0.029948,-0.059055,0.997805]]
2025-10-26T18:59:49.077Z,1761505189.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754562
2025-10-26T18:59:49.303Z,1761505189.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807526,0.589315,0.024696],[-0.589822,0.806561,0.039607],[0.003422,-0.046550,0.998910]]
2025-10-26T18:59:49.328Z,1761505189.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006485
2025-10-26T18:59:49.581Z,1761505189.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258816
2025-10-26T18:59:49.710Z,1761505189.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808227,0.587395,-0.041665],[-0.586880,0.809289,0.024959],[0.048380,0.004280,0.998820]]
2025-10-26T18:59:49.834Z,1761505189.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511786
2025-10-26T18:59:50.085Z,1761505190.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762957
2025-10-26T18:59:50.113Z,1761505190.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808327,0.583761,-0.076358],[-0.584781,0.811122,0.010568],[0.068104,0.036110,0.997025]]
2025-10-26T18:59:50.336Z,1761505190.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014313
2025-10-26T18:59:50.521Z,1761505190.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807909,0.585036,-0.070826],[-0.584034,0.810918,0.036278],[0.078658,0.012055,0.996829]]
2025-10-26T18:59:50.589Z,1761505190.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266448
2025-10-26T18:59:50.843Z,1761505190.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520317
2025-10-26T18:59:50.918Z,1761505190.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807944,0.588252,-0.034446],[-0.580814,0.804864,0.121857],[0.099407,-0.078447,0.991950]]
2025-10-26T18:59:51.093Z,1761505191.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917
2025-10-26T18:59:51.323Z,1761505191.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808332,0.588638,0.010215],[-0.576082,0.787275,0.219837],[0.121362,-0.183586,0.975483]]
2025-10-26T18:59:51.353Z,1761505191.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031014
2025-10-26T18:59:51.604Z,1761505191.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282370
2025-10-26T18:59:51.735Z,1761505191.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811110,0.583188,0.044636],[-0.573997,0.779014,0.252320],[0.112378,-0.230280,0.966614]]
2025-10-26T18:59:51.856Z,1761505191.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534292
2025-10-26T18:59:52.109Z,1761505192.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786958
2025-10-26T18:59:52.131Z,1761505192.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819346,0.572298,0.033871],[-0.566667,0.799492,0.199253],[0.086952,-0.182451,0.979363]]
2025-10-26T18:59:52.360Z,1761505192.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038403
2025-10-26T18:59:52.535Z,1761505192.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831225,0.554905,-0.033837],[-0.549405,0.829240,0.102548],[0.084963,-0.066650,0.994152]]
2025-10-26T18:59:52.612Z,1761505192.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290408
2025-10-26T18:59:52.864Z,1761505192.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542494
2025-10-26T18:59:52.939Z,1761505192.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835545,0.540197,-0.100254],[-0.541438,0.840574,0.016754],[0.093321,0.040283,0.994821]]
2025-10-26T18:59:53.116Z,1761505193.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794370
2025-10-26T18:59:53.344Z,1761505193.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828369,0.546101,-0.124811],[-0.552304,0.833425,-0.019052],[0.093616,0.084715,0.991998]]
2025-10-26T18:59:53.368Z,1761505193.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046437
2025-10-26T18:59:53.621Z,1761505193.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298942
2025-10-26T18:59:53.746Z,1761505193.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826474,0.557792,-0.076218],[-0.557053,0.829836,0.032622],[0.081445,0.015496,0.996557]]
2025-10-26T18:59:53.873Z,1761505193.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550767
2025-10-26T18:59:54.125Z,1761505194.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802762
2025-10-26T18:59:54.151Z,1761505194.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828469,0.559531,0.023764],[-0.557534,0.820020,0.129316],[0.052870,-0.120384,0.991319]]
2025-10-26T18:59:54.377Z,1761505194.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054872
2025-10-26T18:59:54.557Z,1761505194.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826652,0.553165,0.103223],[-0.562161,0.803701,0.195038],[0.024928,-0.219256,0.975349]]
2025-10-26T18:59:54.628Z,1761505194.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306428
2025-10-26T18:59:54.880Z,1761505194.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558327
2025-10-26T18:59:54.960Z,1761505194.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816643,0.566038,0.112677],[-0.576947,0.795554,0.185004],[0.015079,-0.216091,0.976257]]
2025-10-26T18:59:54.970Z,1761505194.970 [NAL9602](INFO): SBD MO Status=1, MOMSN=2959, MT Status=0, MTMSN=0
2025-10-26T18:59:55.024Z,1761505195.024 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0016.lzma
2025-10-26T18:59:55.024Z,1761505195.024 [NAL9602](INFO): Packets left to send: 2
2025-10-26T18:59:55.132Z,1761505195.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810391
2025-10-26T18:59:55.363Z,1761505195.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807085,0.588216,0.051144],[-0.589593,0.798279,0.123007],[0.031527,-0.129431,0.991087]]
2025-10-26T18:59:55.386Z,1761505195.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063649
2025-10-26T18:59:55.637Z,1761505195.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314761
2025-10-26T18:59:55.889Z,1761505195.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567103
2025-10-26T18:59:55.930Z,1761505195.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822363,0.568330,-0.026827],[-0.568523,0.822667,0.000520],[0.022365,0.014824,0.999640]]
2025-10-26T18:59:56.140Z,1761505196.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818362
2025-10-26T18:59:56.302Z,1761505196.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829785,0.557700,-0.020682],[-0.557964,0.829803,-0.010116],[0.011520,0.019934,0.999735]]
2025-10-26T18:59:56.392Z,1761505196.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070283
2025-10-26T18:59:56.644Z,1761505196.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322381
2025-10-26T18:59:56.896Z,1761505196.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574450
2025-10-26T18:59:57.148Z,1761505197.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826267
2025-10-26T18:59:57.401Z,1761505197.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079019
2025-10-26T18:59:57.652Z,1761505197.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330455
2025-10-26T18:59:57.904Z,1761505197.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582302
2025-10-26T18:59:58.157Z,1761505198.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834921
2025-10-26T18:59:58.408Z,1761505198.408 [DAT](INFO): Reached modem response timeout
2025-10-26T18:59:58.440Z,1761505198.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829361,0.558496,-0.015584],[-0.555017,0.826756,0.091812],[0.064161,-0.067496,0.995654]]
2025-10-26T18:59:58.851Z,1761505198.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835739,0.548932,0.014585],[-0.545643,0.827158,0.134478],[0.061756,-0.120347,0.990809]]
2025-10-26T18:59:59.206Z,1761505199.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838728,0.543041,0.040519],[-0.541861,0.824888,0.161080],[0.054049,-0.157058,0.986109]]
2025-10-26T18:59:59.610Z,1761505199.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847968,0.528062,0.045824],[-0.528419,0.835430,0.151099],[0.041507,-0.152341,0.987456]]
2025-10-26T19:00:00.015Z,1761505200.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849108,0.527776,0.021617],[-0.526604,0.842606,0.112707],[0.041270,-0.107084,0.993393]]
2025-10-26T19:00:00.418Z,1761505200.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845025,0.534719,-0.002852],[-0.533209,0.843016,0.070801],[0.040263,-0.058308,0.997486]]
2025-10-26T19:00:00.453Z,1761505200.453 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:00:00.453Z,1761505200.453 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:00:00.453Z,1761505200.453 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:00:00.453Z,1761505200.453 [marl:UpdateRudder:A] Stopped
2025-10-26T19:00:00.453Z,1761505200.453 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:00:00.676Z,1761505200.676 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:00:00.677Z,1761505200.677 [DAT](INFO): response not received
2025-10-26T19:00:00.677Z,1761505200.677 [DAT](ERROR): No response from remote modem.
2025-10-26T19:00:00.858Z,1761505200.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842016,0.539437,-0.004136],[-0.538600,0.841091,0.049764],[0.030324,-0.039674,0.998752]]
2025-10-26T19:00:00.918Z,1761505200.918 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:00:00.918Z,1761505200.918 [marl:UpdateRudder:B] Stopped
2025-10-26T19:00:00.918Z,1761505200.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:00:00.919Z,1761505200.919 [marl:UpdateRudder] Stopped
2025-10-26T19:00:00.919Z,1761505200.919 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:00:00.919Z,1761505200.919 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:00:00.919Z,1761505200.919 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:00:00.919Z,1761505200.919 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:00:00.919Z,1761505200.919 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateCommandMode] Stopped
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:00:00.920Z,1761505200.920 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:00:00.921Z,1761505200.921 [marl:UpdateSpeed] Stopped
2025-10-26T19:00:00.921Z,1761505200.921 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:00:01.226Z,1761505201.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849850,0.527004,0.004682],[-0.527018,0.849762,0.012476],[0.002597,-0.013070,0.999911]]
2025-10-26T19:00:01.631Z,1761505201.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858493,0.512814,-0.003464],[-0.512771,0.858283,-0.020381],[-0.007479,0.019273,0.999786]]
2025-10-26T19:00:02.038Z,1761505202.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857861,0.512365,-0.039457],[-0.513264,0.858064,-0.016918],[0.025188,0.034765,0.999078]]
2025-10-26T19:00:02.438Z,1761505202.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848277,0.524923,-0.069873],[-0.524982,0.850901,0.018996],[0.069427,0.020568,0.997375]]
2025-10-26T19:00:02.871Z,1761505202.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843898,0.532496,-0.065458],[-0.528782,0.846164,0.066306],[0.090696,-0.021342,0.995650]]
2025-10-26T19:00:03.247Z,1761505203.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841570,0.539174,-0.032431],[-0.532862,0.838548,0.113555],[0.088421,-0.078283,0.993002]]
2025-10-26T19:00:03.651Z,1761505203.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842919,0.538037,-0.001992],[-0.531435,0.833142,0.153139],[0.084054,-0.128026,0.988203]]
2025-10-26T19:00:04.060Z,1761505204.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851835,0.523681,0.011649],[-0.517569,0.838054,0.172589],[0.080619,-0.153046,0.984925]]
2025-10-26T19:00:04.458Z,1761505204.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853732,0.520678,0.005958],[-0.514394,0.841541,0.164948],[0.080871,-0.143886,0.986284]]
2025-10-26T19:00:04.873Z,1761505204.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854669,0.519134,-0.006359],[-0.514524,0.848588,0.123138],[0.069322,-0.101970,0.992369]]
2025-10-26T19:00:05.267Z,1761505205.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860167,0.509915,-0.009983],[-0.507632,0.857878,0.079715],[0.049211,-0.063501,0.996768]]
2025-10-26T19:00:05.670Z,1761505205.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861117,0.508318,-0.009493],[-0.507210,0.860221,0.052509],[0.034857,-0.040401,0.998575]]
2025-10-26T19:00:06.077Z,1761505206.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862705,0.504981,-0.027095],[-0.504124,0.863005,0.032888],[0.039991,-0.014714,0.999092]]
2025-10-26T19:00:06.478Z,1761505206.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859773,0.508174,-0.050505],[-0.508429,0.861061,0.008619],[0.047868,0.018268,0.998687]]
2025-10-26T19:00:06.884Z,1761505206.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862222,0.505181,-0.036966],[-0.506136,0.862133,-0.023497],[0.020000,0.038969,0.999040]]
2025-10-26T19:00:07.286Z,1761505207.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871241,0.490380,-0.021598],[-0.490713,0.871205,-0.014226],[0.011840,0.022993,0.999665]]
2025-10-26T19:00:07.291Z,1761505207.291 [NAL9602](INFO): SBD MO Status=1, MOMSN=2960, MT Status=0, MTMSN=0
2025-10-26T19:00:07.344Z,1761505207.344 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0016.lzma
2025-10-26T19:00:07.344Z,1761505207.344 [NAL9602](INFO): Packets left to send: 1
2025-10-26T19:00:07.690Z,1761505207.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868228,0.495644,-0.022734],[-0.494083,0.867871,0.051793],[0.045401,-0.033735,0.998399]]
2025-10-26T19:00:08.258Z,1761505208.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858642,0.512454,0.011162],[-0.507928,0.847729,0.152854],[0.068868,-0.136916,0.988186]]
2025-10-26T19:00:08.638Z,1761505208.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862607,0.505349,0.023057],[-0.503097,0.852208,0.143651],[0.052945,-0.135514,0.989360]]
2025-10-26T19:00:10.744Z,1761505210.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:00:10.786Z,1761505210.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850144,0.526142,0.020713],[-0.525420,0.845090,0.098774],[0.034465,-0.094855,0.994894]]
2025-10-26T19:00:11.158Z,1761505211.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853550,0.516530,0.068180],[-0.520876,0.843017,0.134207],[0.011845,-0.150066,0.988605]]
2025-10-26T19:00:11.570Z,1761505211.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852692,0.517152,0.073959],[-0.522366,0.842100,0.134169],[0.007105,-0.153039,0.988195]]
2025-10-26T19:00:11.748Z,1761505211.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:00:11.967Z,1761505211.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850451,0.525070,0.032169],[-0.525124,0.843720,0.111270],[0.031283,-0.111523,0.993269]]
2025-10-26T19:00:12.370Z,1761505212.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844462,0.535454,-0.013120],[-0.533664,0.843223,0.064635],[0.045672,-0.047580,0.997823]]
2025-10-26T19:00:12.774Z,1761505212.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840384,0.541036,-0.032158],[-0.540884,0.840980,0.014019],[0.034629,0.005613,0.999384]]
2025-10-26T19:00:13.178Z,1761505213.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849639,0.527169,-0.014381],[-0.527299,0.849649,-0.007278],[0.008383,0.013767,0.999870]]
2025-10-26T19:00:13.582Z,1761505213.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853554,0.520195,0.029034],[-0.520517,0.853840,0.004328],[-0.022539,-0.018807,0.999569]]
2025-10-26T19:00:13.986Z,1761505213.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852321,0.519138,0.063596],[-0.521501,0.852799,0.027777],[-0.039815,-0.056840,0.997589]]
2025-10-26T19:00:14.394Z,1761505214.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860460,0.506176,0.058268],[-0.508838,0.859581,0.046941],[-0.026325,-0.070040,0.997197]]
2025-10-26T19:00:14.840Z,1761505214.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864309,0.502612,0.018762],[-0.502715,0.862117,0.063491],[0.015737,-0.064308,0.997806]]
2025-10-26T19:00:15.199Z,1761505215.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861093,0.508061,-0.019805],[-0.505113,0.859251,0.080924],[0.058132,-0.059679,0.996524]]
2025-10-26T19:00:15.602Z,1761505215.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855304,0.517108,-0.032481],[-0.510042,0.851333,0.122839],[0.091173,-0.088498,0.991895]]
2025-10-26T19:00:15.626Z,1761505215.626 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:00:15.626Z,1761505215.626 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:00:15.626Z,1761505215.626 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:00:15.627Z,1761505215.627 [marl:UpdateRudder:A] Stopped
2025-10-26T19:00:15.627Z,1761505215.627 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:00:16.008Z,1761505216.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845046,0.534544,-0.012664],[-0.525245,0.834313,0.167450],[0.100075,-0.134851,0.985799]]
2025-10-26T19:00:16.072Z,1761505216.072 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:00:16.072Z,1761505216.072 [marl:UpdateRudder:B] Stopped
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateRudder] Stopped
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:00:16.073Z,1761505216.073 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateCommandMode] Stopped
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:00:16.074Z,1761505216.074 [marl:UpdateSpeed] Stopped
2025-10-26T19:00:16.075Z,1761505216.075 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:00:16.410Z,1761505216.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840421,0.541242,0.027377],[-0.537749,0.826599,0.166009],[0.067221,-0.154240,0.985744]]
2025-10-26T19:00:16.871Z,1761505216.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849489,0.525567,0.046342],[-0.527028,0.841165,0.121174],[0.024704,-0.127360,0.991549]]
2025-10-26T19:00:17.218Z,1761505217.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859702,0.509967,0.029085],[-0.510620,0.856518,0.075128],[0.013401,-0.079440,0.996750]]
2025-10-26T19:00:17.626Z,1761505217.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862508,0.505909,-0.011641],[-0.505424,0.862363,0.029618],[0.025023,-0.019662,0.999494]]
2025-10-26T19:00:18.038Z,1761505218.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862716,0.504107,-0.039976],[-0.504281,0.863516,0.006341],[0.037717,0.014689,0.999180]]
2025-10-26T19:00:18.082Z,1761505218.082 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:00:18.092Z,1761505218.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:00:18.093Z,1761505218.093 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:00:18.344Z,1761505218.344 [DAT](INFO): DAT read: user:10>

2025-10-26T19:00:18.345Z,1761505218.345 [DAT](INFO): DAT read: Tx time:19:00:17.4180

2025-10-26T19:00:18.345Z,1761505218.345 [DAT](INFO): Ping request sent.
2025-10-26T19:00:18.345Z,1761505218.345 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:00:18.345Z,1761505218.345 [DAT](INFO): publishing transmit ping time
2025-10-26T19:00:18.346Z,1761505218.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932
2025-10-26T19:00:18.430Z,1761505218.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864558,0.500554,-0.044555],[-0.499127,0.865622,0.039633],[0.058406,-0.012026,0.998221]]
2025-10-26T19:00:18.585Z,1761505218.585 [CTD_Seabird](ERROR): Failed to parse device response: .6877,4.17711,5363.84
2025-10-26T19:00:18.596Z,1761505218.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251000
2025-10-26T19:00:18.852Z,1761505218.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505670
2025-10-26T19:00:18.883Z,1761505218.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863404,0.503981,-0.023150],[-0.498665,0.859465,0.112483],[0.076586,-0.085575,0.993384]]
2025-10-26T19:00:19.100Z,1761505219.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755005
2025-10-26T19:00:19.240Z,1761505219.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857478,0.514364,0.012680],[-0.507955,0.842356,0.180049],[0.081929,-0.160829,0.983576]]
2025-10-26T19:00:19.352Z,1761505219.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932
2025-10-26T19:00:19.604Z,1761505219.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259038
2025-10-26T19:00:19.642Z,1761505219.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857610,0.513053,0.035805],[-0.509738,0.838686,0.191763],[0.068355,-0.182709,0.980788]]
2025-10-26T19:00:19.856Z,1761505219.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510886
2025-10-26T19:00:20.050Z,1761505220.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861893,0.506344,0.027493],[-0.504510,0.850784,0.147096],[0.051091,-0.140651,0.988740]]
2025-10-26T19:00:20.108Z,1761505220.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763032
2025-10-26T19:00:20.360Z,1761505220.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002
2025-10-26T19:00:20.450Z,1761505220.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863692,0.503937,0.009108],[-0.503157,0.861017,0.074044],[0.029471,-0.068534,0.997213]]
2025-10-26T19:00:20.613Z,1761505220.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267606
2025-10-26T19:00:20.866Z,1761505220.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520583
2025-10-26T19:00:20.885Z,1761505220.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867416,0.497449,-0.011546],[-0.497582,0.867146,-0.021688],[-0.000777,0.024557,0.999698]]
2025-10-26T19:00:21.116Z,1761505221.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770966
2025-10-26T19:00:21.258Z,1761505221.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874199,0.484329,-0.034671],[-0.485568,0.871901,-0.063344],[-0.000450,0.072211,0.997389]]
2025-10-26T19:00:21.262Z,1761505221.262 [NAL9602](INFO): SBD MO Status=2, MOMSN=2961, MT Status=2, MTMSN=0
2025-10-26T19:00:21.262Z,1761505221.262 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:00:21.368Z,1761505221.368 [DAT](INFO): DAT read: Rx Time:19:00:19.8736

2025-10-26T19:00:21.369Z,1761505221.369 [DAT](INFO): Rx dataTimestamp_ set to:1761505221.368542
2025-10-26T19:00:21.369Z,1761505221.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024025
2025-10-26T19:00:21.621Z,1761505221.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275529
2025-10-26T19:00:21.670Z,1761505221.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884903,0.462501,-0.055123],[-0.464350,0.885245,-0.026818],[0.036394,0.049328,0.998119]]
2025-10-26T19:00:21.873Z,1761505221.873 [DAT](INFO): DAT read: Bearing  17,  23 (Remote)

2025-10-26T19:00:21.873Z,1761505221.873 [DAT](INFO): Remote Bearing received:Bearing  17,  23 (Remote)

2025-10-26T19:00:21.874Z,1761505221.874 [DAT](INFO): DAT read: Range 11 to 20 : 319.8 m  (Round-trip  426.4 ms) speed -0.2 m/s

2025-10-26T19:00:21.875Z,1761505221.875 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T19:00:22.066Z,1761505222.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889668,0.454378,-0.045076],[-0.452226,0.890470,0.050549],[0.063107,-0.024587,0.997704]]
2025-10-26T19:00:22.132Z,1761505222.132 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505280.00. Resetting abort timer.
2025-10-26T19:00:22.475Z,1761505222.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883730,0.467996,-0.000337],[-0.462956,0.874318,0.145737],[0.068500,-0.128636,0.989323]]
2025-10-26T19:00:22.486Z,1761505222.486 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190021.00,A,3646.37678,N,12151.95715,W,0.467,274.53,261025,,,A*74
2025-10-26T19:00:22.489Z,1761505222.489 [NAL9602](INFO): GPS fix at 20251026T190021: (36.772946, -121.865953)
2025-10-26T19:00:22.536Z,1761505222.536 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:00:22.877Z,1761505222.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872873,0.485126,0.052409],[-0.483967,0.847049,0.219737],[0.062207,-0.217167,0.974150]]
2025-10-26T19:00:23.278Z,1761505223.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861912,0.499068,0.089659],[-0.505625,0.832651,0.225911],[0.038090,-0.240050,0.970013]]
2025-10-26T19:00:23.682Z,1761505223.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856825,0.509968,0.076054],[-0.515336,0.842214,0.158445],[0.016748,-0.174953,0.984434]]
2025-10-26T19:00:24.086Z,1761505224.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861373,0.507762,0.014622],[-0.507792,0.859943,0.051428],[0.013539,-0.051723,0.998570]]
2025-10-26T19:00:24.490Z,1761505224.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864903,0.501009,-0.030545],[-0.501868,0.864206,-0.035723],[0.008500,0.046227,0.998895]]
2025-10-26T19:00:24.894Z,1761505224.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866086,0.497606,-0.047780],[-0.499744,0.864205,-0.058350],[0.012257,0.074414,0.997152]]
2025-10-26T19:00:25.298Z,1761505225.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864006,0.501909,-0.039759],[-0.502395,0.864634,-0.002633],[0.033055,0.022250,0.999206]]
2025-10-26T19:00:25.707Z,1761505225.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858905,0.512135,-0.000260],[-0.510743,0.856608,0.073237],[0.037730,-0.062771,0.997315]]
2025-10-26T19:00:26.244Z,1761505226.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871606,0.487346,0.052891],[-0.490154,0.864829,0.108715],[0.007240,-0.120682,0.992665]]
2025-10-26T19:00:26.623Z,1761505226.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874862,0.484361,-0.003413],[-0.482063,0.871355,0.091408],[0.047248,-0.078324,0.995808]]
2025-10-26T19:00:28.775Z,1761505228.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851728,0.516909,0.085819],[-0.523911,0.837352,0.156072],[0.008814,-0.177893,0.984010]]
2025-10-26T19:00:29.174Z,1761505229.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857422,0.506299,0.092133],[-0.513613,0.853087,0.091891],[-0.032074,-0.126110,0.991498]]
2025-10-26T19:00:29.579Z,1761505229.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867549,0.497191,0.012645],[-0.497316,0.867511,0.010088],[-0.005954,-0.015040,0.999869]]
2025-10-26T19:00:29.989Z,1761505229.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871944,0.483552,-0.076755],[-0.488293,0.870326,-0.064057],[0.035827,0.093334,0.994990]]
2025-10-26T19:00:30.386Z,1761505230.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873304,0.475322,-0.106813],[-0.485016,0.868898,-0.098872],[0.045814,0.138152,0.989351]]
2025-10-26T19:00:30.793Z,1761505230.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869836,0.487352,-0.076641],[-0.491664,0.869153,-0.053278],[0.040648,0.084025,0.995634]]
2025-10-26T19:00:30.879Z,1761505230.879 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:00:30.879Z,1761505230.879 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:00:30.879Z,1761505230.879 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:00:30.879Z,1761505230.879 [marl:UpdateRudder:A] Stopped
2025-10-26T19:00:30.879Z,1761505230.879 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:00:31.194Z,1761505231.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858007,0.513566,-0.008630],[-0.511875,0.856331,0.068417],[0.042527,-0.054284,0.997619]]
2025-10-26T19:00:31.263Z,1761505231.263 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:00:31.263Z,1761505231.263 [marl:UpdateRudder:B] Stopped
2025-10-26T19:00:31.263Z,1761505231.263 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:00:31.263Z,1761505231.263 [marl:UpdateRudder] Stopped
2025-10-26T19:00:31.267Z,1761505231.267 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode] Stopped
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:00:31.268Z,1761505231.268 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:00:31.269Z,1761505231.269 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:00:31.269Z,1761505231.269 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:00:31.269Z,1761505231.269 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:00:31.269Z,1761505231.269 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:00:31.269Z,1761505231.269 [marl:UpdateSpeed] Stopped
2025-10-26T19:00:31.269Z,1761505231.269 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:00:31.600Z,1761505231.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852031,0.518523,0.071953],[-0.522334,0.832943,0.182684],[0.034793,-0.193236,0.980535]]
2025-10-26T19:00:32.009Z,1761505232.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851914,0.513186,0.104323],[-0.522129,0.817034,0.244615],[0.040298,-0.262861,0.963992]]
2025-10-26T19:00:32.406Z,1761505232.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852788,0.517844,0.067756],[-0.519663,0.828464,0.208802],[0.051993,-0.213274,0.975608]]
2025-10-26T19:00:32.841Z,1761505232.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854274,0.519822,-0.001159],[-0.516846,0.849618,0.104973],[0.055551,-0.089077,0.994474]]
2025-10-26T19:00:33.217Z,1761505233.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858279,0.509353,-0.062589],[-0.509486,0.860348,0.015018],[0.061498,0.018999,0.997926]]
2025-10-26T19:00:33.618Z,1761505233.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859231,0.504774,-0.083213],[-0.505718,0.862630,0.010875],[0.077271,0.032738,0.996472]]
2025-10-26T19:00:34.027Z,1761505234.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849639,0.524860,-0.051347],[-0.520839,0.850408,0.074384],[0.082708,-0.036456,0.995907]]
2025-10-26T19:00:34.491Z,1761505234.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839669,0.541980,0.034837],[-0.541174,0.829575,0.137610],[0.045682,-0.134399,0.989874]]
2025-10-26T19:00:34.864Z,1761505234.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838600,0.534880,0.103214],[-0.544747,0.823702,0.157370],[-0.000844,-0.188196,0.982131]]
2025-10-26T19:00:35.235Z,1761505235.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845215,0.522925,0.110273],[-0.533671,0.836822,0.122165],[-0.028396,-0.162105,0.986365]]
2025-10-26T19:00:35.638Z,1761505235.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854597,0.514369,0.071340],[-0.518640,0.852316,0.067603],[-0.026031,-0.094774,0.995158]]
2025-10-26T19:00:36.046Z,1761505236.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860213,0.509935,-0.000176],[-0.509902,0.860162,0.010973],[0.005747,-0.009350,0.999940]]
2025-10-26T19:00:36.448Z,1761505236.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857255,0.511301,-0.060709],[-0.513248,0.857972,-0.021445],[0.041122,0.049543,0.997925]]
2025-10-26T19:00:36.871Z,1761505236.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853246,0.516501,-0.072097],[-0.519634,0.853726,-0.033639],[0.044177,0.066166,0.996830]]
2025-10-26T19:00:36.965Z,1761505236.965 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:00:36.965Z,1761505236.965 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:00:37.255Z,1761505237.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849073,0.526872,-0.038469],[-0.527462,0.849554,-0.006424],[0.029297,0.025745,0.999239]]
2025-10-26T19:00:37.658Z,1761505237.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845390,0.533376,0.028733],[-0.533846,0.841874,0.079093],[0.017997,-0.082204,0.996453]]
2025-10-26T19:00:38.067Z,1761505238.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844273,0.527797,0.092919],[-0.535899,0.830176,0.153687],[0.003977,-0.179549,0.983741]]
2025-10-26T19:00:38.466Z,1761505238.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844752,0.526448,0.096162],[-0.535137,0.829355,0.160619],[0.004805,-0.187143,0.982321]]
2025-10-26T19:00:38.877Z,1761505238.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855224,0.516953,0.036775],[-0.517572,0.848282,0.111970],[0.026687,-0.114793,0.993031]]
2025-10-26T19:00:39.275Z,1761505239.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862806,0.505039,-0.022398],[-0.504425,0.863000,0.028055],[0.033498,-0.012907,0.999355]]
2025-10-26T19:00:39.685Z,1761505239.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863727,0.502427,-0.039277],[-0.503716,0.863109,-0.036232],[0.015696,0.051079,0.998571]]
2025-10-26T19:00:40.093Z,1761505240.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868243,0.493624,-0.049897],[-0.494838,0.868855,-0.015075],[0.035912,0.037779,0.998641]]
2025-10-26T19:00:40.492Z,1761505240.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866563,0.495210,-0.061935],[-0.489044,0.867342,0.092492],[0.099521,-0.049861,0.993785]]
2025-10-26T19:00:40.890Z,1761505240.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850427,0.525314,-0.028617],[-0.511848,0.838748,0.185780],[0.121595,-0.143344,0.982175]]
2025-10-26T19:00:41.295Z,1761505241.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840861,0.540686,0.024750],[-0.532157,0.817519,0.220164],[0.098806,-0.198298,0.975149]]
2025-10-26T19:00:41.712Z,1761505241.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839462,0.541362,0.047235],[-0.537564,0.814549,0.218026],[0.079555,-0.208416,0.974799]]
2025-10-26T19:00:41.868Z,1761505241.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:00:42.106Z,1761505242.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837081,0.545185,0.045494],[-0.543528,0.819306,0.182522],[0.062235,-0.177513,0.982149]]
2025-10-26T19:00:42.510Z,1761505242.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846062,0.531649,0.039098],[-0.532578,0.839786,0.105455],[0.023231,-0.110044,0.993655]]
2025-10-26T19:00:42.872Z,1761505242.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:00:42.924Z,1761505242.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859322,0.510506,0.030812],[-0.511298,0.858926,0.028633],[-0.011848,-0.040359,0.999115]]
2025-10-26T19:00:43.314Z,1761505243.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858422,0.512903,0.006498],[-0.512802,0.858413,-0.012675],[-0.012079,0.007549,0.999899]]
2025-10-26T19:00:43.790Z,1761505243.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849650,0.527347,0.000139],[-0.527254,0.849505,-0.018561],[-0.009906,0.015697,0.999828]]
2025-10-26T19:00:43.822Z,1761505243.822 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:00:43.822Z,1761505243.822 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:00:43.823Z,1761505243.823 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:00:43.823Z,1761505243.823 [marl:UpdateRudder:A] Stopped
2025-10-26T19:00:43.823Z,1761505243.823 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:00:44.127Z,1761505244.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844124,0.535917,0.015702],[-0.535989,0.844225,0.000439],[-0.013021,-0.008787,0.999877]]
2025-10-26T19:00:44.151Z,1761505244.151 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:00:44.151Z,1761505244.151 [marl:UpdateRudder:B] Stopped
2025-10-26T19:00:44.152Z,1761505244.152 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:00:44.152Z,1761505244.152 [marl:UpdateRudder] Stopped
2025-10-26T19:00:44.152Z,1761505244.152 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:00:44.152Z,1761505244.152 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:00:44.152Z,1761505244.152 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateCommandMode] Stopped
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:00:44.153Z,1761505244.153 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:00:44.154Z,1761505244.154 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:00:44.154Z,1761505244.154 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:00:44.154Z,1761505244.154 [marl:UpdateSpeed] Stopped
2025-10-26T19:00:44.154Z,1761505244.154 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:00:44.526Z,1761505244.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846414,0.531448,0.033856],[-0.532476,0.845492,0.040169],[-0.007278,-0.052027,0.998619]]
2025-10-26T19:00:44.930Z,1761505244.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862312,0.505792,0.024360],[-0.506122,0.859348,0.073223],[0.016102,-0.075470,0.997018]]
2025-10-26T19:00:45.744Z,1761505245.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862426,0.502950,-0.057130],[-0.494409,0.861184,0.117994],[0.108544,-0.073516,0.991370]]
2025-10-26T19:00:46.148Z,1761505246.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842362,0.535133,-0.063711],[-0.518097,0.836686,0.177572],[0.148331,-0.116571,0.982043]]
2025-10-26T19:00:46.546Z,1761505246.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828403,0.560039,-0.010292],[-0.542957,0.807380,0.230946],[0.137648,-0.185728,0.972912]]
2025-10-26T19:00:46.950Z,1761505246.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822909,0.566635,0.041776],[-0.560424,0.797386,0.223831],[0.093519,-0.207605,0.973732]]
2025-10-26T19:00:47.354Z,1761505247.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825104,0.562903,0.048415],[-0.562967,0.811910,0.154499],[0.047659,-0.154734,0.986806]]
2025-10-26T19:00:47.778Z,1761505247.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820263,0.571656,0.019467],[-0.571928,0.819215,0.042248],[0.008203,-0.045789,0.998917]]
2025-10-26T19:00:48.165Z,1761505248.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818801,0.573411,-0.027659],[-0.573985,0.816854,-0.057361],[-0.010298,0.062843,0.997970]]
2025-10-26T19:00:48.218Z,1761505248.218 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:00:48.340Z,1761505248.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:00:48.341Z,1761505248.341 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:00:48.566Z,1761505248.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825570,0.563532,-0.029434],[-0.563150,0.819435,-0.106715],[-0.036018,0.104677,0.993854]]
2025-10-26T19:00:48.592Z,1761505248.592 [DAT](INFO): DAT read: user:11>

2025-10-26T19:00:48.593Z,1761505248.593 [DAT](INFO): DAT read: Tx time:19:00:47.6679

2025-10-26T19:00:48.593Z,1761505248.593 [DAT](INFO): Ping request sent.
2025-10-26T19:00:48.593Z,1761505248.593 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:00:48.594Z,1761505248.594 [DAT](INFO): publishing transmit ping time
2025-10-26T19:00:48.594Z,1761505248.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000917
2025-10-26T19:00:48.847Z,1761505248.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252761
2025-10-26T19:00:48.975Z,1761505248.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830047,0.557650,0.006936],[-0.554574,0.826656,-0.095329],[-0.058894,0.075281,0.995422]]
2025-10-26T19:00:49.096Z,1761505249.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896
2025-10-26T19:00:49.348Z,1761505249.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754925
2025-10-26T19:00:49.374Z,1761505249.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837462,0.544237,0.049633],[-0.542602,0.838881,-0.043142],[-0.065116,0.009199,0.997835]]
2025-10-26T19:00:49.602Z,1761505249.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008277
2025-10-26T19:00:49.778Z,1761505249.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842427,0.533801,0.073311],[-0.537108,0.842763,0.035560],[-0.042801,-0.069333,0.996675]]
2025-10-26T19:00:49.852Z,1761505249.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258919
2025-10-26T19:00:50.104Z,1761505250.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510774
2025-10-26T19:00:50.187Z,1761505250.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845007,0.529699,0.073366],[-0.534755,0.836994,0.116094],[0.000088,-0.137333,0.990525]]
2025-10-26T19:00:50.356Z,1761505250.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762842
2025-10-26T19:00:50.586Z,1761505250.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841989,0.534901,0.070249],[-0.538840,0.827398,0.158316],[0.026560,-0.171153,0.984886]]
2025-10-26T19:00:50.609Z,1761505250.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014999
2025-10-26T19:00:50.863Z,1761505250.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269017
2025-10-26T19:00:50.994Z,1761505250.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835698,0.547005,0.048939],[-0.548063,0.824961,0.138082],[0.035159,-0.142216,0.989211]]
2025-10-26T19:00:51.112Z,1761505251.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518778
2025-10-26T19:00:51.364Z,1761505251.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770860
2025-10-26T19:00:51.394Z,1761505251.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841768,0.539810,0.005637],[-0.538500,0.838900,0.079149],[0.037997,-0.069661,0.996847]]
2025-10-26T19:00:51.616Z,1761505251.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022840
2025-10-26T19:00:51.800Z,1761505251.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841283,0.538402,-0.048646],[-0.536886,0.842644,0.041281],[0.063217,-0.008612,0.997963]]
2025-10-26T19:00:51.869Z,1761505251.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275495
2025-10-26T19:00:52.120Z,1761505252.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526882
2025-10-26T19:00:52.205Z,1761505252.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828553,0.553332,-0.085574],[-0.552525,0.832760,0.035012],[0.090636,0.018272,0.995717]]
2025-10-26T19:00:52.372Z,1761505252.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778765
2025-10-26T19:00:52.607Z,1761505252.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829425,0.555600,-0.057981],[-0.554244,0.831450,0.038798],[0.069764,-0.000045,0.997563]]
2025-10-26T19:00:52.624Z,1761505252.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030940
2025-10-26T19:00:52.876Z,1761505252.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282878
2025-10-26T19:00:53.011Z,1761505253.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832723,0.553690,-0.000824],[-0.551594,0.829698,0.085711],[0.048141,-0.070919,0.996320]]
2025-10-26T19:00:53.128Z,1761505253.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534807
2025-10-26T19:00:53.380Z,1761505253.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786791
2025-10-26T19:00:53.420Z,1761505253.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832916,0.551319,0.047942],[-0.551328,0.819190,0.158006],[0.047838,-0.158037,0.986274]]
2025-10-26T19:00:53.632Z,1761505253.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038871
2025-10-26T19:00:53.818Z,1761505253.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839615,0.539088,0.066557],[-0.541339,0.820379,0.184203],[0.044699,-0.190690,0.980632]]
2025-10-26T19:00:53.884Z,1761505253.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290875
2025-10-26T19:00:54.137Z,1761505254.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543450
2025-10-26T19:00:54.222Z,1761505254.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841842,0.536412,0.059694],[-0.537823,0.824460,0.176102],[0.045248,-0.180355,0.982560]]
2025-10-26T19:00:54.388Z,1761505254.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794836
2025-10-26T19:00:54.626Z,1761505254.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841785,0.538581,0.036440],[-0.538209,0.832171,0.133502],[0.041577,-0.131992,0.990378]]
2025-10-26T19:00:54.640Z,1761505254.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046896
2025-10-26T19:00:54.892Z,1761505254.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298841
2025-10-26T19:00:55.030Z,1761505255.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835386,0.549507,0.013145],[-0.548719,0.832308,0.078554],[0.032226,-0.072836,0.996823]]
2025-10-26T19:00:55.144Z,1761505255.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550871
2025-10-26T19:00:55.396Z,1761505255.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802777
2025-10-26T19:00:55.434Z,1761505255.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820956,0.570932,-0.008237],[-0.570290,0.820577,0.037720],[0.028295,-0.026269,0.999254]]
2025-10-26T19:00:55.438Z,1761505255.438 [NAL9602](INFO): SBD MO Status=2, MOMSN=2961, MT Status=0, MTMSN=0
2025-10-26T19:00:55.438Z,1761505255.438 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:00:55.648Z,1761505255.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054841
2025-10-26T19:00:55.839Z,1761505255.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819210,0.572850,-0.027174],[-0.572084,0.819598,0.031269],[0.040184,-0.010070,0.999142]]
2025-10-26T19:00:55.900Z,1761505255.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306958
2025-10-26T19:00:56.152Z,1761505256.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558955
2025-10-26T19:00:56.242Z,1761505256.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824966,0.564562,-0.026475],[-0.564079,0.825378,0.023796],[0.035286,-0.004697,0.999366]]
2025-10-26T19:00:56.404Z,1761505256.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810785
2025-10-26T19:00:56.651Z,1761505256.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824883,0.565302,0.001176],[-0.565267,0.824803,0.013149],[0.006463,-0.011511,0.999913]]
2025-10-26T19:00:56.657Z,1761505256.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062990
2025-10-26T19:00:56.657Z,1761505256.657 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190055.00,A,3646.37585,N,12151.96286,W,0.914,243.26,261025,,,A*75
2025-10-26T19:00:56.660Z,1761505256.660 [NAL9602](INFO): GPS fix at 20251026T190055: (36.772931, -121.866048)
2025-10-26T19:00:56.718Z,1761505256.718 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:00:56.908Z,1761505256.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314784
2025-10-26T19:00:57.058Z,1761505257.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833148,0.552136,0.031782],[-0.552506,0.828404,0.092109],[0.024528,-0.094301,0.995242]]
2025-10-26T19:00:57.130Z,1761505257.130 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:00:57.130Z,1761505257.130 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:00:57.130Z,1761505257.130 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:00:57.131Z,1761505257.131 [marl:UpdateRudder:A] Stopped
2025-10-26T19:00:57.131Z,1761505257.131 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:00:57.160Z,1761505257.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566833
2025-10-26T19:00:57.412Z,1761505257.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818832
2025-10-26T19:00:57.462Z,1761505257.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831259,0.555730,-0.013128],[-0.549559,0.825123,0.130985],[0.083624,-0.101668,0.991297]]
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateRudder:B] Stopped
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateRudder] Stopped
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:00:57.500Z,1761505257.500 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateCommandMode] Stopped
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:00:57.501Z,1761505257.501 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:00:57.502Z,1761505257.502 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:00:57.502Z,1761505257.502 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:00:57.502Z,1761505257.502 [marl:UpdateSpeed] Stopped
2025-10-26T19:00:57.502Z,1761505257.502 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:00:57.664Z,1761505257.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070845
2025-10-26T19:00:57.863Z,1761505257.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817104,0.573358,-0.060011],[-0.563511,0.816333,0.126716],[0.121642,-0.069723,0.990122]]
2025-10-26T19:00:57.916Z,1761505257.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322898
2025-10-26T19:00:58.168Z,1761505258.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574865
2025-10-26T19:00:58.270Z,1761505258.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809415,0.583579,-0.065440],[-0.576731,0.810968,0.098549],[0.110581,-0.042026,0.992978]]
2025-10-26T19:00:58.420Z,1761505258.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826832
2025-10-26T19:00:58.669Z,1761505258.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812875,0.581792,-0.027421],[-0.577905,0.811517,0.086404],[0.072522,-0.054389,0.995883]]
2025-10-26T19:00:58.672Z,1761505258.672 [DAT](INFO): Reached modem response timeout
2025-10-26T19:00:59.071Z,1761505259.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812609,0.582732,0.009475],[-0.580130,0.807209,0.108918],[0.055822,-0.094004,0.994006]]
2025-10-26T19:00:59.479Z,1761505259.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812027,0.582067,0.042555],[-0.582893,0.805215,0.108929],[0.029138,-0.113258,0.993138]]
2025-10-26T19:00:59.878Z,1761505259.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815143,0.576669,0.054725],[-0.579145,0.813216,0.057184],[-0.011527,-0.078306,0.996863]]
2025-10-26T19:01:00.290Z,1761505260.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819631,0.572641,0.016966],[-0.572834,0.819610,0.010033],[-0.008160,-0.017943,0.999806]]
2025-10-26T19:01:00.818Z,1761505260.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813262,0.580268,-0.043522],[-0.581137,0.813748,-0.009752],[0.029758,0.033223,0.999005]]
2025-10-26T19:01:00.942Z,1761505260.942 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:01:00.942Z,1761505260.942 [DAT](INFO): response not received
2025-10-26T19:01:00.943Z,1761505260.943 [DAT](ERROR): No response from remote modem.
2025-10-26T19:01:01.190Z,1761505261.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808278,0.584552,-0.070609],[-0.585827,0.810429,0.003214],[0.059103,0.038767,0.997499]]
2025-10-26T19:01:01.594Z,1761505261.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806164,0.589540,-0.050417],[-0.586963,0.807564,0.057578],[0.074660,-0.016825,0.997067]]
2025-10-26T19:01:01.605Z,1761505261.605 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190100.00,A,3646.37566,N,12151.96457,W,0.914,260.09,261025,,,A*7F
2025-10-26T19:01:01.608Z,1761505261.608 [NAL9602](INFO): GPS fix at 20251026T190100: (36.772928, -121.866076)
2025-10-26T19:01:01.630Z,1761505261.630 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:01.999Z,1761505261.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801715,0.597650,0.008264],[-0.594731,0.796269,0.110680],[0.059568,-0.093649,0.993822]]
2025-10-26T19:01:02.403Z,1761505262.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798178,0.598993,0.064187],[-0.601157,0.785068,0.149258],[0.039013,-0.157721,0.986713]]
2025-10-26T19:01:02.867Z,1761505262.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798156,0.597359,0.078168],[-0.601847,0.784808,0.147839],[0.026966,-0.165044,0.985917]]
2025-10-26T19:01:03.211Z,1761505263.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798883,0.598943,0.055259],[-0.601477,0.794961,0.079132],[0.003467,-0.096454,0.995331]]
2025-10-26T19:01:03.614Z,1761505263.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806695,0.590968,-0.000097],[-0.590957,0.806681,0.006055],[0.003657,-0.004827,0.999982]]
2025-10-26T19:01:04.018Z,1761505264.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816116,0.574573,-0.061815],[-0.575313,0.817905,0.006852],[0.054496,0.029971,0.998064]]
2025-10-26T19:01:04.423Z,1761505264.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815495,0.574586,-0.069417],[-0.572733,0.818441,0.046155],[0.083334,0.002119,0.996519]]
2025-10-26T19:01:04.872Z,1761505264.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806075,0.591627,-0.014873],[-0.588227,0.803699,0.089759],[0.065057,-0.063604,0.995852]]
2025-10-26T19:01:05.231Z,1761505265.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802166,0.595805,0.039322],[-0.595009,0.792113,0.136094],[0.049938,-0.132567,0.989915]]
2025-10-26T19:01:05.634Z,1761505265.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802514,0.593705,0.059036],[-0.594909,0.788749,0.154785],[0.045332,-0.159339,0.986183]]
2025-10-26T19:01:06.039Z,1761505266.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797919,0.601584,0.037695],[-0.601367,0.790256,0.117700],[0.041017,-0.116584,0.992334]]
2025-10-26T19:01:06.451Z,1761505266.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801833,0.597544,-0.002123],[-0.596901,0.801126,0.043661],[0.027790,-0.033742,0.999044]]
2025-10-26T19:01:06.880Z,1761505266.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807748,0.589189,-0.019991],[-0.588887,0.807987,0.019221],[0.027478,-0.003753,0.999615]]
2025-10-26T19:01:07.251Z,1761505267.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812823,0.582135,-0.020917],[-0.580588,0.812533,0.052030],[0.047284,-0.030147,0.998426]]
2025-10-26T19:01:07.656Z,1761505267.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819219,0.573439,-0.006887],[-0.570475,0.816095,0.092455],[0.058637,-0.071812,0.995693]]
2025-10-26T19:01:08.058Z,1761505268.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811215,0.584733,-0.004098],[-0.580329,0.805926,0.117057],[0.071750,-0.092580,0.993117]]
2025-10-26T19:01:08.466Z,1761505268.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801400,0.598046,-0.009972],[-0.592657,0.796208,0.121698],[0.080720,-0.091619,0.992517]]
2025-10-26T19:01:08.883Z,1761505268.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798250,0.602320,-0.002823],[-0.597881,0.792919,0.117545],[0.073038,-0.092143,0.993064]]
2025-10-26T19:01:09.287Z,1761505269.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797498,0.602682,0.027774],[-0.601996,0.791851,0.102823],[0.039977,-0.098721,0.994312]]
2025-10-26T19:01:09.690Z,1761505269.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806659,0.588363,0.055946],[-0.591010,0.802553,0.081345],[0.002961,-0.098683,0.995115]]
2025-10-26T19:01:10.095Z,1761505270.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811530,0.581942,0.052573],[-0.584304,0.808671,0.068112],[-0.002877,-0.085993,0.996292]]
2025-10-26T19:01:10.498Z,1761505270.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807318,0.589813,0.018902],[-0.589952,0.805926,0.049386],[0.013895,-0.051021,0.998601]]
2025-10-26T19:01:10.538Z,1761505270.538 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:01:10.538Z,1761505270.538 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:01:10.538Z,1761505270.538 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:01:10.539Z,1761505270.539 [marl:UpdateRudder:A] Stopped
2025-10-26T19:01:10.539Z,1761505270.539 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:01:10.902Z,1761505270.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806475,0.591070,-0.015335],[-0.590807,0.806599,0.018608],[0.023368,-0.005947,0.999709]]
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateRudder:B] Stopped
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateRudder] Stopped
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:01:10.978Z,1761505270.978 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:01:10.979Z,1761505270.979 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:01:10.979Z,1761505270.979 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:01:10.979Z,1761505270.979 [marl:UpdateCommandMode] Stopped
2025-10-26T19:01:10.979Z,1761505270.979 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:01:10.979Z,1761505270.979 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:01:10.979Z,1761505270.979 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:01:10.991Z,1761505270.991 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:01:10.992Z,1761505270.992 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:01:10.992Z,1761505270.992 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:01:10.992Z,1761505270.992 [marl:UpdateSpeed] Stopped
2025-10-26T19:01:10.992Z,1761505270.992 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:01:11.307Z,1761505271.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803006,0.595226,-0.029775],[-0.594988,0.803549,0.017277],[0.034209,0.003842,0.999407]]
2025-10-26T19:01:11.848Z,1761505271.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799287,0.600601,-0.020482],[-0.598982,0.798963,0.053659],[0.048592,-0.030620,0.998349]]
2025-10-26T19:01:12.218Z,1761505272.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803786,0.594761,0.013666],[-0.592985,0.799114,0.098920],[0.047913,-0.087614,0.995001]]
2025-10-26T19:01:12.379Z,1761505272.379 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002759
2025-10-26T19:01:14.263Z,1761505274.263 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 871.30, 750.00,   8.69
2025-10-26T19:01:14.571Z,1761505274.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815595,0.572257,-0.085595],[-0.571940,0.819724,0.030622],[0.087688,0.023980,0.995859]]
2025-10-26T19:01:14.971Z,1761505274.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807370,0.588740,-0.039228],[-0.584913,0.807326,0.078113],[0.077658,-0.040122,0.996172]]
2025-10-26T19:01:15.374Z,1761505275.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808870,0.587216,0.030110],[-0.587521,0.805130,0.081150],[0.023410,-0.083330,0.996247]]
2025-10-26T19:01:15.779Z,1761505275.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819192,0.571616,0.046684],[-0.573489,0.815591,0.076949],[0.005911,-0.089809,0.995941]]
2025-10-26T19:01:16.182Z,1761505276.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821798,0.569777,-0.001428],[-0.567979,0.819400,0.077354],[0.045244,-0.062758,0.997003]]
2025-10-26T19:01:16.586Z,1761505276.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819710,0.570974,-0.045440],[-0.567554,0.820363,0.069903],[0.077190,-0.031511,0.996518]]
2025-10-26T19:01:16.990Z,1761505276.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826830,0.560830,-0.042679],[-0.558824,0.827733,0.050733],[0.063779,-0.018097,0.997800]]
2025-10-26T19:01:17.399Z,1761505277.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835615,0.548765,-0.024591],[-0.547014,0.835373,0.054110],[0.050237,-0.031764,0.998232]]
2025-10-26T19:01:17.799Z,1761505277.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838707,0.544237,-0.019399],[-0.541548,0.837260,0.075642],[0.057409,-0.052936,0.996946]]
2025-10-26T19:01:18.202Z,1761505278.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836047,0.548190,-0.022645],[-0.541790,0.831389,0.123513],[0.086535,-0.090994,0.992085]]
2025-10-26T19:01:18.293Z,1761505278.293 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:01:18.336Z,1761505278.336 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:18.337Z,1761505278.337 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:01:18.588Z,1761505278.588 [DAT](INFO): DAT read: user:12>

2025-10-26T19:01:18.589Z,1761505278.589 [DAT](INFO): DAT read: Tx time:19:01:17.6679

2025-10-26T19:01:18.589Z,1761505278.589 [DAT](INFO): Ping request sent.
2025-10-26T19:01:18.589Z,1761505278.589 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:01:18.590Z,1761505278.590 [DAT](INFO): publishing transmit ping time
2025-10-26T19:01:18.590Z,1761505278.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000923
2025-10-26T19:01:18.607Z,1761505278.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825023,0.565035,-0.008522],[-0.554520,0.812389,0.180365],[0.108836,-0.144079,0.983563]]
2025-10-26T19:01:18.842Z,1761505278.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252412
2025-10-26T19:01:19.010Z,1761505279.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821792,0.568251,0.041830],[-0.565313,0.803954,0.184606],[0.071273,-0.175355,0.981922]]
2025-10-26T19:01:19.092Z,1761505279.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502827
2025-10-26T19:01:19.344Z,1761505279.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754941
2025-10-26T19:01:19.420Z,1761505279.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820303,0.567061,0.074459],[-0.571329,0.806510,0.152065],[0.026178,-0.167280,0.985562]]
2025-10-26T19:01:19.596Z,1761505279.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006888
2025-10-26T19:01:19.819Z,1761505279.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816911,0.574548,0.050502],[-0.576527,0.810935,0.100004],[0.016503,-0.110810,0.993705]]
2025-10-26T19:01:19.848Z,1761505279.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258975
2025-10-26T19:01:20.100Z,1761505280.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837
2025-10-26T19:01:20.222Z,1761505280.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816049,0.577979,0.002286],[-0.577194,0.814720,0.055484],[0.030206,-0.046597,0.998457]]
2025-10-26T19:01:20.352Z,1761505280.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846
2025-10-26T19:01:20.604Z,1761505280.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014831
2025-10-26T19:01:20.626Z,1761505280.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820648,0.570943,-0.023695],[-0.570085,0.820854,0.034678],[0.039249,-0.014950,0.999118]]
2025-10-26T19:01:20.859Z,1761505280.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269059
2025-10-26T19:01:20.869Z,1761505280.869 [DataOverHttps](INFO): Sending 817 bytes from file Logs/20251026T180417/Express0016.lzma
2025-10-26T19:01:21.031Z,1761505281.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827166,0.561928,-0.005719],[-0.561489,0.826850,0.032409],[0.022941,-0.023596,0.999458]]
2025-10-26T19:01:21.042Z,1761505281.042 [NAL9602](INFO): SBD MO Status=1, MOMSN=2961, MT Status=0, MTMSN=0
2025-10-26T19:01:21.088Z,1761505281.088 [NAL9602](INFO): Sent 153 bytes from file Logs/20251026T180417/Express0016.lzma
2025-10-26T19:01:21.088Z,1761505281.088 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:01:21.108Z,1761505281.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518899
2025-10-26T19:01:21.360Z,1761505281.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770813
2025-10-26T19:01:21.444Z,1761505281.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822705,0.568388,0.009572],[-0.568444,0.822395,0.023188],[0.005307,-0.024518,0.999685]]
2025-10-26T19:01:21.612Z,1761505281.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022868
2025-10-26T19:01:21.838Z,1761505281.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816106,0.577603,0.018622],[-0.577716,0.816238,0.000863],[-0.014701,-0.011462,0.999826]]
2025-10-26T19:01:21.864Z,1761505281.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274875
2025-10-26T19:01:22.116Z,1761505282.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526945
2025-10-26T19:01:22.243Z,1761505282.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818003,0.574546,0.027702],[-0.574228,0.818472,-0.019112],[-0.033654,-0.000274,0.999433]]
2025-10-26T19:01:22.250Z,1761505282.250 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190121.00,A,3646.37518,N,12151.96838,W,1.011,257.15,261025,,,A*74
2025-10-26T19:01:22.253Z,1761505282.253 [NAL9602](INFO): GPS fix at 20251026T190121: (36.772920, -121.866140)
2025-10-26T19:01:22.340Z,1761505282.340 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:22.369Z,1761505282.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779353
2025-10-26T19:01:22.462Z,1761505282.462 [DataOverHttps](FAULT): Server acknowledged file Logs/20251026T180417/Express0016.lzma, not
2025-10-26T19:01:22.462Z,1761505282.462 [DataOverHttps](INFO): SBD MOMSN=26241993
2025-10-26T19:01:22.620Z,1761505282.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030948
2025-10-26T19:01:22.646Z,1761505282.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828826,0.558510,0.033376],[-0.558862,0.829260,0.001489],[-0.026845,-0.019886,0.999442]]
2025-10-26T19:01:22.740Z,1761505282.740 [marl:NeedComms:D] Stopped
2025-10-26T19:01:22.741Z,1761505282.741 [marl:NeedComms:E] Running Loop=1
2025-10-26T19:01:22.872Z,1761505282.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282747
2025-10-26T19:01:23.050Z,1761505283.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829558,0.557996,0.021768],[-0.558294,0.827912,0.053570],[0.011870,-0.056592,0.998327]]
2025-10-26T19:01:23.124Z,1761505283.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534775
2025-10-26T19:01:23.376Z,1761505283.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786743
2025-10-26T19:01:23.457Z,1761505283.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827927,0.560833,-0.001880],[-0.557793,0.823779,0.101272],[0.058345,-0.082797,0.994857]]
2025-10-26T19:01:23.628Z,1761505283.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038806
2025-10-26T19:01:23.863Z,1761505283.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833136,0.552970,-0.010416],[-0.547503,0.827271,0.125951],[0.078264,-0.099231,0.991982]]
2025-10-26T19:01:23.882Z,1761505283.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292959
2025-10-26T19:01:24.136Z,1761505284.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546794
2025-10-26T19:01:24.264Z,1761505284.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828575,0.559877,0.000551],[-0.555038,0.821284,0.132005],[0.073454,-0.109682,0.991249]]
2025-10-26T19:01:24.388Z,1761505284.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798804
2025-10-26T19:01:24.640Z,1761505284.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050863
2025-10-26T19:01:24.666Z,1761505284.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824083,0.565955,0.024114],[-0.564059,0.815913,0.126975],[0.052187,-0.118239,0.991613]]
2025-10-26T19:01:24.892Z,1761505284.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302831
2025-10-26T19:01:25.070Z,1761505285.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823756,0.565213,0.044275],[-0.565896,0.814975,0.124810],[0.034462,-0.127868,0.991192]]
2025-10-26T19:01:25.084Z,1761505285.084 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190124.00,A,3646.37504,N,12151.96850,W,0.058,257.15,261025,,,A*7E
2025-10-26T19:01:25.086Z,1761505285.086 [NAL9602](INFO): GPS fix at 20251026T190124: (36.772917, -121.866142)
2025-10-26T19:01:25.144Z,1761505285.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554851
2025-10-26T19:01:25.194Z,1761505285.194 [marl:NeedComms:E] Stopped
2025-10-26T19:01:25.194Z,1761505285.194 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T19:01:25.194Z,1761505285.194 [marl:NeedComms] Stopped
2025-10-26T19:01:25.195Z,1761505285.195 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T19:01:25.195Z,1761505285.195 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T19:01:25.195Z,1761505285.195 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T19:01:25.216Z,1761505285.216 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:25.397Z,1761505285.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807017
2025-10-26T19:01:25.475Z,1761505285.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815314,0.576967,0.048702],[-0.578130,0.806519,0.123664],[0.032071,-0.128981,0.991128]]
2025-10-26T19:01:25.648Z,1761505285.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058866
2025-10-26T19:01:25.889Z,1761505285.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822987,0.568059,0.000660],[-0.567845,0.822645,0.028408],[0.015594,-0.023755,0.999596]]
2025-10-26T19:01:25.901Z,1761505285.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311561
2025-10-26T19:01:25.966Z,1761505285.966 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:01:25.966Z,1761505285.966 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:01:25.966Z,1761505285.966 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:01:25.967Z,1761505285.967 [marl:UpdateRudder:A] Stopped
2025-10-26T19:01:25.967Z,1761505285.967 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:01:26.152Z,1761505286.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562911
2025-10-26T19:01:26.288Z,1761505286.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838740,0.543865,-0.026935],[-0.544170,0.838960,-0.005054],[0.019849,0.018896,0.999624]]
2025-10-26T19:01:26.325Z,1761505286.325 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:01:26.325Z,1761505286.325 [marl:UpdateRudder:B] Stopped
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateRudder] Stopped
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:01:26.326Z,1761505286.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:01:26.327Z,1761505286.327 [marl:UpdateCommandMode] Stopped
2025-10-26T19:01:26.327Z,1761505286.327 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:01:26.327Z,1761505286.327 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:01:26.327Z,1761505286.327 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:01:26.327Z,1761505286.327 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:01:26.347Z,1761505286.347 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:01:26.348Z,1761505286.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:01:26.348Z,1761505286.348 [marl:UpdateSpeed] Stopped
2025-10-26T19:01:26.348Z,1761505286.348 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:01:26.406Z,1761505286.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815846
2025-10-26T19:01:26.657Z,1761505286.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067491
2025-10-26T19:01:26.691Z,1761505286.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838667,0.543826,-0.029849],[-0.543793,0.839161,0.009894],[0.030429,0.007934,0.999505]]
2025-10-26T19:01:26.909Z,1761505286.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319824
2025-10-26T19:01:27.100Z,1761505287.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830154,0.557267,-0.017227],[-0.555574,0.829430,0.058160],[0.046699,-0.038711,0.998159]]
2025-10-26T19:01:27.160Z,1761505287.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570894
2025-10-26T19:01:27.414Z,1761505287.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823769
2025-10-26T19:01:27.498Z,1761505287.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830192,0.557390,0.009913],[-0.555112,0.824901,0.106718],[0.051307,-0.094099,0.994240]]
2025-10-26T19:01:27.665Z,1761505287.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075017
2025-10-26T19:01:27.905Z,1761505287.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830461,0.555508,0.041784],[-0.555222,0.819248,0.143392],[0.045423,-0.142281,0.988784]]
2025-10-26T19:01:27.917Z,1761505287.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327518
2025-10-26T19:01:27.945Z,1761505287.945 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190127.00,A,3646.37519,N,12151.96931,W,0.797,283.29,261025,,,A*75
2025-10-26T19:01:27.951Z,1761505287.951 [NAL9602](INFO): GPS fix at 20251026T190127: (36.772920, -121.866155)
2025-10-26T19:01:28.018Z,1761505288.018 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:28.168Z,1761505288.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578874
2025-10-26T19:01:28.304Z,1761505288.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826999,0.560359,0.045491],[-0.559560,0.812577,0.163129],[0.054446,-0.160362,0.985555]]
2025-10-26T19:01:28.422Z,1761505288.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831844
2025-10-26T19:01:28.672Z,1761505288.672 [DAT](INFO): Reached modem response timeout
2025-10-26T19:01:28.713Z,1761505288.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825483,0.564379,0.007413],[-0.558489,0.814828,0.155389],[0.081658,-0.132411,0.987826]]
2025-10-26T19:01:29.111Z,1761505289.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829797,0.556243,-0.045049],[-0.550208,0.828943,0.100619],[0.093312,-0.058707,0.993905]]
2025-10-26T19:01:29.515Z,1761505289.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825149,0.556060,-0.099634],[-0.556510,0.830440,0.025800],[0.097086,0.034159,0.994690]]
2025-10-26T19:01:29.931Z,1761505289.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823088,0.552711,-0.130523],[-0.560769,0.827318,-0.032903],[0.089799,0.100275,0.990899]]
2025-10-26T19:01:30.322Z,1761505290.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835078,0.538546,-0.112307],[-0.544645,0.838099,-0.030860],[0.077505,0.086938,0.993194]]
2025-10-26T19:01:30.762Z,1761505290.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845137,0.527850,-0.084369],[-0.525657,0.849330,0.048207],[0.097103,0.003608,0.995268]]
2025-10-26T19:01:30.941Z,1761505290.941 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:01:30.941Z,1761505290.941 [DAT](INFO): response not received
2025-10-26T19:01:30.941Z,1761505290.941 [DAT](ERROR): No response from remote modem.
2025-10-26T19:01:31.131Z,1761505291.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841885,0.536761,-0.055825],[-0.521580,0.835870,0.171102],[0.138503,-0.114931,0.983671]]
2025-10-26T19:01:31.136Z,1761505291.136 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190130.00,A,3646.37514,N,12151.97033,W,0.136,264.38,261025,,,A*70
2025-10-26T19:01:31.138Z,1761505291.138 [NAL9602](INFO): GPS fix at 20251026T190130: (36.772919, -121.866172)
2025-10-26T19:01:31.199Z,1761505291.199 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:31.534Z,1761505291.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828208,0.559980,-0.022231],[-0.536438,0.803621,0.257736],[0.162192,-0.201533,0.965960]]
2025-10-26T19:01:32.060Z,1761505292.060 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2025-10-26T19:01:32.060Z,1761505292.060 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2025-10-26T19:01:32.060Z,1761505292.060 [BuoyancyServo] Communications Fault, FailCount= 1
2025-10-26T19:01:32.060Z,1761505292.060 [BuoyancyServo](ERROR): Communications Fault
2025-10-26T19:01:32.215Z,1761505292.215 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2025-10-26T19:01:32.342Z,1761505292.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810154,0.586214,0.001943],[-0.570065,0.787055,0.235733],[0.136661,-0.192088,0.971816]]
2025-10-26T19:01:32.747Z,1761505292.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824019,0.566340,-0.015879],[-0.555360,0.812955,0.175156],[0.112107,-0.135513,0.984413]]
2025-10-26T19:01:32.752Z,1761505292.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:01:33.150Z,1761505293.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829550,0.555816,-0.053995],[-0.546380,0.827822,0.127201],[0.115398,-0.076018,0.990406]]
2025-10-26T19:01:33.165Z,1761505293.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +1.24,     +1653.81, .00, :BI,  +163,    -7,  -366,    -9,A
2025-10-26T19:01:33.558Z,1761505293.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823385,0.560945,-0.085891],[-0.553589,0.827259,0.095815],[0.124801,-0.031344,0.991687]]
2025-10-26T19:01:33.958Z,1761505293.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813727,0.574745,-0.086699],[-0.568977,0.818125,0.083292],[0.118802,-0.018448,0.992747]]
2025-10-26T19:01:33.969Z,1761505293.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190133.00,A,3646.37502,N,12151.97034,W,0.855,249.57,261025,,,A*79
2025-10-26T19:01:33.972Z,1761505293.972 [NAL9602](INFO): GPS fix at 20251026T190133: (36.772917, -121.866172)
2025-10-26T19:01:33.993Z,1761505293.993 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:33.998Z,1761505293.998 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-10-26T19:01:33.998Z,1761505293.998 [BuoyancyServo](INFO): Powering down
2025-10-26T19:01:34.362Z,1761505294.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803187,0.591380,-0.071838],[-0.584225,0.805513,0.099150],[0.116502,-0.037666,0.992476]]
2025-10-26T19:01:34.803Z,1761505294.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797646,0.600502,-0.056205],[-0.590206,0.796347,0.132246],[0.124173,-0.072313,0.989622]]
2025-10-26T19:01:35.072Z,1761505295.072 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-10-26T19:01:35.072Z,1761505295.072 [BuoyancyServo] No Fault, FailCount= 1
2025-10-26T19:01:35.172Z,1761505295.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789235,0.612346,-0.046258],[-0.598397,0.783801,0.166063],[0.137945,-0.103382,0.985030]]
2025-10-26T19:01:35.321Z,1761505295.321 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-10-26T19:01:35.328Z,1761505295.328 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-10-26T19:01:35.578Z,1761505295.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779012,0.625836,-0.038337],[-0.610239,0.770805,0.182945],[0.144044,-0.119122,0.982375]]
2025-10-26T19:01:36.385Z,1761505296.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757649,0.652173,0.025280],[-0.636113,0.729216,0.252198],[0.146042,-0.207158,0.967345]]
2025-10-26T19:01:36.792Z,1761505296.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744838,0.666255,0.036324],[-0.655054,0.719786,0.229810],[0.126966,-0.194966,0.972557]]
2025-10-26T19:01:36.819Z,1761505296.819 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190136.00,A,3646.37540,N,12151.97125,W,1.613,290.45,261025,,,A*71
2025-10-26T19:01:36.835Z,1761505296.835 [NAL9602](INFO): GPS fix at 20251026T190136: (36.772923, -121.866187)
2025-10-26T19:01:36.989Z,1761505296.989 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:37.112Z,1761505297.112 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:01:37.112Z,1761505297.112 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:01:37.190Z,1761505297.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744922,0.667119,0.006589],[-0.661365,0.737127,0.138707],[0.087677,-0.107683,0.990312]]
2025-10-26T19:01:37.597Z,1761505297.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752650,0.655789,-0.058805],[-0.654294,0.754928,0.044540],[0.073602,0.004952,0.997275]]
2025-10-26T19:01:37.999Z,1761505297.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756108,0.644650,-0.112811],[-0.646491,0.762532,0.024371],[0.101733,0.054504,0.993318]]
2025-10-26T19:01:38.411Z,1761505298.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743179,0.656903,-0.127136],[-0.651937,0.753683,0.083302],[0.150541,0.020976,0.988381]]
2025-10-26T19:01:38.856Z,1761505298.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722202,0.683694,-0.104817],[-0.664348,0.727830,0.170016],[0.192528,-0.053151,0.979851]]
2025-10-26T19:01:39.337Z,1761505299.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710166,0.700128,-0.074069],[-0.670139,0.704474,0.233732],[0.215822,-0.116352,0.969476]]
2025-10-26T19:01:39.425Z,1761505299.425 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:01:39.425Z,1761505299.425 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:01:39.425Z,1761505299.425 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateRudder:A] Stopped
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:01:39.426Z,1761505299.426 [marl:UpdateCommandMode] Stopped
2025-10-26T19:01:39.427Z,1761505299.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:01:39.427Z,1761505299.427 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:01:39.427Z,1761505299.427 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:01:39.427Z,1761505299.427 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:01:39.431Z,1761505299.431 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:01:39.432Z,1761505299.432 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:01:39.432Z,1761505299.432 [marl:UpdateSpeed] Stopped
2025-10-26T19:01:39.432Z,1761505299.432 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:01:39.737Z,1761505299.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700215,0.712607,-0.043471],[-0.678486,0.683163,0.270085],[0.222163,-0.159623,0.961855]]
2025-10-26T19:01:39.797Z,1761505299.797 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:01:39.797Z,1761505299.797 [marl:UpdateRudder:B] Stopped
2025-10-26T19:01:39.797Z,1761505299.797 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:01:39.797Z,1761505299.797 [marl:UpdateRudder] Stopped
2025-10-26T19:01:39.797Z,1761505299.797 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:01:40.144Z,1761505300.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687268,0.725892,-0.027271],[-0.693635,0.666950,0.272118],[0.215717,-0.168102,0.961877]]
2025-10-26T19:01:40.149Z,1761505300.149 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190139.00,A,3646.37563,N,12151.97246,W,0.447,285.31,261025,,,A*7C
2025-10-26T19:01:40.151Z,1761505300.151 [NAL9602](INFO): GPS fix at 20251026T190139: (36.772927, -121.866208)
2025-10-26T19:01:40.173Z,1761505300.173 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:40.542Z,1761505300.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671693,0.740421,-0.024609],[-0.711513,0.654009,0.256948],[0.206344,-0.155080,0.966112]]
2025-10-26T19:01:40.948Z,1761505300.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662780,0.748486,-0.022176],[-0.720939,0.645832,0.251291],[0.202409,-0.150563,0.967658]]
2025-10-26T19:01:41.366Z,1761505301.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659816,0.751087,-0.022623],[-0.720829,0.641165,0.263273],[0.212246,-0.157405,0.964456]]
2025-10-26T19:01:41.767Z,1761505301.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649229,0.759468,-0.041369],[-0.722557,0.632833,0.278269],[0.237516,-0.150769,0.959612]]
2025-10-26T19:01:42.162Z,1761505302.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635213,0.768948,-0.072277],[-0.727795,0.627273,0.277206],[0.258494,-0.123482,0.958088]]
2025-10-26T19:01:42.562Z,1761505302.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629226,0.771303,-0.095737],[-0.726575,0.627482,0.279920],[0.275976,-0.106573,0.955238]]
2025-10-26T19:01:42.976Z,1761505302.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630537,0.769606,-0.100647],[-0.716712,0.627098,0.305078],[0.297906,-0.120228,0.946994]]
2025-10-26T19:01:42.981Z,1761505302.981 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190142.00,A,3646.37592,N,12151.97334,W,0.836,288.70,261025,,,A*78
2025-10-26T19:01:42.983Z,1761505302.983 [NAL9602](INFO): GPS fix at 20251026T190142: (36.772932, -121.866222)
2025-10-26T19:01:43.057Z,1761505303.057 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:43.375Z,1761505303.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623383,0.775233,-0.102014],[-0.712080,0.616749,0.335503],[0.323010,-0.136505,0.936499]]
2025-10-26T19:01:43.815Z,1761505303.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612585,0.783713,-0.102635],[-0.718286,0.606168,0.341504],[0.329856,-0.135479,0.934259]]
2025-10-26T19:01:44.197Z,1761505304.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614075,0.784976,-0.082001],[-0.725574,0.602362,0.332719],[0.310571,-0.144817,0.939454]]
2025-10-26T19:01:44.596Z,1761505304.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630265,0.774595,-0.052618],[-0.716805,0.606600,0.343843],[0.298257,-0.178996,0.937552]]
2025-10-26T19:01:44.708Z,1761505304.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:01:44.810Z,1761505304.810 [DAT](INFO): setting remote address to 6
2025-10-26T19:01:44.986Z,1761505304.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647712,0.760784,-0.040953],[-0.695756,0.612542,0.375119],[0.310470,-0.214476,0.926071]]
2025-10-26T19:01:45.056Z,1761505305.056 [DAT](INFO): DAT read: user:13>

2025-10-26T19:01:45.057Z,1761505305.057 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:01:45.058Z,1761505305.058 [DAT](INFO): set remote address to 6
2025-10-26T19:01:45.058Z,1761505305.058 [DAT](INFO): entering online mode
2025-10-26T19:01:45.308Z,1761505305.308 [DAT](INFO): DAT read: user:14>

2025-10-26T19:01:45.309Z,1761505305.309 [DAT](INFO): DAT read: 

2025-10-26T19:01:45.310Z,1761505305.310 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:01:45.310Z,1761505305.310 [DAT](INFO): commRate: 600
2025-10-26T19:01:45.310Z,1761505305.310 [DAT](INFO): online mode acknowledged
2025-10-26T19:01:45.311Z,1761505305.311 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:01:45.398Z,1761505305.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656905,0.750519,-0.072086],[-0.678454,0.630108,0.377709],[0.328900,-0.199212,0.923114]]
2025-10-26T19:01:45.816Z,1761505305.816 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190145.00,A,3646.37636,N,12151.97465,W,1.847,290.69,261025,,,A*77
2025-10-26T19:01:45.818Z,1761505305.818 [NAL9602](INFO): GPS fix at 20251026T190145: (36.772939, -121.866244)
2025-10-26T19:01:45.861Z,1761505305.861 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:46.198Z,1761505306.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662718,0.732123,-0.157482],[-0.666848,0.672627,0.320759],[0.340762,-0.107556,0.933977]]
2025-10-26T19:01:46.603Z,1761505306.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669675,0.721370,-0.176522],[-0.660696,0.687241,0.301962],[0.339139,-0.085589,0.936835]]
2025-10-26T19:01:47.019Z,1761505307.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676432,0.711291,-0.191062],[-0.650804,0.698710,0.297082],[0.344809,-0.076612,0.935541]]
2025-10-26T19:01:47.422Z,1761505307.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680422,0.703043,-0.206776],[-0.639444,0.707427,0.301095],[0.357962,-0.072650,0.930906]]
2025-10-26T19:01:47.840Z,1761505307.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688208,0.693336,-0.213670],[-0.627040,0.716563,0.305544],[0.364953,-0.076298,0.927894]]
2025-10-26T19:01:48.218Z,1761505308.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696348,0.683499,-0.218924],[-0.614262,0.725341,0.310745],[0.371189,-0.081909,0.924938]]
2025-10-26T19:01:48.585Z,1761505308.585 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:01:47.7166

2025-10-26T19:01:48.585Z,1761505308.585 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:01:48.630Z,1761505308.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704201,0.669694,-0.235819],[-0.600002,0.738896,0.306642],[0.379602,-0.074446,0.922150]]
2025-10-26T19:01:48.685Z,1761505308.685 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:01:48.839Z,1761505308.839 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:48.892Z,1761505308.892 [DAT](INFO): entering command mode
2025-10-26T19:01:49.026Z,1761505309.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715682,0.650977,-0.253039],[-0.584593,0.756582,0.292977],[0.382166,-0.061754,0.922028]]
2025-10-26T19:01:49.037Z,1761505309.037 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190148.00,A,3646.37721,N,12151.97743,W,3.402,290.69,261025,,,A*75
2025-10-26T19:01:49.040Z,1761505309.040 [NAL9602](INFO): GPS fix at 20251026T190148: (36.772953, -121.866291)
2025-10-26T19:01:49.088Z,1761505309.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:49.088Z,1761505309.088 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:49.101Z,1761505309.101 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:49.340Z,1761505309.340 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:49.340Z,1761505309.340 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:49.430Z,1761505309.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728155,0.633513,-0.261631],[-0.570398,0.771738,0.281190],[0.380048,-0.055516,0.923299]]
2025-10-26T19:01:49.593Z,1761505309.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:49.593Z,1761505309.593 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:49.835Z,1761505309.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740810,0.617291,-0.264863],[-0.555568,0.784702,0.274933],[0.377552,-0.056523,0.924262]]
2025-10-26T19:01:49.844Z,1761505309.844 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:49.844Z,1761505309.844 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:50.100Z,1761505310.100 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:50.100Z,1761505310.100 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:50.262Z,1761505310.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754589,0.597341,-0.271623],[-0.536343,0.799928,0.269167],[0.378064,-0.057428,0.923997]]
2025-10-26T19:01:50.348Z,1761505310.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:50.349Z,1761505310.349 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:50.600Z,1761505310.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:50.600Z,1761505310.600 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:50.660Z,1761505310.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766272,0.573542,-0.289614],[-0.514059,0.817666,0.259161],[0.385448,-0.049709,0.921390]]
2025-10-26T19:01:50.854Z,1761505310.854 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:50.855Z,1761505310.855 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:51.046Z,1761505311.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774160,0.548270,-0.316348],[-0.493144,0.835725,0.241603],[0.396844,-0.031034,0.917361]]
2025-10-26T19:01:51.108Z,1761505311.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:51.109Z,1761505311.109 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:51.357Z,1761505311.357 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:51.357Z,1761505311.357 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:51.450Z,1761505311.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779308,0.526136,-0.340382],[-0.477755,0.850350,0.220579],[0.405498,-0.009281,0.914049]]
2025-10-26T19:01:51.609Z,1761505311.609 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:51.609Z,1761505311.609 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:51.859Z,1761505311.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786260,0.508637,-0.350833],[-0.465719,0.860977,0.204511],[0.406081,0.002591,0.913833]]
2025-10-26T19:01:51.862Z,1761505311.862 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:51.862Z,1761505311.862 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:01:51.870Z,1761505311.870 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190151.00,A,3646.37856,N,12151.98164,W,4.140,290.69,261025,,,A*7A
2025-10-26T19:01:51.873Z,1761505311.873 [NAL9602](INFO): GPS fix at 20251026T190151: (36.772976, -121.866361)
2025-10-26T19:01:51.927Z,1761505311.927 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:52.113Z,1761505312.113 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:01:51.3166

2025-10-26T19:01:52.113Z,1761505312.113 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T19:01:52.113Z,1761505312.113 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:52.167Z,1761505312.167 [DAT](INFO): entering command mode
2025-10-26T19:01:52.258Z,1761505312.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797052,0.494683,-0.346405],[-0.452885,0.869072,0.199021],[0.399503,-0.001749,0.916730]]
2025-10-26T19:01:52.334Z,1761505312.334 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:01:52.334Z,1761505312.334 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:01:52.335Z,1761505312.335 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:01:52.335Z,1761505312.335 [marl:UpdateRudder:A] Stopped
2025-10-26T19:01:52.335Z,1761505312.335 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:01:52.335Z,1761505312.335 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:01:52.335Z,1761505312.335 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:01:52.335Z,1761505312.335 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateCommandMode] Stopped
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:01:52.336Z,1761505312.336 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:01:52.337Z,1761505312.337 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:01:52.337Z,1761505312.337 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:01:52.337Z,1761505312.337 [marl:UpdateSpeed] Stopped
2025-10-26T19:01:52.337Z,1761505312.337 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:01:52.365Z,1761505312.365 [DAT](INFO): DAT read: 

2025-10-26T19:01:52.366Z,1761505312.366 [DAT](INFO): DAT read: user:15>

2025-10-26T19:01:52.367Z,1761505312.367 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:52.376Z,1761505312.376 [DAT](INFO): setting remote address to 0
2025-10-26T19:01:52.616Z,1761505312.616 [DAT](INFO): DAT read: user:15>

2025-10-26T19:01:52.617Z,1761505312.617 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:01:52.618Z,1761505312.618 [DAT](INFO): set remote address to 0
2025-10-26T19:01:52.618Z,1761505312.618 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:01:52.618Z,1761505312.618 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:01:52.674Z,1761505312.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809766,0.482067,-0.334500],[-0.438093,0.875971,0.201865],[0.390324,-0.016921,0.920522]]
2025-10-26T19:01:52.742Z,1761505312.742 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:01:52.742Z,1761505312.742 [marl:UpdateRudder:B] Stopped
2025-10-26T19:01:52.742Z,1761505312.742 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:01:52.742Z,1761505312.742 [marl:UpdateRudder] Stopped
2025-10-26T19:01:52.742Z,1761505312.742 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:01:52.871Z,1761505312.871 [DAT](INFO): DAT read: user:16>

2025-10-26T19:01:52.872Z,1761505312.872 [DAT](INFO): DAT read: Tx time:19:01:51.9678

2025-10-26T19:01:52.872Z,1761505312.872 [DAT](INFO): Ping request sent.
2025-10-26T19:01:52.873Z,1761505312.873 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:01:52.873Z,1761505312.873 [DAT](INFO): publishing transmit ping time
2025-10-26T19:01:52.875Z,1761505312.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001909
2025-10-26T19:01:53.081Z,1761505313.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821803,0.470127,-0.321902],[-0.423673,0.881971,0.206467],[0.380974,-0.033294,0.923986]]
2025-10-26T19:01:53.106Z,1761505313.106 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,+115,A
2025-10-26T19:01:53.120Z,1761505313.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247752
2025-10-26T19:01:53.374Z,1761505313.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501030
2025-10-26T19:01:53.485Z,1761505313.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832367,0.460849,-0.307870],[-0.412722,0.886165,0.210647],[0.369900,-0.048271,0.927817]]
2025-10-26T19:01:53.624Z,1761505313.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751759
2025-10-26T19:01:53.880Z,1761505313.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007588
2025-10-26T19:01:53.920Z,1761505313.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841136,0.456601,-0.289838],[-0.407480,0.887428,0.215481],[0.355599,-0.063145,0.932503]]
2025-10-26T19:01:54.132Z,1761505314.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259816
2025-10-26T19:01:54.384Z,1761505314.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511769
2025-10-26T19:01:54.413Z,1761505314.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859638,0.435983,-0.266349],[-0.392205,0.897236,0.202835],[0.327411,-0.069902,0.942293]]
2025-10-26T19:01:54.637Z,1761505314.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764331
2025-10-26T19:01:54.756Z,1761505314.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867760,0.418690,-0.267752],[-0.379717,0.906144,0.186329],[0.320636,-0.060020,0.945299]]
2025-10-26T19:01:54.889Z,1761505314.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015915
2025-10-26T19:01:55.140Z,1761505315.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267698
2025-10-26T19:01:55.162Z,1761505315.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874108,0.401087,-0.273978],[-0.367207,0.914881,0.167783],[0.317953,-0.046054,0.946987]]
2025-10-26T19:01:55.392Z,1761505315.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519790
2025-10-26T19:01:55.558Z,1761505315.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879148,0.385419,-0.280269],[-0.356276,0.922168,0.150577],[0.316490,-0.032527,0.948038]]
2025-10-26T19:01:55.647Z,1761505315.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773860
2025-10-26T19:01:55.896Z,1761505315.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023758
2025-10-26T19:01:55.962Z,1761505315.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884490,0.369164,-0.285298],[-0.344878,0.929163,0.133100],[0.314224,-0.019332,0.949152]]
2025-10-26T19:01:56.148Z,1761505316.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275816
2025-10-26T19:01:56.376Z,1761505316.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891164,0.349931,-0.288747],[-0.330320,0.936743,0.115761],[0.310990,-0.007783,0.950381]]
2025-10-26T19:01:56.402Z,1761505316.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529525
2025-10-26T19:01:56.652Z,1761505316.652 [DAT](INFO): DAT read: Rx Time:19:01:55.1478

2025-10-26T19:01:56.653Z,1761505316.653 [DAT](INFO): Rx dataTimestamp_ set to:1761505316.652529
2025-10-26T19:01:56.653Z,1761505316.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780819
2025-10-26T19:01:56.775Z,1761505316.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898767,0.329094,-0.289680],[-0.312715,0.944296,0.102541],[0.307289,-0.001573,0.951615]]
2025-10-26T19:01:56.905Z,1761505316.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032317
2025-10-26T19:01:57.167Z,1761505317.167 [DAT](INFO): DAT read: 19:01:55.1478 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 342,-0.42,-1.801, 2.597, 2.964,-2.850, PHS= 1.151,-0.791,-0.513, RAW=  97.6,   1.7, CAL=  97.6,  -0.5, ROT=  52.4,   0.5

2025-10-26T19:01:57.168Z,1761505317.168 [DAT](INFO): got valid direction response:
 19:01:55.1478 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 342,-0.42,-1.801, 2.597, 2.964,-2.850, PHS= 1.151,-0.791,-0.513, RAW=  97.6,   1.7, CAL=  97.6,  -0.5, ROT=  52.4,   0.5

2025-10-26T19:01:57.169Z,1761505317.169 [DAT](INFO): DAT read: Bearing   9, -15 (Remote)

2025-10-26T19:01:57.169Z,1761505317.169 [DAT](INFO): Remote Bearing received:Bearing   9, -15 (Remote)

2025-10-26T19:01:57.170Z,1761505317.170 [DAT](INFO): DAT read: Bearing 144.5,  70.1 (Local)

2025-10-26T19:01:57.171Z,1761505317.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5,  70.1 (Local)

2025-10-26T19:01:57.180Z,1761505317.180 [DAT](INFO): DAT read: Range 11 to 20 : 863.1 m  (Round-trip  1150.8 ms) speed  1.6 m/s

2025-10-26T19:01:57.181Z,1761505317.181 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:01:57.182Z,1761505317.182 [DAT](INFO): direction in FSK: [0.610122,0.792260,-0.008727]
2025-10-26T19:01:57.182Z,1761505317.182 [DAT](INFO): publishing direction and range info
2025-10-26T19:01:57.222Z,1761505317.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906896,0.307190,-0.288398],[-0.293138,0.951648,0.091853],[0.302669,0.001240,0.953095]]
2025-10-26T19:01:57.333Z,1761505317.333 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505280.00. Resetting abort timer.
2025-10-26T19:01:57.578Z,1761505317.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915680,0.285104,-0.283278],[-0.272696,0.958496,0.083200],[0.295242,0.001065,0.955422]]
2025-10-26T19:01:57.983Z,1761505317.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925161,0.263680,-0.273040],[-0.251637,0.964601,0.078893],[0.284177,-0.004282,0.958762]]
2025-10-26T19:01:58.390Z,1761505318.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933477,0.246775,-0.260235],[-0.233461,0.968953,0.081401],[0.272243,-0.015232,0.962108]]
2025-10-26T19:01:58.668Z,1761505318.668 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:01:58.828Z,1761505318.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939772,0.233392,-0.249713],[-0.218659,0.972039,0.085604],[0.262711,-0.025846,0.964528]]
2025-10-26T19:01:58.921Z,1761505318.921 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:01:58.921Z,1761505318.921 [DAT](INFO): #Outgoing data=4
2025-10-26T19:01:58.921Z,1761505318.921 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:01:59.172Z,1761505319.172 [DAT](INFO): setting remote address to 6
2025-10-26T19:01:59.195Z,1761505319.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945000,0.217168,-0.244568],[-0.203242,0.975762,0.081127],[0.256258,-0.026958,0.966232]]
2025-10-26T19:01:59.424Z,1761505319.424 [DAT](INFO): DAT read: user:17>

2025-10-26T19:01:59.425Z,1761505319.425 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:01:59.426Z,1761505319.426 [DAT](INFO): set remote address to 6
2025-10-26T19:01:59.426Z,1761505319.426 [DAT](INFO): entering online mode
2025-10-26T19:01:59.599Z,1761505319.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949244,0.199494,-0.243185],[-0.188808,0.979744,0.066733],[0.251572,-0.017431,0.967682]]
2025-10-26T19:01:59.678Z,1761505319.678 [DAT](INFO): DAT read: user:18>

2025-10-26T19:01:59.679Z,1761505319.679 [DAT](INFO): DAT read: 

2025-10-26T19:01:59.681Z,1761505319.681 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:01:59.681Z,1761505319.681 [DAT](INFO): commRate: 600
2025-10-26T19:01:59.682Z,1761505319.682 [DAT](INFO): online mode acknowledged
2025-10-26T19:01:59.682Z,1761505319.682 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:02:00.002Z,1761505320.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952936,0.182835,-0.241834],[-0.176284,0.983137,0.048649],[0.246651,-0.003727,0.969097]]
2025-10-26T19:02:01.214Z,1761505321.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965763,0.142072,-0.217065],[-0.138897,0.989855,0.029898],[0.219111,0.001275,0.975699]]
2025-10-26T19:02:01.619Z,1761505321.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970730,0.128285,-0.203040],[-0.122478,0.991625,0.040965],[0.206595,-0.014898,0.978313]]
2025-10-26T19:02:02.026Z,1761505322.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975511,0.112936,-0.188744],[-0.104515,0.993055,0.054025],[0.193534,-0.032976,0.980539]]
2025-10-26T19:02:02.428Z,1761505322.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979816,0.095861,-0.175415],[-0.085860,0.994265,0.063759],[0.180521,-0.047411,0.982428]]
2025-10-26T19:02:02.891Z,1761505322.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983443,0.077469,-0.163826],[-0.067408,0.995533,0.066114],[0.168216,-0.053976,0.984271]]
2025-10-26T19:02:02.954Z,1761505322.954 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:02

2025-10-26T19:02:02.954Z,1761505322.954 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:02:03.234Z,1761505323.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986286,0.058967,-0.154150],[-0.049580,0.996714,0.064051],[0.157421,-0.055530,0.985969]]
2025-10-26T19:02:03.639Z,1761505323.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988306,0.041651,-0.146686],[-0.033482,0.997771,0.057726],[0.148763,-0.052140,0.987497]]
2025-10-26T19:02:04.052Z,1761505324.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989783,0.025038,-0.140365],[-0.018627,0.998730,0.046807],[0.141358,-0.043714,0.988993]]
2025-10-26T19:02:04.446Z,1761505324.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990896,0.009012,-0.134327],[-0.004729,0.999471,0.032167],[0.134546,-0.031239,0.990415]]
2025-10-26T19:02:04.873Z,1761505324.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991721,-0.006119,-0.128266],[0.008148,0.999850,0.015299],[0.128153,-0.016218,0.991622]]
2025-10-26T19:02:05.256Z,1761505325.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992368,-0.019929,-0.121692],[0.019638,0.999801,-0.003584],[0.121739,0.001167,0.992561]]
2025-10-26T19:02:05.280Z,1761505325.280 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:02:05.280Z,1761505325.280 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:02:05.280Z,1761505325.280 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateRudder:A] Stopped
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:02:05.281Z,1761505325.281 [marl:UpdateCommandMode] Stopped
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed] Stopped
2025-10-26T19:02:05.282Z,1761505325.282 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:02:05.659Z,1761505325.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992949,-0.031757,-0.114206],[0.029676,0.999362,-0.019876],[0.114764,0.016347,0.993258]]
2025-10-26T19:02:05.697Z,1761505325.697 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:02:05.697Z,1761505325.697 [marl:UpdateRudder:B] Stopped
2025-10-26T19:02:05.698Z,1761505325.698 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:02:05.698Z,1761505325.698 [marl:UpdateRudder] Stopped
2025-10-26T19:02:05.698Z,1761505325.698 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:02:06.062Z,1761505326.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993500,-0.041726,-0.105911],[0.038709,0.998788,-0.030383],[0.107050,0.026086,0.993911]]
2025-10-26T19:02:06.466Z,1761505326.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993946,-0.052115,-0.096727],[0.048868,0.998169,-0.035643],[0.098407,0.030700,0.994673]]
2025-10-26T19:02:06.878Z,1761505326.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993866,-0.067873,-0.087317],[0.064832,0.997202,-0.037209],[0.089599,0.031320,0.995485]]
2025-10-26T19:02:07.275Z,1761505327.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993089,-0.086240,-0.079601],[0.083413,0.995783,-0.038185],[0.082559,0.031281,0.996095]]
2025-10-26T19:02:07.678Z,1761505327.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991961,-0.102805,-0.073787],[0.100537,0.994358,-0.033832],[0.076848,0.026142,0.996700]]
2025-10-26T19:02:08.082Z,1761505328.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990610,-0.118162,-0.068775],[0.116610,0.992833,-0.026161],[0.071373,0.017896,0.997289]]
2025-10-26T19:02:08.487Z,1761505328.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989525,-0.128989,-0.064816],[0.128562,0.991643,-0.010738],[0.065660,0.002293,0.997839]]
2025-10-26T19:02:09.312Z,1761505329.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989472,-0.133129,-0.056766],[0.135301,0.990140,0.036292],[0.051375,-0.043590,0.997728]]
2025-10-26T19:02:09.722Z,1761505329.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989964,-0.131346,-0.052152],[0.134488,0.988963,0.062162],[0.043412,-0.068552,0.996703]]
2025-10-26T19:02:10.118Z,1761505330.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990464,-0.129400,-0.047292],[0.133106,0.987353,0.086123],[0.035550,-0.091597,0.995161]]
2025-10-26T19:02:10.525Z,1761505330.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990795,-0.128489,-0.042610],[0.132432,0.985244,0.108428],[0.028050,-0.113073,0.993191]]
2025-10-26T19:02:10.932Z,1761505330.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990972,-0.128687,-0.037600],[0.132520,0.982713,0.129285],[0.020313,-0.133101,0.990894]]
2025-10-26T19:02:11.348Z,1761505331.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990914,-0.130509,-0.032504],[0.133910,0.979885,0.147964],[0.012540,-0.150972,0.988459]]
2025-10-26T19:02:11.740Z,1761505331.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990563,-0.134385,-0.026940],[0.136994,0.976823,0.164467],[0.004214,-0.166606,0.986015]]
2025-10-26T19:02:12.142Z,1761505332.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989928,-0.140007,-0.021012],[0.141507,0.973899,0.177471],[-0.004383,-0.178657,0.983902]]
2025-10-26T19:02:12.548Z,1761505332.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989021,-0.146964,-0.015472],[0.147236,0.971043,0.188139],[-0.012626,-0.188351,0.982021]]
2025-10-26T19:02:12.950Z,1761505332.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987912,-0.154619,-0.011106],[0.153809,0.968766,0.194515],[-0.019316,-0.193872,0.980837]]
2025-10-26T19:02:12.993Z,1761505332.993 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       -3.86,     +1678.0 -2.47,  0.,  -133,  -751,  -226,-32768,A
2025-10-26T19:02:13.036Z,1761505333.036 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:02:13.288Z,1761505333.288 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:02:13.289Z,1761505333.289 [DAT](INFO): #Outgoing data=5
2025-10-26T19:02:13.289Z,1761505333.289 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:02:13.363Z,1761505333.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986654,-0.162600,-0.008618],[0.161107,0.967182,0.196478],[-0.023612,-0.195244,0.980470]]
2025-10-26T19:02:13.541Z,1761505333.541 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:02:13.759Z,1761505333.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985479,-0.169574,-0.008732],[0.167934,0.965763,0.197739],[-0.025098,-0.196334,0.980216]]
2025-10-26T19:02:14.164Z,1761505334.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984780,-0.173550,-0.009454],[0.171959,0.964949,0.198254],[-0.025284,-0.196862,0.980105]]
2025-10-26T19:02:14.566Z,1761505334.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984613,-0.174441,-0.010354],[0.172942,0.964226,0.200897],[-0.025061,-0.199596,0.979558]]
2025-10-26T19:02:14.845Z,1761505334.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:02:14.970Z,1761505334.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984717,-0.173825,-0.010877],[0.172352,0.963576,0.204492],[-0.025065,-0.203241,0.978808]]
2025-10-26T19:02:15.374Z,1761505335.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984924,-0.172715,-0.009759],[0.170973,0.963297,0.206950],[-0.026343,-0.205498,0.978303]]
2025-10-26T19:02:15.780Z,1761505335.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985267,-0.170906,-0.006276],[0.168432,0.963333,0.208853],[-0.029648,-0.206833,0.977927]]
2025-10-26T19:02:15.848Z,1761505335.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:02:16.182Z,1761505336.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985768,-0.168110,0.000780],[0.164153,0.963545,0.211270],[-0.036268,-0.208135,0.977427]]
2025-10-26T19:02:16.586Z,1761505336.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986444,-0.163711,0.011258],[0.157574,0.964145,0.213528],[-0.045811,-0.208860,0.976872]]
2025-10-26T19:02:16.822Z,1761505336.822 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:02:15.9666

2025-10-26T19:02:16.823Z,1761505336.823 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:02:16.990Z,1761505336.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987003,-0.159004,0.023310],[0.150428,0.965157,0.214111],[-0.056543,-0.207822,0.976531]]
2025-10-26T19:02:17.395Z,1761505337.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987210,-0.155578,0.034808],[0.144782,0.966312,0.212790],[-0.066741,-0.205029,0.976478]]
2025-10-26T19:02:17.798Z,1761505337.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987003,-0.154570,0.043958],[0.142249,0.967622,0.208501],[-0.074763,-0.199538,0.977034]]
2025-10-26T19:02:18.202Z,1761505338.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986571,-0.155507,0.049944],[0.142445,0.968816,0.202743],[-0.079915,-0.192906,0.977957]]
2025-10-26T19:02:18.245Z,1761505338.245 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateRudder:A] Stopped
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:02:18.246Z,1761505338.246 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:02:18.247Z,1761505338.247 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:02:18.247Z,1761505338.247 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:02:18.247Z,1761505338.247 [marl:UpdateCommandMode] Stopped
2025-10-26T19:02:18.247Z,1761505338.247 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:02:18.247Z,1761505338.247 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:02:18.251Z,1761505338.251 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:02:18.251Z,1761505338.251 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:02:18.252Z,1761505338.252 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:02:18.252Z,1761505338.252 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:02:18.252Z,1761505338.252 [marl:UpdateSpeed] Stopped
2025-10-26T19:02:18.252Z,1761505338.252 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:02:18.606Z,1761505338.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986131,-0.157533,0.052238],[0.144497,0.969755,0.196711],[-0.081647,-0.186435,0.979069]]
2025-10-26T19:02:18.657Z,1761505338.657 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:02:18.657Z,1761505338.657 [marl:UpdateRudder:B] Stopped
2025-10-26T19:02:18.657Z,1761505338.657 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:02:18.657Z,1761505338.657 [marl:UpdateRudder] Stopped
2025-10-26T19:02:18.657Z,1761505338.657 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:02:19.017Z,1761505339.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985954,-0.158728,0.051961],[0.146080,0.970380,0.192415],[-0.080963,-0.182122,0.979937]]
2025-10-26T19:02:19.103Z,1761505339.103 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:02:19.344Z,1761505339.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:19.396Z,1761505339.396 [DAT](INFO): entering command mode
2025-10-26T19:02:19.416Z,1761505339.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986023,-0.158499,0.051349],[0.146199,0.970921,0.189575],[-0.079903,-0.179419,0.980523]]
2025-10-26T19:02:19.596Z,1761505339.596 [DAT](INFO): DAT read: 

2025-10-26T19:02:19.597Z,1761505339.597 [DAT](INFO): DAT read: user:19>

2025-10-26T19:02:19.597Z,1761505339.597 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:19.597Z,1761505339.597 [DAT](INFO): setting remote address to 0
2025-10-26T19:02:19.827Z,1761505339.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986089,-0.158142,0.051191],[0.145954,0.971145,0.188610],[-0.079541,-0.178515,0.980717]]
2025-10-26T19:02:19.848Z,1761505339.848 [DAT](INFO): DAT read: user:19>

2025-10-26T19:02:19.849Z,1761505339.849 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:02:19.849Z,1761505339.849 [DAT](INFO): set remote address to 0
2025-10-26T19:02:19.850Z,1761505339.850 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:19.850Z,1761505339.850 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:02:20.101Z,1761505340.101 [DAT](INFO): DAT read: user:20>

2025-10-26T19:02:20.102Z,1761505340.102 [DAT](INFO): DAT read: Tx time:19:02:19.1677

2025-10-26T19:02:20.102Z,1761505340.102 [DAT](INFO): Ping request sent.
2025-10-26T19:02:20.102Z,1761505340.102 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:02:20.102Z,1761505340.102 [DAT](INFO): publishing transmit ping time
2025-10-26T19:02:20.104Z,1761505340.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001627
2025-10-26T19:02:20.223Z,1761505340.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986202,-0.157305,0.051592],[0.145260,0.971729,0.186126],[-0.079412,-0.176063,0.981171]]
2025-10-26T19:02:20.352Z,1761505340.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250347
2025-10-26T19:02:20.604Z,1761505340.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502377
2025-10-26T19:02:20.626Z,1761505340.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986404,-0.155748,0.052439],[0.144074,0.973063,0.179974],[-0.079057,-0.169972,0.982273]]
2025-10-26T19:02:20.859Z,1761505340.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756270
2025-10-26T19:02:21.030Z,1761505341.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986732,-0.153477,0.052951],[0.142434,0.974857,0.171367],[-0.077921,-0.161551,0.983783]]
2025-10-26T19:02:21.113Z,1761505341.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011130
2025-10-26T19:02:21.364Z,1761505341.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262430
2025-10-26T19:02:21.434Z,1761505341.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987049,-0.151447,0.052896],[0.141014,0.976331,0.163992],[-0.076480,-0.154409,0.985042]]
2025-10-26T19:02:21.617Z,1761505341.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514653
2025-10-26T19:02:21.842Z,1761505341.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987146,-0.150883,0.052709],[0.140705,0.976851,0.161132],[-0.075801,-0.151644,0.985524]]
2025-10-26T19:02:21.869Z,1761505341.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766921
2025-10-26T19:02:22.120Z,1761505342.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018415
2025-10-26T19:02:22.244Z,1761505342.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986820,-0.152946,0.052848],[0.142541,0.976188,0.163522],[-0.076600,-0.153834,0.985123]]
2025-10-26T19:02:22.372Z,1761505342.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270335
2025-10-26T19:02:22.624Z,1761505342.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522358
2025-10-26T19:02:22.646Z,1761505342.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986021,-0.158077,0.052667],[0.146980,0.974084,0.171920],[-0.078479,-0.161776,0.983702]]
2025-10-26T19:02:22.877Z,1761505342.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774756
2025-10-26T19:02:23.054Z,1761505343.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984877,-0.165455,0.051396],[0.153440,0.970739,0.184719],[-0.080455,-0.174039,0.981446]]
2025-10-26T19:02:23.129Z,1761505343.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027027
2025-10-26T19:02:23.381Z,1761505343.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278977
2025-10-26T19:02:23.455Z,1761505343.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983485,-0.174558,0.047811],[0.161807,0.966379,0.199824],[-0.081085,-0.188788,0.978665]]
2025-10-26T19:02:23.632Z,1761505343.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530375
2025-10-26T19:02:23.858Z,1761505343.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981894,-0.184682,0.042155],[0.171747,0.961789,0.213224],[-0.079923,-0.202123,0.976094]]
2025-10-26T19:02:23.884Z,1761505343.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782437
2025-10-26T19:02:24.137Z,1761505344.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034702
2025-10-26T19:02:24.262Z,1761505344.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980837,-0.191327,0.036790],[0.178660,0.958564,0.221891],[-0.077719,-0.211066,0.974377]]
2025-10-26T19:02:24.388Z,1761505344.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286369
2025-10-26T19:02:24.640Z,1761505344.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538252
2025-10-26T19:02:24.668Z,1761505344.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980920,-0.191345,0.034383],[0.178801,0.957378,0.226842],[-0.076322,-0.216367,0.973324]]
2025-10-26T19:02:24.894Z,1761505344.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791584
2025-10-26T19:02:25.072Z,1761505345.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981231,-0.189478,0.035829],[0.176864,0.958327,0.224338],[-0.076843,-0.213791,0.973852]]
2025-10-26T19:02:25.146Z,1761505345.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044268
2025-10-26T19:02:25.396Z,1761505345.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294365
2025-10-26T19:02:25.474Z,1761505345.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981523,-0.187041,0.040342],[0.174322,0.961043,0.214497],[-0.078890,-0.203501,0.975891]]
2025-10-26T19:02:25.648Z,1761505345.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546329
2025-10-26T19:02:25.878Z,1761505345.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981892,-0.183828,0.045784],[0.171192,0.964490,0.201126],[-0.081131,-0.189646,0.978495]]
2025-10-26T19:02:25.901Z,1761505345.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798526
2025-10-26T19:02:26.152Z,1761505346.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050333
2025-10-26T19:02:26.282Z,1761505346.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982309,-0.180471,0.049986],[0.168432,0.968125,0.185378],[-0.081848,-0.173680,0.981395]]
2025-10-26T19:02:26.404Z,1761505346.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302351
2025-10-26T19:02:26.656Z,1761505346.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554372
2025-10-26T19:02:26.690Z,1761505346.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982168,-0.180943,0.051052],[0.169867,0.970432,0.171487],[-0.080572,-0.159757,0.983863]]
2025-10-26T19:02:26.908Z,1761505346.908 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:02:26.908Z,1761505346.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806451
2025-10-26T19:02:27.090Z,1761505347.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981099,-0.187300,0.048618],[0.177314,0.970773,0.161736],[-0.077490,-0.150058,0.985636]]
2025-10-26T19:02:27.160Z,1761505347.160 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:02:27.161Z,1761505347.161 [DAT](INFO): #Outgoing data=6
2025-10-26T19:02:27.161Z,1761505347.161 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:02:27.161Z,1761505347.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059192
2025-10-26T19:02:27.415Z,1761505347.415 [DAT](INFO): setting remote address to 6
2025-10-26T19:02:27.416Z,1761505347.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313176
2025-10-26T19:02:27.494Z,1761505347.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979617,-0.196290,0.042659],[0.187423,0.969580,0.157440],[-0.072266,-0.146236,0.986607]]
2025-10-26T19:02:27.668Z,1761505347.668 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:27.668Z,1761505347.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566465
2025-10-26T19:02:27.900Z,1761505347.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978123,-0.205149,0.034494],[0.197419,0.967666,0.156999],[-0.065587,-0.146754,0.986996]]
2025-10-26T19:02:27.920Z,1761505347.920 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:27.920Z,1761505347.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818386
2025-10-26T19:02:28.172Z,1761505348.172 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:28.173Z,1761505348.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070958
2025-10-26T19:02:28.314Z,1761505348.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976825,-0.212684,0.024040],[0.206050,0.964817,0.163313],[-0.057928,-0.154574,0.986281]]
2025-10-26T19:02:28.424Z,1761505348.424 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:28.424Z,1761505348.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322420
2025-10-26T19:02:28.676Z,1761505348.676 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:28.676Z,1761505348.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574435
2025-10-26T19:02:28.928Z,1761505348.928 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:28.929Z,1761505348.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826854
2025-10-26T19:02:29.110Z,1761505349.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974169,-0.225797,0.003278],[0.221287,0.957404,0.185501],[-0.045023,-0.179984,0.982639]]
2025-10-26T19:02:29.180Z,1761505349.180 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:29.181Z,1761505349.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078561
2025-10-26T19:02:29.432Z,1761505349.432 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:29.433Z,1761505349.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330476
2025-10-26T19:02:29.515Z,1761505349.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972357,-0.233479,-0.003183],[0.229477,0.952991,0.197859],[-0.043163,-0.193120,0.980225]]
2025-10-26T19:02:29.684Z,1761505349.684 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:29.685Z,1761505349.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582487
2025-10-26T19:02:29.921Z,1761505349.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970969,-0.239079,-0.007826],[0.235457,0.949468,0.207536],[-0.042187,-0.203354,0.978196]]
2025-10-26T19:02:29.936Z,1761505349.936 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:29.937Z,1761505349.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834531
2025-10-26T19:02:30.188Z,1761505350.188 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:30.188Z,1761505350.188 [DAT](INFO): Reached modem response timeout
2025-10-26T19:02:30.325Z,1761505350.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970835,-0.239420,-0.012537],[0.236470,0.947637,0.214631],[-0.039507,-0.211336,0.976615]]
2025-10-26T19:02:30.440Z,1761505350.440 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:30.692Z,1761505350.692 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:30.730Z,1761505350.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970842,-0.239061,-0.017778],[0.237184,0.947157,0.215958],[-0.034788,-0.213877,0.976241]]
2025-10-26T19:02:30.945Z,1761505350.945 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:31.131Z,1761505351.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970906,-0.238173,-0.024824],[0.237890,0.947468,0.213806],[-0.027403,-0.213491,0.976561]]
2025-10-26T19:02:31.196Z,1761505351.196 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateRudder:A] Stopped
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:02:31.206Z,1761505351.206 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:02:31.207Z,1761505351.207 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:02:31.207Z,1761505351.207 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:02:31.207Z,1761505351.207 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:02:31.207Z,1761505351.207 [marl:UpdateCommandMode] Stopped
2025-10-26T19:02:31.207Z,1761505351.207 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:02:31.207Z,1761505351.207 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:02:31.208Z,1761505351.208 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:02:31.208Z,1761505351.208 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:02:31.208Z,1761505351.208 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:02:31.208Z,1761505351.208 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:02:31.208Z,1761505351.208 [marl:UpdateSpeed] Stopped
2025-10-26T19:02:31.208Z,1761505351.208 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:02:31.448Z,1761505351.448 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:31.534Z,1761505351.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971107,-0.236307,-0.033319],[0.237997,0.948712,0.208095],[-0.017564,-0.210012,0.977541]]
2025-10-26T19:02:31.577Z,1761505351.577 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:02:31.578Z,1761505351.578 [marl:UpdateRudder:B] Stopped
2025-10-26T19:02:31.578Z,1761505351.578 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:02:31.578Z,1761505351.578 [marl:UpdateRudder] Stopped
2025-10-26T19:02:31.578Z,1761505351.578 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:02:31.700Z,1761505351.700 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:31.938Z,1761505351.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971320,-0.233972,-0.042366],[0.237672,0.950080,0.202138],[-0.007043,-0.206410,0.978440]]
2025-10-26T19:02:31.953Z,1761505351.953 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:32.204Z,1761505352.204 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:02:32.344Z,1761505352.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971596,-0.231173,-0.050602],[0.236634,0.951312,0.197511],[0.002479,-0.203875,0.978994]]
2025-10-26T19:02:32.457Z,1761505352.457 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:02:32.457Z,1761505352.457 [DAT](INFO): response not received
2025-10-26T19:02:32.458Z,1761505352.458 [DAT](INFO): DAT read: user:21>

2025-10-26T19:02:32.458Z,1761505352.458 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:02:32.459Z,1761505352.459 [DAT](INFO): set remote address to 6
2025-10-26T19:02:32.459Z,1761505352.459 [DAT](INFO): entering online mode
2025-10-26T19:02:32.709Z,1761505352.709 [DAT](INFO): DAT read: user:22>

2025-10-26T19:02:32.710Z,1761505352.710 [DAT](INFO): DAT read: 

2025-10-26T19:02:32.711Z,1761505352.711 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:02:32.712Z,1761505352.712 [DAT](INFO): commRate: 600
2025-10-26T19:02:32.712Z,1761505352.712 [DAT](INFO): online mode acknowledged
2025-10-26T19:02:32.712Z,1761505352.712 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:02:32.758Z,1761505352.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972034,-0.227929,-0.056563],[0.234616,0.953069,0.191347],[0.010295,-0.199267,0.979891]]
2025-10-26T19:02:33.164Z,1761505353.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973744,-0.219344,-0.060918],[0.226972,0.956033,0.185700],[0.017507,-0.194651,0.980716]]
2025-10-26T19:02:33.183Z,1761505353.183 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +46.40,     ,       -8.79,  78.45,  0.00
2025-10-26T19:02:33.561Z,1761505353.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974160,-0.218125,-0.058603],[0.225334,0.956298,0.186330],[0.015398,-0.194721,0.980738]]
2025-10-26T19:02:33.965Z,1761505353.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972384,-0.225664,-0.059541],[0.232883,0.954937,0.184013],[0.015332,-0.192797,0.981119]]
2025-10-26T19:02:34.367Z,1761505354.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969203,-0.238673,-0.060671],[0.245694,0.953903,0.172349],[0.016739,-0.181948,0.983166]]
2025-10-26T19:02:34.772Z,1761505354.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964325,-0.257516,-0.061347],[0.264029,0.952377,0.152534],[0.019146,-0.163290,0.986392]]
2025-10-26T19:02:35.182Z,1761505355.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957884,-0.280503,-0.061451],[0.286228,0.949856,0.125887],[0.023058,-0.138174,0.990140]]
2025-10-26T19:02:35.578Z,1761505355.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950147,-0.305630,-0.061737],[0.310552,0.945317,0.099663],[0.027901,-0.113867,0.993104]]
2025-10-26T19:02:35.982Z,1761505355.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942116,-0.329505,-0.061999],[0.333624,0.939672,0.075575],[0.033357,-0.091884,0.995211]]
2025-10-26T19:02:35.985Z,1761505355.985 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:02:35.1166

2025-10-26T19:02:35.985Z,1761505355.985 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:02:36.387Z,1761505356.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934612,-0.350498,-0.060419],[0.353563,0.934032,0.050767],[0.038639,-0.068810,0.996881]]
2025-10-26T19:02:36.818Z,1761505356.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927509,-0.369379,-0.057322],[0.371132,0.928287,0.023345],[0.044588,-0.042926,0.998083]]
2025-10-26T19:02:37.194Z,1761505357.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920851,-0.386250,-0.053332],[0.386492,0.922272,-0.006116],[0.051548,-0.014981,0.998558]]
2025-10-26T19:02:37.283Z,1761505357.283 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:02:37.284Z,1761505357.284 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:02:37.598Z,1761505357.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914397,-0.401998,-0.047707],[0.400558,0.915521,-0.037084],[0.058584,0.014800,0.998173]]
2025-10-26T19:02:38.005Z,1761505358.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908287,-0.416298,-0.041366],[0.413419,0.908320,-0.063562],[0.064034,0.040632,0.997120]]
2025-10-26T19:02:38.406Z,1761505358.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902380,-0.429460,-0.035708],[0.425619,0.901152,-0.082306],[0.067525,0.059074,0.995967]]
2025-10-26T19:02:38.849Z,1761505358.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896118,-0.442665,-0.031950],[0.438425,0.894122,-0.091265],[0.068967,0.067776,0.995314]]
2025-10-26T19:02:39.214Z,1761505359.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888476,-0.457834,-0.031601],[0.453648,0.886588,-0.090357],[0.069386,0.065944,0.995408]]
2025-10-26T19:02:39.623Z,1761505359.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878370,-0.476710,-0.034849],[0.472675,0.877141,-0.084868],[0.071025,0.058073,0.995783]]
2025-10-26T19:02:40.023Z,1761505360.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866035,-0.498150,-0.042764],[0.494224,0.865867,-0.077567],[0.075668,0.046041,0.996070]]
2025-10-26T19:02:40.426Z,1761505360.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852707,-0.519525,-0.054623],[0.515763,0.853878,-0.069863],[0.082937,0.031400,0.996060]]
2025-10-26T19:02:40.863Z,1761505360.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839317,-0.539541,-0.066647],[0.536045,0.841769,-0.063884],[0.090569,0.017894,0.995729]]
2025-10-26T19:02:41.234Z,1761505361.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826984,-0.557048,-0.076129],[0.553841,0.830446,-0.060171],[0.096739,0.007597,0.995281]]
2025-10-26T19:02:41.641Z,1761505361.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816786,-0.570792,-0.084010],[0.568037,0.821092,-0.056044],[0.100969,-0.001945,0.994888]]
2025-10-26T19:02:42.044Z,1761505362.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809269,-0.580464,-0.090245],[0.578187,0.814226,-0.052305],[0.103840,-0.009850,0.994545]]
2025-10-26T19:02:42.448Z,1761505362.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802041,-0.590048,-0.092590],[0.587725,0.807287,-0.053551],[0.106344,-0.011467,0.994263]]
2025-10-26T19:02:42.894Z,1761505362.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793379,-0.601613,-0.092801],[0.598807,0.798738,-0.058727],[0.109454,-0.008977,0.993951]]
2025-10-26T19:02:42.928Z,1761505362.928 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD,       +44.99,     +1587.11,   1,

2025-10-26T19:02:43.254Z,1761505363.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783696,-0.613998,-0.093957],[0.610735,0.789272,-0.063658],[0.113243,-0.007494,0.993539]]
2025-10-26T19:02:43.662Z,1761505363.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773137,-0.626884,-0.096316],[0.623048,0.779088,-0.069518],[0.118619,-0.006262,0.992920]]
2025-10-26T19:02:43.980Z,1761505363.980 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.274155
2025-10-26T19:02:44.064Z,1761505364.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762952,-0.638734,-0.099613],[0.634210,0.769410,-0.076061],[0.125226,-0.005145,0.992115]]
2025-10-26T19:02:44.467Z,1761505364.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753594,-0.649281,-0.102618],[0.643788,0.760544,-0.084313],[0.132788,-0.002526,0.991141]]
2025-10-26T19:02:44.492Z,1761505364.492 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:02:44.492Z,1761505364.492 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:02:44.492Z,1761505364.492 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:02:44.492Z,1761505364.492 [marl:UpdateRudder:A] Stopped
2025-10-26T19:02:44.492Z,1761505364.492 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode] Stopped
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:02:44.493Z,1761505364.493 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:02:44.494Z,1761505364.494 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:02:44.494Z,1761505364.494 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:02:44.494Z,1761505364.494 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:02:44.494Z,1761505364.494 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:02:44.494Z,1761505364.494 [marl:UpdateSpeed] Stopped
2025-10-26T19:02:44.494Z,1761505364.494 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:02:44.874Z,1761505364.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745586,-0.658009,-0.105479],[0.651456,0.753010,-0.092634],[0.140380,0.000352,0.990098]]
2025-10-26T19:02:44.952Z,1761505364.952 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:02:44.952Z,1761505364.952 [marl:UpdateRudder:B] Stopped
2025-10-26T19:02:44.952Z,1761505364.952 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:02:44.952Z,1761505364.952 [marl:UpdateRudder] Stopped
2025-10-26T19:02:44.952Z,1761505364.952 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:02:44.984Z,1761505364.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:02:45.282Z,1761505365.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738648,-0.665383,-0.108007],[0.658084,0.746501,-0.098296],[0.146032,0.001528,0.989279]]
2025-10-26T19:02:45.686Z,1761505365.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732450,-0.672262,-0.107614],[0.664569,0.740308,-0.101451],[0.147869,0.002790,0.989003]]
2025-10-26T19:02:46.073Z,1761505366.073 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:02:46.073Z,1761505366.073 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:02:46.083Z,1761505366.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725754,-0.680120,-0.103529],[0.672509,0.733089,-0.101549],[0.144961,0.004076,0.989429]]
2025-10-26T19:02:46.324Z,1761505366.324 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:02:46.513Z,1761505366.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715534,-0.691924,-0.096186],[0.684562,0.721942,-0.100869],[0.139235,0.006330,0.990239]]
2025-10-26T19:02:46.576Z,1761505366.576 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:02:46.577Z,1761505366.577 [DAT](INFO): #Outgoing data=7
2025-10-26T19:02:46.577Z,1761505366.577 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:02:46.830Z,1761505366.830 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:02:46.910Z,1761505366.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699053,-0.709526,-0.088870],[0.701928,0.704603,-0.104075],[0.136462,0.010374,0.990591]]
2025-10-26T19:02:47.314Z,1761505367.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681024,-0.727280,-0.085260],[0.719392,0.686238,-0.107486],[0.136681,0.011865,0.990544]]
2025-10-26T19:02:47.735Z,1761505367.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664204,-0.742052,-0.090508],[0.734114,0.670319,-0.108390],[0.141101,0.005550,0.989980]]
2025-10-26T19:02:48.128Z,1761505368.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652376,-0.750782,-0.103600],[0.743171,0.660511,-0.106875],[0.148669,-0.007270,0.988860]]
2025-10-26T19:02:48.456Z,1761505368.455 [Radio_Surface](INFO): Powering down
2025-10-26T19:02:48.530Z,1761505368.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649104,-0.750529,-0.123975],[0.744513,0.660240,-0.098916],[0.156092,-0.028094,0.987343]]
2025-10-26T19:02:48.934Z,1761505368.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651781,-0.743613,-0.149071],[0.741032,0.666258,-0.083497],[0.161409,-0.056044,0.985295]]
2025-10-26T19:02:49.338Z,1761505369.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658101,-0.732583,-0.173854],[0.735070,0.675122,-0.062305],[0.163016,-0.086792,0.982799]]
2025-10-26T19:02:49.403Z,1761505369.403 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:02:49.600Z,1761505369.600 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:49.652Z,1761505369.652 [DAT](INFO): entering command mode
2025-10-26T19:02:49.750Z,1761505369.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665233,-0.720573,-0.195551],[0.729115,0.683352,-0.037709],[0.160802,-0.117494,0.979968]]
2025-10-26T19:02:49.852Z,1761505369.852 [DAT](INFO): DAT read: 

2025-10-26T19:02:49.853Z,1761505369.853 [DAT](INFO): DAT read: user23>

2025-10-26T19:02:49.853Z,1761505369.853 [DAT](INFO): unknown deviceResponse_: user23>

2025-10-26T19:02:49.853Z,1761505369.853 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:49.853Z,1761505369.853 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:50.105Z,1761505370.105 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:50.105Z,1761505370.105 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:50.146Z,1761505370.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669760,-0.711472,-0.212671],[0.725838,0.687707,-0.014794],[0.156781,-0.144456,0.977012]]
2025-10-26T19:02:50.356Z,1761505370.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:50.356Z,1761505370.356 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:50.550Z,1761505370.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670425,-0.706747,-0.225917],[0.726155,0.687518,0.004123],[0.152408,-0.166815,0.974138]]
2025-10-26T19:02:50.608Z,1761505370.608 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:50.608Z,1761505370.608 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:50.862Z,1761505370.862 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:50.862Z,1761505370.862 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:50.956Z,1761505370.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667329,-0.706036,-0.237034],[0.729561,0.683692,0.017488],[0.149711,-0.184601,0.971344]]
2025-10-26T19:02:51.112Z,1761505371.112 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:51.112Z,1761505371.112 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:51.358Z,1761505371.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661139,-0.708219,-0.247631],[0.735038,0.677581,0.024580],[0.150382,-0.198269,0.968542]]
2025-10-26T19:02:51.365Z,1761505371.365 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:51.365Z,1761505371.365 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:51.616Z,1761505371.616 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:51.616Z,1761505371.616 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:51.769Z,1761505371.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653685,-0.712243,-0.255748],[0.740804,0.671293,0.023965],[0.154613,-0.205124,0.966447]]
2025-10-26T19:02:51.868Z,1761505371.868 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:51.869Z,1761505371.869 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:52.120Z,1761505372.120 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:52.120Z,1761505372.120 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:52.166Z,1761505372.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646698,-0.716242,-0.262258],[0.745595,0.666119,0.019342],[0.160841,-0.208047,0.964804]]
2025-10-26T19:02:52.375Z,1761505372.375 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:52.375Z,1761505372.375 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:52.571Z,1761505372.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642907,-0.718156,-0.266312],[0.747525,0.664091,0.013776],[0.166962,-0.207931,0.963788]]
2025-10-26T19:02:52.624Z,1761505372.624 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:52.624Z,1761505372.624 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:52.877Z,1761505372.877 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:52.877Z,1761505372.877 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:52.974Z,1761505372.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642240,-0.717542,-0.269559],[0.746869,0.664902,0.009548],[0.172380,-0.207458,0.962936]]
2025-10-26T19:02:53.128Z,1761505373.128 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:53.129Z,1761505373.129 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:53.378Z,1761505373.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644034,-0.715284,-0.271273],[0.744190,0.667945,0.005577],[0.177207,-0.205470,0.962486]]
2025-10-26T19:02:53.380Z,1761505373.380 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:53.380Z,1761505373.380 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:53.632Z,1761505373.632 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:53.632Z,1761505373.632 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:53.786Z,1761505373.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646995,-0.712401,-0.271812],[0.740726,0.671803,0.002401],[0.180893,-0.202892,0.962347]]
2025-10-26T19:02:53.885Z,1761505373.885 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:53.885Z,1761505373.885 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:54.136Z,1761505374.136 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:54.136Z,1761505374.136 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:54.186Z,1761505374.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650991,-0.708990,-0.271192],[0.736836,0.676071,0.001277],[0.182440,-0.200655,0.962524]]
2025-10-26T19:02:54.388Z,1761505374.388 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:54.388Z,1761505374.388 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:54.591Z,1761505374.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654913,-0.705969,-0.269622],[0.733711,0.679455,0.003125],[0.180990,-0.199871,0.962961]]
2025-10-26T19:02:54.640Z,1761505374.640 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:54.640Z,1761505374.640 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:54.892Z,1761505374.892 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:54.892Z,1761505374.892 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:54.994Z,1761505374.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657568,-0.704539,-0.266887],[0.732323,0.680923,0.006801],[0.176938,-0.199919,0.963704]]
2025-10-26T19:02:55.144Z,1761505375.144 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:55.144Z,1761505375.144 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:55.396Z,1761505375.396 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:55.396Z,1761505375.396 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:55.400Z,1761505375.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657631,-0.705702,-0.263641],[0.733613,0.679476,0.011145],[0.171273,-0.200740,0.964556]]
2025-10-26T19:02:55.648Z,1761505375.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:55.648Z,1761505375.648 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:55.802Z,1761505375.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654256,-0.710051,-0.260339],[0.737860,0.674812,0.013823],[0.165865,-0.201138,0.965418]]
2025-10-26T19:02:55.900Z,1761505375.900 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:55.900Z,1761505375.900 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:56.152Z,1761505376.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:56.152Z,1761505376.152 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:56.210Z,1761505376.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647618,-0.716386,-0.259581],[0.744665,0.667236,0.016409],[0.161447,-0.203928,0.965582]]
2025-10-26T19:02:56.405Z,1761505376.405 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:56.405Z,1761505376.405 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:56.610Z,1761505376.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639291,-0.724071,-0.258899],[0.752504,0.658373,0.016841],[0.158258,-0.205589,0.965758]]
2025-10-26T19:02:56.659Z,1761505376.659 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:56.659Z,1761505376.659 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:56.908Z,1761505376.908 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:02:56.908Z,1761505376.908 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:02:56.908Z,1761505376.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:56.909Z,1761505376.909 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:57.014Z,1761505377.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629556,-0.732812,-0.258158],[0.761032,0.648542,0.014927],[0.156488,-0.205864,0.965987]]
2025-10-26T19:02:57.160Z,1761505377.160 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:02:57.160Z,1761505377.160 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:57.160Z,1761505377.160 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:02:57.416Z,1761505377.416 [DAT](INFO): entering online mode
2025-10-26T19:02:57.421Z,1761505377.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618644,-0.742861,-0.255808],[0.769981,0.637997,0.009386],[0.156233,-0.202774,0.966682]]
2025-10-26T19:02:57.668Z,1761505377.668 [DAT](INFO): DAT read: user:23>

2025-10-26T19:02:57.669Z,1761505377.669 [DAT](INFO): DAT read: 

2025-10-26T19:02:57.670Z,1761505377.670 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:02:57.670Z,1761505377.670 [DAT](INFO): commRate: 600
2025-10-26T19:02:57.670Z,1761505377.670 [DAT](INFO): online mode acknowledged
2025-10-26T19:02:57.671Z,1761505377.671 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:02:57.671Z,1761505377.671 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:57.822Z,1761505377.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608121,-0.752439,-0.253030],[0.778114,0.628120,0.002236],[0.157251,-0.198246,0.967456]]
2025-10-26T19:02:57.897Z,1761505377.897 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:02:57.897Z,1761505377.897 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:02:57.897Z,1761505377.897 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:02:57.897Z,1761505377.897 [marl:UpdateRudder:A] Stopped
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode] Stopped
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:02:57.898Z,1761505377.898 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:02:57.899Z,1761505377.899 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:02:57.899Z,1761505377.899 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:02:57.899Z,1761505377.899 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:02:57.903Z,1761505377.903 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:02:57.903Z,1761505377.903 [marl:UpdateSpeed] Stopped
2025-10-26T19:02:57.904Z,1761505377.904 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:02:57.920Z,1761505377.920 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:58.172Z,1761505378.172 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:58.226Z,1761505378.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600620,-0.759622,-0.249460],[0.783714,0.621107,-0.004376],[0.158265,-0.192876,0.968375]]
2025-10-26T19:02:58.316Z,1761505378.316 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:02:58.316Z,1761505378.316 [marl:UpdateRudder:B] Stopped
2025-10-26T19:02:58.316Z,1761505378.316 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:02:58.316Z,1761505378.316 [marl:UpdateRudder] Stopped
2025-10-26T19:02:58.316Z,1761505378.316 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:02:58.424Z,1761505378.424 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:58.631Z,1761505378.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595966,-0.765090,-0.243848],[0.787141,0.616674,-0.011080],[0.158852,-0.185340,0.969750]]
2025-10-26T19:02:58.684Z,1761505378.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:58.937Z,1761505378.937 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:59.034Z,1761505379.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593345,-0.768401,-0.239795],[0.789156,0.614012,-0.014871],[0.158664,-0.180412,0.970710]]
2025-10-26T19:02:59.189Z,1761505379.189 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:59.438Z,1761505379.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591056,-0.771735,-0.234687],[0.791060,0.611461,-0.018425],[0.157721,-0.174761,0.971896]]
2025-10-26T19:02:59.440Z,1761505379.440 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:59.692Z,1761505379.692 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:59.744Z,1761505379.744 [DAT](INFO): entering command mode
2025-10-26T19:02:59.843Z,1761505379.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588189,-0.774791,-0.231802],[0.793541,0.608209,-0.019336],[0.155966,-0.172571,0.972571]]
2025-10-26T19:02:59.944Z,1761505379.944 [DAT](INFO): DAT read: 

2025-10-26T19:02:59.945Z,1761505379.945 [DAT](INFO): DAT read: user:24>

2025-10-26T19:02:59.946Z,1761505379.946 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:02:59.946Z,1761505379.946 [DAT](INFO): setting remote address to 0
2025-10-26T19:03:00.196Z,1761505380.196 [DAT](INFO): DAT read: user:24>

2025-10-26T19:03:00.197Z,1761505380.197 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:03:00.197Z,1761505380.197 [DAT](INFO): set remote address to 0
2025-10-26T19:03:00.198Z,1761505380.198 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:00.198Z,1761505380.198 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:03:00.272Z,1761505380.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584633,-0.778019,-0.229980],[0.796479,0.604344,-0.019754],[0.154356,-0.171626,0.972995]]
2025-10-26T19:03:00.448Z,1761505380.448 [DAT](INFO): DAT read: user:25>

2025-10-26T19:03:00.449Z,1761505380.449 [DAT](INFO): DAT read: Tx time:19:02:59.5176

2025-10-26T19:03:00.449Z,1761505380.449 [DAT](INFO): Ping request sent.
2025-10-26T19:03:00.449Z,1761505380.449 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:03:00.450Z,1761505380.450 [DAT](INFO): publishing transmit ping time
2025-10-26T19:03:00.450Z,1761505380.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944
2025-10-26T19:03:00.650Z,1761505380.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580230,-0.781578,-0.229059],[0.799935,0.599750,-0.020105],[0.153091,-0.171567,0.973205]]
2025-10-26T19:03:00.701Z,1761505380.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251447
2025-10-26T19:03:00.952Z,1761505380.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502886
2025-10-26T19:03:01.054Z,1761505381.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575874,-0.784482,-0.230124],[0.803102,0.595496,-0.020295],[0.152959,-0.173125,0.972950]]
2025-10-26T19:03:01.205Z,1761505381.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755522
2025-10-26T19:03:01.456Z,1761505381.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007053
2025-10-26T19:03:01.460Z,1761505381.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572030,-0.787018,-0.231052],[0.805711,0.591920,-0.021470],[0.153662,-0.173879,0.972704]]
2025-10-26T19:03:01.709Z,1761505381.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259407
2025-10-26T19:03:01.868Z,1761505381.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569386,-0.788316,-0.233148],[0.807135,0.589903,-0.023413],[0.155991,-0.174851,0.972159]]
2025-10-26T19:03:01.960Z,1761505381.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510983
2025-10-26T19:03:02.212Z,1761505382.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762952
2025-10-26T19:03:02.268Z,1761505382.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568853,-0.788125,-0.235087],[0.806790,0.590242,-0.026537],[0.159672,-0.174570,0.971612]]
2025-10-26T19:03:02.464Z,1761505382.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014891
2025-10-26T19:03:02.670Z,1761505382.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570083,-0.786214,-0.238478],[0.804958,0.592602,-0.029432],[0.164463,-0.175186,0.970702]]
2025-10-26T19:03:02.717Z,1761505382.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267580
2025-10-26T19:03:02.968Z,1761505382.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518969
2025-10-26T19:03:03.075Z,1761505383.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572426,-0.783182,-0.242803],[0.802176,0.596229,-0.031999],[0.169827,-0.176454,0.969548]]
2025-10-26T19:03:03.220Z,1761505383.220 [DAT](INFO): DAT read: Rx Time:19:03:01.7616

2025-10-26T19:03:03.221Z,1761505383.221 [DAT](INFO): Rx dataTimestamp_ set to:1761505383.220567
2025-10-26T19:03:03.221Z,1761505383.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771989
2025-10-26T19:03:03.473Z,1761505383.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023435
2025-10-26T19:03:03.488Z,1761505383.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575191,-0.779877,-0.246872],[0.799162,0.600157,-0.033937],[0.174629,-0.177770,0.968453]]
2025-10-26T19:03:03.734Z,1761505383.734 [DAT](INFO): DAT read: 19:03:01.7616 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 436,-0.10, 1.941, 0.576, 2.358, 1.842, PHS= 0.200,-1.222, 0.472, RAW= 158.6,   7.0, CAL= 158.0,   7.0, ROT= 352.0,  -7.0

2025-10-26T19:03:03.736Z,1761505383.736 [DAT](INFO): got valid direction response:
 19:03:01.7616 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 436,-0.10, 1.941, 0.576, 2.358, 1.842, PHS= 0.200,-1.222, 0.472, RAW= 158.6,   7.0, CAL= 158.0,   7.0, ROT= 352.0,  -7.0

2025-10-26T19:03:03.737Z,1761505383.737 [DAT](INFO): DAT read: Bearing  19, -13 (Remote)

2025-10-26T19:03:03.738Z,1761505383.738 [DAT](INFO): Remote Bearing received:Bearing  19, -13 (Remote)

2025-10-26T19:03:03.739Z,1761505383.739 [DAT](INFO): DAT read: Bearing 228.8,   0.2 (Local)

2025-10-26T19:03:03.783Z,1761505383.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.8,   0.2 (Local)

2025-10-26T19:03:03.785Z,1761505383.785 [DAT](INFO): DAT read: Range 11 to 20 : 161.1 m  (Round-trip  214.8 ms) speed  1.2 m/s

2025-10-26T19:03:03.785Z,1761505383.785 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:03:03.786Z,1761505383.786 [DAT](INFO): direction in FSK: [0.982887,-0.138136,0.121869]
2025-10-26T19:03:03.787Z,1761505383.787 [DAT](INFO): publishing direction and range info
2025-10-26T19:03:03.884Z,1761505383.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577875,-0.776929,-0.249886],[0.796514,0.603621,-0.034756],[0.177839,-0.178953,0.967651]]
2025-10-26T19:03:03.946Z,1761505383.946 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505408.00. Resetting abort timer.
2025-10-26T19:03:04.294Z,1761505384.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580699,-0.774140,-0.251983],[0.794345,0.606574,-0.032927],[0.178336,-0.181041,0.967171]]
2025-10-26T19:03:04.691Z,1761505384.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582945,-0.772206,-0.252730],[0.793345,0.608121,-0.028164],[0.175439,-0.184084,0.967127]]
2025-10-26T19:03:05.094Z,1761505385.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584395,-0.771446,-0.251702],[0.793663,0.608003,-0.020775],[0.169062,-0.187626,0.967582]]
2025-10-26T19:03:05.499Z,1761505385.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585478,-0.771710,-0.248353],[0.794674,0.606909,-0.012455],[0.160339,-0.190067,0.968590]]
2025-10-26T19:03:05.902Z,1761505385.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585644,-0.772231,-0.246335],[0.796469,0.604675,-0.002039],[0.150527,-0.195004,0.969183]]
2025-10-26T19:03:06.311Z,1761505386.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583389,-0.774339,-0.245066],[0.799840,0.600164,0.007702],[0.141116,-0.200507,0.969476]]
2025-10-26T19:03:06.722Z,1761505386.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578290,-0.778813,-0.242964],[0.804879,0.593274,0.014010],[0.133234,-0.203658,0.969934]]
2025-10-26T19:03:07.115Z,1761505387.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570274,-0.785452,-0.240524],[0.811359,0.584343,0.015481],[0.128389,-0.203980,0.970520]]
2025-10-26T19:03:07.519Z,1761505387.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558442,-0.795191,-0.236250],[0.819754,0.572622,0.010335],[0.127064,-0.199439,0.971637]]
2025-10-26T19:03:07.760Z,1761505387.760 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:03:07.760Z,1761505387.760 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:03:07.925Z,1761505387.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545569,-0.805211,-0.232357],[0.828203,0.560422,0.002512],[0.128195,-0.193810,0.972627]]
2025-10-26T19:03:08.012Z,1761505388.012 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:03:08.264Z,1761505388.264 [DAT](INFO): setting remote address to 6
2025-10-26T19:03:08.331Z,1761505388.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535396,-0.813311,-0.227763],[0.834684,0.550711,-0.004449],[0.129050,-0.187728,0.973706]]
2025-10-26T19:03:08.516Z,1761505388.516 [DAT](INFO): DAT read: user:26>

2025-10-26T19:03:08.517Z,1761505388.517 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:03:08.517Z,1761505388.517 [DAT](INFO): set remote address to 6
2025-10-26T19:03:08.518Z,1761505388.518 [DAT](INFO): entering online mode
2025-10-26T19:03:08.737Z,1761505388.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528739,-0.819310,-0.221732],[0.839189,0.543779,-0.008170],[0.127267,-0.181755,0.975074]]
2025-10-26T19:03:08.769Z,1761505388.769 [DAT](INFO): DAT read: user:27>

2025-10-26T19:03:08.769Z,1761505388.769 [DAT](INFO): DAT read: 

2025-10-26T19:03:08.771Z,1761505388.771 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:03:08.771Z,1761505388.771 [DAT](INFO): commRate: 600
2025-10-26T19:03:08.771Z,1761505388.771 [DAT](INFO): online mode acknowledged
2025-10-26T19:03:08.772Z,1761505388.772 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:03:09.134Z,1761505389.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524356,-0.823327,-0.217217],[0.842529,0.538597,-0.007623],[0.123269,-0.179014,0.976094]]
2025-10-26T19:03:09.541Z,1761505389.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521501,-0.826467,-0.212108],[0.845121,0.534552,-0.004988],[0.117505,-0.176656,0.977234]]
2025-10-26T19:03:09.944Z,1761505389.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519056,-0.829020,-0.208101],[0.847516,0.530770,-0.000532],[0.110895,-0.176092,0.978107]]
2025-10-26T19:03:10.351Z,1761505390.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516728,-0.831242,-0.205009],[0.849747,0.527174,0.004288],[0.104511,-0.176421,0.978751]]
2025-10-26T19:03:10.752Z,1761505390.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515018,-0.833266,-0.201058],[0.851441,0.524393,0.007701],[0.099017,-0.175155,0.979549]]
2025-10-26T19:03:11.154Z,1761505391.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514465,-0.834156,-0.198770],[0.852277,0.522971,0.011204],[0.094605,-0.175171,0.979982]]
2025-10-26T19:03:11.239Z,1761505391.239 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:03:11.240Z,1761505391.240 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:03:11.240Z,1761505391.240 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateRudder:A] Stopped
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode] Stopped
2025-10-26T19:03:11.241Z,1761505391.241 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed] Stopped
2025-10-26T19:03:11.242Z,1761505391.242 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:03:11.559Z,1761505391.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514971,-0.834193,-0.197297],[0.852319,0.522834,0.014066],[0.091420,-0.175403,0.980243]]
2025-10-26T19:03:11.604Z,1761505391.604 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:03:11.604Z,1761505391.604 [marl:UpdateRudder:B] Stopped
2025-10-26T19:03:11.604Z,1761505391.604 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:03:11.604Z,1761505391.604 [marl:UpdateRudder] Stopped
2025-10-26T19:03:11.605Z,1761505391.605 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:03:11.967Z,1761505391.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516594,-0.833636,-0.195402],[0.851560,0.524022,0.015699],[0.089307,-0.174506,0.980598]]
2025-10-26T19:03:12.049Z,1761505392.049 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:03:11.2165

2025-10-26T19:03:12.050Z,1761505392.050 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:03:12.366Z,1761505392.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519442,-0.832165,-0.194118],[0.850021,0.526449,0.017746],[0.087426,-0.174222,0.980818]]
2025-10-26T19:03:12.770Z,1761505392.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523351,-0.829758,-0.193921],[0.847853,0.529806,0.021215],[0.085137,-0.175519,0.980788]]
2025-10-26T19:03:13.176Z,1761505393.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527772,-0.826905,-0.194124],[0.845425,0.533454,0.026148],[0.081934,-0.177918,0.980628]]
2025-10-26T19:03:13.579Z,1761505393.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532976,-0.823317,-0.195155],[0.842647,0.537378,0.034223],[0.076696,-0.182687,0.980175]]
2025-10-26T19:03:14.386Z,1761505394.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543903,-0.815698,-0.196995],[0.836922,0.544388,0.056590],[0.061081,-0.195649,0.978770]]
2025-10-26T19:03:14.803Z,1761505394.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549024,-0.812727,-0.195056],[0.834264,0.547051,0.068841],[0.050756,-0.200524,0.978373]]
2025-10-26T19:03:15.108Z,1761505395.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:03:15.198Z,1761505395.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552989,-0.810730,-0.192149],[0.832271,0.548310,0.081734],[0.039093,-0.205118,0.977956]]
2025-10-26T19:03:15.604Z,1761505395.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548410,-0.815790,-0.183668],[0.835972,0.540106,0.097146],[0.019949,-0.206817,0.978176]]
2025-10-26T19:03:16.007Z,1761505396.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541223,-0.821576,-0.179137],[0.840783,0.531967,0.100479],[0.012744,-0.204997,0.978680]]
2025-10-26T19:03:16.112Z,1761505396.112 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T19:03:16.112Z,1761505396.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:03:16.412Z,1761505396.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533239,-0.827823,-0.174259],[0.845937,0.523459,0.101887],[0.006873,-0.201742,0.979415]]
2025-10-26T19:03:16.861Z,1761505396.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524656,-0.834151,-0.170080],[0.851306,0.514939,0.100577],[0.003684,-0.197559,0.980284]]
2025-10-26T19:03:17.225Z,1761505397.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515666,-0.840167,-0.167951],[0.856782,0.506476,0.096989],[0.003576,-0.193911,0.981013]]
2025-10-26T19:03:17.618Z,1761505397.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507090,-0.845419,-0.167708],[0.861874,0.498697,0.092060],[0.005806,-0.191226,0.981529]]
2025-10-26T19:03:18.023Z,1761505398.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500893,-0.848949,-0.168496],[0.865460,0.493350,0.087089],[0.009193,-0.189449,0.981848]]
2025-10-26T19:03:18.426Z,1761505398.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498658,-0.849868,-0.170481],[0.866710,0.491687,0.084015],[0.012422,-0.189652,0.981773]]
2025-10-26T19:03:18.864Z,1761505398.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499561,-0.848636,-0.173943],[0.866140,0.492900,0.082766],[0.015498,-0.192006,0.981272]]
2025-10-26T19:03:19.236Z,1761505399.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501914,-0.846474,-0.177662],[0.864723,0.495455,0.082333],[0.018331,-0.194952,0.980641]]
2025-10-26T19:03:19.640Z,1761505399.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504868,-0.843866,-0.181656],[0.862948,0.498475,0.082730],[0.020738,-0.198528,0.979876]]
2025-10-26T19:03:19.665Z,1761505399.665 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:03:19.864Z,1761505399.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:19.915Z,1761505399.915 [DAT](INFO): entering command mode
2025-10-26T19:03:20.044Z,1761505400.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507925,-0.841351,-0.184773],[0.861106,0.501549,0.083342],[0.022553,-0.201441,0.979241]]
2025-10-26T19:03:20.116Z,1761505400.116 [DAT](INFO): DAT read: 

2025-10-26T19:03:20.117Z,1761505400.117 [DAT](INFO): DAT read: user:28>

2025-10-26T19:03:20.117Z,1761505400.117 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:20.117Z,1761505400.117 [DAT](INFO): setting remote address to 0
2025-10-26T19:03:20.368Z,1761505400.368 [DAT](INFO): DAT read: user:28>

2025-10-26T19:03:20.369Z,1761505400.369 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:03:20.370Z,1761505400.370 [DAT](INFO): set remote address to 0
2025-10-26T19:03:20.370Z,1761505400.370 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:20.370Z,1761505400.370 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:03:20.453Z,1761505400.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510900,-0.838720,-0.188494],[0.859326,0.504209,0.085626],[0.023224,-0.205724,0.978334]]
2025-10-26T19:03:20.620Z,1761505400.620 [DAT](INFO): DAT read: user:29>

2025-10-26T19:03:20.621Z,1761505400.621 [DAT](INFO): DAT read: Tx time:19:03:19.7175

2025-10-26T19:03:20.621Z,1761505400.621 [DAT](INFO): Ping request sent.
2025-10-26T19:03:20.621Z,1761505400.621 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:03:20.622Z,1761505400.622 [DAT](INFO): publishing transmit ping time
2025-10-26T19:03:20.622Z,1761505400.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000989
2025-10-26T19:03:20.869Z,1761505400.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513698,-0.836629,-0.190173],[0.857692,0.506404,0.088988],[0.021854,-0.208823,0.977709]]
2025-10-26T19:03:20.872Z,1761505400.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251059
2025-10-26T19:03:21.124Z,1761505401.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503089
2025-10-26T19:03:21.255Z,1761505401.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515931,-0.835226,-0.190298],[0.856436,0.507661,0.093801],[0.018262,-0.211372,0.977235]]
2025-10-26T19:03:21.377Z,1761505401.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755377
2025-10-26T19:03:21.629Z,1761505401.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007564
2025-10-26T19:03:21.658Z,1761505401.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516716,-0.835166,-0.188418],[0.856062,0.507255,0.099244],[0.012691,-0.212579,0.977062]]
2025-10-26T19:03:21.880Z,1761505401.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259048
2025-10-26T19:03:22.063Z,1761505402.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512140,-0.838803,-0.184723],[0.858871,0.501975,0.101794],[0.007341,-0.210786,0.977505]]
2025-10-26T19:03:22.133Z,1761505402.133 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:03:22.133Z,1761505402.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511637
2025-10-26T19:03:22.384Z,1761505402.384 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:03:22.384Z,1761505402.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763046
2025-10-26T19:03:22.467Z,1761505402.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503486,-0.845061,-0.179925],[0.863996,0.493301,0.100819],[0.003559,-0.206216,0.978500]]
2025-10-26T19:03:22.636Z,1761505402.636 [DAT](INFO): setting remote address to 6
2025-10-26T19:03:22.637Z,1761505402.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015382
2025-10-26T19:03:22.876Z,1761505402.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494520,-0.851206,-0.175780],[0.869166,0.484296,0.100038],[-0.000023,-0.202253,0.979333]]
2025-10-26T19:03:22.890Z,1761505402.890 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:22.891Z,1761505402.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269230
2025-10-26T19:03:23.141Z,1761505403.141 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:23.141Z,1761505403.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519608
2025-10-26T19:03:23.274Z,1761505403.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485975,-0.856590,-0.173440],[0.873968,0.475671,0.099585],[-0.002803,-0.199976,0.979797]]
2025-10-26T19:03:23.392Z,1761505403.392 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:23.393Z,1761505403.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771471
2025-10-26T19:03:23.644Z,1761505403.644 [DAT](INFO): DAT read: Rx Time:19:03:22.3077

2025-10-26T19:03:23.645Z,1761505403.645 [DAT](INFO): Rx dataTimestamp_ set to:1761505403.644533
2025-10-26T19:03:23.645Z,1761505403.645 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:23.645Z,1761505403.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024088
2025-10-26T19:03:23.693Z,1761505403.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477493,-0.861528,-0.172539],[0.878630,0.467467,0.097390],[-0.003248,-0.198101,0.980176]]
2025-10-26T19:03:23.752Z,1761505403.752 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:03:23.752Z,1761505403.752 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:03:23.752Z,1761505403.752 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:03:23.752Z,1761505403.752 [marl:UpdateRudder:A] Stopped
2025-10-26T19:03:23.752Z,1761505403.752 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:03:23.752Z,1761505403.752 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateCommandMode] Stopped
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:03:23.753Z,1761505403.753 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:03:23.754Z,1761505403.754 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:03:23.754Z,1761505403.754 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:03:23.754Z,1761505403.754 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:03:23.754Z,1761505403.754 [marl:UpdateSpeed] Stopped
2025-10-26T19:03:23.754Z,1761505403.754 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:03:23.896Z,1761505403.896 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:23.896Z,1761505403.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275057
2025-10-26T19:03:24.082Z,1761505404.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468753,-0.865969,-0.174266],[0.883329,0.459429,0.093032],[-0.000500,-0.197543,0.980294]]
2025-10-26T19:03:24.163Z,1761505404.163 [DAT](INFO): DAT read: 19:03:22.3077 LVL= 32752, 32753, 28658, 32755, AGC= 59, IDX= 365, 0.36, 2.607, 1.392,-2.843, 2.724, PHS=-0.015,-1.287, 0.672, RAW= 170.2,   7.4, CAL= 169.8,   7.3, ROT= 340.2,  -7.3

2025-10-26T19:03:24.164Z,1761505404.164 [DAT](INFO): got valid direction response:
 19:03:22.3077 LVL= 32752, 32753, 28658, 32755, AGC= 59, IDX= 365, 0.36, 2.607, 1.392,-2.843, 2.724, PHS=-0.015,-1.287, 0.672, RAW= 170.2,   7.4, CAL= 169.8,   7.3, ROT= 340.2,  -7.3

2025-10-26T19:03:24.165Z,1761505404.165 [DAT](INFO): DAT read: Bearing 233.3, -20.9 (Local)

2025-10-26T19:03:24.166Z,1761505404.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.3, -20.9 (Local)

2025-10-26T19:03:24.188Z,1761505404.188 [DAT](INFO): DAT read: Range 11 to 20 : 139.5 m  (Round-trip  186.0 ms) speed  0.6 m/s

2025-10-26T19:03:24.189Z,1761505404.189 [DAT](INFO): DAT read: user:30>

2025-10-26T19:03:24.207Z,1761505404.207 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:03:24.208Z,1761505404.208 [DAT](INFO): set remote address to 6
2025-10-26T19:03:24.209Z,1761505404.209 [DAT](INFO): entering online mode
2025-10-26T19:03:24.210Z,1761505404.210 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:03:24.211Z,1761505404.211 [marl:UpdateRudder:B] Stopped
2025-10-26T19:03:24.211Z,1761505404.211 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:03:24.211Z,1761505404.211 [marl:UpdateRudder] Stopped
2025-10-26T19:03:24.212Z,1761505404.212 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:03:24.400Z,1761505404.400 [DAT](INFO): DAT read: user:31>

2025-10-26T19:03:24.401Z,1761505404.401 [DAT](INFO): DAT read: 

2025-10-26T19:03:24.402Z,1761505404.402 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:03:24.402Z,1761505404.402 [DAT](INFO): commRate: 600
2025-10-26T19:03:24.402Z,1761505404.402 [DAT](INFO): online mode acknowledged
2025-10-26T19:03:24.403Z,1761505404.403 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:03:24.403Z,1761505404.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781639
2025-10-26T19:03:24.486Z,1761505404.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459347,-0.870229,-0.178048],[0.888235,0.451411,0.085244],[0.006191,-0.197305,0.980323]]
2025-10-26T19:03:24.652Z,1761505404.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030930
2025-10-26T19:03:24.891Z,1761505404.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449698,-0.874248,-0.182928],[0.893035,0.443790,0.074418],[0.016122,-0.196827,0.980306]]
2025-10-26T19:03:24.904Z,1761505404.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282980
2025-10-26T19:03:25.156Z,1761505405.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534911
2025-10-26T19:03:25.294Z,1761505405.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441263,-0.877321,-0.188664],[0.896947,0.437710,0.062421],[0.027817,-0.196766,0.980056]]
2025-10-26T19:03:25.408Z,1761505405.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786969
2025-10-26T19:03:25.661Z,1761505405.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039799
2025-10-26T19:03:25.706Z,1761505405.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435669,-0.878908,-0.194199],[0.899218,0.434574,0.050518],[0.039994,-0.196636,0.979660]]
2025-10-26T19:03:25.912Z,1761505405.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290904
2025-10-26T19:03:26.102Z,1761505406.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432894,-0.879354,-0.198339],[0.899975,0.434157,0.039407],[0.051458,-0.195559,0.979341]]
2025-10-26T19:03:26.165Z,1761505406.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543203
2025-10-26T19:03:26.416Z,1761505406.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794985
2025-10-26T19:03:26.507Z,1761505406.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431744,-0.879147,-0.201737],[0.899829,0.435290,0.028811],[0.062485,-0.193967,0.979016]]
2025-10-26T19:03:26.668Z,1761505406.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046943
2025-10-26T19:03:26.920Z,1761505406.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298928
2025-10-26T19:03:27.173Z,1761505407.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551319
2025-10-26T19:03:27.314Z,1761505407.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433383,-0.876370,-0.210130],[0.897546,0.440728,0.013042],[0.081180,-0.194254,0.977587]]
2025-10-26T19:03:27.424Z,1761505407.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802953
2025-10-26T19:03:27.678Z,1761505407.678 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:03:26.8164

2025-10-26T19:03:27.679Z,1761505407.679 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:03:27.680Z,1761505407.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058335
2025-10-26T19:03:27.730Z,1761505407.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436085,-0.873802,-0.215174],[0.895553,0.444876,0.008381],[0.088403,-0.196354,0.976540]]
2025-10-26T19:03:27.929Z,1761505407.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307632
2025-10-26T19:03:28.122Z,1761505408.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439881,-0.870486,-0.220816],[0.893182,0.449645,0.006722],[0.093437,-0.200186,0.975292]]
2025-10-26T19:03:28.182Z,1761505408.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560102
2025-10-26T19:03:28.432Z,1761505408.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811010
2025-10-26T19:03:28.527Z,1761505408.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443905,-0.866748,-0.227367],[0.890816,0.454305,0.007345],[0.096928,-0.205803,0.973781]]
2025-10-26T19:03:28.687Z,1761505408.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065239
2025-10-26T19:03:28.930Z,1761505408.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447556,-0.863058,-0.234146],[0.888771,0.458247,0.009744],[0.098887,-0.212463,0.972153]]
2025-10-26T19:03:28.940Z,1761505408.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319053
2025-10-26T19:03:29.194Z,1761505409.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572479
2025-10-26T19:03:29.334Z,1761505409.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450331,-0.860159,-0.239434],[0.887281,0.461061,0.012465],[0.099671,-0.218058,0.970833]]
2025-10-26T19:03:29.445Z,1761505409.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823104
2025-10-26T19:03:29.697Z,1761505409.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075775
2025-10-26T19:03:29.743Z,1761505409.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451096,-0.858536,-0.243779],[0.886839,0.461851,0.014497],[0.100144,-0.222732,0.969722]]
2025-10-26T19:03:29.948Z,1761505409.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326946
2025-10-26T19:03:30.144Z,1761505410.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449355,-0.858698,-0.246411],[0.887581,0.460438,0.014046],[0.101396,-0.225021,0.969064]]
2025-10-26T19:03:30.201Z,1761505410.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579261
2025-10-26T19:03:30.452Z,1761505410.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830874
2025-10-26T19:03:30.546Z,1761505410.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445354,-0.860241,-0.248283],[0.889334,0.457116,0.011432],[0.103660,-0.225898,0.968620]]
2025-10-26T19:03:30.705Z,1761505410.705 [DAT](INFO): Reached modem response timeout
2025-10-26T19:03:30.950Z,1761505410.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440094,-0.863049,-0.247919],[0.891602,0.452773,0.006551],[0.106597,-0.223928,0.968759]]
2025-10-26T19:03:31.354Z,1761505411.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433771,-0.866516,-0.246967],[0.894274,0.447520,0.000511],[0.110079,-0.221077,0.969024]]
2025-10-26T19:03:31.758Z,1761505411.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426536,-0.870701,-0.244841],[0.897301,0.441373,-0.006426],[0.113661,-0.216955,0.969542]]
2025-10-26T19:03:32.162Z,1761505412.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418281,-0.875144,-0.243235],[0.900719,0.434199,-0.013291],[0.117244,-0.213528,0.969876]]
2025-10-26T19:03:32.566Z,1761505412.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409188,-0.880088,-0.240855],[0.904432,0.426124,-0.020528],[0.120700,-0.209437,0.970344]]
2025-10-26T19:03:32.974Z,1761505412.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399472,-0.885221,-0.238341],[0.908334,0.417334,-0.027602],[0.123901,-0.205467,0.970789]]
2025-10-26T19:03:33.376Z,1761505413.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389696,-0.890365,-0.235345],[0.912240,0.408246,-0.033957],[0.126313,-0.201458,0.971318]]
2025-10-26T19:03:33.779Z,1761505413.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379901,-0.895427,-0.232132],[0.916142,0.398911,-0.039426],[0.127903,-0.197688,0.971885]]
2025-10-26T19:03:34.191Z,1761505414.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369918,-0.900500,-0.228607],[0.920056,0.389251,-0.044512],[0.129068,-0.193865,0.972501]]
2025-10-26T19:03:34.590Z,1761505414.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360046,-0.905581,-0.224255],[0.923784,0.379645,-0.049919],[0.130343,-0.189190,0.973251]]
2025-10-26T19:03:35.394Z,1761505415.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340599,-0.914865,-0.216829],[0.930370,0.361226,-0.062675],[0.135663,-0.180384,0.974196]]
2025-10-26T19:03:35.798Z,1761505415.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331708,-0.918713,-0.214327],[0.932756,0.353398,-0.071243],[0.141195,-0.176283,0.974160]]
2025-10-26T19:03:36.203Z,1761505416.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323690,-0.921870,-0.213028],[0.934403,0.346847,-0.081168],[0.148714,-0.172781,0.973669]]
2025-10-26T19:03:36.613Z,1761505416.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317443,-0.924348,-0.211684],[0.935065,0.342255,-0.092277],[0.157746,-0.168645,0.972972]]
2025-10-26T19:03:36.654Z,1761505416.654 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:03:36.654Z,1761505416.654 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:03:36.654Z,1761505416.654 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:03:36.655Z,1761505416.655 [marl:UpdateRudder:A] Stopped
2025-10-26T19:03:36.655Z,1761505416.655 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:03:36.655Z,1761505416.655 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:03:36.655Z,1761505416.655 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:03:36.655Z,1761505416.655 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:03:36.672Z,1761505416.672 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:03:36.672Z,1761505416.672 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:03:36.672Z,1761505416.672 [marl:UpdateCommandMode] Stopped
2025-10-26T19:03:36.672Z,1761505416.672 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:03:36.672Z,1761505416.672 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:03:36.672Z,1761505416.672 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:03:36.673Z,1761505416.673 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:03:36.673Z,1761505416.673 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:03:36.673Z,1761505416.673 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:03:36.673Z,1761505416.673 [marl:UpdateSpeed] Stopped
2025-10-26T19:03:36.673Z,1761505416.673 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:03:37.011Z,1761505417.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313454,-0.925681,-0.211804],[0.934628,0.340194,-0.103624],[0.167977,-0.165477,0.971803]]
2025-10-26T19:03:37.097Z,1761505417.097 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:03:37.097Z,1761505417.097 [marl:UpdateRudder:B] Stopped
2025-10-26T19:03:37.098Z,1761505417.098 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:03:37.098Z,1761505417.098 [marl:UpdateRudder] Stopped
2025-10-26T19:03:37.098Z,1761505417.098 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:03:37.414Z,1761505417.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312170,-0.926019,-0.212224],[0.933099,0.340841,-0.114688],[0.178538,-0.162224,0.970468]]
2025-10-26T19:03:37.673Z,1761505417.673 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:03:37.674Z,1761505417.674 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:03:37.760Z,1761505417.760 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:03:37.818Z,1761505417.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314026,-0.924715,-0.215149],[0.930535,0.344742,-0.123523],[0.188395,-0.161414,0.968738]]
2025-10-26T19:03:38.012Z,1761505418.012 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:03:38.225Z,1761505418.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318537,-0.921672,-0.221481],[0.927279,0.351462,-0.128948],[0.196690,-0.164300,0.966601]]
2025-10-26T19:03:38.264Z,1761505418.264 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:03:38.629Z,1761505418.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324842,-0.917769,-0.228425],[0.923748,0.359701,-0.131552],[0.202899,-0.168274,0.964633]]
2025-10-26T19:03:39.032Z,1761505419.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332244,-0.912914,-0.237071],[0.920292,0.368821,-0.130512],[0.206583,-0.174813,0.962686]]
2025-10-26T19:03:39.438Z,1761505419.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340415,-0.907558,-0.245879],[0.917137,0.378139,-0.125980],[0.207311,-0.182619,0.961079]]
2025-10-26T19:03:39.840Z,1761505419.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348843,-0.901921,-0.254653],[0.914447,0.387060,-0.118199],[0.205172,-0.191633,0.959782]]
2025-10-26T19:03:40.242Z,1761505420.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356826,-0.896776,-0.261664],[0.912379,0.394700,-0.108521],[0.200598,-0.200014,0.959039]]
2025-10-26T19:03:40.652Z,1761505420.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363526,-0.892377,-0.267418],[0.911058,0.400481,-0.097923],[0.194480,-0.208036,0.958592]]
2025-10-26T19:03:41.051Z,1761505421.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367191,-0.890366,-0.269107],[0.910899,0.402765,-0.089682],[0.188237,-0.212198,0.958926]]
2025-10-26T19:03:41.459Z,1761505421.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365319,-0.890597,-0.270884],[0.912415,0.400251,-0.085424],[0.184500,-0.215952,0.958814]]
2025-10-26T19:03:41.541Z,1761505421.541 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:03:40.6663

2025-10-26T19:03:41.542Z,1761505421.542 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:03:41.858Z,1761505421.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360867,-0.892237,-0.271456],[0.914496,0.395634,-0.084681],[0.182952,-0.217687,0.958718]]
2025-10-26T19:03:42.262Z,1761505422.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355665,-0.894565,-0.270659],[0.916704,0.390322,-0.085453],[0.182088,-0.217721,0.958875]]
2025-10-26T19:03:42.676Z,1761505422.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350201,-0.897175,-0.269138],[0.918938,0.384733,-0.086793],[0.181414,-0.216926,0.959183]]
2025-10-26T19:03:43.073Z,1761505423.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344776,-0.900214,-0.265977],[0.921107,0.379032,-0.088859],[0.180806,-0.214357,0.959875]]
2025-10-26T19:03:43.474Z,1761505423.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339874,-0.903753,-0.260224],[0.923135,0.373466,-0.091349],[0.179742,-0.209175,0.961217]]
2025-10-26T19:03:43.886Z,1761505423.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334926,-0.906801,-0.256002],[0.925165,0.367981,-0.093062],[0.178592,-0.205675,0.962186]]
2025-10-26T19:03:44.282Z,1761505424.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330561,-0.909966,-0.250382],[0.927068,0.362781,-0.094523],[0.176846,-0.200876,0.963522]]
2025-10-26T19:03:44.699Z,1761505424.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325960,-0.913013,-0.245269],[0.929171,0.357242,-0.094970],[0.174330,-0.196941,0.964792]]
2025-10-26T19:03:45.498Z,1761505425.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316068,-0.918386,-0.238050],[0.933611,0.345705,-0.094123],[0.168737,-0.192496,0.966682]]
2025-10-26T19:03:45.902Z,1761505425.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310827,-0.920988,-0.234878],[0.935866,0.339708,-0.093556],[0.165954,-0.190734,0.967512]]
2025-10-26T19:03:46.245Z,1761505426.245 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:03:46.312Z,1761505426.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305981,-0.923284,-0.232209],[0.937865,0.334252,-0.093191],[0.163658,-0.189266,0.968191]]
2025-10-26T19:03:46.728Z,1761505426.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301385,-0.925452,-0.229576],[0.939626,0.329189,-0.093475],[0.162081,-0.187544,0.968792]]
2025-10-26T19:03:47.114Z,1761505427.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297443,-0.927089,-0.228108],[0.940948,0.325120,-0.094417],[0.161696,-0.186554,0.969047]]
2025-10-26T19:03:47.248Z,1761505427.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:03:47.518Z,1761505427.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294428,-0.928398,-0.226694],[0.941829,0.322111,-0.095929],[0.162080,-0.185263,0.969230]]
2025-10-26T19:03:47.943Z,1761505427.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293659,-0.929064,-0.224954],[0.942023,0.321233,-0.096964],[0.162348,-0.183438,0.969533]]
2025-10-26T19:03:48.326Z,1761505428.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294717,-0.928945,-0.224060],[0.941724,0.322137,-0.096872],[0.162167,-0.182453,0.969749]]
2025-10-26T19:03:48.733Z,1761505428.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297281,-0.928522,-0.222422],[0.941041,0.324330,-0.096189],[0.161451,-0.180713,0.970194]]
2025-10-26T19:03:49.140Z,1761505429.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300762,-0.927472,-0.222123],[0.940203,0.327396,-0.093970],[0.159877,-0.180578,0.970480]]
2025-10-26T19:03:49.539Z,1761505429.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305373,-0.925855,-0.222574],[0.939156,0.331441,-0.090188],[0.157271,-0.181490,0.970735]]
2025-10-26T19:03:49.566Z,1761505429.566 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:03:49.566Z,1761505429.566 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:03:49.566Z,1761505429.566 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:03:49.567Z,1761505429.567 [marl:UpdateRudder:A] Stopped
2025-10-26T19:03:49.567Z,1761505429.567 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:03:49.567Z,1761505429.567 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:03:49.567Z,1761505429.567 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:03:49.567Z,1761505429.567 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:03:49.567Z,1761505429.567 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateCommandMode] Stopped
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:03:49.568Z,1761505429.568 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:03:49.569Z,1761505429.569 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:03:49.569Z,1761505429.569 [marl:UpdateSpeed] Stopped
2025-10-26T19:03:49.569Z,1761505429.569 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:03:49.986Z,1761505429.986 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T19:03:49.986Z,1761505429.986 [marl:UpdateRudder:B] Stopped
2025-10-26T19:03:49.986Z,1761505429.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:03:49.986Z,1761505429.986 [marl:UpdateRudder] Stopped
2025-10-26T19:03:49.986Z,1761505429.986 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:03:49.988Z,1761505429.987 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:03:50.108Z,1761505430.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:50.159Z,1761505430.159 [DAT](INFO): entering command mode
2025-10-26T19:03:50.346Z,1761505430.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315525,-0.921664,-0.225785],[0.936767,0.340494,-0.080816],[0.151364,-0.186009,0.970819]]
2025-10-26T19:03:50.360Z,1761505430.360 [DAT](INFO): DAT read: 

2025-10-26T19:03:50.360Z,1761505430.360 [DAT](INFO): DAT read: user:32>

2025-10-26T19:03:50.361Z,1761505430.361 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:50.361Z,1761505430.361 [DAT](INFO): setting remote address to 0
2025-10-26T19:03:50.612Z,1761505430.612 [DAT](INFO): DAT read: user:32>

2025-10-26T19:03:50.613Z,1761505430.613 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:03:50.613Z,1761505430.613 [DAT](INFO): set remote address to 0
2025-10-26T19:03:50.614Z,1761505430.614 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:03:50.614Z,1761505430.614 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:03:50.754Z,1761505430.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319666,-0.920010,-0.226706],[0.935762,0.344119,-0.077023],[0.148875,-0.187521,0.970913]]
2025-10-26T19:03:50.864Z,1761505430.864 [DAT](INFO): DAT read: user:33>

2025-10-26T19:03:50.865Z,1761505430.865 [DAT](INFO): DAT read: Tx time:19:03:49.9674

2025-10-26T19:03:50.865Z,1761505430.865 [DAT](INFO): Ping request sent.
2025-10-26T19:03:50.866Z,1761505430.866 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:03:50.866Z,1761505430.866 [DAT](INFO): publishing transmit ping time
2025-10-26T19:03:50.867Z,1761505430.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000982
2025-10-26T19:03:51.116Z,1761505431.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250778
2025-10-26T19:03:51.160Z,1761505431.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324003,-0.917916,-0.229026],[0.934697,0.347992,-0.072405],[0.146161,-0.190611,0.970724]]
2025-10-26T19:03:51.369Z,1761505431.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503759
2025-10-26T19:03:51.558Z,1761505431.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327904,-0.915716,-0.232258],[0.933712,0.351545,-0.067803],[0.143738,-0.194629,0.970288]]
2025-10-26T19:03:51.620Z,1761505431.620 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:03:51.621Z,1761505431.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755015
2025-10-26T19:03:51.872Z,1761505431.872 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:03:51.872Z,1761505431.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006856
2025-10-26T19:03:51.964Z,1761505431.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331422,-0.913269,-0.236854],[0.932763,0.354899,-0.063246],[0.141819,-0.199968,0.969484]]
2025-10-26T19:03:52.125Z,1761505432.125 [DAT](INFO): setting remote address to 6
2025-10-26T19:03:52.128Z,1761505432.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261366
2025-10-26T19:03:52.366Z,1761505432.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333886,-0.911561,-0.239950],[0.932106,0.357191,-0.059948],[0.140354,-0.203643,0.968933]]
2025-10-26T19:03:52.376Z,1761505432.376 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:52.377Z,1761505432.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511277
2025-10-26T19:03:52.631Z,1761505432.631 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:52.632Z,1761505432.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765966
2025-10-26T19:03:52.770Z,1761505432.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337202,-0.908493,-0.246853],[0.931082,0.360600,-0.055256],[0.139215,-0.211208,0.967476]]
2025-10-26T19:03:52.880Z,1761505432.880 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:52.881Z,1761505432.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015353
2025-10-26T19:03:53.133Z,1761505433.133 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:53.134Z,1761505433.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268047
2025-10-26T19:03:53.384Z,1761505433.384 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:53.385Z,1761505433.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975
2025-10-26T19:03:53.578Z,1761505433.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353155,-0.891078,-0.285063],[0.925182,0.377899,-0.035096],[0.138998,-0.251341,0.957866]]
2025-10-26T19:03:53.639Z,1761505433.639 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:53.641Z,1761505433.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775394
2025-10-26T19:03:53.888Z,1761505433.888 [DAT](INFO): DAT read: Rx Time:19:03:52.5319

2025-10-26T19:03:53.889Z,1761505433.889 [DAT](INFO): Rx dataTimestamp_ set to:1761505433.888585
2025-10-26T19:03:53.889Z,1761505433.889 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:53.890Z,1761505433.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023962
2025-10-26T19:03:53.982Z,1761505433.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366794,-0.873937,-0.318899],[0.919637,0.392377,-0.017545],[0.140462,-0.286836,0.947626]]
2025-10-26T19:03:54.141Z,1761505434.141 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:03:54.141Z,1761505434.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275515
2025-10-26T19:03:54.398Z,1761505434.398 [DAT](INFO): DAT read: 19:03:52.5319 LVL= 26256, 32753, 15954, 22435, AGC= 48, IDX= 118,-0.02,-1.604,-1.947,-0.240,-1.452, PHS=-0.050,-0.450, 1.168, RAW= 196.3,  -9.2, CAL= 196.2, -11.6, ROT= 313.8,  11.6

2025-10-26T19:03:54.400Z,1761505434.400 [DAT](INFO): got valid direction response:
 19:03:52.5319 LVL= 26256, 32753, 15954, 22435, AGC= 48, IDX= 118,-0.02,-1.604,-1.947,-0.240,-1.452, PHS=-0.050,-0.450, 1.168, RAW= 196.3,  -9.2, CAL= 196.2, -11.6, ROT= 313.8,  11.6

2025-10-26T19:03:54.401Z,1761505434.401 [DAT](INFO): DAT read: Bearing 205.0, -30.3 (Local)

2025-10-26T19:03:54.401Z,1761505434.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.0, -30.3 (Local)

2025-10-26T19:03:54.403Z,1761505434.403 [DAT](INFO): DAT read: Range 11 to 20 : 120.2 m  (Round-trip  160.3 ms) speed  0.5 m/s

2025-10-26T19:03:54.404Z,1761505434.404 [DAT](INFO): DAT read: user:34>

2025-10-26T19:03:54.405Z,1761505434.405 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:03:54.405Z,1761505434.405 [DAT](INFO): set remote address to 6
2025-10-26T19:03:54.406Z,1761505434.406 [DAT](INFO): entering online mode
2025-10-26T19:03:54.425Z,1761505434.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384644,-0.850866,-0.357876],[0.911837,0.410533,0.003980],[0.143533,-0.327855,0.933761]]
2025-10-26T19:03:54.646Z,1761505434.646 [DAT](INFO): DAT read: user:35>

2025-10-26T19:03:54.646Z,1761505434.646 [DAT](INFO): DAT read: 

2025-10-26T19:03:54.648Z,1761505434.648 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:03:54.648Z,1761505434.648 [DAT](INFO): commRate: 600
2025-10-26T19:03:54.648Z,1761505434.648 [DAT](INFO): online mode acknowledged
2025-10-26T19:03:54.648Z,1761505434.648 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:03:54.649Z,1761505434.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783230
2025-10-26T19:03:54.825Z,1761505434.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405325,-0.822514,-0.398977],[0.902111,0.430537,0.028888],[0.148013,-0.371630,0.916506]]
2025-10-26T19:03:54.896Z,1761505434.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030877
2025-10-26T19:03:55.149Z,1761505435.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283236
2025-10-26T19:03:55.322Z,1761505435.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449931,-0.760701,-0.467862],[0.878455,0.471346,0.078423],[0.160868,-0.446281,0.880315]]
2025-10-26T19:03:55.400Z,1761505435.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534699
2025-10-26T19:03:55.653Z,1761505435.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787407
2025-10-26T19:03:55.905Z,1761505435.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038973
2025-10-26T19:03:56.156Z,1761505436.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290821
2025-10-26T19:03:56.169Z,1761505436.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496019,-0.700975,-0.512444],[0.849524,0.513866,0.119375],[0.179649,-0.494546,0.850383]]
2025-10-26T19:03:56.410Z,1761505436.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544411
2025-10-26T19:03:56.572Z,1761505436.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519573,-0.673730,-0.525482],[0.832863,0.536649,0.135451],[0.190742,-0.508031,0.839953]]
2025-10-26T19:03:56.660Z,1761505436.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794805
2025-10-26T19:03:56.912Z,1761505436.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046730
2025-10-26T19:03:57.007Z,1761505437.007 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,   -78  -166,A
2025-10-26T19:03:57.164Z,1761505437.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298698
2025-10-26T19:03:57.379Z,1761505437.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568797,-0.623609,-0.536267],[0.794201,0.585936,0.161009],[0.213812,-0.517485,0.828549]]
2025-10-26T19:03:57.417Z,1761505437.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550943
2025-10-26T19:03:57.668Z,1761505437.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802661
2025-10-26T19:03:57.830Z,1761505437.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594448,-0.600689,-0.534607],[0.771995,0.612383,0.170330],[0.225069,-0.513966,0.827758]]
2025-10-26T19:03:57.921Z,1761505437.921 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:03:57.0663

2025-10-26T19:03:57.921Z,1761505437.921 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:03:57.921Z,1761505437.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055861
2025-10-26T19:03:58.172Z,1761505438.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306813
2025-10-26T19:03:58.222Z,1761505438.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620111,-0.577630,-0.530855],[0.748291,0.638741,0.179083],[0.235635,-0.508285,0.828325]]
2025-10-26T19:03:58.424Z,1761505438.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558771
2025-10-26T19:03:58.677Z,1761505438.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811499
2025-10-26T19:03:58.685Z,1761505438.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646122,-0.558601,-0.520087],[0.723023,0.666238,0.182660],[0.244468,-0.494055,0.834353]]
2025-10-26T19:03:58.928Z,1761505438.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062830
2025-10-26T19:03:59.118Z,1761505439.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672334,-0.539927,-0.506405],[0.696453,0.693193,0.185574],[0.250840,-0.477455,0.842090]]
2025-10-26T19:03:59.180Z,1761505439.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314796
2025-10-26T19:03:59.433Z,1761505439.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567122
2025-10-26T19:03:59.525Z,1761505439.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697673,-0.521487,-0.491226],[0.669521,0.718599,0.188033],[0.254938,-0.460072,0.850494]]
2025-10-26T19:03:59.684Z,1761505439.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818778
2025-10-26T19:03:59.906Z,1761505439.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722058,-0.501520,-0.476561],[0.642262,0.741975,0.192284],[0.257162,-0.444918,0.857855]]
2025-10-26T19:03:59.936Z,1761505439.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070895
2025-10-26T19:04:00.188Z,1761505440.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322773
2025-10-26T19:04:00.317Z,1761505440.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744619,-0.484308,-0.459334],[0.615711,0.764104,0.192470],[0.257764,-0.426134,0.867160]]
2025-10-26T19:04:00.440Z,1761505440.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574818
2025-10-26T19:04:00.696Z,1761505440.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830375
2025-10-26T19:04:00.758Z,1761505440.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765412,-0.464359,-0.445551],[0.590029,0.782782,0.197785],[0.256926,-0.414275,0.873136]]
2025-10-26T19:04:00.945Z,1761505440.945 [DAT](INFO): Reached modem response timeout
2025-10-26T19:04:01.155Z,1761505441.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784803,-0.441644,-0.434781],[0.564875,0.798356,0.208671],[0.254951,-0.409362,0.876026]]
2025-10-26T19:04:01.252Z,1761505441.252 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   60,    -7,A
2025-10-26T19:04:02.082Z,1761505442.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834868,-0.378121,-0.400024],[0.493092,0.836737,0.238184],[0.244652,-0.396101,0.885014]]
2025-10-26T19:04:02.488Z,1761505442.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850027,-0.355375,-0.388796],[0.468584,0.847308,0.249995],[0.240588,-0.394686,0.886758]]
2025-10-26T19:04:02.891Z,1761505442.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865032,-0.331162,-0.376897],[0.442577,0.857501,0.262331],[0.236316,-0.393731,0.888331]]
2025-10-26T19:04:03.452Z,1761505443.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879344,-0.306108,-0.364762],[0.415674,0.867140,0.274376],[0.232311,-0.392893,0.889757]]
2025-10-26T19:04:03.498Z,1761505443.498 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:04:03.498Z,1761505443.498 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:04:03.498Z,1761505443.498 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:04:03.498Z,1761505443.498 [marl:UpdateRudder:A] Stopped
2025-10-26T19:04:03.499Z,1761505443.499 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:04:03.499Z,1761505443.499 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:04:03.499Z,1761505443.499 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:04:03.499Z,1761505443.499 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:04:03.499Z,1761505443.499 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:04:03.499Z,1761505443.499 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateCommandMode] Stopped
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:04:03.500Z,1761505443.500 [marl:UpdateSpeed] Stopped
2025-10-26T19:04:03.501Z,1761505443.501 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:04:03.858Z,1761505443.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893305,-0.278804,-0.352526],[0.387296,0.875483,0.289016],[0.228052,-0.394712,0.890053]]
2025-10-26T19:04:03.917Z,1761505443.917 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T19:04:03.917Z,1761505443.917 [marl:UpdateRudder:B] Stopped
2025-10-26T19:04:03.918Z,1761505443.918 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:04:03.918Z,1761505443.918 [marl:UpdateRudder] Stopped
2025-10-26T19:04:03.918Z,1761505443.918 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:04:04.324Z,1761505444.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906518,-0.251160,-0.339328],[0.358048,0.883248,0.302777],[0.223665,-0.395968,0.890608]]
2025-10-26T19:04:04.810Z,1761505444.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918889,-0.224494,-0.324415],[0.328118,0.891451,0.312497],[0.219047,-0.393597,0.892805]]
2025-10-26T19:04:05.200Z,1761505445.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930290,-0.197984,-0.308807],[0.297666,0.899408,0.320095],[0.214370,-0.389703,0.895644]]
2025-10-26T19:04:05.613Z,1761505445.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940650,-0.170957,-0.293174],[0.266906,0.906213,0.327933],[0.209616,-0.386720,0.898058]]
2025-10-26T19:04:06.006Z,1761505446.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949944,-0.143006,-0.277768],[0.235596,0.911817,0.336281],[0.205183,-0.384889,0.899867]]
2025-10-26T19:04:06.410Z,1761505446.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958029,-0.115140,-0.262532],[0.204574,0.916137,0.344734],[0.200823,-0.383973,0.901241]]
2025-10-26T19:04:06.859Z,1761505446.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964642,-0.089596,-0.247869],[0.175383,0.920216,0.349919],[0.196742,-0.381019,0.903392]]
2025-10-26T19:04:07.218Z,1761505447.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970108,-0.064717,-0.233886],[0.147434,0.922701,0.356210],[0.192754,-0.380045,0.904661]]
2025-10-26T19:04:07.622Z,1761505447.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974507,-0.041514,-0.220483],[0.120886,0.925036,0.360133],[0.189004,-0.377605,0.906472]]
2025-10-26T19:04:08.000Z,1761505448.000 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:04:08.000Z,1761505448.000 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:04:08.026Z,1761505448.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978087,-0.018115,-0.207406],[0.094752,0.925789,0.365974],[0.185384,-0.377607,0.907219]]
2025-10-26T19:04:08.252Z,1761505448.252 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:04:08.438Z,1761505448.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980892,0.006206,-0.194452],[0.068177,0.925148,0.373433],[0.182215,-0.379555,0.907048]]
2025-10-26T19:04:08.504Z,1761505448.504 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:04:08.756Z,1761505448.756 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:04:08.867Z,1761505448.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984134,0.054894,-0.168723],[0.014944,0.921912,0.387110],[0.176797,-0.383490,0.906465]]
2025-10-26T19:04:09.642Z,1761505449.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984567,0.079005,-0.156157],[-0.011227,0.918976,0.394153],[0.174645,-0.386317,0.905681]]
2025-10-26T19:04:10.046Z,1761505450.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984296,0.102404,-0.143787],[-0.036834,0.915756,0.400043],[0.172640,-0.388465,0.905147]]
2025-10-26T19:04:10.451Z,1761505450.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983317,0.125707,-0.131471],[-0.062178,0.911528,0.406510],[0.170941,-0.391554,0.904138]]
2025-10-26T19:04:10.872Z,1761505450.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979444,0.172357,-0.104796],[-0.113252,0.899781,0.421389],[0.166923,-0.400858,0.900805]]
2025-10-26T19:04:11.263Z,1761505451.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976680,0.195130,-0.089562],[-0.138780,0.892047,0.430107],[0.163820,-0.407648,0.898324]]
2025-10-26T19:04:11.667Z,1761505451.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973438,0.216720,-0.073832],[-0.163895,0.884781,0.436235],[0.159866,-0.412546,0.896799]]
2025-10-26T19:04:12.033Z,1761505452.033 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:04:11.1662

2025-10-26T19:04:12.033Z,1761505452.033 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:04:12.475Z,1761505452.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965264,0.257886,-0.041963],[-0.213945,0.872329,0.439625],[0.149979,-0.415376,0.897201]]
2025-10-26T19:04:12.876Z,1761505452.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959267,0.281369,-0.025268],[-0.242168,0.865071,0.439325],[0.145471,-0.415310,0.897973]]
2025-10-26T19:04:13.293Z,1761505453.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951923,0.306207,-0.008996],[-0.271734,0.857586,0.436700],[0.141435,-0.413260,0.899562]]
2025-10-26T19:04:13.683Z,1761505453.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943375,0.331670,0.006267],[-0.301969,0.850770,0.430123],[0.137327,-0.407660,0.902749]]
2025-10-26T19:04:14.490Z,1761505454.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923188,0.383216,0.029491],[-0.361815,0.840614,0.403061],[0.129670,-0.382771,0.914698]]
2025-10-26T19:04:14.895Z,1761505454.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911914,0.408583,0.038381],[-0.390475,0.835102,0.387470],[0.126261,-0.368326,0.921083]]
2025-10-26T19:04:15.300Z,1761505455.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899550,0.434358,0.046288],[-0.419026,0.828121,0.372333],[0.123394,-0.354328,0.926944]]
2025-10-26T19:04:15.706Z,1761505455.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886137,0.460094,0.055461],[-0.447350,0.818005,0.361588],[0.120997,-0.345227,0.930687]]
2025-10-26T19:04:16.510Z,1761505456.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855799,0.510966,0.080755],[-0.503918,0.788140,0.353414],[0.116936,-0.343145,0.931975]]
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateRudder:A] Stopped
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:04:16.592Z,1761505456.592 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateCommandMode] Stopped
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:04:16.593Z,1761505456.593 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:04:16.594Z,1761505456.594 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:04:16.594Z,1761505456.594 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:04:16.594Z,1761505456.594 [marl:UpdateSpeed] Stopped
2025-10-26T19:04:16.594Z,1761505456.594 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:04:16.922Z,1761505456.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839891,0.534192,0.096033],[-0.530373,0.770202,0.354250],[0.115272,-0.348464,0.930207]]
2025-10-26T19:04:16.999Z,1761505456.999 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T19:04:16.999Z,1761505456.999 [marl:UpdateRudder:B] Stopped
2025-10-26T19:04:16.999Z,1761505456.999 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:04:16.999Z,1761505456.999 [marl:UpdateRudder] Stopped
2025-10-26T19:04:16.999Z,1761505456.999 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:04:17.318Z,1761505457.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823952,0.555252,0.113135],[-0.555162,0.750963,0.357560],[0.113576,-0.357421,0.927012]]
2025-10-26T19:04:17.372Z,1761505457.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:04:17.728Z,1761505457.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808032,0.574237,0.131663],[-0.578416,0.730819,0.362407],[0.111885,-0.368993,0.922673]]
2025-10-26T19:04:18.376Z,1761505458.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:04:18.534Z,1761505458.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775274,0.609687,0.165020],[-0.621944,0.691311,0.367797],[0.110161,-0.387777,0.915147]]
2025-10-26T19:04:18.992Z,1761505458.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758535,0.626179,0.180344],[-0.642268,0.671684,0.369233],[0.110071,-0.395906,0.911670]]
2025-10-26T19:04:19.395Z,1761505459.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741735,0.641805,0.194721],[-0.661595,0.652497,0.369513],[0.110101,-0.402907,0.908594]]
2025-10-26T19:04:19.825Z,1761505459.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724866,0.656492,0.208777],[-0.680117,0.633766,0.368484],[0.109591,-0.409094,0.905887]]
2025-10-26T19:04:20.283Z,1761505460.283 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:04:20.352Z,1761505460.352 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:20.403Z,1761505460.403 [DAT](INFO): entering command mode
2025-10-26T19:04:20.604Z,1761505460.604 [DAT](INFO): DAT read: 
uer:36>

2025-10-26T19:04:20.605Z,1761505460.605 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:20.605Z,1761505460.605 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:20.638Z,1761505460.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690621,0.684446,0.233614],[-0.715247,0.598574,0.360738],[0.107070,-0.416225,0.902936]]
2025-10-26T19:04:20.860Z,1761505460.860 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:20.861Z,1761505460.861 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:21.050Z,1761505461.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672823,0.697495,0.246597],[-0.732316,0.580622,0.355796],[0.104986,-0.419975,0.901443]]
2025-10-26T19:04:21.108Z,1761505461.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:21.108Z,1761505461.108 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:21.360Z,1761505461.360 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:21.360Z,1761505461.360 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:21.442Z,1761505461.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654245,0.710294,0.259702],[-0.749319,0.562311,0.349754],[0.102395,-0.423424,0.900126]]
2025-10-26T19:04:21.612Z,1761505461.612 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:21.612Z,1761505461.612 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:21.846Z,1761505461.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634133,0.724035,0.271383],[-0.766769,0.543580,0.341447],[0.099701,-0.424611,0.899870]]
2025-10-26T19:04:21.864Z,1761505461.864 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:21.864Z,1761505461.864 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:22.116Z,1761505462.116 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:04:22.116Z,1761505462.116 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:22.116Z,1761505462.116 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:22.252Z,1761505462.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612666,0.738944,0.280360],[-0.784402,0.525107,0.330116],[0.096719,-0.422166,0.901344]]
2025-10-26T19:04:22.368Z,1761505462.368 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:04:22.368Z,1761505462.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:22.368Z,1761505462.368 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:04:22.620Z,1761505462.620 [DAT](INFO): entering online mode
2025-10-26T19:04:22.654Z,1761505462.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589897,0.754784,0.286918],[-0.802011,0.506391,0.316774],[0.093804,-0.416976,0.904064]]
2025-10-26T19:04:22.873Z,1761505462.873 [DAT](INFO): DAT read: user:36>

2025-10-26T19:04:22.874Z,1761505462.874 [DAT](INFO): DAT read: 

2025-10-26T19:04:22.875Z,1761505462.875 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:04:22.876Z,1761505462.876 [DAT](INFO): commRate: 600
2025-10-26T19:04:22.876Z,1761505462.876 [DAT](INFO): online mode acknowledged
2025-10-26T19:04:22.876Z,1761505462.876 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:04:22.876Z,1761505462.876 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:23.062Z,1761505463.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566098,0.771193,0.291196],[-0.819328,0.487497,0.301741],[0.090743,-0.409400,0.907831]]
2025-10-26T19:04:23.124Z,1761505463.124 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:23.376Z,1761505463.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:23.463Z,1761505463.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541358,0.787023,0.295849],[-0.836163,0.467074,0.287530],[0.088110,-0.403034,0.910934]]
2025-10-26T19:04:23.628Z,1761505463.628 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:23.868Z,1761505463.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516110,0.802843,0.298454],[-0.852258,0.446625,0.272365],[0.085369,-0.394930,0.914736]]
2025-10-26T19:04:23.880Z,1761505463.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:24.132Z,1761505464.132 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:24.270Z,1761505464.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490906,0.819235,0.296421],[-0.867278,0.427235,0.255536],[0.082702,-0.382523,0.920237]]
2025-10-26T19:04:24.385Z,1761505464.385 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:24.636Z,1761505464.636 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:24.674Z,1761505464.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466936,0.833417,0.295613],[-0.880709,0.408232,0.240205],[0.079512,-0.372509,0.924616]]
2025-10-26T19:04:24.889Z,1761505464.889 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:24.939Z,1761505464.939 [DAT](INFO): entering command mode
2025-10-26T19:04:25.078Z,1761505465.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443824,0.845304,0.297457],[-0.892862,0.388887,0.227079],[0.076274,-0.366371,0.927337]]
2025-10-26T19:04:25.141Z,1761505465.141 [DAT](INFO): DAT read: 

2025-10-26T19:04:25.141Z,1761505465.141 [DAT](INFO): DAT read: user:37>

2025-10-26T19:04:25.142Z,1761505465.142 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:25.142Z,1761505465.142 [DAT](INFO): setting remote address to 0
2025-10-26T19:04:25.393Z,1761505465.393 [DAT](INFO): DAT read: user:37>

2025-10-26T19:04:25.394Z,1761505465.394 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:04:25.394Z,1761505465.394 [DAT](INFO): set remote address to 0
2025-10-26T19:04:25.394Z,1761505465.394 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:25.395Z,1761505465.395 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:04:25.485Z,1761505465.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421348,0.853889,0.305514],[-0.903946,0.368266,0.217397],[0.073122,-0.367768,0.927038]]
2025-10-26T19:04:25.644Z,1761505465.644 [DAT](INFO): DAT read: user:38>

2025-10-26T19:04:25.645Z,1761505465.645 [DAT](INFO): DAT read: Tx time:19:04:24.7172

2025-10-26T19:04:25.645Z,1761505465.645 [DAT](INFO): Ping request sent.
2025-10-26T19:04:25.645Z,1761505465.645 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:04:25.646Z,1761505465.646 [DAT](INFO): publishing transmit ping time
2025-10-26T19:04:25.646Z,1761505465.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943
2025-10-26T19:04:25.887Z,1761505465.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398998,0.860589,0.316523],[-0.914248,0.346881,0.209342],[0.070361,-0.372908,0.925197]]
2025-10-26T19:04:25.896Z,1761505465.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251064
2025-10-26T19:04:26.172Z,1761505466.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.526813
2025-10-26T19:04:26.400Z,1761505466.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921
2025-10-26T19:04:26.652Z,1761505466.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912
2025-10-26T19:04:26.906Z,1761505466.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260445
2025-10-26T19:04:27.098Z,1761505467.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333719,0.872279,0.357437],[-0.940580,0.282862,0.187880],[0.062778,-0.398897,0.914844]]
2025-10-26T19:04:27.157Z,1761505467.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511941
2025-10-26T19:04:27.408Z,1761505467.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762947
2025-10-26T19:04:27.551Z,1761505467.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311666,0.874908,0.370675],[-0.948296,0.261768,0.179479],[0.059996,-0.407447,0.911256]]
2025-10-26T19:04:27.661Z,1761505467.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015367
2025-10-26T19:04:27.912Z,1761505467.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266970
2025-10-26T19:04:28.164Z,1761505468.164 [DAT](INFO): DAT read: Rx Time:19:04:26.9006

2025-10-26T19:04:28.165Z,1761505468.165 [DAT](INFO): Rx dataTimestamp_ set to:1761505468.164539
2025-10-26T19:04:28.165Z,1761505468.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519982
2025-10-26T19:04:28.412Z,1761505468.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261898,0.881959,0.391865],[-0.963611,0.216458,0.156842],[0.053506,-0.418682,0.906555]]
2025-10-26T19:04:28.416Z,1761505468.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771042
2025-10-26T19:04:28.668Z,1761505468.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022945
2025-10-26T19:04:28.883Z,1761505468.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233069,0.888138,0.396092],[-0.971186,0.191737,0.141544],[0.049766,-0.417669,0.907235]]
2025-10-26T19:04:28.926Z,1761505468.926 [DAT](INFO): DAT read: 19:04:26.9006 LVL= 10992, 15793, 24050, 21875, AGC= 52, IDX=  56, 0.14, 2.331, 1.289, 0.197, 1.818, PHS= 0.615,-0.484,-1.665, RAW=  58.8,  15.4, CAL=  54.6,  20.1, ROT=  95.4, -20.1

2025-10-26T19:04:28.928Z,1761505468.928 [DAT](INFO): got valid direction response:
 19:04:26.9006 LVL= 10992, 15793, 24050, 21875, AGC= 52, IDX=  56, 0.14, 2.331, 1.289, 0.197, 1.818, PHS= 0.615,-0.484,-1.665, RAW=  58.8,  15.4, CAL=  54.6,  20.1, ROT=  95.4, -20.1

2025-10-26T19:04:28.928Z,1761505468.928 [DAT](INFO): DAT read: Bearing 358, -19 (Remote)

2025-10-26T19:04:28.929Z,1761505468.929 [DAT](INFO): Remote Bearing received:Bearing 358, -19 (Remote)

2025-10-26T19:04:28.930Z,1761505468.930 [DAT](INFO): DAT read: Bearing 188.0,  43.7 (Local)

2025-10-26T19:04:28.930Z,1761505468.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0,  43.7 (Local)

2025-10-26T19:04:28.947Z,1761505468.947 [DAT](INFO): DAT read: Range 11 to 20 : 115.6 m  (Round-trip  154.2 ms) speed -0.5 m/s

2025-10-26T19:04:28.948Z,1761505468.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:04:28.949Z,1761505468.949 [DAT](INFO): direction in FSK: [-0.088377,0.934927,0.343660]
2025-10-26T19:04:28.949Z,1761505468.949 [DAT](INFO): publishing direction and range info
2025-10-26T19:04:29.006Z,1761505469.006 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505408.00. Resetting abort timer.
2025-10-26T19:04:29.279Z,1761505469.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202907,0.894831,0.397627],[-0.978137,0.166320,0.124845],[0.045582,-0.414265,0.909014]]
2025-10-26T19:04:29.693Z,1761505469.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138480,0.911190,0.388015],[-0.989739,0.113399,0.086931],[0.035210,-0.396072,0.917544]]
2025-10-26T19:04:29.752Z,1761505469.752 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:04:29.752Z,1761505469.752 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:04:29.752Z,1761505469.752 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:04:29.753Z,1761505469.753 [marl:UpdateRudder:A] Stopped
2025-10-26T19:04:29.753Z,1761505469.753 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:04:29.753Z,1761505469.753 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:04:29.753Z,1761505469.753 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:04:29.753Z,1761505469.753 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:04:29.753Z,1761505469.753 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateCommandMode] Stopped
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:04:29.754Z,1761505469.754 [marl:UpdateSpeed] Stopped
2025-10-26T19:04:29.755Z,1761505469.755 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:04:30.087Z,1761505470.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105291,0.918525,0.381085],[-0.994011,0.085939,0.067500],[0.029251,-0.385910,0.922073]]
2025-10-26T19:04:30.121Z,1761505470.121 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:04:30.121Z,1761505470.121 [marl:UpdateRudder:B] Stopped
2025-10-26T19:04:30.121Z,1761505470.121 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:04:30.121Z,1761505470.121 [marl:UpdateRudder] Stopped
2025-10-26T19:04:30.121Z,1761505470.121 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:04:30.491Z,1761505470.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071240,0.926301,0.369988],[-0.997180,0.057371,0.048370],[0.023578,-0.372391,0.927776]]
2025-10-26T19:04:30.895Z,1761505470.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036616,0.931831,0.361041],[-0.999158,0.027444,0.030500],[0.018513,-0.361854,0.932051]]
2025-10-26T19:04:31.297Z,1761505471.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002668,0.934230,0.356661],[-0.999899,-0.002483,0.013983],[0.013949,-0.356662,0.934129]]
2025-10-26T19:04:31.702Z,1761505471.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029173,0.934876,0.353773],[-0.999524,-0.030832,-0.000948],[0.010021,-0.353632,0.935331]]
2025-10-26T19:04:32.102Z,1761505472.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057194,0.931526,0.359150],[-0.998347,-0.055439,-0.015192],[0.005760,-0.359425,0.933156]]
2025-10-26T19:04:32.514Z,1761505472.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081062,0.926731,0.366876],[-0.996708,-0.075889,-0.028529],[0.001403,-0.367981,0.929832]]
2025-10-26T19:04:32.911Z,1761505472.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101421,0.921638,0.374562],[-0.994839,-0.092816,-0.040995],[-0.003017,-0.376786,0.926295]]
2025-10-26T19:04:32.954Z,1761505472.954 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:04:32.954Z,1761505472.954 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:04:33.204Z,1761505473.204 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:04:33.314Z,1761505473.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119592,0.916438,0.381890],[-0.992798,-0.107634,-0.052608],[-0.007107,-0.385431,0.922709]]
2025-10-26T19:04:33.456Z,1761505473.456 [DAT](INFO): setting remote address to 6
2025-10-26T19:04:33.714Z,1761505473.714 [DAT](INFO): DAT read: user:39>

2025-10-26T19:04:33.716Z,1761505473.716 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:04:33.716Z,1761505473.716 [DAT](INFO): set remote address to 6
2025-10-26T19:04:33.717Z,1761505473.717 [DAT](INFO): entering online mode
2025-10-26T19:04:33.734Z,1761505473.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136331,0.911454,0.388156],[-0.990603,-0.121099,-0.063566],[-0.010932,-0.393174,0.919399]]
2025-10-26T19:04:33.964Z,1761505473.964 [DAT](INFO): DAT read: user:40>

2025-10-26T19:04:33.965Z,1761505473.965 [DAT](INFO): DAT read: 

2025-10-26T19:04:33.966Z,1761505473.966 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:04:33.966Z,1761505473.966 [DAT](INFO): commRate: 600
2025-10-26T19:04:33.966Z,1761505473.966 [DAT](INFO): online mode acknowledged
2025-10-26T19:04:33.967Z,1761505473.967 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:04:34.130Z,1761505474.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152163,0.906887,0.392941],[-0.988247,-0.133724,-0.074062],[-0.014620,-0.399592,0.916576]]
2025-10-26T19:04:34.528Z,1761505474.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166922,0.902559,0.396893],[-0.985792,-0.145110,-0.084605],[-0.018768,-0.405376,0.913957]]
2025-10-26T19:04:34.930Z,1761505474.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180439,0.898937,0.399192],[-0.983301,-0.155092,-0.095211],[-0.023677,-0.409706,0.911910]]
2025-10-26T19:04:35.334Z,1761505475.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193663,0.896325,0.398869],[-0.980623,-0.164602,-0.106234],[-0.029565,-0.411714,0.910834]]
2025-10-26T19:04:35.742Z,1761505475.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207135,0.894534,0.396111],[-0.977643,-0.174294,-0.117625],[-0.036180,-0.411620,0.910637]]
2025-10-26T19:04:36.142Z,1761505476.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221668,0.893119,0.391411],[-0.974167,-0.185070,-0.129409],[-0.043139,-0.409986,0.911071]]
2025-10-26T19:04:36.546Z,1761505476.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238696,0.891029,0.386123],[-0.969841,-0.198542,-0.141382],[-0.049314,-0.408225,0.911548]]
2025-10-26T19:04:36.950Z,1761505476.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258166,0.888608,0.379112],[-0.964556,-0.214895,-0.153142],[-0.054614,-0.405211,0.912591]]
2025-10-26T19:04:37.241Z,1761505477.241 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:04:36.4161

2025-10-26T19:04:37.241Z,1761505477.241 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:04:37.355Z,1761505477.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278614,0.886106,0.370393],[-0.958560,-0.232685,-0.164378],[-0.059472,-0.400842,0.914215]]
2025-10-26T19:04:37.761Z,1761505477.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300332,0.882839,0.361105],[-0.951707,-0.252085,-0.175233],[-0.063673,-0.396294,0.915913]]
2025-10-26T19:04:37.876Z,1761505477.876 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:04:37.876Z,1761505477.876 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:04:38.162Z,1761505478.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322129,0.879147,0.351188],[-0.944276,-0.271873,-0.185547],[-0.067644,-0.391389,0.917736]]
2025-10-26T19:04:38.970Z,1761505478.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366196,0.867367,0.337009],[-0.927507,-0.311015,-0.207367],[-0.075048,-0.388514,0.918381]]
2025-10-26T19:04:39.376Z,1761505479.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388226,0.860115,0.330882],[-0.918222,-0.330477,-0.218296],[-0.078411,-0.388571,0.918076]]
2025-10-26T19:04:39.779Z,1761505479.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410494,0.851827,0.325402],[-0.908176,-0.349858,-0.229815],[-0.081918,-0.389860,0.917223]]
2025-10-26T19:04:40.182Z,1761505480.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432247,0.843176,0.319713],[-0.897734,-0.368918,-0.240778],[-0.085071,-0.391092,0.916411]]
2025-10-26T19:04:40.587Z,1761505480.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454841,0.833073,0.314815],[-0.886228,-0.388525,-0.252286],[-0.087859,-0.393748,0.915010]]
2025-10-26T19:04:40.000Z,1761505481.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476573,0.822338,0.310868],[-0.874442,-0.406913,-0.264146],[-0.090721,-0.397721,0.913010]]
2025-10-26T19:04:41.394Z,1761505481.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498505,0.811305,0.305413],[-0.861834,-0.425841,-0.275502],[-0.093459,-0.400555,0.911494]]
2025-10-26T19:04:41.799Z,1761505481.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519914,0.800442,0.298300],[-0.848796,-0.444805,-0.285820],[-0.096097,-0.401797,0.910672]]
2025-10-26T19:04:42.202Z,1761505482.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540862,0.789145,0.291063],[-0.835293,-0.463307,-0.296026],[-0.098756,-0.403233,0.909753]]
2025-10-26T19:04:42.608Z,1761505482.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560963,0.777529,0.284198],[-0.821620,-0.480906,-0.306054],[-0.101293,-0.405188,0.908604]]
2025-10-26T19:04:42.673Z,1761505482.673 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:04:42.673Z,1761505482.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:04:42.673Z,1761505482.673 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:04:42.674Z,1761505482.674 [marl:UpdateRudder:A] Stopped
2025-10-26T19:04:42.674Z,1761505482.674 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:04:42.674Z,1761505482.674 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:04:42.674Z,1761505482.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:04:42.674Z,1761505482.674 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:04:42.675Z,1761505482.675 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:04:42.675Z,1761505482.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:04:42.675Z,1761505482.675 [marl:UpdateCommandMode] Stopped
2025-10-26T19:04:42.675Z,1761505482.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:04:42.675Z,1761505482.675 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:04:42.675Z,1761505482.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:04:42.678Z,1761505482.678 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:04:42.678Z,1761505482.678 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:04:42.678Z,1761505482.678 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:04:42.678Z,1761505482.678 [marl:UpdateSpeed] Stopped
2025-10-26T19:04:42.678Z,1761505482.678 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:04:43.010Z,1761505483.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579895,0.766407,0.276300],[-0.808109,-0.498095,-0.314424],[-0.103353,-0.405613,0.908183]]
2025-10-26T19:04:43.088Z,1761505483.088 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:04:43.088Z,1761505483.088 [marl:UpdateRudder:B] Stopped
2025-10-26T19:04:43.088Z,1761505483.088 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:04:43.088Z,1761505483.088 [marl:UpdateRudder] Stopped
2025-10-26T19:04:43.088Z,1761505483.088 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:04:43.414Z,1761505483.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597589,0.754923,0.270145],[-0.794885,-0.513636,-0.323011],[-0.105092,-0.407762,0.907020]]
2025-10-26T19:04:43.818Z,1761505483.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613661,0.743576,0.265547],[-0.782355,-0.527274,-0.331516],[-0.106491,-0.411190,0.905308]]
2025-10-26T19:04:44.230Z,1761505484.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628367,0.732574,0.261708],[-0.770469,-0.539631,-0.339377],[-0.107393,-0.414891,0.903511]]
2025-10-26T19:04:44.643Z,1761505484.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641976,0.722052,0.257890],[-0.759100,-0.551242,-0.346267],[-0.107863,-0.418059,0.901994]]
2025-10-26T19:04:45.048Z,1761505485.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654703,0.711774,0.254445],[-0.748126,-0.562052,-0.352711],[-0.108040,-0.421278,0.900474]]
2025-10-26T19:04:45.450Z,1761505485.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666252,0.702682,0.249693],[-0.737817,-0.572497,-0.357594],[-0.108326,-0.422476,0.899878]]
2025-10-26T19:04:45.854Z,1761505485.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675664,0.696780,0.240780],[-0.728975,-0.582797,-0.359086],[-0.109878,-0.418144,0.901711]]
2025-10-26T19:04:46.258Z,1761505486.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682194,0.695702,0.224965],[-0.722392,-0.593773,-0.354377],[-0.112963,-0.404267,0.907639]]
2025-10-26T19:04:46.664Z,1761505486.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686786,0.697957,0.202932],[-0.717287,-0.605631,-0.344543],[-0.117574,-0.382188,0.916574]]
2025-10-26T19:04:47.066Z,1761505487.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689749,0.701705,0.178485],[-0.713558,-0.616967,-0.331943],[-0.122806,-0.356317,0.926259]]
2025-10-26T19:04:47.332Z,1761505487.332 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:04:47.478Z,1761505487.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691987,0.705063,0.155049],[-0.710437,-0.626957,-0.319694],[-0.128195,-0.331376,0.934749]]
2025-10-26T19:04:47.584Z,1761505487.584 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:04:47.836Z,1761505487.836 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:04:47.875Z,1761505487.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693139,0.708177,0.134331],[-0.708306,-0.634634,-0.309099],[-0.133645,-0.309396,0.941495]]
2025-10-26T19:04:48.281Z,1761505488.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693156,0.711005,0.118350],[-0.707346,-0.639434,-0.301308],[-0.138554,-0.292568,0.946154]]
2025-10-26T19:04:48.508Z,1761505488.508 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:04:48.682Z,1761505488.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692160,0.713934,0.105886],[-0.707526,-0.642207,-0.294919],[-0.142552,-0.279048,0.949637]]
2025-10-26T19:04:49.086Z,1761505489.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691096,0.716475,0.095135],[-0.707969,-0.644564,-0.288648],[-0.145489,-0.266836,0.952697]]
2025-10-26T19:04:49.490Z,1761505489.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689722,0.718819,0.087080],[-0.709014,-0.646074,-0.282644],[-0.146910,-0.256687,0.955264]]
2025-10-26T19:04:49.512Z,1761505489.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:04:49.895Z,1761505489.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688660,0.720480,0.081580],[-0.710000,-0.647222,-0.277497],[-0.147131,-0.249023,0.957257]]
2025-10-26T19:04:50.300Z,1761505490.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688218,0.721472,0.076382],[-0.710512,-0.648957,-0.272079],[-0.146729,-0.241520,0.959239]]
2025-10-26T19:04:50.324Z,1761505490.324 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:04:50.356Z,1761505490.356 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:50.407Z,1761505490.407 [DAT](INFO): entering command mode
2025-10-26T19:04:50.608Z,1761505490.608 [DAT](INFO): DAT read: 

2025-10-26T19:04:50.609Z,1761505490.609 [DAT](INFO): DAT read: user:41>

2025-10-26T19:04:50.609Z,1761505490.609 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:50.609Z,1761505490.609 [DAT](INFO): setting remote address to 0
2025-10-26T19:04:50.705Z,1761505490.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688040,0.721940,0.073507],[-0.710827,-0.650114,-0.268469],[-0.146031,-0.236968,0.960480]]
2025-10-26T19:04:50.872Z,1761505490.872 [DAT](INFO): DAT read: user:41>

2025-10-26T19:04:50.873Z,1761505490.873 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:04:50.873Z,1761505490.873 [DAT](INFO): set remote address to 0
2025-10-26T19:04:50.874Z,1761505490.874 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:04:50.874Z,1761505490.874 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:04:51.106Z,1761505491.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688809,0.721584,0.069708],[-0.710275,-0.652498,-0.264113],[-0.145095,-0.231435,0.961969]]
2025-10-26T19:04:51.124Z,1761505491.124 [DAT](INFO): DAT read: user:42>

2025-10-26T19:04:51.125Z,1761505491.125 [DAT](INFO): DAT read: Tx time:19:04:50.2171

2025-10-26T19:04:51.125Z,1761505491.125 [DAT](INFO): Ping request sent.
2025-10-26T19:04:51.125Z,1761505491.125 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:04:51.126Z,1761505491.126 [DAT](INFO): publishing transmit ping time
2025-10-26T19:04:51.126Z,1761505491.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000942
2025-10-26T19:04:51.376Z,1761505491.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250805
2025-10-26T19:04:51.511Z,1761505491.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690985,0.719864,0.065849],[-0.708377,-0.656167,-0.260091],[-0.144022,-0.226365,0.963336]]
2025-10-26T19:04:51.628Z,1761505491.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502846
2025-10-26T19:04:51.880Z,1761505491.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754848
2025-10-26T19:04:51.918Z,1761505491.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694046,0.717273,0.061808],[-0.705504,-0.660526,-0.256847],[-0.143404,-0.221869,0.964474]]
2025-10-26T19:04:52.132Z,1761505492.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006913
2025-10-26T19:04:52.318Z,1761505492.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697617,0.714003,0.059419],[-0.702183,-0.664869,-0.254734],[-0.142375,-0.219429,0.965184]]
2025-10-26T19:04:52.385Z,1761505492.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259364
2025-10-26T19:04:52.637Z,1761505492.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510998
2025-10-26T19:04:52.733Z,1761505492.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701452,0.710435,0.056987],[-0.698546,-0.669439,-0.252752],[-0.141415,-0.217102,0.965851]]
2025-10-26T19:04:52.889Z,1761505492.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763037
2025-10-26T19:04:53.126Z,1761505493.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705782,0.706297,0.054916],[-0.694238,-0.674126,-0.252165],[-0.141083,-0.216098,0.966125]]
2025-10-26T19:04:53.140Z,1761505493.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889
2025-10-26T19:04:53.393Z,1761505493.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267785
2025-10-26T19:04:53.532Z,1761505493.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710129,0.701966,0.054414],[-0.689889,-0.678309,-0.252883],[-0.140606,-0.217119,0.965966]]
2025-10-26T19:04:53.645Z,1761505493.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519126
2025-10-26T19:04:53.896Z,1761505493.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770877
2025-10-26T19:04:54.009Z,1761505494.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714060,0.697927,0.054919],[-0.685980,-0.681850,-0.253991],[-0.139820,-0.219038,0.965646]]
2025-10-26T19:04:54.148Z,1761505494.148 [DAT](INFO): DAT read: Rx Time:19:04:52.8045

2025-10-26T19:04:54.149Z,1761505494.149 [DAT](INFO): Rx dataTimestamp_ set to:1761505494.148590
2025-10-26T19:04:54.149Z,1761505494.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023929
2025-10-26T19:04:54.338Z,1761505494.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717705,0.693941,0.057846],[-0.682418,-0.684385,-0.256754],[-0.138583,-0.223749,0.964744]]
2025-10-26T19:04:54.401Z,1761505494.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274998
2025-10-26T19:04:54.660Z,1761505494.660 [DAT](INFO): DAT read: 19:04:52.8045 LVL= 32752, 28977, 32754, 32755, AGC= 61, IDX= 434,-0.31, 2.420,-2.686, 1.774, 2.691, PHS=-0.169, 0.951,-0.961, RAW= 354.3,   2.2, CAL= 354.0,  -0.8, ROT= 156.0,   0.8

2025-10-26T19:04:54.661Z,1761505494.661 [DAT](INFO): got valid direction response:
 19:04:52.8045 LVL= 32752, 28977, 32754, 32755, AGC= 61, IDX= 434,-0.31, 2.420,-2.686, 1.774, 2.691, PHS=-0.169, 0.951,-0.961, RAW= 354.3,   2.2, CAL= 354.0,  -0.8, ROT= 156.0,   0.8

2025-10-26T19:04:54.662Z,1761505494.662 [DAT](INFO): DAT read: Bearing 199.3,  32.3 (Local)

2025-10-26T19:04:54.662Z,1761505494.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.3,  32.3 (Local)

2025-10-26T19:04:54.663Z,1761505494.663 [DAT](INFO): DAT read: Range 11 to 20 : 137.4 m  (Round-trip  183.3 ms) speed -0.8 m/s

2025-10-26T19:04:54.664Z,1761505494.664 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:04:54.665Z,1761505494.665 [DAT](INFO): direction in FSK: [-0.913456,0.406697,-0.013962]
2025-10-26T19:04:54.665Z,1761505494.665 [DAT](INFO): publishing direction and range info
2025-10-26T19:04:54.760Z,1761505494.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720771,0.690458,0.061298],[-0.679519,-0.686339,-0.259216],[-0.136906,-0.228488,0.963872]]
2025-10-26T19:04:54.890Z,1761505494.890 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505536.00. Resetting abort timer.
2025-10-26T19:04:55.150Z,1761505495.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723163,0.687547,0.065689],[-0.677296,-0.687306,-0.262452],[-0.135300,-0.234286,0.962707]]
2025-10-26T19:04:55.555Z,1761505495.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724170,0.685908,0.071467],[-0.676558,-0.686552,-0.266298],[-0.133590,-0.241197,0.961238]]
2025-10-26T19:04:55.579Z,1761505495.579 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateRudder:A] Stopped
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:04:55.580Z,1761505495.580 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateCommandMode] Stopped
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:04:55.581Z,1761505495.581 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:04:55.582Z,1761505495.582 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:04:55.582Z,1761505495.582 [marl:UpdateSpeed] Stopped
2025-10-26T19:04:55.582Z,1761505495.582 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:04:55.960Z,1761505495.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724693,0.684959,0.075178],[-0.676369,-0.686235,-0.267594],[-0.131701,-0.244771,0.960594]]
2025-10-26T19:04:55.997Z,1761505495.997 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:04:55.997Z,1761505495.997 [marl:UpdateRudder:B] Stopped
2025-10-26T19:04:55.998Z,1761505495.998 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:04:55.998Z,1761505495.998 [marl:UpdateRudder] Stopped
2025-10-26T19:04:55.998Z,1761505495.998 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:04:56.362Z,1761505496.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725362,0.683856,0.078678],[-0.676161,-0.686401,-0.267695],[-0.129060,-0.247375,0.960286]]
2025-10-26T19:04:56.785Z,1761505496.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726203,0.682561,0.082091],[-0.675832,-0.686903,-0.267238],[-0.126018,-0.249549,0.960128]]
2025-10-26T19:04:57.170Z,1761505497.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726354,0.681887,0.086254],[-0.676341,-0.686759,-0.266316],[-0.122362,-0.251777,0.960019]]
2025-10-26T19:04:57.574Z,1761505497.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725980,0.681793,0.090063],[-0.677494,-0.686532,-0.263962],[-0.118136,-0.252648,0.960319]]
2025-10-26T19:04:57.929Z,1761505497.929 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:04:57.929Z,1761505497.929 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:04:58.008Z,1761505498.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724998,0.682177,0.094935],[-0.679304,-0.685479,-0.262039],[-0.113681,-0.254468,0.960376]]
2025-10-26T19:04:58.180Z,1761505498.180 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:04:58.383Z,1761505498.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723209,0.683227,0.100840],[-0.681986,-0.683476,-0.260300],[-0.108922,-0.257023,0.960247]]
2025-10-26T19:04:58.433Z,1761505498.433 [DAT](INFO): setting remote address to 6
2025-10-26T19:04:58.685Z,1761505498.685 [DAT](INFO): DAT read: user:43>

2025-10-26T19:04:58.685Z,1761505498.685 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:04:58.686Z,1761505498.686 [DAT](INFO): set remote address to 6
2025-10-26T19:04:58.686Z,1761505498.686 [DAT](INFO): entering online mode
2025-10-26T19:04:58.810Z,1761505498.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720652,0.684975,0.107103],[-0.685457,-0.680782,-0.258232],[-0.103969,-0.259510,0.960128]]
2025-10-26T19:04:58.937Z,1761505498.937 [DAT](INFO): DAT read: user:44>

2025-10-26T19:04:58.938Z,1761505498.938 [DAT](INFO): DAT read: 

2025-10-26T19:04:58.940Z,1761505498.940 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:04:58.940Z,1761505498.940 [DAT](INFO): commRate: 600
2025-10-26T19:04:58.940Z,1761505498.940 [DAT](INFO): online mode acknowledged
2025-10-26T19:04:58.941Z,1761505498.941 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:04:59.594Z,1761505499.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713664,0.690381,0.118570],[-0.694057,-0.674023,-0.252937],[-0.094704,-0.262807,0.960190]]
2025-10-26T19:04:59.998Z,1761505499.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709008,0.694296,0.123539],[-0.699468,-0.670076,-0.248483],[-0.089740,-0.262588,0.960726]]
2025-10-26T19:05:00.405Z,1761505500.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704262,0.698447,0.127227],[-0.704853,-0.666482,-0.242867],[-0.084835,-0.260718,0.961680]]
2025-10-26T19:05:00.866Z,1761505500.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700169,0.702217,0.129050],[-0.709481,-0.664048,-0.235961],[-0.080001,-0.256771,0.963155]]
2025-10-26T19:05:01.622Z,1761505501.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693658,0.708932,0.127492],[-0.716995,-0.662623,-0.216444],[-0.068965,-0.241550,0.967935]]
2025-10-26T19:05:02.027Z,1761505502.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692302,0.710588,0.125633],[-0.718902,-0.664109,-0.205278],[-0.062434,-0.232432,0.970607]]
2025-10-26T19:05:02.213Z,1761505502.213 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:05:01.3673

2025-10-26T19:05:02.213Z,1761505502.213 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:05:02.436Z,1761505502.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692446,0.710709,0.124146],[-0.719346,-0.666916,-0.194328],[-0.055316,-0.223866,0.973049]]
2025-10-26T19:05:02.875Z,1761505502.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694168,0.709430,0.121820],[-0.718199,-0.671290,-0.183197],[-0.048189,-0.214660,0.975499]]
2025-10-26T19:05:03.238Z,1761505503.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697155,0.706841,0.119792],[-0.715704,-0.676459,-0.173697],[-0.041742,-0.206829,0.977486]]
2025-10-26T19:05:03.644Z,1761505503.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700970,0.703214,0.118874],[-0.712298,-0.681960,-0.166018],[-0.035679,-0.201048,0.978931]]
2025-10-26T19:05:04.046Z,1761505504.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705184,0.698619,0.121025],[-0.708388,-0.686975,-0.162025],[-0.030053,-0.199990,0.979337]]
2025-10-26T19:05:04.450Z,1761505504.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709926,0.693061,0.125184],[-0.703851,-0.692022,-0.160314],[-0.024477,-0.201922,0.979096]]
2025-10-26T19:05:04.875Z,1761505504.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714765,0.686951,0.131185],[-0.699096,-0.696602,-0.161277],[-0.019406,-0.206986,0.978151]]
2025-10-26T19:05:05.259Z,1761505505.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719448,0.680746,0.137770],[-0.694400,-0.700926,-0.162824],[-0.014275,-0.212811,0.976989]]
2025-10-26T19:05:05.662Z,1761505505.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723759,0.674628,0.145083],[-0.689993,-0.704754,-0.165019],[-0.009079,-0.219541,0.975561]]
2025-10-26T19:05:06.066Z,1761505506.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726920,0.669566,0.152539],[-0.686711,-0.707486,-0.167007],[-0.003903,-0.226151,0.974084]]
2025-10-26T19:05:06.470Z,1761505506.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728912,0.665256,0.161620],[-0.684606,-0.708787,-0.170105],[0.001390,-0.234638,0.972082]]
2025-10-26T19:05:06.879Z,1761505506.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730128,0.661937,0.169568],[-0.683280,-0.709598,-0.172044],[0.006443,-0.241477,0.970385]]
2025-10-26T19:05:07.278Z,1761505507.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730007,0.660107,0.177058],[-0.683342,-0.709366,-0.172754],[0.011563,-0.247102,0.968920]]
2025-10-26T19:05:07.682Z,1761505507.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729114,0.659259,0.183764],[-0.684188,-0.708683,-0.172206],[0.016702,-0.251287,0.967769]]
2025-10-26T19:05:08.144Z,1761505508.144 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:05:08.144Z,1761505508.144 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:05:08.144Z,1761505508.144 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateRudder:A] Stopped
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode] Stopped
2025-10-26T19:05:08.145Z,1761505508.145 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed] Stopped
2025-10-26T19:05:08.146Z,1761505508.146 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:05:08.491Z,1761505508.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727301,0.658538,0.193290],[-0.685790,-0.708373,-0.167035],[0.026923,-0.254041,0.966819]]
2025-10-26T19:05:08.522Z,1761505508.522 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:05:08.522Z,1761505508.522 [marl:UpdateRudder:B] Stopped
2025-10-26T19:05:08.522Z,1761505508.522 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:05:08.522Z,1761505508.522 [marl:UpdateRudder] Stopped
2025-10-26T19:05:08.522Z,1761505508.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:05:08.901Z,1761505508.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726430,0.658800,0.195658],[-0.686502,-0.708811,-0.162178],[0.031842,-0.252131,0.967169]]
2025-10-26T19:05:09.298Z,1761505509.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725846,0.658902,0.197475],[-0.686865,-0.709702,-0.156651],[0.036931,-0.249344,0.967711]]
2025-10-26T19:05:09.708Z,1761505509.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725714,0.658217,0.200224],[-0.686716,-0.710756,-0.152468],[0.041954,-0.248146,0.967814]]
2025-10-26T19:05:10.108Z,1761505510.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724834,0.658201,0.203440],[-0.687335,-0.710956,-0.148702],[0.046761,-0.247616,0.967729]]
2025-10-26T19:05:10.510Z,1761505510.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723702,0.658363,0.206914],[-0.688179,-0.710899,-0.145024],[0.051616,-0.247348,0.967551]]
2025-10-26T19:05:10.920Z,1761505510.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721534,0.659488,0.210864],[-0.690093,-0.709715,-0.141689],[0.056211,-0.247750,0.967192]]
2025-10-26T19:05:11.323Z,1761505511.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716583,0.664458,0.212141],[-0.694863,-0.706484,-0.134336],[0.060614,-0.243671,0.967962]]
2025-10-26T19:05:11.737Z,1761505511.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694796,0.694107,0.188348],[-0.716165,-0.691773,-0.092511],[0.066081,-0.199164,0.977736]]
2025-10-26T19:05:12.131Z,1761505512.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677933,0.716223,0.165625],[-0.732069,-0.678277,-0.063369],[0.066953,-0.164209,0.984151]]
2025-10-26T19:05:12.293Z,1761505512.293 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:05:12.534Z,1761505512.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658749,0.739174,0.140254],[-0.749377,-0.661224,-0.034877],[0.066959,-0.128078,0.989501]]
2025-10-26T19:05:12.544Z,1761505512.544 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:05:12.798Z,1761505512.798 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:05:12.946Z,1761505512.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639083,0.760775,0.113108],[-0.766247,-0.642496,-0.007964],[0.066613,-0.091758,0.993551]]
2025-10-26T19:05:13.341Z,1761505513.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620994,0.778925,0.087419],[-0.781001,-0.624346,0.015129],[0.066364,-0.058880,0.996057]]
2025-10-26T19:05:13.742Z,1761505513.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605457,0.793180,0.065469],[-0.793107,-0.608163,0.033458],[0.066354,-0.031667,0.997294]]
2025-10-26T19:05:14.146Z,1761505514.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592684,0.803966,0.048625],[-0.802621,-0.594578,0.047717],[0.067274,-0.010747,0.997677]]
2025-10-26T19:05:14.552Z,1761505514.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582419,0.812103,0.035732],[-0.809969,-0.583488,0.059096],[0.068841,0.005477,0.997613]]
2025-10-26T19:05:14.954Z,1761505514.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573511,0.818710,0.028252],[-0.816137,-0.574007,0.066604],[0.070746,0.015140,0.997379]]
2025-10-26T19:05:15.362Z,1761505515.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565809,0.824171,0.024568],[-0.821290,-0.565972,0.071815],[0.073093,0.020456,0.997115]]
2025-10-26T19:05:15.762Z,1761505515.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558886,0.828878,0.024631],[-0.825732,-0.559005,0.075371],[0.076243,0.021785,0.996851]]
2025-10-26T19:05:16.073Z,1761505516.073 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:05:15.2159

2025-10-26T19:05:16.073Z,1761505516.073 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:05:16.166Z,1761505516.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551896,0.833475,0.027026],[-0.830134,-0.552188,0.077240],[0.079301,0.020193,0.996646]]
2025-10-26T19:05:16.570Z,1761505516.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544571,0.838176,0.030056],[-0.834680,-0.545114,0.078479],[0.082163,0.017650,0.996463]]
2025-10-26T19:05:16.974Z,1761505516.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536422,0.843326,0.032441],[-0.839710,-0.537181,0.079520],[0.084488,0.015415,0.996305]]
2025-10-26T19:05:17.385Z,1761505517.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527287,0.848917,0.036163],[-0.845265,-0.528404,0.079476],[0.086577,0.011339,0.996181]]
2025-10-26T19:05:17.784Z,1761505517.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517150,0.854987,0.039399],[-0.851302,-0.518592,0.079665],[0.088545,0.007658,0.996043]]
2025-10-26T19:05:18.186Z,1761505518.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505683,0.861671,0.042525],[-0.857962,-0.507453,0.079959],[0.090478,0.003949,0.995891]]
2025-10-26T19:05:18.590Z,1761505518.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491769,0.869539,0.045448],[-0.865886,-0.493864,0.079617],[0.091675,-0.000200,0.995789]]
2025-10-26T19:05:18.998Z,1761505518.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476249,0.878063,0.046825],[-0.874401,-0.478538,0.080152],[0.092786,-0.002771,0.995682]]
2025-10-26T19:05:19.399Z,1761505519.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459093,0.887065,0.048467],[-0.883408,-0.461608,0.080675],[0.093937,-0.005778,0.995561]]
2025-10-26T19:05:19.632Z,1761505519.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:05:19.802Z,1761505519.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441260,0.895950,0.050626],[-0.892319,-0.444055,0.081132],[0.095171,-0.009374,0.995417]]
2025-10-26T19:05:20.207Z,1761505520.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422670,0.904714,0.053321],[-0.901166,-0.425798,0.081218],[0.096183,-0.013722,0.995269]]
2025-10-26T19:05:20.610Z,1761505520.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403226,0.913530,0.053586],[-0.909901,-0.406481,0.082788],[0.097411,-0.015376,0.995125]]
2025-10-26T19:05:20.636Z,1761505520.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:05:20.643Z,1761505520.643 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:05:20.865Z,1761505520.865 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:05:20.916Z,1761505520.916 [DAT](INFO): entering command mode
2025-10-26T19:05:21.016Z,1761505521.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383106,0.922184,0.052978],[-0.918428,-0.386413,0.084711],[0.098591,-0.016203,0.994996]]
2025-10-26T19:05:21.080Z,1761505521.080 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:05:21.080Z,1761505521.080 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:05:21.080Z,1761505521.080 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateRudder:A] Stopped
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode] Stopped
2025-10-26T19:05:21.081Z,1761505521.081 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed] Stopped
2025-10-26T19:05:21.082Z,1761505521.082 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:05:21.116Z,1761505521.116 [DAT](INFO): DAT read: 

2025-10-26T19:05:21.117Z,1761505521.117 [DAT](INFO): DAT read: user:45>

2025-10-26T19:05:21.117Z,1761505521.117 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:05:21.117Z,1761505521.117 [DAT](INFO): setting remote address to 0
2025-10-26T19:05:21.369Z,1761505521.369 [DAT](INFO): DAT read: user:45>

2025-10-26T19:05:21.370Z,1761505521.370 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:05:21.370Z,1761505521.370 [DAT](INFO): set remote address to 0
2025-10-26T19:05:21.370Z,1761505521.370 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:05:21.371Z,1761505521.371 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:05:21.418Z,1761505521.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362287,0.930660,0.051196],[-0.926746,-0.365535,0.086747],[0.099446,-0.016018,0.994914]]
2025-10-26T19:05:21.468Z,1761505521.468 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:05:21.469Z,1761505521.469 [marl:UpdateRudder:B] Stopped
2025-10-26T19:05:21.469Z,1761505521.469 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:05:21.469Z,1761505521.469 [marl:UpdateRudder] Stopped
2025-10-26T19:05:21.469Z,1761505521.469 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:05:21.620Z,1761505521.620 [DAT](INFO): DAT read: user:46>

2025-10-26T19:05:21.621Z,1761505521.621 [DAT](INFO): DAT read: Tx time:19:05:20.7170

2025-10-26T19:05:21.621Z,1761505521.621 [DAT](INFO): Ping request sent.
2025-10-26T19:05:21.621Z,1761505521.621 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:05:21.622Z,1761505521.622 [DAT](INFO): publishing transmit ping time
2025-10-26T19:05:21.622Z,1761505521.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000987
2025-10-26T19:05:21.822Z,1761505521.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341655,0.938572,0.048530],[-0.934454,-0.344762,0.089083],[0.100342,-0.014913,0.994841]]
2025-10-26T19:05:21.872Z,1761505521.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251036
2025-10-26T19:05:22.125Z,1761505522.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503575
2025-10-26T19:05:22.226Z,1761505522.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320450,0.946161,0.045724],[-0.941887,-0.323395,0.090903],[0.100795,-0.013937,0.994810]]
2025-10-26T19:05:22.377Z,1761505522.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755121
2025-10-26T19:05:22.628Z,1761505522.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007018
2025-10-26T19:05:22.634Z,1761505522.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299640,0.953143,0.041647],[-0.948693,-0.302293,0.092738],[0.100982,-0.011722,0.994819]]
2025-10-26T19:05:22.881Z,1761505522.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259502
2025-10-26T19:05:23.048Z,1761505523.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279585,0.959379,0.037744],[-0.954824,-0.281952,0.093888],[0.100716,-0.009789,0.994867]]
2025-10-26T19:05:23.133Z,1761505523.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511791
2025-10-26T19:05:23.384Z,1761505523.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762940
2025-10-26T19:05:23.438Z,1761505523.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261482,0.964610,0.033974],[-0.960005,-0.263561,0.094481],[0.100091,-0.007910,0.994947]]
2025-10-26T19:05:23.636Z,1761505523.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063
2025-10-26T19:05:23.862Z,1761505523.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246726,0.968584,0.031166],[-0.963987,-0.248596,0.094494],[0.099273,-0.006729,0.995037]]
2025-10-26T19:05:23.889Z,1761505523.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267130
2025-10-26T19:05:24.141Z,1761505524.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519515
2025-10-26T19:05:24.248Z,1761505524.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237577,0.970683,0.036500],[-0.966437,-0.239986,0.091689],[0.097761,-0.013492,0.995118]]
2025-10-26T19:05:24.393Z,1761505524.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771566
2025-10-26T19:05:24.645Z,1761505524.645 [DAT](INFO): DAT read: Rx Time:19:05:23.3488

2025-10-26T19:05:24.645Z,1761505524.645 [DAT](INFO): Rx dataTimestamp_ set to:1761505524.644717
2025-10-26T19:05:24.646Z,1761505524.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024166
2025-10-26T19:05:24.654Z,1761505524.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234283,0.970853,0.050560],[-0.967433,-0.237953,0.086320],[0.095835,-0.028690,0.994984]]
2025-10-26T19:05:24.897Z,1761505524.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275719
2025-10-26T19:05:25.054Z,1761505525.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234687,0.969355,0.072619],[-0.967541,-0.240144,0.078704],[0.093731,-0.051791,0.994250]]
2025-10-26T19:05:25.151Z,1761505525.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529371
2025-10-26T19:05:25.406Z,1761505525.406 [DAT](INFO): DAT read: 19:05:23.3488 LVL= 25552, 21313, 32498, 32755, AGC= 61, IDX= 311,-0.10,-0.530, 0.134,-1.637,-0.364, PHS=-0.064, 0.542,-1.317, RAW=  11.3,  10.2, CAL=  11.2,  11.4, ROT= 138.8, -11.4

2025-10-26T19:05:25.407Z,1761505525.407 [DAT](INFO): got valid direction response:
 19:05:23.3488 LVL= 25552, 21313, 32498, 32755, AGC= 61, IDX= 311,-0.10,-0.530, 0.134,-1.637,-0.364, PHS=-0.064, 0.542,-1.317, RAW=  11.3,  10.2, CAL=  11.2,  11.4, ROT= 138.8, -11.4

2025-10-26T19:05:25.408Z,1761505525.408 [DAT](INFO): DAT read: Bearing 215.5,  34.6 (Local)

2025-10-26T19:05:25.408Z,1761505525.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.5,  34.6 (Local)

2025-10-26T19:05:25.410Z,1761505525.410 [DAT](INFO): DAT read: Range 11 to 20 : 170.7 m  (Round-trip  227.6 ms) speed -0.6 m/s

2025-10-26T19:05:25.410Z,1761505525.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:05:25.411Z,1761505525.411 [DAT](INFO): direction in FSK: [-0.737571,0.645694,0.197657]
2025-10-26T19:05:25.412Z,1761505525.412 [DAT](INFO): publishing direction and range info
2025-10-26T19:05:25.500Z,1761505525.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236717,0.966632,0.097913],[-0.967258,-0.243958,0.069970],[0.091522,-0.078144,0.992732]]
2025-10-26T19:05:25.582Z,1761505525.582 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505536.00. Resetting abort timer.
2025-10-26T19:05:25.873Z,1761505525.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239194,0.962866,0.125203],[-0.966805,-0.248112,0.061056],[0.089853,-0.106443,0.990251]]
2025-10-26T19:05:26.156Z,1761505526.156 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:05:26.156Z,1761505526.156 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:05:26.266Z,1761505526.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241303,0.958828,0.149740],[-0.966446,-0.251432,0.052581],[0.088066,-0.132028,0.987326]]
2025-10-26T19:05:26.408Z,1761505526.408 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:05:26.661Z,1761505526.661 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:05:26.674Z,1761505526.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242692,0.954722,0.172068],[-0.966241,-0.253704,0.044857],[0.086480,-0.155373,0.984063]]
2025-10-26T19:05:26.912Z,1761505526.912 [DAT](INFO): setting remote address to 6
2025-10-26T19:05:27.075Z,1761505527.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242792,0.951078,0.191054],[-0.966380,-0.254311,0.037896],[0.084629,-0.175430,0.980848]]
2025-10-26T19:05:27.165Z,1761505527.165 [DAT](INFO): DAT read: user:47>

2025-10-26T19:05:27.166Z,1761505527.166 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:05:27.167Z,1761505527.167 [DAT](INFO): set remote address to 6
2025-10-26T19:05:27.168Z,1761505527.168 [DAT](INFO): entering online mode
2025-10-26T19:05:27.417Z,1761505527.417 [DAT](INFO): DAT read: user:48>

2025-10-26T19:05:27.417Z,1761505527.417 [DAT](INFO): DAT read: 

2025-10-26T19:05:27.419Z,1761505527.419 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:05:27.419Z,1761505527.419 [DAT](INFO): commRate: 600
2025-10-26T19:05:27.419Z,1761505527.419 [DAT](INFO): online mode acknowledged
2025-10-26T19:05:27.419Z,1761505527.419 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:05:27.479Z,1761505527.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241571,0.948164,0.206466],[-0.966870,-0.253273,0.031851],[0.082492,-0.191932,0.977935]]
2025-10-26T19:05:27.882Z,1761505527.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240221,0.946555,0.215239],[-0.967362,-0.251853,0.027932],[0.080647,-0.201504,0.976162]]
2025-10-26T19:05:28.286Z,1761505528.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237387,0.945633,0.222319],[-0.968278,-0.248719,0.024020],[0.078009,-0.209565,0.974678]]
2025-10-26T19:05:28.693Z,1761505528.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234640,0.945429,0.226072],[-0.969134,-0.245613,0.021284],[0.075648,-0.214100,0.973878]]
2025-10-26T19:05:29.094Z,1761505529.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231490,0.945564,0.228740],[-0.970095,-0.242008,0.018653],[0.072994,-0.217581,0.973309]]
2025-10-26T19:05:29.498Z,1761505529.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228555,0.945838,0.230549],[-0.970963,-0.238658,0.016542],[0.070668,-0.220073,0.972920]]
2025-10-26T19:05:29.902Z,1761505529.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225435,0.947197,0.228030],[-0.971856,-0.235059,0.015597],[0.068374,-0.218096,0.973529]]
2025-10-26T19:05:30.310Z,1761505530.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222243,0.948870,0.224172],[-0.972729,-0.231440,0.015275],[0.066376,-0.214664,0.974430]]
2025-10-26T19:05:30.701Z,1761505530.701 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:05:29.8659

2025-10-26T19:05:30.702Z,1761505530.702 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:05:30.732Z,1761505530.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218451,0.950563,0.220700],[-0.973682,-0.227379,0.015573],[0.064986,-0.211489,0.975217]]
2025-10-26T19:05:31.115Z,1761505531.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213063,0.952884,0.215909],[-0.974960,-0.221760,0.016602],[0.063699,-0.206965,0.976272]]
2025-10-26T19:05:31.518Z,1761505531.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206472,0.955388,0.211195],[-0.976452,-0.214987,0.017926],[0.062530,-0.202521,0.977279]]
2025-10-26T19:05:31.922Z,1761505531.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199082,0.958047,0.206185],[-0.978063,-0.207407,0.019352],[0.061304,-0.197810,0.978322]]
2025-10-26T19:05:32.332Z,1761505532.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190954,0.960388,0.202959],[-0.979777,-0.199073,0.020178],[0.059782,-0.195002,0.978979]]
2025-10-26T19:05:32.736Z,1761505532.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182894,0.962446,0.200619],[-0.981425,-0.190758,0.020425],[0.057927,-0.193157,0.979456]]
2025-10-26T19:05:33.134Z,1761505533.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175384,0.963779,0.200926],[-0.982921,-0.182973,0.019693],[0.055744,-0.194040,0.979409]]
2025-10-26T19:05:33.538Z,1761505533.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168839,0.964969,0.200821],[-0.984195,-0.176097,0.018714],[0.053422,-0.194487,0.979449]]
2025-10-26T19:05:33.942Z,1761505533.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164051,0.965988,0.199885],[-0.985126,-0.170936,0.017565],[0.051135,-0.194031,0.979662]]
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateRudder:A] Stopped
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:05:33.994Z,1761505533.994 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:05:33.995Z,1761505533.995 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:05:33.995Z,1761505533.995 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:05:33.995Z,1761505533.995 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:05:33.995Z,1761505533.995 [marl:UpdateCommandMode] Stopped
2025-10-26T19:05:33.995Z,1761505533.995 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:05:33.995Z,1761505533.995 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:05:33.996Z,1761505533.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:05:33.996Z,1761505533.996 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:05:33.996Z,1761505533.996 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:05:33.996Z,1761505533.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:05:33.996Z,1761505533.996 [marl:UpdateSpeed] Stopped
2025-10-26T19:05:33.996Z,1761505533.996 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:05:34.346Z,1761505534.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161038,0.966482,0.199947],[-0.985730,-0.167568,0.016058],[0.049024,-0.194508,0.979675]]
2025-10-26T19:05:34.410Z,1761505534.410 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:05:34.410Z,1761505534.410 [marl:UpdateRudder:B] Stopped
2025-10-26T19:05:34.410Z,1761505534.410 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:05:34.410Z,1761505534.410 [marl:UpdateRudder] Stopped
2025-10-26T19:05:34.410Z,1761505534.410 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:05:34.752Z,1761505534.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159724,0.966660,0.200142],[-0.986025,-0.165952,0.014628],[0.047355,-0.195009,0.979658]]
2025-10-26T19:05:35.154Z,1761505535.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159746,0.966818,0.199359],[-0.986096,-0.165652,0.013190],[0.045777,-0.194480,0.979838]]
2025-10-26T19:05:35.558Z,1761505535.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160965,0.966963,0.197668],[-0.985957,-0.166573,0.011965],[0.044496,-0.192966,0.980196]]
2025-10-26T19:05:35.964Z,1761505535.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162827,0.966476,0.198524],[-0.985708,-0.168156,0.010169],[0.043211,-0.194031,0.980043]]
2025-10-26T19:05:36.366Z,1761505536.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165259,0.966197,0.197870],[-0.985364,-0.170257,0.008401],[0.041806,-0.193586,0.980192]]
2025-10-26T19:05:36.770Z,1761505536.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167982,0.966051,0.196285],[-0.984959,-0.172653,0.006809],[0.040467,-0.192189,0.980523]]
2025-10-26T19:05:37.174Z,1761505537.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170375,0.965402,0.197411],[-0.984591,-0.174798,0.005070],[0.039402,-0.193505,0.980308]]
2025-10-26T19:05:37.578Z,1761505537.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171660,0.964674,0.199844],[-0.984420,-0.175809,0.003066],[0.038092,-0.196204,0.979823]]
2025-10-26T19:05:37.983Z,1761505537.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171144,0.964058,0.203229],[-0.984555,-0.175072,0.001377],[0.036907,-0.199854,0.979130]]
2025-10-26T19:05:38.029Z,1761505538.029 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:05:38.029Z,1761505538.029 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:05:38.386Z,1761505538.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168977,0.963971,0.205444],[-0.984971,-0.172719,0.000285],[0.035758,-0.202308,0.978669]]
2025-10-26T19:05:38.817Z,1761505538.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164920,0.963874,0.209163],[-0.985689,-0.168571,-0.000377],[0.034896,-0.206232,0.977881]]
2025-10-26T19:05:39.196Z,1761505539.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159202,0.963815,0.213812],[-0.986651,-0.162845,-0.000578],[0.034261,-0.211050,0.976875]]
2025-10-26T19:05:39.598Z,1761505539.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152218,0.964430,0.216112],[-0.987778,-0.155869,-0.000148],[0.033543,-0.213493,0.976368]]
2025-10-26T19:05:40.002Z,1761505540.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144473,0.964884,0.219379],[-0.988983,-0.148027,-0.000242],[0.032241,-0.216997,0.975640]]
2025-10-26T19:05:40.406Z,1761505540.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136270,0.965762,0.220759],[-0.990202,-0.139641,-0.000339],[0.030500,-0.218643,0.975328]]
2025-10-26T19:05:40.795Z,1761505540.795 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:05:40.857Z,1761505540.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127915,0.967016,0.220266],[-0.991380,-0.131019,-0.000518],[0.028358,-0.218434,0.975440]]
2025-10-26T19:05:41.045Z,1761505541.045 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:05:41.214Z,1761505541.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120143,0.968925,0.216219],[-0.992415,-0.122929,-0.000569],[0.026028,-0.214647,0.976345]]
2025-10-26T19:05:41.297Z,1761505541.297 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:05:41.618Z,1761505541.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113927,0.970832,0.210966],[-0.993199,-0.116431,-0.000556],[0.024023,-0.209594,0.977493]]
2025-10-26T19:05:42.022Z,1761505542.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110120,0.972654,0.204494],[-0.993662,-0.112411,-0.000418],[0.022580,-0.203244,0.978868]]
2025-10-26T19:05:42.427Z,1761505542.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108188,0.974447,0.196845],[-0.993908,-0.110209,-0.000690],[0.021022,-0.195720,0.980434]]
2025-10-26T19:05:42.862Z,1761505542.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108240,0.975621,0.190914],[-0.993928,-0.110023,-0.001264],[0.019772,-0.189892,0.981606]]
2025-10-26T19:05:43.234Z,1761505543.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109732,0.976363,0.186208],[-0.993784,-0.111309,-0.001996],[0.018778,-0.185270,0.982508]]
2025-10-26T19:05:43.639Z,1761505543.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112245,0.976688,0.182979],[-0.993521,-0.113612,-0.003033],[0.017827,-0.182134,0.983112]]
2025-10-26T19:05:44.045Z,1761505544.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115174,0.976643,0.181392],[-0.993196,-0.116382,-0.004005],[0.017200,-0.180620,0.983403]]
2025-10-26T19:05:44.446Z,1761505544.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117605,0.976482,0.180696],[-0.992920,-0.118689,-0.004837],[0.016723,-0.179985,0.983527]]
2025-10-26T19:05:44.573Z,1761505544.573 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:05:43.7158

2025-10-26T19:05:44.573Z,1761505544.573 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:05:44.867Z,1761505544.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119808,0.975998,0.181865],[-0.992662,-0.120784,-0.005741],[0.016364,-0.181218,0.983307]]
2025-10-26T19:05:45.254Z,1761505545.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121444,0.975475,0.183573],[-0.992468,-0.122333,-0.006517],[0.016100,-0.182982,0.982984]]
2025-10-26T19:05:45.663Z,1761505545.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121967,0.974568,0.187993],[-0.992417,-0.122661,-0.007984],[0.015278,-0.187541,0.982138]]
2025-10-26T19:05:46.062Z,1761505546.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122595,0.974032,0.190350],[-0.992354,-0.123072,-0.009357],[0.014312,-0.190041,0.981672]]
2025-10-26T19:05:46.466Z,1761505546.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122597,0.973343,0.193838],[-0.992374,-0.122737,-0.011335],[0.012759,-0.193749,0.980968]]
2025-10-26T19:05:46.873Z,1761505546.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122680,0.973035,0.195328],[-0.992381,-0.122531,-0.012897],[0.011384,-0.195422,0.980653]]
2025-10-26T19:05:47.282Z,1761505547.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122805,0.972892,0.195958],[-0.992379,-0.122396,-0.014242],[0.010129,-0.196214,0.980509]]
2025-10-26T19:05:47.318Z,1761505547.318 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:05:47.318Z,1761505547.318 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:05:47.319Z,1761505547.319 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:05:47.319Z,1761505547.319 [marl:UpdateRudder:A] Stopped
2025-10-26T19:05:47.319Z,1761505547.319 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:05:47.319Z,1761505547.319 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:05:47.323Z,1761505547.323 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:05:47.323Z,1761505547.323 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateCommandMode] Stopped
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:05:47.324Z,1761505547.324 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:05:47.325Z,1761505547.325 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:05:47.325Z,1761505547.325 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:05:47.325Z,1761505547.325 [marl:UpdateSpeed] Stopped
2025-10-26T19:05:47.325Z,1761505547.325 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:05:47.683Z,1761505547.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122956,0.972864,0.196004],[-0.992371,-0.122333,-0.015326],[0.009067,-0.196393,0.980483]]
2025-10-26T19:05:47.744Z,1761505547.744 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:05:47.744Z,1761505547.744 [marl:UpdateRudder:B] Stopped
2025-10-26T19:05:47.744Z,1761505547.744 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:05:47.744Z,1761505547.744 [marl:UpdateRudder] Stopped
2025-10-26T19:05:47.744Z,1761505547.744 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:05:48.082Z,1761505548.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122493,0.972752,0.196848],[-0.992438,-0.121625,-0.016541],[0.007851,-0.197386,0.980294]]
2025-10-26T19:05:48.486Z,1761505548.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120888,0.973194,0.195651],[-0.992644,-0.119845,-0.017204],[0.006705,-0.196291,0.980523]]
2025-10-26T19:05:48.890Z,1761505548.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119324,0.973412,0.195529],[-0.992840,-0.118082,-0.018040],[0.005528,-0.196282,0.980532]]
2025-10-26T19:05:49.295Z,1761505549.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116625,0.973679,0.195826],[-0.993168,-0.115140,-0.018992],[0.004055,-0.196703,0.980455]]
2025-10-26T19:05:49.368Z,1761505549.368 [marl:SendObservationData] Running Loop=1
2025-10-26T19:05:49.368Z,1761505549.368 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T19:05:49.368Z,1761505549.368 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T19:05:49.369Z,1761505549.369 [marl:SendObservationData:A] Running Loop=1
2025-10-26T19:05:49.370Z,1761505549.370 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9c40000000405140000000000040426303c084248dc05e7770002ec5f5402dbcba4000000040612cccc0000000 n/a str  and temp var is  nan n/a str 
2025-10-26T19:05:49.370Z,1761505549.370 [marl:SendObservationData:A] Stopped
2025-10-26T19:05:49.370Z,1761505549.370 [marl:SendObservationData:B] Running Loop=1
2025-10-26T19:05:49.718Z,1761505549.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112718,0.973480,0.199078],[-0.993623,-0.111028,-0.019672],[0.002953,-0.200026,0.979786]]
2025-10-26T19:05:49.770Z,1761505549.770 [marl:SendObservationData:B] Stopped
2025-10-26T19:05:49.770Z,1761505549.770 [marl:SendObservationData:C] Running Loop=1
2025-10-26T19:05:50.102Z,1761505550.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108401,0.973773,0.200036],[-0.994106,-0.106463,-0.020454],[0.001378,-0.201075,0.979575]]
2025-10-26T19:05:50.138Z,1761505550.138 [marl:SendObservationData:C] Stopped
2025-10-26T19:05:50.138Z,1761505550.138 [marl:SendObservationData:E] Running Loop=1
2025-10-26T19:05:50.506Z,1761505550.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101607,0.974419,0.200458],[-0.994825,-0.099560,-0.020292],[0.000185,-0.201482,0.979492]]
2025-10-26T19:05:50.560Z,1761505550.560 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008721 min 
2025-10-26T19:05:50.561Z,1761505550.561 [marl:SendObservationData:E] Stopped
2025-10-26T19:05:50.568Z,1761505550.568 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T19:05:50.568Z,1761505550.568 [marl:SendObservationData] Stopped
2025-10-26T19:05:50.568Z,1761505550.568 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T19:05:50.568Z,1761505550.568 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T19:05:50.760Z,1761505550.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:05:50.911Z,1761505550.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090660,0.978107,0.187316],[-0.995881,-0.088825,-0.018186],[-0.001149,-0.188193,0.982131]]
2025-10-26T19:05:50.992Z,1761505550.992 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:05:51.126Z,1761505551.126 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:05:51.179Z,1761505551.179 [DAT](INFO): entering command mode
2025-10-26T19:05:51.314Z,1761505551.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074691,0.983849,0.162673],[-0.997202,-0.073201,-0.015149],[-0.002996,-0.163349,0.986564]]
2025-10-26T19:05:51.376Z,1761505551.376 [DAT](INFO): DAT read: 

2025-10-26T19:05:51.377Z,1761505551.377 [DAT](INFO): DAT read: user:49>

2025-10-26T19:05:51.377Z,1761505551.377 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:05:51.377Z,1761505551.377 [DAT](INFO): setting remote address to 0
2025-10-26T19:05:51.629Z,1761505551.629 [DAT](INFO): DAT read: user:49>

2025-10-26T19:05:51.630Z,1761505551.630 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:05:51.630Z,1761505551.630 [DAT](INFO): set remote address to 0
2025-10-26T19:05:51.630Z,1761505551.630 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:05:51.631Z,1761505551.631 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:05:51.734Z,1761505551.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055345,0.989433,0.134015],[-0.998454,-0.054159,-0.012481],[-0.005091,-0.134499,0.990901]]
2025-10-26T19:05:51.765Z,1761505551.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:05:51.881Z,1761505551.881 [DAT](INFO): DAT read: user:50>

2025-10-26T19:05:51.882Z,1761505551.882 [DAT](INFO): DAT read: Tx time:19:05:50.9685

2025-10-26T19:05:51.882Z,1761505551.882 [DAT](INFO): Ping request sent.
2025-10-26T19:05:51.882Z,1761505551.882 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:05:51.882Z,1761505551.882 [DAT](INFO): publishing transmit ping time
2025-10-26T19:05:51.883Z,1761505551.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000983
2025-10-26T19:05:52.122Z,1761505552.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034563,0.994140,0.102423],[-0.999378,-0.033657,-0.010558],[-0.007049,-0.102724,0.994685]]
2025-10-26T19:05:52.132Z,1761505552.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250310
2025-10-26T19:05:52.384Z,1761505552.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502391
2025-10-26T19:05:52.528Z,1761505552.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013583,0.997191,0.073656],[-0.999870,-0.012908,-0.009634],[-0.008656,-0.073777,0.997237]]
2025-10-26T19:05:52.636Z,1761505552.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754453
2025-10-26T19:05:52.888Z,1761505552.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006425
2025-10-26T19:05:52.930Z,1761505552.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007125,0.998733,0.049819],[-0.999924,0.007616,-0.009679],[-0.010046,-0.049747,0.998711]]
2025-10-26T19:05:53.140Z,1761505553.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258351
2025-10-26T19:05:53.334Z,1761505553.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027071,0.999151,0.031057],[-0.999568,0.027411,-0.010575],[-0.011418,-0.030757,0.999462]]
2025-10-26T19:05:53.393Z,1761505553.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510553
2025-10-26T19:05:53.644Z,1761505553.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762376
2025-10-26T19:05:53.752Z,1761505553.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046228,0.998784,0.017110],[-0.998846,0.046440,-0.012218],[-0.012998,-0.016526,0.999779]]
2025-10-26T19:05:53.896Z,1761505553.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014366
2025-10-26T19:05:54.142Z,1761505554.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063678,0.997948,0.006644],[-0.997868,0.063766,-0.013893],[-0.014289,-0.005745,0.999881]]
2025-10-26T19:05:54.148Z,1761505554.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266349
2025-10-26T19:05:54.400Z,1761505554.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518367
2025-10-26T19:05:54.546Z,1761505554.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079263,0.996853,-0.001330],[-0.996729,0.079231,-0.015941],[-0.015786,0.002589,0.999872]]
2025-10-26T19:05:54.653Z,1761505554.653 [DAT](INFO): DAT read: Rx Time:19:05:53.2615

2025-10-26T19:05:54.653Z,1761505554.653 [DAT](INFO): Rx dataTimestamp_ set to:1761505554.653111
2025-10-26T19:05:54.654Z,1761505554.654 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:05:54.654Z,1761505554.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772139
2025-10-26T19:05:54.905Z,1761505554.905 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:05:54.905Z,1761505554.905 [DAT](INFO): #Outgoing data=5
2025-10-26T19:05:54.905Z,1761505554.905 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:05:54.905Z,1761505554.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023401
2025-10-26T19:05:54.956Z,1761505554.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092875,0.995658,-0.006217],[-0.995529,0.092752,-0.017859],[-0.017205,0.007847,0.999821]]
2025-10-26T19:05:55.163Z,1761505555.163 [DAT](INFO): DAT read: 19:05:53.2615 LVL= 20592, 19361, 24962, 25683, AGC= 57, IDX= 474, 0.23, 0.148,-0.084,-1.521,-0.296, PHS= 0.547, 0.257,-1.268, RAW=  38.5,   5.5, CAL=  37.9,   5.0, ROT= 112.1,  -5.0

2025-10-26T19:05:55.164Z,1761505555.164 [DAT](INFO): got valid direction response:
 19:05:53.2615 LVL= 20592, 19361, 24962, 25683, AGC= 57, IDX= 474, 0.23, 0.148,-0.084,-1.521,-0.296, PHS= 0.547, 0.257,-1.268, RAW=  38.5,   5.5, CAL=  37.9,   5.0, ROT= 112.1,  -5.0

2025-10-26T19:05:55.165Z,1761505555.165 [DAT](INFO): DAT read: Bearing  14, -20 (Remote)

2025-10-26T19:05:55.165Z,1761505555.165 [DAT](INFO): Remote Bearing received:Bearing  14, -20 (Remote)

2025-10-26T19:05:55.166Z,1761505555.166 [DAT](INFO): DAT read: Bearing 235.9,  67.9 (Local)

2025-10-26T19:05:55.166Z,1761505555.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.9,  67.9 (Local)

2025-10-26T19:05:55.168Z,1761505555.168 [DAT](INFO): DAT read: Range 11 to 20 : 197.9 m  (Round-trip  263.9 ms) speed -1.2 m/s

2025-10-26T19:05:55.168Z,1761505555.168 [DAT](INFO): setting remote address to 6
2025-10-26T19:05:55.170Z,1761505555.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:05:55.172Z,1761505555.172 [DAT](INFO): direction in FSK: [-0.374793,0.923003,0.087156]
2025-10-26T19:05:55.173Z,1761505555.173 [DAT](INFO): publishing direction and range info
2025-10-26T19:05:55.355Z,1761505555.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104668,0.994476,-0.007827],[-0.994329,0.104496,-0.019771],[-0.018844,0.009852,0.999774]]
2025-10-26T19:05:55.408Z,1761505555.408 [DAT](INFO): DAT read: user:51>

2025-10-26T19:05:55.409Z,1761505555.409 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:05:55.410Z,1761505555.410 [DAT](INFO): set remote address to 6
2025-10-26T19:05:55.410Z,1761505555.410 [DAT](INFO): entering online mode
2025-10-26T19:05:55.437Z,1761505555.437 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505536.00. Resetting abort timer.
2025-10-26T19:05:55.660Z,1761505555.660 [DAT](INFO): DAT read: user:52>

2025-10-26T19:05:55.661Z,1761505555.661 [DAT](INFO): DAT read: 

2025-10-26T19:05:55.662Z,1761505555.662 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:05:55.662Z,1761505555.662 [DAT](INFO): commRate: 600
2025-10-26T19:05:55.662Z,1761505555.662 [DAT](INFO): online mode acknowledged
2025-10-26T19:05:55.663Z,1761505555.663 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:05:55.766Z,1761505555.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115057,0.993334,-0.007093],[-0.993139,0.114879,-0.021853],[-0.020893,0.009559,0.999736]]
2025-10-26T19:05:56.162Z,1761505556.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124467,0.992209,-0.005344],[-0.991960,0.124308,-0.023716],[-0.022867,0.008253,0.999704]]
2025-10-26T19:05:56.566Z,1761505556.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133029,0.991104,-0.004129],[-0.990806,0.132883,-0.025407],[-0.024633,0.007471,0.999669]]
2025-10-26T19:05:56.976Z,1761505556.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150545,0.988603,0.000135],[-0.988269,0.150498,-0.025978],[-0.025703,0.003778,0.999662]]
2025-10-26T19:05:57.379Z,1761505557.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160164,0.987089,0.001487],[-0.986782,0.160151,-0.024761],[-0.024680,0.002498,0.999692]]
2025-10-26T19:05:57.783Z,1761505557.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171311,0.985216,0.001623],[-0.984951,0.171303,-0.022966],[-0.022904,0.002336,0.999735]]
2025-10-26T19:05:58.189Z,1761505558.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185278,0.982683,0.002487],[-0.982456,0.185288,-0.021190],[-0.021284,0.001483,0.999772]]
2025-10-26T19:05:58.589Z,1761505558.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202455,0.979289,0.002224],[-0.979084,0.202458,-0.020146],[-0.020179,0.001902,0.999795]]
2025-10-26T19:05:58.937Z,1761505558.937 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:05:58.0657

2025-10-26T19:05:58.937Z,1761505558.937 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:05:58.995Z,1761505558.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221892,0.975070,0.001640],[-0.974880,0.221881,-0.019429],[-0.019309,0.002713,0.999810]]
2025-10-26T19:05:59.394Z,1761505559.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242306,0.970199,-0.001166],[-0.970019,0.242238,-0.019586],[-0.018720,0.005877,0.999807]]
2025-10-26T19:05:59.805Z,1761505559.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263526,0.964646,-0.003454],[-0.964477,0.263409,-0.020007],[-0.018390,0.008603,0.999794]]
2025-10-26T19:06:00.203Z,1761505560.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284923,0.958537,-0.005157],[-0.958371,0.284761,-0.020884],[-0.018550,0.010893,0.999769]]
2025-10-26T19:06:00.244Z,1761505560.244 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:06:00.244Z,1761505560.244 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:06:00.244Z,1761505560.244 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:06:00.244Z,1761505560.244 [marl:UpdateRudder:A] Stopped
2025-10-26T19:06:00.244Z,1761505560.244 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:06:00.244Z,1761505560.244 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateCommandMode] Stopped
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:06:00.245Z,1761505560.245 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:06:00.246Z,1761505560.246 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:06:00.246Z,1761505560.246 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:06:00.246Z,1761505560.246 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:06:00.246Z,1761505560.246 [marl:UpdateSpeed] Stopped
2025-10-26T19:06:00.246Z,1761505560.246 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:06:00.606Z,1761505560.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305994,0.952023,-0.004404],[-0.951839,0.305834,-0.021649],[-0.019263,0.010816,0.999756]]
2025-10-26T19:06:00.654Z,1761505560.654 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:06:00.654Z,1761505560.654 [marl:UpdateRudder:B] Stopped
2025-10-26T19:06:00.654Z,1761505560.654 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:06:00.654Z,1761505560.654 [marl:UpdateRudder] Stopped
2025-10-26T19:06:00.654Z,1761505560.654 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:06:01.014Z,1761505561.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326261,0.945274,-0.003361],[-0.945061,0.326107,-0.022684],[-0.020347,0.010577,0.999737]]
2025-10-26T19:06:01.414Z,1761505561.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344817,0.938669,-0.001505],[-0.938425,0.344690,-0.023384],[-0.021431,0.009476,0.999725]]
2025-10-26T19:06:01.824Z,1761505561.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361422,0.932402,0.001027],[-0.932142,0.361347,-0.023231],[-0.022032,0.007439,0.999730]]
2025-10-26T19:06:02.236Z,1761505562.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375546,0.926790,0.005024],[-0.926536,0.375562,-0.022001],[-0.022277,0.003608,0.999745]]
2025-10-26T19:06:02.626Z,1761505562.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389405,0.921016,0.009664],[-0.920793,0.389523,-0.020289],[-0.022451,-0.000998,0.999747]]
2025-10-26T19:06:03.060Z,1761505563.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402491,0.915337,0.012647],[-0.915156,0.402669,-0.018637],[-0.022152,-0.004073,0.999746]]
2025-10-26T19:06:03.434Z,1761505563.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415397,0.909525,0.014502],[-0.909371,0.415609,-0.017693],[-0.022119,-0.005838,0.999738]]
2025-10-26T19:06:03.838Z,1761505563.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428296,0.903484,0.016684],[-0.903362,0.428549,-0.016841],[-0.022366,-0.007858,0.999719]]
2025-10-26T19:06:04.244Z,1761505564.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440863,0.897350,0.020084],[-0.897282,0.441180,-0.015665],[-0.022918,-0.011115,0.999676]]
2025-10-26T19:06:04.646Z,1761505564.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452503,0.891479,0.022503],[-0.891452,0.452868,-0.014986],[-0.023551,-0.013279,0.999634]]
2025-10-26T19:06:05.050Z,1761505565.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463432,0.885769,0.025365],[-0.885796,0.463855,-0.014286],[-0.024420,-0.015848,0.999576]]
2025-10-26T19:06:05.454Z,1761505565.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474140,0.879985,0.028604],[-0.880079,0.474632,-0.013575],[-0.025522,-0.018737,0.999499]]
2025-10-26T19:06:05.858Z,1761505565.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484442,0.874308,0.030026],[-0.874429,0.484969,-0.013396],[-0.026274,-0.019766,0.999459]]
2025-10-26T19:06:06.265Z,1761505566.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494981,0.868333,0.031510],[-0.868498,0.495532,-0.012593],[-0.026549,-0.021133,0.999424]]
2025-10-26T19:06:06.666Z,1761505566.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506091,0.861931,0.030786],[-0.862076,0.506624,-0.012541],[-0.026406,-0.020193,0.999447]]
2025-10-26T19:06:07.070Z,1761505567.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518466,0.854583,0.029667],[-0.854702,0.518970,-0.012422],[-0.026012,-0.018916,0.999483]]
2025-10-26T19:06:07.475Z,1761505567.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532423,0.845986,0.028865],[-0.846096,0.532898,-0.011880],[-0.025432,-0.018098,0.999513]]
2025-10-26T19:06:07.885Z,1761505567.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548050,0.836043,0.025928],[-0.836091,0.548457,-0.012097],[-0.024334,-0.015048,0.999591]]
2025-10-26T19:06:08.282Z,1761505568.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564645,0.825048,0.021748],[-0.825025,0.564958,-0.012492],[-0.022593,-0.010889,0.999685]]
2025-10-26T19:06:08.690Z,1761505568.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581520,0.813329,0.018161],[-0.813271,0.581754,-0.012352],[-0.020611,-0.007586,0.999759]]
2025-10-26T19:06:09.020Z,1761505569.020 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:06:09.090Z,1761505569.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598369,0.801085,0.014777],[-0.801009,0.598533,-0.011959],[-0.018425,-0.004681,0.999819]]
2025-10-26T19:06:09.275Z,1761505569.275 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:06:09.275Z,1761505569.275 [DAT](INFO): #Outgoing data=6
2025-10-26T19:06:09.275Z,1761505569.275 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:06:09.494Z,1761505569.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615080,0.788367,0.012392],[-0.788291,0.615198,-0.011346],[-0.016568,-0.002790,0.999859]]
2025-10-26T19:06:09.528Z,1761505569.528 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:06:09.898Z,1761505569.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631749,0.775060,0.013196],[-0.775021,0.631871,-0.009052],[-0.015354,-0.004508,0.999872]]
2025-10-26T19:06:10.302Z,1761505570.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648305,0.761191,0.017017],[-0.761230,0.648460,-0.005453],[-0.015186,-0.009418,0.999840]]
2025-10-26T19:06:10.714Z,1761505570.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664039,0.747407,0.020826],[-0.747538,0.664216,-0.002170],[-0.015455,-0.014128,0.999781]]
2025-10-26T19:06:11.116Z,1761505571.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678056,0.734616,0.024056],[-0.734848,0.678230,0.001244],[-0.015402,-0.018521,0.999710]]
2025-10-26T19:06:11.515Z,1761505571.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690429,0.722863,0.027867],[-0.723254,0.690552,0.006469],[-0.014567,-0.024622,0.999591]]
2025-10-26T19:06:11.918Z,1761505571.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701026,0.712496,0.030199],[-0.713012,0.701063,0.011120],[-0.013248,-0.029328,0.999482]]
2025-10-26T19:06:12.322Z,1761505572.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711443,0.702017,0.031947],[-0.702636,0.711396,0.014816],[-0.012326,-0.032988,0.999380]]
2025-10-26T19:06:12.730Z,1761505572.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721222,0.691880,0.033774],[-0.692605,0.721085,0.018294],[-0.011697,-0.036586,0.999262]]
2025-10-26T19:06:12.809Z,1761505572.809 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:06:11.9657

2025-10-26T19:06:12.809Z,1761505572.809 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:06:13.130Z,1761505573.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729989,0.682585,0.034550],[-0.683363,0.729799,0.020196],[-0.011429,-0.038353,0.999199]]
2025-10-26T19:06:13.534Z,1761505573.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738558,0.673304,0.034553],[-0.674088,0.738365,0.020541],[-0.011682,-0.038463,0.999192]]
2025-10-26T19:06:13.574Z,1761505573.574 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:06:13.574Z,1761505573.574 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:06:13.574Z,1761505573.574 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:06:13.575Z,1761505573.575 [marl:UpdateRudder:A] Stopped
2025-10-26T19:06:13.575Z,1761505573.575 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:06:13.575Z,1761505573.575 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:06:13.575Z,1761505573.575 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:06:13.575Z,1761505573.575 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateCommandMode] Stopped
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:06:13.577Z,1761505573.577 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:06:13.578Z,1761505573.578 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:06:13.578Z,1761505573.578 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:06:13.578Z,1761505573.578 [marl:UpdateSpeed] Stopped
2025-10-26T19:06:13.578Z,1761505573.578 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:06:13.947Z,1761505573.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746919,0.664029,0.034317],[-0.664800,0.746753,0.019999],[-0.012347,-0.037752,0.999211]]
2025-10-26T19:06:13.971Z,1761505573.971 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:06:13.971Z,1761505573.971 [marl:UpdateRudder:B] Stopped
2025-10-26T19:06:13.971Z,1761505573.971 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:06:13.987Z,1761505573.987 [marl:UpdateRudder] Stopped
2025-10-26T19:06:13.987Z,1761505573.987 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:06:14.345Z,1761505574.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754705,0.655213,0.033396],[-0.655930,0.754603,0.018195],[-0.013279,-0.035637,0.999277]]
2025-10-26T19:06:14.746Z,1761505574.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762253,0.646448,0.032800],[-0.647120,0.762211,0.016443],[-0.014371,-0.033759,0.999327]]
2025-10-26T19:06:15.150Z,1761505575.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769515,0.637887,0.030776],[-0.638452,0.769542,0.013567],[-0.015029,-0.030089,0.999434]]
2025-10-26T19:06:15.964Z,1761505575.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783875,0.620287,0.027993],[-0.620727,0.783957,0.010498],[-0.015433,-0.025605,0.999553]]
2025-10-26T19:06:16.363Z,1761505576.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790649,0.611763,0.024900],[-0.612093,0.790745,0.008108],[-0.014729,-0.021652,0.999657]]
2025-10-26T19:06:16.766Z,1761505576.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795757,0.605130,0.024255],[-0.605465,0.795815,0.009528],[-0.013537,-0.022268,0.999660]]
2025-10-26T19:06:17.181Z,1761505577.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798955,0.600684,0.029150],[-0.601260,0.798853,0.017885],[-0.012543,-0.031816,0.999415]]
2025-10-26T19:06:17.575Z,1761505577.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800763,0.597608,0.040542],[-0.598865,0.800107,0.034494],[-0.011824,-0.051900,0.998582]]
2025-10-26T19:06:17.978Z,1761505577.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802064,0.594694,0.055060],[-0.597135,0.800220,0.055476],[-0.011069,-0.077374,0.996941]]
2025-10-26T19:06:18.382Z,1761505578.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803709,0.590892,0.069989],[-0.594935,0.800023,0.077552],[-0.010167,-0.103968,0.994529]]
2025-10-26T19:06:18.790Z,1761505578.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805715,0.586348,0.083782],[-0.592241,0.799579,0.099618],[-0.008580,-0.129882,0.991492]]
2025-10-26T19:06:19.193Z,1761505579.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808292,0.581062,0.095029],[-0.588748,0.799384,0.119836],[-0.006333,-0.152811,0.988235]]
2025-10-26T19:06:19.594Z,1761505579.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811141,0.575570,0.103771],[-0.584840,0.799301,0.138131],[-0.003440,-0.172733,0.984963]]
2025-10-26T19:06:19.998Z,1761505579.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814223,0.570026,0.110049],[-0.580552,0.799354,0.154897],[0.000327,-0.190009,0.981782]]
2025-10-26T19:06:20.403Z,1761505580.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817136,0.564989,0.114351],[-0.576424,0.799208,0.170298],[0.004826,-0.205071,0.978735]]
2025-10-26T19:06:20.845Z,1761505580.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819865,0.560496,0.116900],[-0.572477,0.799072,0.183725],[0.009566,-0.217552,0.976002]]
2025-10-26T19:06:21.210Z,1761505581.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822310,0.556364,0.119440],[-0.568864,0.798515,0.196897],[0.014172,-0.229855,0.973122]]
2025-10-26T19:06:21.254Z,1761505581.254 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:06:21.392Z,1761505581.392 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:06:21.443Z,1761505581.443 [DAT](INFO): entering command mode
2025-10-26T19:06:21.614Z,1761505581.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824727,0.552116,0.122444],[-0.565236,0.797759,0.209973],[0.018248,-0.242381,0.970010]]
2025-10-26T19:06:21.645Z,1761505581.645 [DAT](INFO): DAT read: 

2025-10-26T19:06:21.646Z,1761505581.646 [DAT](INFO): DAT read: user:53>

2025-10-26T19:06:21.648Z,1761505581.648 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:06:21.648Z,1761505581.648 [DAT](INFO): setting remote address to 0
2025-10-26T19:06:21.884Z,1761505581.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:06:21.896Z,1761505581.896 [DAT](INFO): DAT read: user:53>

2025-10-26T19:06:21.897Z,1761505581.897 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:06:21.897Z,1761505581.897 [DAT](INFO): set remote address to 0
2025-10-26T19:06:21.898Z,1761505581.898 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:06:21.898Z,1761505581.898 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:06:22.018Z,1761505582.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827052,0.548114,0.124724],[-0.561720,0.797430,0.220399],[0.021345,-0.252342,0.967403]]
2025-10-26T19:06:22.149Z,1761505582.149 [DAT](INFO): DAT read: user:54>

2025-10-26T19:06:22.150Z,1761505582.150 [DAT](INFO): DAT read: Tx time:19:06:21.2167

2025-10-26T19:06:22.150Z,1761505582.150 [DAT](INFO): Ping request sent.
2025-10-26T19:06:22.151Z,1761505582.151 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:06:22.151Z,1761505582.151 [DAT](INFO): publishing transmit ping time
2025-10-26T19:06:22.153Z,1761505582.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001827
2025-10-26T19:06:22.400Z,1761505582.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249720
2025-10-26T19:06:22.422Z,1761505582.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829571,0.543370,0.128686],[-0.557913,0.796906,0.231678],[0.023337,-0.263989,0.964243]]
2025-10-26T19:06:22.653Z,1761505582.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502053
2025-10-26T19:06:22.861Z,1761505582.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832210,0.538287,0.132943],[-0.553945,0.796845,0.241212],[0.023907,-0.274382,0.961324]]
2025-10-26T19:06:22.888Z,1761505582.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:06:22.905Z,1761505582.905 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:06:22.905Z,1761505582.905 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:06:22.905Z,1761505582.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754757
2025-10-26T19:06:23.157Z,1761505583.157 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:06:23.157Z,1761505583.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006580
2025-10-26T19:06:23.233Z,1761505583.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835066,0.532839,0.136925],[-0.549675,0.797747,0.247904],[0.022861,-0.282280,0.959060]]
2025-10-26T19:06:23.409Z,1761505583.409 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:06:23.409Z,1761505583.409 [DAT](INFO): #Outgoing data=7
2025-10-26T19:06:23.409Z,1761505583.409 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:06:23.409Z,1761505583.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258780
2025-10-26T19:06:23.636Z,1761505583.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838086,0.527067,0.140756],[-0.545169,0.799684,0.251587],[0.020043,-0.287588,0.957544]]
2025-10-26T19:06:23.661Z,1761505583.661 [DAT](INFO): setting remote address to 6
2025-10-26T19:06:23.664Z,1761505583.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511943
2025-10-26T19:06:23.912Z,1761505583.912 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:23.912Z,1761505583.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761857
2025-10-26T19:06:24.038Z,1761505584.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840835,0.522022,0.143145],[-0.541064,0.802885,0.250252],[0.015708,-0.287871,0.957540]]
2025-10-26T19:06:24.164Z,1761505584.164 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:24.165Z,1761505584.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014023
2025-10-26T19:06:24.416Z,1761505584.416 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:24.417Z,1761505584.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265917
2025-10-26T19:06:24.442Z,1761505584.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842834,0.518086,0.145663],[-0.538066,0.805812,0.247289],[0.010740,-0.286800,0.957930]]
2025-10-26T19:06:24.668Z,1761505584.668 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:24.668Z,1761505584.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517858
2025-10-26T19:06:24.867Z,1761505584.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843584,0.516409,0.147270],[-0.536967,0.808294,0.241509],[0.005680,-0.282812,0.959158]]
2025-10-26T19:06:24.920Z,1761505584.920 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:24.921Z,1761505584.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769972
2025-10-26T19:06:25.172Z,1761505585.172 [DAT](INFO): DAT read: Rx Time:19:06:23.9050

2025-10-26T19:06:25.173Z,1761505585.173 [DAT](INFO): Rx dataTimestamp_ set to:1761505585.172614
2025-10-26T19:06:25.173Z,1761505585.173 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:25.174Z,1761505585.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022995
2025-10-26T19:06:25.250Z,1761505585.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843657,0.516328,0.147129],[-0.536882,0.811157,0.231911],[0.000397,-0.274644,0.961546]]
2025-10-26T19:06:25.424Z,1761505585.424 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:25.424Z,1761505585.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273885
2025-10-26T19:06:25.661Z,1761505585.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843616,0.516866,0.145470],[-0.536922,0.814601,0.219408],[-0.005095,-0.263202,0.964727]]
2025-10-26T19:06:25.676Z,1761505585.676 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:25.677Z,1761505585.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525984
2025-10-26T19:06:25.934Z,1761505585.934 [DAT](INFO): DAT read: 19:06:23.9050 LVL= 14768, 24753, 24802, 29171, AGC= 58, IDX= 314, 0.01,-1.760, 2.831, 2.802,-2.349, PHS= 0.691,-1.058,-1.176, RAW=  86.8,  16.8, CAL=  86.7,  21.4, ROT=  63.3, -21.4

2025-10-26T19:06:25.935Z,1761505585.935 [DAT](INFO): got valid direction response:
 19:06:23.9050 LVL= 14768, 24753, 24802, 29171, AGC= 58, IDX= 314, 0.01,-1.760, 2.831, 2.802,-2.349, PHS= 0.691,-1.058,-1.176, RAW=  86.8,  16.8, CAL=  86.7,  21.4, ROT=  63.3, -21.4

2025-10-26T19:06:25.936Z,1761505585.936 [DAT](INFO): DAT read: Bearing 177.5,  43.8 (Local)

2025-10-26T19:06:25.937Z,1761505585.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.5,  43.8 (Local)

2025-10-26T19:06:25.938Z,1761505585.938 [DAT](INFO): DAT read: Range 11 to 20 : 213.0 m  (Round-trip  284.1 ms) speed  0.0 m/s

2025-10-26T19:06:25.939Z,1761505585.939 [DAT](INFO): DAT read: user:55>

2025-10-26T19:06:25.956Z,1761505585.956 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:06:25.957Z,1761505585.957 [DAT](INFO): set remote address to 6
2025-10-26T19:06:25.957Z,1761505585.957 [DAT](INFO): entering online mode
2025-10-26T19:06:26.060Z,1761505586.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843668,0.517934,0.141312],[-0.536765,0.818853,0.203378],[-0.010378,-0.247435,0.968849]]
2025-10-26T19:06:26.180Z,1761505586.180 [DAT](INFO): DAT read: user:56>

2025-10-26T19:06:26.181Z,1761505586.181 [DAT](INFO): DAT read: 

2025-10-26T19:06:26.182Z,1761505586.182 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:06:26.182Z,1761505586.182 [DAT](INFO): commRate: 600
2025-10-26T19:06:26.182Z,1761505586.182 [DAT](INFO): online mode acknowledged
2025-10-26T19:06:26.183Z,1761505586.183 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:06:26.184Z,1761505586.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032573
2025-10-26T19:06:26.432Z,1761505586.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281759
2025-10-26T19:06:26.462Z,1761505586.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843843,0.519048,0.136083],[-0.536379,0.823050,0.186775],[-0.015058,-0.230601,0.972932]]
2025-10-26T19:06:26.507Z,1761505586.507 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:06:26.507Z,1761505586.507 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:06:26.507Z,1761505586.507 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateRudder:A] Stopped
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:06:26.508Z,1761505586.508 [marl:UpdateCommandMode] Stopped
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed] Stopped
2025-10-26T19:06:26.509Z,1761505586.509 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:06:26.684Z,1761505586.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533821
2025-10-26T19:06:26.872Z,1761505586.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843991,0.520541,0.129292],[-0.536044,0.826864,0.170157],[-0.018334,-0.212917,0.976898]]
2025-10-26T19:06:26.930Z,1761505586.930 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:06:26.930Z,1761505586.930 [marl:UpdateRudder:B] Stopped
2025-10-26T19:06:26.930Z,1761505586.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:06:26.930Z,1761505586.930 [marl:UpdateRudder] Stopped
2025-10-26T19:06:26.930Z,1761505586.930 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:06:26.936Z,1761505586.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785821
2025-10-26T19:06:27.188Z,1761505587.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037729
2025-10-26T19:06:27.270Z,1761505587.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843875,0.522536,0.121788],[-0.536176,0.829659,0.155503],[-0.019786,-0.196524,0.980299]]
2025-10-26T19:06:27.440Z,1761505587.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289790
2025-10-26T19:06:27.674Z,1761505587.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843520,0.524649,0.114965],[-0.536750,0.831138,0.145290],[-0.019326,-0.184262,0.982687]]
2025-10-26T19:06:27.693Z,1761505587.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542251
2025-10-26T19:06:27.944Z,1761505587.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793741
2025-10-26T19:06:28.089Z,1761505588.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843003,0.526878,0.108373],[-0.537637,0.831700,0.138643],[-0.017086,-0.175142,0.984395]]
2025-10-26T19:06:28.202Z,1761505588.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050873
2025-10-26T19:06:28.452Z,1761505588.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301667
2025-10-26T19:06:28.482Z,1761505588.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842512,0.528672,0.103342],[-0.538495,0.831582,0.135992],[-0.014042,-0.170224,0.985305]]
2025-10-26T19:06:28.705Z,1761505588.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554092
2025-10-26T19:06:28.887Z,1761505588.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842811,0.528968,0.099311],[-0.538093,0.832006,0.134991],[-0.011222,-0.167210,0.985857]]
2025-10-26T19:06:28.956Z,1761505588.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805885
2025-10-26T19:06:29.208Z,1761505589.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057739
2025-10-26T19:06:29.290Z,1761505589.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844509,0.526594,0.097482],[-0.535460,0.833442,0.136589],[-0.009318,-0.167549,0.985820]]
2025-10-26T19:06:29.461Z,1761505589.461 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:06:28.6169

2025-10-26T19:06:29.461Z,1761505589.461 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:06:29.462Z,1761505589.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310971
2025-10-26T19:06:29.696Z,1761505589.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848356,0.520500,0.096808],[-0.529355,0.836947,0.138935],[-0.008707,-0.169112,0.985558]]
2025-10-26T19:06:29.714Z,1761505589.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563064
2025-10-26T19:06:29.964Z,1761505589.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813741
2025-10-26T19:06:30.216Z,1761505590.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065821
2025-10-26T19:06:30.468Z,1761505590.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317804
2025-10-26T19:06:30.508Z,1761505590.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864856,0.495672,0.079580],[-0.501918,0.856931,0.117251],[-0.010077,-0.141348,0.989909]]
2025-10-26T19:06:30.721Z,1761505590.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570294
2025-10-26T19:06:30.906Z,1761505590.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876182,0.477611,0.064758],[-0.481850,0.871137,0.094559],[-0.011250,-0.114055,0.993411]]
2025-10-26T19:06:30.972Z,1761505590.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821833
2025-10-26T19:06:31.224Z,1761505591.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073817
2025-10-26T19:06:31.310Z,1761505591.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887785,0.457382,0.051366],[-0.460089,0.884936,0.072152],[-0.012455,-0.087689,0.996070]]
2025-10-26T19:06:31.477Z,1761505591.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325901
2025-10-26T19:06:31.720Z,1761505591.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898902,0.436368,0.039474],[-0.437948,0.897565,0.050772],[-0.013275,-0.062927,0.997930]]
2025-10-26T19:06:31.730Z,1761505591.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579136
2025-10-26T19:06:31.980Z,1761505591.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829852
2025-10-26T19:06:32.135Z,1761505592.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909514,0.414537,0.030707],[-0.415454,0.908949,0.034774],[-0.013495,-0.044385,0.998923]]
2025-10-26T19:06:32.236Z,1761505592.236 [DAT](INFO): Reached modem response timeout
2025-10-26T19:06:32.524Z,1761505592.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919181,0.393051,0.024852],[-0.393595,0.918994,0.023093],[-0.013762,-0.031008,0.999424]]
2025-10-26T19:06:32.926Z,1761505592.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928053,0.371816,0.021692],[-0.372191,0.928001,0.016940],[-0.013832,-0.023795,0.999621]]
2025-10-26T19:06:33.330Z,1761505593.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936008,0.351381,0.020497],[-0.351710,0.935981,0.015497],[-0.013739,-0.021714,0.999670]]
2025-10-26T19:06:33.736Z,1761505593.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942924,0.332374,0.020535],[-0.332740,0.942846,0.018032],[-0.013368,-0.023835,0.999627]]
2025-10-26T19:06:34.142Z,1761505594.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948705,0.315476,0.020844],[-0.315911,0.948519,0.022625],[-0.012633,-0.028050,0.999527]]
2025-10-26T19:06:34.542Z,1761505594.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953540,0.300548,0.020798],[-0.301036,0.953238,0.026736],[-0.011790,-0.031754,0.999426]]
2025-10-26T19:06:34.946Z,1761505594.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957968,0.286147,0.020413],[-0.286661,0.957570,0.029754],[-0.011033,-0.034355,0.999349]]
2025-10-26T19:06:35.350Z,1761505595.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962059,0.272129,0.019685],[-0.272649,0.961578,0.032098],[-0.010194,-0.036247,0.999291]]
2025-10-26T19:06:35.756Z,1761505595.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966116,0.257455,0.018380],[-0.257948,0.965583,0.033344],[-0.009163,-0.036955,0.999275]]
2025-10-26T19:06:36.170Z,1761505596.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970060,0.242260,0.017111],[-0.242721,0.969496,0.034123],[-0.008323,-0.037254,0.999271]]
2025-10-26T19:06:36.563Z,1761505596.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973839,0.226693,0.015774],[-0.227123,0.973221,0.035440],[-0.007318,-0.038095,0.999247]]
2025-10-26T19:06:36.966Z,1761505596.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977376,0.211019,0.014430],[-0.211413,0.976723,0.036280],[-0.006439,-0.038510,0.999237]]
2025-10-26T19:06:37.370Z,1761505597.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980573,0.195720,0.013025],[-0.196072,0.979911,0.036469],[-0.005625,-0.038315,0.999250]]
2025-10-26T19:06:37.775Z,1761505597.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983510,0.180498,0.011333],[-0.180794,0.982856,0.036162],[-0.004612,-0.037615,0.999282]]
2025-10-26T19:06:38.182Z,1761505598.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985985,0.166584,0.009152],[-0.166808,0.985339,0.035823],[-0.003050,-0.036847,0.999316]]
2025-10-26T19:06:38.309Z,1761505598.309 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:06:38.309Z,1761505598.309 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:06:38.582Z,1761505598.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988257,0.152663,0.006539],[-0.152799,0.987649,0.034668],[-0.001166,-0.035260,0.999377]]
2025-10-26T19:06:38.986Z,1761505598.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990225,0.139415,0.004262],[-0.139478,0.989575,0.035868],[0.000782,-0.036112,0.999347]]
2025-10-26T19:06:39.392Z,1761505599.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991992,0.126289,0.001858],[-0.126276,0.991373,0.035135],[0.002595,-0.035088,0.999381]]
2025-10-26T19:06:39.437Z,1761505599.437 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:06:39.437Z,1761505599.437 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:06:39.438Z,1761505599.438 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:06:39.438Z,1761505599.438 [marl:UpdateRudder:A] Stopped
2025-10-26T19:06:39.438Z,1761505599.438 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:06:39.438Z,1761505599.438 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:06:39.438Z,1761505599.438 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:06:39.438Z,1761505599.438 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:06:39.439Z,1761505599.439 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:06:39.439Z,1761505599.439 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:06:39.439Z,1761505599.439 [marl:UpdateCommandMode] Stopped
2025-10-26T19:06:39.439Z,1761505599.439 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:06:39.439Z,1761505599.439 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:06:39.455Z,1761505599.455 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:06:39.455Z,1761505599.455 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:06:39.456Z,1761505599.456 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:06:39.456Z,1761505599.456 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:06:39.456Z,1761505599.456 [marl:UpdateSpeed] Stopped
2025-10-26T19:06:39.456Z,1761505599.456 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:06:39.560Z,1761505599.560 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:06:39.794Z,1761505599.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993623,0.112747,-0.000697],[-0.112657,0.993038,0.034405],[0.004572,-0.034107,0.999408]]
2025-10-26T19:06:39.813Z,1761505599.813 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:06:39.813Z,1761505599.813 [DAT](INFO): #Outgoing data=7
2025-10-26T19:06:39.813Z,1761505599.813 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:06:39.854Z,1761505599.854 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:06:39.854Z,1761505599.854 [marl:UpdateRudder:B] Stopped
2025-10-26T19:06:39.854Z,1761505599.854 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:06:39.854Z,1761505599.854 [marl:UpdateRudder] Stopped
2025-10-26T19:06:39.854Z,1761505599.854 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:06:40.065Z,1761505600.065 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:06:40.199Z,1761505600.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995017,0.099662,-0.002964],[-0.099516,0.994515,0.032207],[0.006157,-0.031751,0.999477]]
2025-10-26T19:06:40.612Z,1761505600.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996251,0.086352,-0.005160],[-0.086160,0.995829,0.030026],[0.007731,-0.029469,0.999536]]
2025-10-26T19:06:41.007Z,1761505601.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997294,0.073116,-0.007600],[-0.072875,0.996941,0.028259],[0.009642,-0.027628,0.999572]]
2025-10-26T19:06:41.410Z,1761505601.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998149,0.059967,-0.010152],[-0.059698,0.997905,0.024931],[0.011626,-0.024278,0.999638]]
2025-10-26T19:06:41.814Z,1761505601.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998819,0.046920,-0.012647],[-0.046640,0.998678,0.021595],[0.013644,-0.020980,0.999687]]
2025-10-26T19:06:42.223Z,1761505602.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999311,0.033848,-0.015217],[-0.033568,0.999269,0.018315],[0.015825,-0.017792,0.999716]]
2025-10-26T19:06:42.629Z,1761505602.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999781,0.005291,-0.020251],[-0.005028,0.999902,0.013042],[0.020318,-0.012937,0.999710]]
2025-10-26T19:06:43.031Z,1761505603.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999688,-0.011075,-0.022368],[0.011299,0.999887,0.009918],[0.022255,-0.010168,0.999701]]
2025-10-26T19:06:43.345Z,1761505603.345 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:06:42.4655

2025-10-26T19:06:43.345Z,1761505603.345 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:06:43.435Z,1761505603.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999325,-0.027625,-0.024216],[0.027816,0.999584,0.007602],[0.023996,-0.008271,0.999678]]
2025-10-26T19:06:43.838Z,1761505603.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998660,-0.044738,-0.026012],[0.044894,0.998977,0.005451],[0.025741,-0.006612,0.999647]]
2025-10-26T19:06:44.243Z,1761505604.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997647,-0.062629,-0.027910],[0.062754,0.998022,0.003614],[0.027628,-0.005357,0.999604]]
2025-10-26T19:06:44.642Z,1761505604.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996299,-0.080800,-0.029327],[0.080913,0.996718,0.002688],[0.029013,-0.005051,0.999566]]
2025-10-26T19:06:45.046Z,1761505605.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994629,-0.098771,-0.030949],[0.098872,0.995099,0.001726],[0.030626,-0.004777,0.999519]]
2025-10-26T19:06:45.452Z,1761505605.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992556,-0.117412,-0.032366],[0.117491,0.993074,0.000564],[0.032076,-0.004363,0.999476]]
2025-10-26T19:06:45.854Z,1761505605.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990167,-0.135728,-0.033863],[0.135801,0.990736,-0.000136],[0.033568,-0.004464,0.999426]]
2025-10-26T19:06:46.258Z,1761505606.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987278,-0.154994,-0.035486],[0.155047,0.987906,-0.001258],[0.035252,-0.004260,0.999369]]
2025-10-26T19:06:46.662Z,1761505606.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984120,-0.173548,-0.037259],[0.173624,0.984811,-0.001198],[0.036901,-0.005290,0.999305]]
2025-10-26T19:06:47.077Z,1761505607.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980397,-0.193100,-0.039157],[0.193148,0.981166,-0.002596],[0.038921,-0.005018,0.999230]]
2025-10-26T19:06:47.470Z,1761505607.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976081,-0.213579,-0.040620],[0.213552,0.976919,-0.005041],[0.040759,-0.003754,0.999162]]
2025-10-26T19:06:47.874Z,1761505607.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971203,-0.234437,-0.042474],[0.234372,0.972125,-0.006562],[0.042829,-0.003582,0.999076]]
2025-10-26T19:06:48.278Z,1761505608.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965819,-0.255433,-0.044136],[0.255275,0.966824,-0.009296],[0.045046,-0.002288,0.998982]]
2025-10-26T19:06:48.683Z,1761505608.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960084,-0.276014,-0.045321],[0.275719,0.961154,-0.012763],[0.047083,-0.000242,0.998891]]
2025-10-26T19:06:49.092Z,1761505609.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953851,-0.296666,-0.046442],[0.296252,0.954980,-0.015716],[0.049014,0.001232,0.998797]]
2025-10-26T19:06:49.490Z,1761505609.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947489,-0.316224,-0.047612],[0.315717,0.948682,-0.018016],[0.050866,0.002038,0.998703]]
2025-10-26T19:06:49.894Z,1761505609.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941114,-0.334529,-0.048939],[0.333934,0.942382,-0.020107],[0.052846,0.002581,0.998599]]
2025-10-26T19:06:50.299Z,1761505610.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935148,-0.350581,-0.050895],[0.350035,0.936532,-0.019578],[0.054529,0.000493,0.998512]]
2025-10-26T19:06:50.709Z,1761505610.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929635,-0.364622,-0.053194],[0.364162,0.931153,-0.018451],[0.056259,-0.002219,0.998414]]
2025-10-26T19:06:51.106Z,1761505611.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924357,-0.377503,-0.055269],[0.377146,0.925995,-0.017164],[0.057659,-0.004979,0.998324]]
2025-10-26T19:06:51.510Z,1761505611.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919338,-0.389300,-0.057125],[0.389071,0.921077,-0.015523],[0.058659,-0.007954,0.998246]]
2025-10-26T19:06:51.577Z,1761505611.577 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:06:51.661Z,1761505611.661 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:06:51.712Z,1761505611.712 [DAT](INFO): entering command mode
2025-10-26T19:06:51.912Z,1761505611.912 [DAT](INFO): DAT read: 

2025-10-26T19:06:51.912Z,1761505611.912 [DAT](INFO): DAT read: user:57>

2025-10-26T19:06:51.913Z,1761505611.913 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:06:51.913Z,1761505611.913 [DAT](INFO): setting remote address to 0
2025-10-26T19:06:51.920Z,1761505611.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914542,-0.400213,-0.058673],[0.400041,0.916372,-0.015161],[0.059834,-0.009606,0.998162]]
2025-10-26T19:06:52.165Z,1761505612.165 [DAT](INFO): DAT read: user:57>

2025-10-26T19:06:52.166Z,1761505612.166 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:06:52.166Z,1761505612.166 [DAT](INFO): set remote address to 0
2025-10-26T19:06:52.166Z,1761505612.166 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:06:52.167Z,1761505612.167 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:06:52.319Z,1761505612.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909730,-0.410776,-0.060453],[0.410704,0.911658,-0.014186],[0.060939,-0.011923,0.998070]]
2025-10-26T19:06:52.362Z,1761505612.362 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:06:52.362Z,1761505612.362 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:06:52.362Z,1761505612.362 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:06:52.363Z,1761505612.363 [marl:UpdateRudder:A] Stopped
2025-10-26T19:06:52.363Z,1761505612.363 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:06:52.363Z,1761505612.363 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:06:52.363Z,1761505612.363 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:06:52.363Z,1761505612.363 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateCommandMode] Stopped
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:06:52.364Z,1761505612.364 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:06:52.365Z,1761505612.365 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:06:52.365Z,1761505612.365 [marl:UpdateSpeed] Stopped
2025-10-26T19:06:52.365Z,1761505612.365 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:06:52.416Z,1761505612.416 [DAT](INFO): DAT read: user:58>

2025-10-26T19:06:52.417Z,1761505612.417 [DAT](INFO): DAT read: Tx time:19:06:51.5166

2025-10-26T19:06:52.417Z,1761505612.417 [DAT](INFO): Ping request sent.
2025-10-26T19:06:52.418Z,1761505612.418 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:06:52.418Z,1761505612.418 [DAT](INFO): publishing transmit ping time
2025-10-26T19:06:52.419Z,1761505612.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000997
2025-10-26T19:06:52.669Z,1761505612.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250874
2025-10-26T19:06:52.732Z,1761505612.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905078,-0.420727,-0.061827],[0.420755,0.907078,-0.013210],[0.061640,-0.014058,0.997999]]
2025-10-26T19:06:52.787Z,1761505612.787 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:06:52.788Z,1761505612.788 [marl:UpdateRudder:B] Stopped
2025-10-26T19:06:52.788Z,1761505612.788 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:06:52.788Z,1761505612.788 [marl:UpdateRudder] Stopped
2025-10-26T19:06:52.788Z,1761505612.788 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:06:52.920Z,1761505612.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502741
2025-10-26T19:06:53.008Z,1761505613.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:06:53.126Z,1761505613.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900233,-0.430898,-0.062512],[0.430940,0.902280,-0.013514],[0.062227,-0.014773,0.997953]]
2025-10-26T19:06:53.173Z,1761505613.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754866
2025-10-26T19:06:53.424Z,1761505613.424 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:06:53.425Z,1761505613.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006900
2025-10-26T19:06:53.676Z,1761505613.676 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:06:53.677Z,1761505613.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258927
2025-10-26T19:06:53.928Z,1761505613.928 [DAT](INFO): setting remote address to 6
2025-10-26T19:06:53.929Z,1761505613.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127
2025-10-26T19:06:53.940Z,1761505613.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889038,-0.453659,-0.061682],[0.453568,0.891073,-0.016267],[0.062343,-0.013515,0.997963]]
2025-10-26T19:06:54.012Z,1761505614.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:06:54.180Z,1761505614.180 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:54.180Z,1761505614.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762734
2025-10-26T19:06:54.338Z,1761505614.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882662,-0.466117,-0.060357],[0.465944,0.884636,-0.017766],[0.061674,-0.012442,0.998019]]
2025-10-26T19:06:54.432Z,1761505614.432 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:54.432Z,1761505614.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014732
2025-10-26T19:06:54.684Z,1761505614.684 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:54.685Z,1761505614.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266876
2025-10-26T19:06:54.755Z,1761505614.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875963,-0.478811,-0.058547],[0.478565,0.877845,-0.019081],[0.060532,-0.011304,0.998102]]
2025-10-26T19:06:54.936Z,1761505614.936 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:54.937Z,1761505614.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519164
2025-10-26T19:06:55.146Z,1761505615.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868935,-0.491720,-0.056240],[0.491390,0.870698,-0.020523],[0.059060,-0.009802,0.998206]]
2025-10-26T19:06:55.188Z,1761505615.188 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:55.189Z,1761505615.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917
2025-10-26T19:06:55.440Z,1761505615.440 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:55.441Z,1761505615.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022940
2025-10-26T19:06:55.559Z,1761505615.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862644,-0.502567,-0.057210],[0.502522,0.864412,-0.016208],[0.057599,-0.014767,0.998231]]
2025-10-26T19:06:55.693Z,1761505615.693 [DAT](INFO): DAT read: Rx Time:19:06:54.1990

2025-10-26T19:06:55.694Z,1761505615.694 [DAT](INFO): Rx dataTimestamp_ set to:1761505615.692975
2025-10-26T19:06:55.694Z,1761505615.694 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:55.694Z,1761505615.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276566
2025-10-26T19:06:55.945Z,1761505615.945 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:06:55.945Z,1761505615.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527533
2025-10-26T19:06:55.959Z,1761505615.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858583,-0.508973,-0.061496],[0.509610,0.860384,-0.006020],[0.055974,-0.026171,0.998089]]
2025-10-26T19:06:56.202Z,1761505616.202 [DAT](INFO): DAT read: 19:06:54.1990 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 318, 0.11, 3.127, 1.338, 2.983, 2.589, PHS= 0.639,-1.206, 0.350, RAW= 141.6,   2.6, CAL= 141.4,   3.0, ROT=   8.6,  -3.0

2025-10-26T19:06:56.207Z,1761505616.207 [DAT](INFO): got valid direction response:
 19:06:54.1990 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 318, 0.11, 3.127, 1.338, 2.983, 2.589, PHS= 0.639,-1.206, 0.350, RAW= 141.6,   2.6, CAL= 141.4,   3.0, ROT=   8.6,  -3.0

2025-10-26T19:06:56.220Z,1761505616.220 [DAT](INFO): DAT read: Bearing 187.0,  11.8 (Local)

2025-10-26T19:06:56.221Z,1761505616.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0,  11.8 (Local)

2025-10-26T19:06:56.223Z,1761505616.223 [DAT](INFO): DAT read: Range 11 to 20 : 208.7 m  (Round-trip  278.3 ms) speed  0.0 m/s

2025-10-26T19:06:56.224Z,1761505616.224 [DAT](INFO): DAT read: user:59>

2025-10-26T19:06:56.225Z,1761505616.225 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:06:56.225Z,1761505616.225 [DAT](INFO): set remote address to 6
2025-10-26T19:06:56.226Z,1761505616.226 [DAT](INFO): entering online mode
2025-10-26T19:06:56.358Z,1761505616.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857437,-0.509730,-0.070546],[0.511726,0.859057,0.012562],[0.054200,-0.046871,0.997429]]
2025-10-26T19:06:56.448Z,1761505616.448 [DAT](INFO): DAT read: user:60>

2025-10-26T19:06:56.449Z,1761505616.449 [DAT](INFO): DAT read: 

2025-10-26T19:06:56.450Z,1761505616.450 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:06:56.450Z,1761505616.450 [DAT](INFO): commRate: 600
2025-10-26T19:06:56.450Z,1761505616.450 [DAT](INFO): online mode acknowledged
2025-10-26T19:06:56.451Z,1761505616.451 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:06:56.452Z,1761505616.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033488
2025-10-26T19:06:56.701Z,1761505616.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283005
2025-10-26T19:06:56.766Z,1761505616.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857914,-0.507057,-0.082929],[0.511053,0.858797,0.035934],[0.052999,-0.073210,0.995907]]
2025-10-26T19:06:56.952Z,1761505616.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534821
2025-10-26T19:06:57.166Z,1761505617.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859360,-0.502047,-0.097208],[0.508725,0.858638,0.062765],[0.051956,-0.103390,0.993283]]
2025-10-26T19:06:57.208Z,1761505617.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790771
2025-10-26T19:06:57.460Z,1761505617.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042656
2025-10-26T19:06:57.572Z,1761505617.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861582,-0.495527,-0.110137],[0.505064,0.858566,0.088173],[0.050867,-0.131594,0.989998]]
2025-10-26T19:06:57.714Z,1761505617.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296064
2025-10-26T19:06:57.964Z,1761505617.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546746
2025-10-26T19:06:57.976Z,1761505617.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863850,-0.488962,-0.121158],[0.501252,0.858253,0.110217],[0.050093,-0.155941,0.986495]]
2025-10-26T19:06:58.216Z,1761505618.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798715
2025-10-26T19:06:58.378Z,1761505618.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866148,-0.482446,-0.130513],[0.497361,0.857739,0.130066],[0.049196,-0.177568,0.982878]]
2025-10-26T19:06:58.468Z,1761505618.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050840
2025-10-26T19:06:58.721Z,1761505618.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303210
2025-10-26T19:06:58.789Z,1761505618.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867727,-0.478053,-0.136072],[0.494695,0.857208,0.143078],[0.048243,-0.191467,0.980313]]
2025-10-26T19:06:58.973Z,1761505618.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555345
2025-10-26T19:06:59.188Z,1761505619.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868815,-0.475306,-0.138722],[0.492900,0.856852,0.151177],[0.047009,-0.199720,0.978725]]
2025-10-26T19:06:59.225Z,1761505619.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806891
2025-10-26T19:06:59.476Z,1761505619.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058684
2025-10-26T19:06:59.590Z,1761505619.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868993,-0.474433,-0.140589],[0.492708,0.855870,0.157243],[0.045725,-0.205912,0.977502]]
2025-10-26T19:06:59.729Z,1761505619.729 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:06:58.8654

2025-10-26T19:06:59.730Z,1761505619.730 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:06:59.730Z,1761505619.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312533
2025-10-26T19:06:59.980Z,1761505619.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562745
2025-10-26T19:06:59.996Z,1761505619.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868640,-0.474968,-0.140962],[0.493479,0.854752,0.160867],[0.044081,-0.209297,0.976858]]
2025-10-26T19:07:00.232Z,1761505620.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814697
2025-10-26T19:07:00.398Z,1761505620.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867330,-0.477334,-0.141033],[0.495949,0.852772,0.163753],[0.042104,-0.211973,0.976368]]
2025-10-26T19:07:00.497Z,1761505620.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079639
2025-10-26T19:07:00.748Z,1761505620.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330800
2025-10-26T19:07:00.864Z,1761505620.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865330,-0.480911,-0.141164],[0.499589,0.850202,0.166032],[0.040172,-0.214196,0.975964]]
2025-10-26T19:07:01.001Z,1761505621.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583191
2025-10-26T19:07:01.206Z,1761505621.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862678,-0.486223,-0.139188],[0.504338,0.847621,0.164872],[0.037814,-0.212429,0.976445]]
2025-10-26T19:07:01.253Z,1761505621.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835431
2025-10-26T19:07:01.504Z,1761505621.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086782
2025-10-26T19:07:01.610Z,1761505621.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859190,-0.492731,-0.137868],[0.510403,0.844233,0.163586],[0.035789,-0.210919,0.976848]]
2025-10-26T19:07:01.756Z,1761505621.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338773
2025-10-26T19:07:02.009Z,1761505622.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591124
2025-10-26T19:07:02.021Z,1761505622.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855164,-0.500198,-0.136004],[0.517249,0.840590,0.160812],[0.033886,-0.207869,0.977570]]
2025-10-26T19:07:02.260Z,1761505622.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842761
2025-10-26T19:07:02.419Z,1761505622.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850730,-0.508232,-0.134013],[0.524577,0.836935,0.156071],[0.032840,-0.203074,0.978612]]
2025-10-26T19:07:02.513Z,1761505622.513 [DAT](INFO): Reached modem response timeout
2025-10-26T19:07:02.867Z,1761505622.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846053,-0.516411,-0.132338],[0.532088,0.833291,0.150026],[0.032801,-0.197345,0.979785]]
2025-10-26T19:07:03.234Z,1761505623.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842026,-0.523109,-0.131720],[0.538396,0.830128,0.144973],[0.033508,-0.192989,0.980629]]
2025-10-26T19:07:03.639Z,1761505623.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839738,-0.526974,-0.130918],[0.541911,0.828552,0.140834],[0.034257,-0.189210,0.981339]]
2025-10-26T19:07:04.046Z,1761505624.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838989,-0.528372,-0.130080],[0.543031,0.828302,0.137958],[0.034853,-0.186383,0.981859]]
2025-10-26T19:07:04.446Z,1761505624.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839429,-0.527900,-0.129154],[0.542311,0.829154,0.135654],[0.035477,-0.183914,0.982302]]
2025-10-26T19:07:04.869Z,1761505624.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840527,-0.526351,-0.128333],[0.540578,0.830512,0.134255],[0.035917,-0.182219,0.982602]]
2025-10-26T19:07:05.255Z,1761505625.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842003,-0.524261,-0.127206],[0.538296,0.832046,0.133931],[0.035626,-0.181244,0.982793]]
2025-10-26T19:07:05.658Z,1761505625.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843717,-0.521924,-0.125447],[0.535718,0.833469,0.135408],[0.033883,-0.181450,0.982816]]
2025-10-26T19:07:05.694Z,1761505625.694 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:07:05.694Z,1761505625.694 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:07:05.694Z,1761505625.694 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:07:05.694Z,1761505625.694 [marl:UpdateRudder:A] Stopped
2025-10-26T19:07:05.694Z,1761505625.694 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:07:05.695Z,1761505625.695 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:07:05.695Z,1761505625.695 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:07:05.695Z,1761505625.695 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateCommandMode] Stopped
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:07:05.696Z,1761505625.696 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:07:05.697Z,1761505625.697 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:07:05.697Z,1761505625.697 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:07:05.697Z,1761505625.697 [marl:UpdateSpeed] Stopped
2025-10-26T19:07:05.697Z,1761505625.697 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:07:06.062Z,1761505626.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844830,-0.520663,-0.123178],[0.534109,0.834253,0.136926],[0.031469,-0.181469,0.982893]]
2025-10-26T19:07:06.104Z,1761505626.104 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:07:06.104Z,1761505626.104 [marl:UpdateRudder:B] Stopped
2025-10-26T19:07:06.104Z,1761505626.104 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:07:06.105Z,1761505626.105 [marl:UpdateRudder] Stopped
2025-10-26T19:07:06.105Z,1761505626.105 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:07:06.466Z,1761505626.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845169,-0.520828,-0.120112],[0.533788,0.834047,0.139417],[0.027567,-0.181945,0.982922]]
2025-10-26T19:07:06.879Z,1761505626.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844331,-0.522833,-0.117261],[0.535320,0.832561,0.142388],[0.023182,-0.182995,0.982840]]
2025-10-26T19:07:07.274Z,1761505627.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842370,-0.526521,-0.114845],[0.538584,0.829837,0.145938],[0.018463,-0.184787,0.982605]]
2025-10-26T19:07:08.083Z,1761505628.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836447,-0.536455,-0.112123],[0.547962,0.822233,0.153851],[0.009657,-0.190128,0.981712]]
2025-10-26T19:07:08.487Z,1761505628.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832806,-0.542408,-0.110577],[0.553534,0.818064,0.156113],[0.005782,-0.191220,0.981530]]
2025-10-26T19:07:08.890Z,1761505628.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828986,-0.548344,-0.110005],[0.559262,0.813814,0.157901],[0.002940,-0.192420,0.981308]]
2025-10-26T19:07:09.294Z,1761505629.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825280,-0.553891,-0.110085],[0.564723,0.809844,0.158872],[0.001154,-0.193281,0.981143]]
2025-10-26T19:07:09.700Z,1761505629.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822078,-0.558698,-0.109750],[0.569375,0.806856,0.157466],[0.000577,-0.191938,0.981407]]
2025-10-26T19:07:09.825Z,1761505629.825 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:07:10.076Z,1761505630.076 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:07:10.105Z,1761505630.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819953,-0.561891,-0.109340],[0.572430,0.805163,0.155040],[0.000921,-0.189715,0.981839]]
2025-10-26T19:07:10.328Z,1761505630.328 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:07:10.517Z,1761505630.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819312,-0.562979,-0.108546],[0.573345,0.805128,0.151805],[0.001930,-0.186610,0.982432]]
2025-10-26T19:07:10.911Z,1761505630.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819578,-0.562790,-0.107515],[0.572958,0.806134,0.147877],[0.003447,-0.182798,0.983144]]
2025-10-26T19:07:11.318Z,1761505631.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820705,-0.561487,-0.105713],[0.571327,0.808207,0.142782],[0.005268,-0.177579,0.984092]]
2025-10-26T19:07:11.725Z,1761505631.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822389,-0.559347,-0.103957],[0.568885,0.810666,0.138530],[0.006788,-0.173065,0.984887]]
2025-10-26T19:07:12.122Z,1761505632.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824518,-0.556533,-0.102188],[0.565785,0.813323,0.135622],[0.007634,-0.169639,0.985477]]
2025-10-26T19:07:12.526Z,1761505632.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827264,-0.553030,-0.098954],[0.561764,0.816580,0.132736],[0.007397,-0.165397,0.986199]]
2025-10-26T19:07:12.930Z,1761505632.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830411,-0.548831,-0.095925],[0.557117,0.819843,0.132201],[0.006087,-0.163222,0.986570]]
2025-10-26T19:07:13.342Z,1761505633.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834010,-0.543889,-0.092799],[0.551737,0.823187,0.133976],[0.003523,-0.162938,0.986630]]
2025-10-26T19:07:13.625Z,1761505633.625 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:07:12.7654

2025-10-26T19:07:13.625Z,1761505633.625 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:07:13.742Z,1761505633.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837777,-0.538627,-0.089506],[0.546013,0.826356,0.137860],[-0.000291,-0.164367,0.986399]]
2025-10-26T19:07:14.148Z,1761505634.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841682,-0.532953,-0.086785],[0.539946,0.829098,0.145102],[-0.005380,-0.168989,0.985603]]
2025-10-26T19:07:14.546Z,1761505634.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845098,-0.528057,-0.083462],[0.534483,0.831106,0.153594],[-0.011741,-0.174411,0.984603]]
2025-10-26T19:07:14.957Z,1761505634.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847319,-0.525015,-0.080062],[0.530755,0.831804,0.162488],[-0.018712,-0.180173,0.983457]]
2025-10-26T19:07:15.360Z,1761505635.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848082,-0.524198,-0.077289],[0.529246,0.830983,0.171366],[-0.025603,-0.186237,0.982171]]
2025-10-26T19:07:15.758Z,1761505635.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847182,-0.526055,-0.074487],[0.530335,0.828830,0.178288],[-0.032053,-0.190545,0.981155]]
2025-10-26T19:07:16.162Z,1761505636.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844917,-0.529835,-0.073419],[0.533554,0.825099,0.185827],[-0.037880,-0.196181,0.979836]]
2025-10-26T19:07:16.566Z,1761505636.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841832,-0.534760,-0.073151],[0.538017,0.820583,0.192823],[-0.043087,-0.201681,0.978503]]
2025-10-26T19:07:16.987Z,1761505636.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837993,-0.540753,-0.073172],[0.543605,0.815579,0.198304],[-0.047556,-0.205954,0.977405]]
2025-10-26T19:07:17.374Z,1761505637.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833616,-0.547436,-0.073471],[0.549941,0.810222,0.202744],[-0.051462,-0.209415,0.976472]]
2025-10-26T19:07:17.778Z,1761505637.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828600,-0.554864,-0.074484],[0.557180,0.804377,0.206221],[-0.054511,-0.212375,0.975667]]
2025-10-26T19:07:18.182Z,1761505638.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822910,-0.563004,-0.076454],[0.565337,0.797933,0.209039],[-0.056685,-0.215242,0.974914]]
2025-10-26T19:07:18.587Z,1761505638.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816898,-0.571531,-0.077656],[0.573878,0.791890,0.208744],[-0.057808,-0.215088,0.974882]]
2025-10-26T19:07:18.631Z,1761505638.631 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:07:18.631Z,1761505638.631 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:07:18.632Z,1761505638.632 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:07:18.632Z,1761505638.632 [marl:UpdateRudder:A] Stopped
2025-10-26T19:07:18.633Z,1761505638.633 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:07:18.633Z,1761505638.633 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:07:18.633Z,1761505638.633 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:07:18.633Z,1761505638.633 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:07:18.634Z,1761505638.634 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:07:18.635Z,1761505638.635 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:07:18.652Z,1761505638.652 [marl:UpdateCommandMode] Stopped
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:07:18.653Z,1761505638.653 [marl:UpdateSpeed] Stopped
2025-10-26T19:07:18.654Z,1761505638.654 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:07:18.993Z,1761505638.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810538,-0.580322,-0.079083],[0.582845,0.785938,0.206381],[-0.057613,-0.213373,0.975271]]
2025-10-26T19:07:19.068Z,1761505639.068 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:07:19.068Z,1761505639.068 [marl:UpdateRudder:B] Stopped
2025-10-26T19:07:19.068Z,1761505639.068 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:07:19.068Z,1761505639.068 [marl:UpdateRudder] Stopped
2025-10-26T19:07:19.068Z,1761505639.068 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:07:19.394Z,1761505639.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804515,-0.588464,-0.080415],[0.591291,0.780803,0.201797],[-0.055962,-0.209897,0.976121]]
2025-10-26T19:07:20.203Z,1761505640.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796442,-0.599287,-0.080844],[0.602608,0.775389,0.188775],[-0.050445,-0.199065,0.978687]]
2025-10-26T19:07:20.606Z,1761505640.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795070,-0.601169,-0.080370],[0.604635,0.775184,0.183045],[-0.047739,-0.194129,0.979814]]
2025-10-26T19:07:21.011Z,1761505641.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795314,-0.600972,-0.079430],[0.604514,0.776508,0.177757],[-0.045149,-0.189389,0.980864]]
2025-10-26T19:07:21.418Z,1761505641.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797102,-0.598804,-0.077863],[0.602306,0.779234,0.173266],[-0.043079,-0.185008,0.981792]]
2025-10-26T19:07:21.818Z,1761505641.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799757,-0.595450,-0.076337],[0.598898,0.782624,0.169764],[-0.041343,-0.181488,0.982524]]
2025-10-26T19:07:21.868Z,1761505641.868 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:07:21.940Z,1761505641.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:07:21.991Z,1761505641.991 [DAT](INFO): entering command mode
2025-10-26T19:07:22.193Z,1761505642.193 [DAT](INFO): DAT read: 

2025-10-26T19:07:22.193Z,1761505642.193 [DAT](INFO): DAT read: user:61>

2025-10-26T19:07:22.194Z,1761505642.194 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:07:22.194Z,1761505642.194 [DAT](INFO): setting remote address to 0
2025-10-26T19:07:22.222Z,1761505642.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803214,-0.590946,-0.075032],[0.594329,0.786487,0.167961],[-0.040244,-0.179502,0.982934]]
2025-10-26T19:07:22.446Z,1761505642.446 [DAT](INFO): DAT read: user:61>

2025-10-26T19:07:22.448Z,1761505642.448 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:07:22.449Z,1761505642.449 [DAT](INFO): set remote address to 0
2025-10-26T19:07:22.449Z,1761505642.449 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:07:22.450Z,1761505642.450 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:07:22.626Z,1761505642.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807147,-0.585699,-0.073959],[0.588976,0.790377,0.168556],[-0.040268,-0.179610,0.982913]]
2025-10-26T19:07:22.697Z,1761505642.697 [DAT](INFO): DAT read: user:62>

2025-10-26T19:07:22.698Z,1761505642.698 [DAT](INFO): DAT read: Tx time:19:07:21.7665

2025-10-26T19:07:22.698Z,1761505642.698 [DAT](INFO): Ping request sent.
2025-10-26T19:07:22.699Z,1761505642.699 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:07:22.699Z,1761505642.699 [DAT](INFO): publishing transmit ping time
2025-10-26T19:07:22.700Z,1761505642.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001598
2025-10-26T19:07:22.949Z,1761505642.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250712
2025-10-26T19:07:23.037Z,1761505643.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811028,-0.580463,-0.072775],[0.583525,0.793843,0.171206],[-0.041607,-0.181318,0.982544]]
2025-10-26T19:07:23.201Z,1761505643.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502497
2025-10-26T19:07:23.434Z,1761505643.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814884,-0.575321,-0.070495],[0.577973,0.797355,0.173701],[-0.043725,-0.182291,0.982272]]
2025-10-26T19:07:23.453Z,1761505643.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754500
2025-10-26T19:07:23.704Z,1761505643.704 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:07:23.704Z,1761505643.704 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:07:23.705Z,1761505643.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006289
2025-10-26T19:07:23.839Z,1761505643.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818721,-0.570099,-0.068434],[0.572311,0.800585,0.177552],[-0.046435,-0.184531,0.981729]]
2025-10-26T19:07:23.957Z,1761505643.957 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:07:23.958Z,1761505643.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258928
2025-10-26T19:07:24.136Z,1761505644.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:07:24.208Z,1761505644.208 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:07:24.209Z,1761505644.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510020
2025-10-26T19:07:24.461Z,1761505644.461 [DAT](INFO): setting remote address to 6
2025-10-26T19:07:24.464Z,1761505644.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763958
2025-10-26T19:07:24.647Z,1761505644.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824364,-0.562379,-0.064453],[0.563573,0.804739,0.186495],[-0.053013,-0.190063,0.980339]]
2025-10-26T19:07:24.713Z,1761505644.713 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:24.714Z,1761505644.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015121
2025-10-26T19:07:24.964Z,1761505644.964 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:24.965Z,1761505644.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266543
2025-10-26T19:07:25.050Z,1761505645.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826014,-0.560162,-0.062609],[0.560787,0.805550,0.191330],[-0.056741,-0.193151,0.979527]]
2025-10-26T19:07:25.140Z,1761505645.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:07:25.216Z,1761505645.216 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:25.216Z,1761505645.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517952
2025-10-26T19:07:25.462Z,1761505645.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826826,-0.559105,-0.061332],[0.559216,0.805464,0.196227],[-0.060311,-0.196544,0.978638]]
2025-10-26T19:07:25.470Z,1761505645.470 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:25.470Z,1761505645.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771640
2025-10-26T19:07:25.721Z,1761505645.721 [DAT](INFO): DAT read: Rx Time:19:07:24.4322

2025-10-26T19:07:25.722Z,1761505645.722 [DAT](INFO): Rx dataTimestamp_ set to:1761505645.721780
2025-10-26T19:07:25.722Z,1761505645.722 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:25.723Z,1761505645.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024538
2025-10-26T19:07:25.859Z,1761505645.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826750,-0.559449,-0.059170],[0.559024,0.805194,0.197876],[-0.063058,-0.196672,0.978439]]
2025-10-26T19:07:25.972Z,1761505645.972 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:25.972Z,1761505645.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273983
2025-10-26T19:07:26.226Z,1761505646.226 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:26.227Z,1761505646.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528316
2025-10-26T19:07:26.299Z,1761505646.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824499,-0.562856,-0.058253],[0.561930,0.802303,0.201355],[-0.066597,-0.198751,0.977785]]
2025-10-26T19:07:26.482Z,1761505646.482 [DAT](INFO): DAT read: 19:07:24.4322 LVL= 29232, 32305, 30706, 32755, AGC= 64, IDX= 211, 0.30,-0.013,-1.747,-0.010,-0.319, PHS= 0.408,-1.384, 0.265, RAW= 145.9,   8.3, CAL= 145.4,   9.0, ROT=   4.6,  -9.0

2025-10-26T19:07:26.484Z,1761505646.484 [DAT](INFO): got valid direction response:
 19:07:24.4322 LVL= 29232, 32305, 30706, 32755, AGC= 64, IDX= 211, 0.30,-0.013,-1.747,-0.010,-0.319, PHS= 0.408,-1.384, 0.265, RAW= 145.9,   8.3, CAL= 145.4,   9.0, ROT=   4.6,  -9.0

2025-10-26T19:07:26.485Z,1761505646.485 [DAT](INFO): DAT read: Bearing 196.2,  -0.5 (Local)

2025-10-26T19:07:26.485Z,1761505646.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.2,  -0.5 (Local)

2025-10-26T19:07:26.486Z,1761505646.486 [DAT](INFO): DAT read: Range 11 to 20 : 196.2 m  (Round-trip  261.6 ms) speed  0.4 m/s

2025-10-26T19:07:26.487Z,1761505646.487 [DAT](INFO): DAT read: user:63>

2025-10-26T19:07:26.488Z,1761505646.488 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:07:26.488Z,1761505646.488 [DAT](INFO): set remote address to 6
2025-10-26T19:07:26.489Z,1761505646.489 [DAT](INFO): entering online mode
2025-10-26T19:07:26.729Z,1761505646.729 [DAT](INFO): DAT read: user:64>

2025-10-26T19:07:26.729Z,1761505646.729 [DAT](INFO): DAT read: 

2025-10-26T19:07:26.731Z,1761505646.731 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:07:26.731Z,1761505646.731 [DAT](INFO): commRate: 600
2025-10-26T19:07:26.731Z,1761505646.731 [DAT](INFO): online mode acknowledged
2025-10-26T19:07:26.732Z,1761505646.732 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:07:26.734Z,1761505646.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034812
2025-10-26T19:07:26.980Z,1761505646.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281848
2025-10-26T19:07:27.082Z,1761505647.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820107,-0.568899,-0.061474],[0.568183,0.796897,0.205240],[-0.067772,-0.203248,0.976779]]
2025-10-26T19:07:27.232Z,1761505647.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533905
2025-10-26T19:07:27.481Z,1761505647.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816879,-0.573381,-0.062791],[0.572833,0.793666,0.204832],[-0.067612,-0.203292,0.976781]]
2025-10-26T19:07:27.484Z,1761505647.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785942
2025-10-26T19:07:27.737Z,1761505647.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038497
2025-10-26T19:07:27.883Z,1761505647.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812893,-0.578830,-0.064505],[0.578497,0.789639,0.204481],[-0.067424,-0.203537,0.976743]]
2025-10-26T19:07:27.988Z,1761505647.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289893
2025-10-26T19:07:28.240Z,1761505648.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541808
2025-10-26T19:07:28.286Z,1761505648.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808401,-0.585031,-0.065010],[0.584785,0.785600,0.202138],[-0.067185,-0.201425,0.977197]]
2025-10-26T19:07:28.493Z,1761505648.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794427
2025-10-26T19:07:28.687Z,1761505648.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803256,-0.591892,-0.066658],[0.591886,0.780656,0.200617],[-0.066706,-0.200601,0.977399]]
2025-10-26T19:07:28.744Z,1761505648.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045984
2025-10-26T19:07:28.996Z,1761505648.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297821
2025-10-26T19:07:29.090Z,1761505649.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797757,-0.599160,-0.067753],[0.599427,0.775858,0.196802],[-0.065349,-0.197613,0.978099]]
2025-10-26T19:07:29.250Z,1761505649.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551146
2025-10-26T19:07:29.494Z,1761505649.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792129,-0.606401,-0.069348],[0.607083,0.771034,0.192242],[-0.063106,-0.194380,0.978894]]
2025-10-26T19:07:29.501Z,1761505649.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802025
2025-10-26T19:07:29.752Z,1761505649.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053833
2025-10-26T19:07:29.901Z,1761505649.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786617,-0.613257,-0.071757],[0.614524,0.766313,0.187415],[-0.059945,-0.191520,0.979656]]
2025-10-26T19:07:30.009Z,1761505650.009 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:07:29.1653

2025-10-26T19:07:30.009Z,1761505650.009 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:07:30.010Z,1761505650.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311236
2025-10-26T19:07:30.256Z,1761505650.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557894
2025-10-26T19:07:30.307Z,1761505650.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781749,-0.619126,-0.074510],[0.621069,0.762268,0.182263],[-0.056047,-0.188760,0.980423]]
2025-10-26T19:07:30.508Z,1761505650.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809851
2025-10-26T19:07:30.719Z,1761505650.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779042,-0.622135,-0.077731],[0.624835,0.760169,0.178113],[-0.051722,-0.187326,0.980935]]
2025-10-26T19:07:30.760Z,1761505650.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061984
2025-10-26T19:07:31.012Z,1761505651.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313907
2025-10-26T19:07:31.110Z,1761505651.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778090,-0.622971,-0.080519],[0.626322,0.759643,0.175108],[-0.047921,-0.186680,0.981251]]
2025-10-26T19:07:31.264Z,1761505651.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565959
2025-10-26T19:07:31.514Z,1761505651.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778613,-0.622062,-0.082463],[0.625920,0.760579,0.172465],[-0.044564,-0.185899,0.981558]]
2025-10-26T19:07:31.517Z,1761505651.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818561
2025-10-26T19:07:31.542Z,1761505651.542 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:07:31.542Z,1761505651.542 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:07:31.543Z,1761505651.543 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:07:31.543Z,1761505651.543 [marl:UpdateRudder:A] Stopped
2025-10-26T19:07:31.563Z,1761505651.563 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:07:31.563Z,1761505651.563 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:07:31.564Z,1761505651.564 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:07:31.564Z,1761505651.564 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:07:31.564Z,1761505651.564 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:07:31.564Z,1761505651.564 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:07:31.564Z,1761505651.564 [marl:UpdateCommandMode] Stopped
2025-10-26T19:07:31.564Z,1761505651.564 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:07:31.768Z,1761505651.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069902
2025-10-26T19:07:31.925Z,1761505651.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779389,-0.620928,-0.083674],[0.625158,0.761839,0.169641],[-0.041589,-0.184526,0.981947]]
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateRudder:B] Stopped
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateRudder] Stopped
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:07:31.957Z,1761505651.957 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:07:31.958Z,1761505651.958 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:07:31.958Z,1761505651.958 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:07:31.958Z,1761505651.958 [marl:UpdateSpeed] Stopped
2025-10-26T19:07:31.958Z,1761505651.958 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:07:32.024Z,1761505652.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325922
2025-10-26T19:07:32.276Z,1761505652.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577633
2025-10-26T19:07:32.322Z,1761505652.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780564,-0.619115,-0.086119],[0.623858,0.763017,0.169133],[-0.039003,-0.185745,0.981824]]
2025-10-26T19:07:32.524Z,1761505652.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825907
2025-10-26T19:07:32.731Z,1761505652.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781797,-0.617408,-0.087186],[0.622414,0.764351,0.168429],[-0.037348,-0.185943,0.981850]]
2025-10-26T19:07:32.778Z,1761505652.778 [DAT](INFO): Reached modem response timeout
2025-10-26T19:07:33.152Z,1761505653.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782793,-0.615894,-0.088939],[0.621198,0.764969,0.170104],[-0.036731,-0.188405,0.981404]]
2025-10-26T19:07:33.535Z,1761505653.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783492,-0.614798,-0.090352],[0.620307,0.765171,0.172430],[-0.036875,-0.191143,0.980869]]
2025-10-26T19:07:33.944Z,1761505653.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783420,-0.614791,-0.091024],[0.620350,0.764669,0.174491],[-0.037672,-0.193167,0.980442]]
2025-10-26T19:07:34.342Z,1761505654.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781904,-0.616558,-0.092100],[0.622208,0.762720,0.176396],[-0.038512,-0.195230,0.980001]]
2025-10-26T19:07:34.748Z,1761505654.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777603,-0.622612,-0.087684],[0.627542,0.759856,0.169733],[-0.039051,-0.187010,0.981581]]
2025-10-26T19:07:35.150Z,1761505655.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768739,-0.635078,-0.075606],[0.638326,0.754528,0.152406],[-0.039743,-0.165421,0.985422]]
2025-10-26T19:07:35.554Z,1761505655.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756073,-0.651843,-0.058769],[0.653250,0.746079,0.128957],[-0.040213,-0.135892,0.989907]]
2025-10-26T19:07:35.960Z,1761505655.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740869,-0.670473,-0.039741],[0.670447,0.734708,0.103468],[-0.040174,-0.103300,0.993839]]
2025-10-26T19:07:36.362Z,1761505656.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724871,-0.688520,-0.022384],[0.687765,0.721461,0.080456],[-0.039246,-0.073715,0.996507]]
2025-10-26T19:07:36.766Z,1761505656.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709412,-0.704759,-0.007067],[0.703804,0.707848,0.060089],[-0.037346,-0.047602,0.998168]]
2025-10-26T19:07:37.177Z,1761505657.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695458,-0.718552,0.004605],[0.717749,0.694957,0.043260],[-0.034285,-0.026780,0.999053]]
2025-10-26T19:07:37.574Z,1761505657.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683408,-0.729957,0.010840],[0.729412,0.683362,0.031223],[-0.030199,-0.013431,0.999454]]
2025-10-26T19:07:37.978Z,1761505657.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673128,-0.739385,0.014461],[0.739079,0.673272,0.021599],[-0.025706,-0.003851,0.999662]]
2025-10-26T19:07:38.336Z,1761505658.336 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:07:38.336Z,1761505658.336 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:07:38.386Z,1761505658.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664540,-0.747090,0.015570],[0.746963,0.664719,0.013998],[-0.020807,0.002328,0.999781]]
2025-10-26T19:07:38.794Z,1761505658.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657229,-0.753555,0.014301],[0.753529,0.657363,0.008264],[-0.015628,0.005345,0.999864]]
2025-10-26T19:07:39.190Z,1761505659.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650208,-0.759661,0.012057],[0.759690,0.650279,0.002961],[-0.010090,0.007234,0.999923]]
2025-10-26T19:07:39.595Z,1761505659.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643316,-0.765554,0.008487],[0.765586,0.643333,-0.000873],[-0.004792,0.007060,0.999964]]
2025-10-26T19:07:39.999Z,1761505659.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636282,-0.771448,0.003616],[0.771456,0.636276,-0.002721],[-0.000201,0.004521,0.999990]]
2025-10-26T19:07:40.097Z,1761505660.097 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:07:40.348Z,1761505660.348 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:07:40.414Z,1761505660.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628965,-0.777433,-0.001073],[0.777427,0.628964,-0.003305],[0.003244,0.001245,0.999994]]
2025-10-26T19:07:40.601Z,1761505660.601 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:07:40.847Z,1761505660.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621424,-0.783467,-0.003341],[0.783455,0.621433,-0.004318],[0.005459,0.000066,0.999985]]
2025-10-26T19:07:41.211Z,1761505661.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613479,-0.789696,-0.004981],[0.789688,0.613497,-0.003770],[0.006033,-0.001621,0.999981]]
2025-10-26T19:07:41.615Z,1761505661.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604802,-0.796354,-0.005827],[0.796358,0.604821,-0.002179],[0.005259,-0.003323,0.999981]]
2025-10-26T19:07:42.019Z,1761505662.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595151,-0.803591,-0.005987],[0.803606,0.595161,0.000160],[0.003435,-0.004906,0.999982]]
2025-10-26T19:07:42.423Z,1761505662.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583527,-0.812082,-0.004265],[0.812093,0.583525,0.001865],[0.000974,-0.004551,0.999989]]
2025-10-26T19:07:42.859Z,1761505662.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569311,-0.822120,-0.001732],[0.822121,0.569306,0.002593],[-0.001146,-0.002900,0.999995]]
2025-10-26T19:07:43.230Z,1761505663.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552484,-0.833523,0.000030],[0.833520,0.552483,0.002556],[-0.002147,-0.001387,0.999997]]
2025-10-26T19:07:43.640Z,1761505663.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533967,-0.845505,0.001023],[0.845502,0.533968,0.001958],[-0.002201,-0.000181,0.999998]]
2025-10-26T19:07:43.880Z,1761505663.880 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:07:43.0152

2025-10-26T19:07:43.880Z,1761505663.880 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:07:44.039Z,1761505664.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514549,-0.857457,0.002789],[0.857460,0.514551,0.000244],[-0.001644,0.002266,0.999996]]
2025-10-26T19:07:44.442Z,1761505664.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494672,-0.869064,0.005139],[0.869079,0.494669,-0.001988],[-0.000815,0.005449,0.999985]]
2025-10-26T19:07:44.495Z,1761505664.495 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:07:44.495Z,1761505664.495 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:07:44.495Z,1761505664.495 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:07:44.499Z,1761505664.499 [marl:UpdateRudder:A] Stopped
2025-10-26T19:07:44.499Z,1761505664.499 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode] Stopped
2025-10-26T19:07:44.500Z,1761505664.500 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:07:44.865Z,1761505664.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474273,-0.880352,0.006731],[0.880377,0.474256,-0.004121],[0.000436,0.007880,0.999969]]
2025-10-26T19:07:44.949Z,1761505664.949 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:07:44.949Z,1761505664.949 [marl:UpdateRudder:B] Stopped
2025-10-26T19:07:44.949Z,1761505664.949 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:07:44.949Z,1761505664.949 [marl:UpdateRudder] Stopped
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed] Stopped
2025-10-26T19:07:44.950Z,1761505664.950 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:07:45.252Z,1761505665.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452989,-0.891475,0.008565],[0.891513,0.452942,-0.006955],[0.002321,0.010786,0.999939]]
2025-10-26T19:07:45.655Z,1761505665.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430766,-0.902398,0.010850],[0.902450,0.430661,-0.010751],[0.005030,0.014423,0.999883]]
2025-10-26T19:07:46.058Z,1761505666.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408139,-0.912858,0.010673],[0.912883,0.407989,-0.013781],[0.008226,0.015368,0.999848]]
2025-10-26T19:07:46.462Z,1761505666.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384908,-0.922874,0.012235],[0.922872,0.384662,-0.018484],[0.012352,0.018406,0.999754]]
2025-10-26T19:07:46.880Z,1761505666.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361637,-0.932235,0.012536],[0.932156,0.361290,-0.023541],[0.017416,0.020199,0.999644]]
2025-10-26T19:07:47.270Z,1761505667.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339100,-0.940675,0.011933],[0.940455,0.338648,-0.029341],[0.023559,0.021172,0.999498]]
2025-10-26T19:07:47.675Z,1761505667.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318643,-0.947808,0.011218],[0.947392,0.318081,-0.035680],[0.030249,0.021997,0.999300]]
2025-10-26T19:07:48.078Z,1761505668.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300464,-0.953754,0.008673],[0.953063,0.299866,-0.041843],[0.037307,0.020839,0.999087]]
2025-10-26T19:07:48.490Z,1761505668.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285513,-0.958363,0.004776],[0.957353,0.284976,-0.047574],[0.044232,0.018155,0.998856]]
2025-10-26T19:07:48.940Z,1761505668.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273912,-0.961755,0.000699],[0.960402,0.273488,-0.053220],[0.050993,0.015249,0.998583]]
2025-10-26T19:07:49.290Z,1761505669.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264581,-0.964356,-0.003682],[0.962637,0.264333,-0.058809],[0.057686,0.012016,0.998262]]
2025-10-26T19:07:49.695Z,1761505669.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256487,-0.966519,-0.007481],[0.964431,0.256430,-0.064162],[0.063932,0.009242,0.997911]]
2025-10-26T19:07:50.098Z,1761505670.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248991,-0.968442,-0.011147],[0.966030,0.249160,-0.068602],[0.069214,0.006313,0.997582]]
2025-10-26T19:07:50.508Z,1761505670.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241743,-0.970253,-0.013011],[0.967558,0.242043,-0.072428],[0.073422,0.004920,0.997289]]
2025-10-26T19:07:50.906Z,1761505670.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234817,-0.971933,-0.014402],[0.969075,0.235232,-0.074565],[0.075860,0.003552,0.997112]]
2025-10-26T19:07:51.310Z,1761505671.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228165,-0.973497,-0.015628],[0.970618,0.228692,-0.074838],[0.076428,0.001907,0.997073]]
2025-10-26T19:07:51.720Z,1761505671.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221619,-0.974987,-0.016874],[0.972222,0.222260,-0.073381],[0.075296,-0.000142,0.997161]]
2025-10-26T19:07:52.119Z,1761505672.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214467,-0.976591,-0.016561],[0.974037,0.215103,-0.070586],[0.072496,-0.000993,0.997368]]
2025-10-26T19:07:52.163Z,1761505672.163 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:07:52.195Z,1761505672.195 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:07:52.247Z,1761505672.247 [DAT](INFO): entering command mode
2025-10-26T19:07:52.444Z,1761505672.444 [DAT](INFO): DAT read: 

2025-10-26T19:07:52.445Z,1761505672.445 [DAT](INFO): DAT read: user:65>

2025-10-26T19:07:52.445Z,1761505672.445 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:07:52.445Z,1761505672.445 [DAT](INFO): setting remote address to 0
2025-10-26T19:07:52.522Z,1761505672.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206919,-0.978209,-0.017094],[0.975946,0.207603,-0.066558],[0.068656,-0.002911,0.997636]]
2025-10-26T19:07:52.700Z,1761505672.700 [DAT](INFO): DAT read: user:65>

2025-10-26T19:07:52.701Z,1761505672.701 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:07:52.701Z,1761505672.701 [DAT](INFO): set remote address to 0
2025-10-26T19:07:52.702Z,1761505672.702 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:07:52.702Z,1761505672.702 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:07:52.926Z,1761505672.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198603,-0.979935,-0.016884],[0.977977,0.199276,-0.062057],[0.064177,-0.004188,0.997930]]
2025-10-26T19:07:52.948Z,1761505672.948 [DAT](INFO): DAT read: user:66>

2025-10-26T19:07:52.949Z,1761505672.949 [DAT](INFO): DAT read: Tx time:19:07:52.0164

2025-10-26T19:07:52.949Z,1761505672.949 [DAT](INFO): Ping request sent.
2025-10-26T19:07:52.949Z,1761505672.949 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:07:52.950Z,1761505672.950 [DAT](INFO): publishing transmit ping time
2025-10-26T19:07:52.951Z,1761505672.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000974
2025-10-26T19:07:53.200Z,1761505673.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809
2025-10-26T19:07:53.330Z,1761505673.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189915,-0.981685,-0.015067],[0.980005,0.190473,-0.057531],[0.059348,-0.003840,0.998230]]
2025-10-26T19:07:53.454Z,1761505673.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504397
2025-10-26T19:07:53.705Z,1761505673.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755116
2025-10-26T19:07:53.790Z,1761505673.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179640,-0.983652,-0.012601],[0.982192,0.180060,-0.053645],[0.055037,-0.002740,0.998481]]
2025-10-26T19:07:53.956Z,1761505673.956 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:07:53.956Z,1761505673.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006889
2025-10-26T19:07:54.138Z,1761505674.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164714,-0.986308,-0.008146],[0.984940,0.164914,-0.051936],[0.052568,0.000531,0.998617]]
2025-10-26T19:07:54.208Z,1761505674.208 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:07:54.209Z,1761505674.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259010
2025-10-26T19:07:54.460Z,1761505674.460 [DAT](INFO): setting remote address to 6
2025-10-26T19:07:54.461Z,1761505674.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511146
2025-10-26T19:07:54.543Z,1761505674.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146973,-0.989138,-0.002402],[0.987793,0.146899,-0.051816],[0.051606,0.005243,0.998654]]
2025-10-26T19:07:54.712Z,1761505674.712 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:54.713Z,1761505674.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763182
2025-10-26T19:07:54.946Z,1761505674.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127428,-0.991847,0.001004],[0.990519,0.127205,-0.051866],[0.051315,0.007604,0.998654]]
2025-10-26T19:07:54.964Z,1761505674.964 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:54.964Z,1761505674.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014922
2025-10-26T19:07:55.216Z,1761505675.216 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:55.216Z,1761505675.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266973
2025-10-26T19:07:55.268Z,1761505675.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:07:55.359Z,1761505675.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106930,-0.994252,0.005435],[0.992942,0.106504,-0.052188],[0.051309,0.010977,0.998622]]
2025-10-26T19:07:55.471Z,1761505675.471 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:55.472Z,1761505675.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522799
2025-10-26T19:07:55.722Z,1761505675.722 [DAT](INFO): DAT read: Rx Time:19:07:54.2960

2025-10-26T19:07:55.723Z,1761505675.723 [DAT](INFO): Rx dataTimestamp_ set to:1761505675.722152
2025-10-26T19:07:55.723Z,1761505675.723 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:55.724Z,1761505675.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773962
2025-10-26T19:07:55.754Z,1761505675.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085339,-0.996314,0.008706],[0.995020,0.084770,-0.052439],[0.051508,0.013137,0.998586]]
2025-10-26T19:07:55.972Z,1761505675.972 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:07:55.973Z,1761505675.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022991
2025-10-26T19:07:56.167Z,1761505676.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063429,-0.997901,0.013051],[0.996647,0.062661,-0.052624],[0.051695,0.016345,0.998529]]
2025-10-26T19:07:56.239Z,1761505676.239 [DAT](INFO): DAT read: 19:07:54.2960 LVL= 19360, 22689, 11762, 20803, AGC= 55, IDX=   3, 0.41, 1.155, 0.429, 2.641, 1.614, PHS=-0.358,-1.140, 0.983, RAW= 188.6,   5.6, CAL= 188.7,   4.3, ROT= 321.3,  -4.3

2025-10-26T19:07:56.240Z,1761505676.240 [DAT](INFO): got valid direction response:
 19:07:54.2960 LVL= 19360, 22689, 11762, 20803, AGC= 55, IDX=   3, 0.41, 1.155, 0.429, 2.641, 1.614, PHS=-0.358,-1.140, 0.983, RAW= 188.6,   5.6, CAL= 188.7,   4.3, ROT= 321.3,  -4.3

2025-10-26T19:07:56.241Z,1761505676.241 [DAT](INFO): DAT read: Bearing  27, -16 (Remote)

2025-10-26T19:07:56.242Z,1761505676.242 [DAT](INFO): Remote Bearing received:Bearing  27, -16 (Remote)

2025-10-26T19:07:56.243Z,1761505676.243 [DAT](INFO): DAT read: Bearing 240.9, -35.5 (Local)

2025-10-26T19:07:56.243Z,1761505676.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.9, -35.5 (Local)

2025-10-26T19:07:56.253Z,1761505676.253 [DAT](INFO): DAT read: Range 11 to 20 : 187.9 m  (Round-trip  250.6 ms) speed  0.0 m/s

2025-10-26T19:07:56.254Z,1761505676.254 [DAT](INFO): DAT read: user:67>

2025-10-26T19:07:56.255Z,1761505676.255 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:07:56.255Z,1761505676.255 [DAT](INFO): set remote address to 6
2025-10-26T19:07:56.256Z,1761505676.256 [DAT](INFO): entering online mode
2025-10-26T19:07:56.272Z,1761505676.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:07:56.476Z,1761505676.476 [DAT](INFO): DAT read: user:68>

2025-10-26T19:07:56.477Z,1761505676.477 [DAT](INFO): DAT read: 

2025-10-26T19:07:56.478Z,1761505676.478 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:07:56.478Z,1761505676.478 [DAT](INFO): commRate: 600
2025-10-26T19:07:56.478Z,1761505676.478 [DAT](INFO): online mode acknowledged
2025-10-26T19:07:56.479Z,1761505676.479 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:07:56.479Z,1761505676.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529559
2025-10-26T19:07:56.564Z,1761505676.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040950,-0.999013,0.017184],[0.997807,0.039994,-0.052747],[0.052007,0.019306,0.998460]]
2025-10-26T19:07:56.729Z,1761505676.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779319
2025-10-26T19:07:56.966Z,1761505676.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018213,-0.999639,0.019768],[0.998426,0.017134,-0.053410],[0.053052,0.020709,0.998377]]
2025-10-26T19:07:56.980Z,1761505676.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030911
2025-10-26T19:07:57.232Z,1761505677.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282767
2025-10-26T19:07:57.372Z,1761505677.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004464,-0.999736,0.022552],[0.998497,-0.005689,-0.054518],[0.054632,0.022274,0.998258]]
2025-10-26T19:07:57.421Z,1761505677.421 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:07:57.421Z,1761505677.421 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:07:57.421Z,1761505677.421 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateRudder:A] Stopped
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:07:57.422Z,1761505677.422 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:07:57.423Z,1761505677.423 [marl:UpdateCommandMode] Stopped
2025-10-26T19:07:57.423Z,1761505677.423 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:07:57.486Z,1761505677.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535746
2025-10-26T19:07:57.736Z,1761505677.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786792
2025-10-26T19:07:57.775Z,1761505677.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025810,-0.999353,0.025060],[0.998092,-0.027168,-0.055450],[0.056095,0.023581,0.998147]]
2025-10-26T19:07:57.851Z,1761505677.851 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:07:57.851Z,1761505677.851 [marl:UpdateRudder:B] Stopped
2025-10-26T19:07:57.851Z,1761505677.851 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:07:57.856Z,1761505677.856 [marl:UpdateRudder] Stopped
2025-10-26T19:07:57.856Z,1761505677.856 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:07:57.988Z,1761505677.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038809
2025-10-26T19:07:58.182Z,1761505678.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046422,-0.998550,0.027267],[0.997221,-0.047918,-0.057039],[0.058263,0.024543,0.998000]]
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed] Stopped
2025-10-26T19:07:58.222Z,1761505678.222 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:07:58.240Z,1761505678.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290856
2025-10-26T19:07:58.492Z,1761505678.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542722
2025-10-26T19:07:58.582Z,1761505678.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065292,-0.997447,0.028906],[0.996031,-0.066901,-0.058700],[0.060484,0.024958,0.997857]]
2025-10-26T19:07:58.747Z,1761505678.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797016
2025-10-26T19:07:58.986Z,1761505678.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082357,-0.996164,0.029561],[0.994631,-0.084023,-0.060409],[0.062661,0.024427,0.997736]]
2025-10-26T19:07:59.000Z,1761505679.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050888
2025-10-26T19:07:59.252Z,1761505679.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302923
2025-10-26T19:07:59.390Z,1761505679.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098054,-0.994772,0.028544],[0.993071,-0.099672,-0.062250],[0.064770,0.022242,0.997652]]
2025-10-26T19:07:59.507Z,1761505679.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557162
2025-10-26T19:07:59.757Z,1761505679.757 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:07:58.9151

2025-10-26T19:07:59.757Z,1761505679.757 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:07:59.758Z,1761505679.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808079
2025-10-26T19:07:59.794Z,1761505679.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111964,-0.993370,0.026096],[0.991476,-0.113434,-0.064088],[0.066624,0.018698,0.997603]]
2025-10-26T19:08:00.010Z,1761505680.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060385
2025-10-26T19:08:00.198Z,1761505680.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124643,-0.991929,0.023248],[0.989862,-0.125923,-0.065704],[0.068102,0.014822,0.997568]]
2025-10-26T19:08:00.261Z,1761505680.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311169
2025-10-26T19:08:00.512Z,1761505680.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562799
2025-10-26T19:08:00.602Z,1761505680.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136583,-0.990426,0.020014],[0.988200,-0.137635,-0.067214],[0.069325,0.010597,0.997538]]
2025-10-26T19:08:00.764Z,1761505680.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814839
2025-10-26T19:08:01.006Z,1761505681.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148301,-0.988800,0.016767],[0.986457,-0.149108,-0.068327],[0.070062,0.006407,0.997522]]
2025-10-26T19:08:01.017Z,1761505681.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067586
2025-10-26T19:08:01.268Z,1761505681.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318879
2025-10-26T19:08:01.411Z,1761505681.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159749,-0.987032,0.015734],[0.984677,-0.160456,-0.068294],[0.069933,0.004583,0.997541]]
2025-10-26T19:08:01.521Z,1761505681.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571319
2025-10-26T19:08:01.772Z,1761505681.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822814
2025-10-26T19:08:01.824Z,1761505681.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171232,-0.985135,0.013743],[0.982796,-0.171772,-0.067865],[0.069217,0.001886,0.997600]]
2025-10-26T19:08:02.025Z,1761505682.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075310
2025-10-26T19:08:02.219Z,1761505682.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183335,-0.982961,0.013294],[0.980698,-0.183814,-0.066664],[0.067972,0.000815,0.997687]]
2025-10-26T19:08:02.276Z,1761505682.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326766
2025-10-26T19:08:02.529Z,1761505682.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579410
2025-10-26T19:08:02.622Z,1761505682.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195967,-0.980542,0.011632],[0.978392,-0.196307,-0.064913],[0.065933,-0.001340,0.997823]]
2025-10-26T19:08:02.782Z,1761505682.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831959
2025-10-26T19:08:03.026Z,1761505683.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209707,-0.977715,0.009826],[0.975679,-0.209906,-0.063172],[0.063827,-0.003660,0.997954]]
2025-10-26T19:08:03.032Z,1761505683.032 [DAT](INFO): Reached modem response timeout
2025-10-26T19:08:03.430Z,1761505683.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223636,-0.974630,0.009103],[0.972720,-0.223769,-0.061175],[0.061660,-0.004826,0.998085]]
2025-10-26T19:08:03.846Z,1761505683.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237833,-0.971270,0.008397],[0.969474,-0.237906,-0.059333],[0.059626,-0.005970,0.998203]]
2025-10-26T19:08:04.238Z,1761505684.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250756,-0.968003,0.009604],[0.966311,-0.250887,-0.057427],[0.057999,-0.005120,0.998303]]
2025-10-26T19:08:04.642Z,1761505684.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263674,-0.964575,0.008470],[0.962950,-0.263725,-0.056367],[0.056604,-0.006706,0.998374]]
2025-10-26T19:08:05.450Z,1761505685.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287307,-0.957806,0.007934],[0.956337,-0.287310,-0.053590],[0.053608,-0.007809,0.998532]]
2025-10-26T19:08:05.857Z,1761505685.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299417,-0.954104,0.005835],[0.952681,-0.299295,-0.053108],[0.052417,-0.010343,0.998572]]
2025-10-26T19:08:06.258Z,1761505686.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311339,-0.950282,0.005623],[0.948926,-0.311202,-0.051884],[0.051055,-0.010818,0.998637]]
2025-10-26T19:08:06.664Z,1761505686.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324260,-0.945942,0.007004],[0.944671,-0.324194,-0.049957],[0.049527,-0.009583,0.998727]]
2025-10-26T19:08:07.067Z,1761505687.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338434,-0.940957,0.007911],[0.939774,-0.338412,-0.047971],[0.047815,-0.008800,0.998817]]
2025-10-26T19:08:07.470Z,1761505687.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353592,-0.935351,0.009552],[0.934293,-0.353652,-0.045027],[0.045494,-0.006997,0.998940]]
2025-10-26T19:08:07.878Z,1761505687.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370221,-0.928817,0.015354],[0.927944,-0.370538,-0.040263],[0.043086,-0.000658,0.999071]]
2025-10-26T19:08:08.279Z,1761505688.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387440,-0.921661,0.020784],[0.921011,-0.387957,-0.035037],[0.040355,0.005568,0.999170]]
2025-10-26T19:08:08.682Z,1761505688.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405690,-0.913684,0.024460],[0.913244,-0.406300,-0.030081],[0.037423,0.010134,0.999248]]
2025-10-26T19:08:09.086Z,1761505689.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424803,-0.904910,0.026076],[0.904606,-0.425424,-0.026507],[0.035080,0.012328,0.999308]]
2025-10-26T19:08:09.490Z,1761505689.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444289,-0.895479,0.026929],[0.895281,-0.444892,-0.023297],[0.032842,0.013758,0.999366]]
2025-10-26T19:08:09.856Z,1761505689.856 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:08:09.907Z,1761505689.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463630,-0.885615,0.027097],[0.885492,-0.464197,-0.020612],[0.030833,0.014438,0.999420]]
2025-10-26T19:08:10.108Z,1761505690.108 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:08:10.310Z,1761505690.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483043,-0.875145,0.028120],[0.875108,-0.483598,-0.017890],[0.029255,0.015967,0.999444]]
2025-10-26T19:08:10.360Z,1761505690.360 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:08:10.378Z,1761505690.378 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:08:10.378Z,1761505690.378 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:08:10.378Z,1761505690.378 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:08:10.378Z,1761505690.378 [marl:UpdateRudder:A] Stopped
2025-10-26T19:08:10.378Z,1761505690.378 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:08:10.378Z,1761505690.378 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:08:10.379Z,1761505690.379 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:08:10.379Z,1761505690.379 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:08:10.379Z,1761505690.379 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:08:10.379Z,1761505690.379 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:08:10.383Z,1761505690.383 [marl:UpdateCommandMode] Stopped
2025-10-26T19:08:10.383Z,1761505690.383 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:08:10.705Z,1761505690.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502046,-0.864389,0.027968],[0.864377,-0.502573,-0.016497],[0.028316,0.015892,0.999473]]
2025-10-26T19:08:10.747Z,1761505690.747 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:08:10.747Z,1761505690.747 [marl:UpdateRudder:B] Stopped
2025-10-26T19:08:10.747Z,1761505690.747 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:08:10.747Z,1761505690.747 [marl:UpdateRudder] Stopped
2025-10-26T19:08:10.747Z,1761505690.747 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:08:11.107Z,1761505691.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520490,-0.853407,0.028062],[0.853413,-0.521004,-0.015533],[0.027877,0.015863,0.999485]]
2025-10-26T19:08:11.181Z,1761505691.181 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:08:11.182Z,1761505691.182 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:08:11.182Z,1761505691.182 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:08:11.182Z,1761505691.182 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:08:11.182Z,1761505691.182 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:08:11.182Z,1761505691.182 [marl:UpdateSpeed] Stopped
2025-10-26T19:08:11.182Z,1761505691.182 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:08:11.512Z,1761505691.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538408,-0.842231,0.027630],[0.842221,-0.538910,-0.015493],[0.027939,0.014929,0.999498]]
2025-10-26T19:08:11.932Z,1761505691.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571637,-0.820061,0.027035],[0.819984,-0.572139,-0.016835],[0.029273,0.012545,0.999493]]
2025-10-26T19:08:12.326Z,1761505692.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586339,-0.809625,0.026718],[0.809508,-0.586840,-0.017732],[0.030035,0.011232,0.999486]]
2025-10-26T19:08:12.730Z,1761505692.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599191,-0.800148,0.027094],[0.800020,-0.599704,-0.017993],[0.030646,0.010895,0.999471]]
2025-10-26T19:08:13.136Z,1761505693.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610066,-0.791886,0.027125],[0.791734,-0.610584,-0.018546],[0.031248,0.010162,0.999460]]
2025-10-26T19:08:13.534Z,1761505693.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619623,-0.784446,0.026687],[0.784256,-0.620133,-0.019405],[0.031772,0.008905,0.999455]]
2025-10-26T19:08:13.637Z,1761505693.637 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:08:12.7651

2025-10-26T19:08:13.637Z,1761505693.637 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:08:13.939Z,1761505693.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628544,-0.777345,0.025829],[0.777108,-0.629033,-0.020499],[0.032182,0.007187,0.999456]]
2025-10-26T19:08:14.338Z,1761505694.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636969,-0.770458,0.025790],[0.770204,-0.637457,-0.020828],[0.032487,0.006596,0.999450]]
2025-10-26T19:08:14.744Z,1761505694.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645449,-0.763377,0.025503],[0.763108,-0.645926,-0.021100],[0.032580,0.005843,0.999452]]
2025-10-26T19:08:15.146Z,1761505695.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654115,-0.755974,0.025244],[0.755712,-0.654579,-0.020658],[0.032142,0.005564,0.999468]]
2025-10-26T19:08:15.550Z,1761505695.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662682,-0.748498,0.024577],[0.748254,-0.663116,-0.019803],[0.031120,0.005267,0.999502]]
2025-10-26T19:08:15.957Z,1761505695.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670557,-0.741481,0.023655],[0.741266,-0.670955,-0.018558],[0.029632,0.005091,0.999548]]
2025-10-26T19:08:16.360Z,1761505696.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678715,-0.734049,0.022755],[0.733899,-0.679071,-0.015951],[0.027161,0.005873,0.999614]]
2025-10-26T19:08:16.762Z,1761505696.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687030,-0.726282,0.022455],[0.726214,-0.687354,-0.012564],[0.024559,0.007675,0.999669]]
2025-10-26T19:08:17.168Z,1761505697.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695783,-0.717924,0.021720],[0.717916,-0.696064,-0.009530],[0.021960,0.008962,0.999719]]
2025-10-26T19:08:17.570Z,1761505697.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706519,-0.707373,0.021299],[0.707397,-0.706775,-0.007717],[0.020513,0.009615,0.999743]]
2025-10-26T19:08:17.974Z,1761505697.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718285,-0.695460,0.020038],[0.695486,-0.718508,-0.006831],[0.019148,0.009030,0.999776]]
2025-10-26T19:08:18.378Z,1761505698.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730493,-0.682658,0.018909],[0.682686,-0.730687,-0.005935],[0.017868,0.008574,0.999804]]
2025-10-26T19:08:18.796Z,1761505698.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742869,-0.669210,0.017410],[0.669228,-0.743036,-0.005642],[0.016712,0.007460,0.999833]]
2025-10-26T19:08:19.191Z,1761505699.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755378,-0.655074,0.016778],[0.655097,-0.755529,-0.004826],[0.015837,0.007346,0.999848]]
2025-10-26T19:08:19.590Z,1761505699.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767209,-0.641175,0.016887],[0.641222,-0.767349,-0.003181],[0.014998,0.008388,0.999852]]
2025-10-26T19:08:19.994Z,1761505699.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778695,-0.627156,0.017592],[0.627237,-0.778828,-0.001169],[0.014434,0.010124,0.999845]]
2025-10-26T19:08:20.399Z,1761505700.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789933,-0.612967,0.016643],[0.613041,-0.790051,-0.000819],[0.013651,0.009556,0.999861]]
2025-10-26T19:08:20.836Z,1761505700.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801037,-0.598401,0.015981],[0.598474,-0.801142,-0.000256],[0.012957,0.009359,0.999872]]
2025-10-26T19:08:21.210Z,1761505701.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811956,-0.583494,0.016191],[0.583588,-0.812049,0.001333],[0.012370,0.010532,0.999868]]
2025-10-26T19:08:21.614Z,1761505701.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822218,-0.568953,0.015844],[0.569059,-0.822292,0.002826],[0.011420,0.011339,0.999870]]
2025-10-26T19:08:22.014Z,1761505702.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832265,-0.554145,0.016090],[0.554269,-0.832327,0.004257],[0.011033,0.012461,0.999861]]
2025-10-26T19:08:22.419Z,1761505702.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841774,-0.539599,0.015756],[0.539724,-0.841829,0.004780],[0.010685,0.012528,0.999864]]
2025-10-26T19:08:22.487Z,1761505702.487 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:08:22.708Z,1761505702.708 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:08:22.760Z,1761505702.760 [DAT](INFO): entering command mode
2025-10-26T19:08:22.859Z,1761505702.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850918,-0.525056,0.015942],[0.525193,-0.850963,0.005807],[0.010517,0.013313,0.999856]]
2025-10-26T19:08:22.962Z,1761505702.962 [DAT](INFO): DAT read: 

2025-10-26T19:08:22.962Z,1761505702.962 [DAT](INFO): DAT read: user:69>

2025-10-26T19:08:22.963Z,1761505702.963 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:08:22.964Z,1761505702.964 [DAT](INFO): setting remote address to 0
2025-10-26T19:08:23.212Z,1761505703.212 [DAT](INFO): DAT read: user:69>

2025-10-26T19:08:23.213Z,1761505703.213 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:08:23.213Z,1761505703.213 [DAT](INFO): set remote address to 0
2025-10-26T19:08:23.214Z,1761505703.214 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:08:23.214Z,1761505703.214 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:08:23.231Z,1761505703.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859497,-0.510831,0.017812],[0.511029,-0.859517,0.008961],[0.010732,0.016804,0.999801]]
2025-10-26T19:08:23.464Z,1761505703.464 [DAT](INFO): DAT read: user:70>

2025-10-26T19:08:23.465Z,1761505703.465 [DAT](INFO): DAT read: Tx time:19:08:22.5662

2025-10-26T19:08:23.465Z,1761505703.465 [DAT](INFO): Ping request sent.
2025-10-26T19:08:23.465Z,1761505703.465 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:08:23.466Z,1761505703.466 [DAT](INFO): publishing transmit ping time
2025-10-26T19:08:23.466Z,1761505703.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000989
2025-10-26T19:08:23.634Z,1761505703.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867786,-0.496568,0.019187],[0.496813,-0.867787,0.011050],[0.011163,0.019121,0.999755]]
2025-10-26T19:08:23.695Z,1761505703.695 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:08:23.695Z,1761505703.695 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:08:23.695Z,1761505703.695 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:08:23.696Z,1761505703.696 [marl:UpdateRudder:A] Stopped
2025-10-26T19:08:23.696Z,1761505703.696 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:08:23.696Z,1761505703.696 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:08:23.696Z,1761505703.696 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:08:23.697Z,1761505703.697 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:08:23.697Z,1761505703.697 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:08:23.697Z,1761505703.697 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:08:23.697Z,1761505703.697 [marl:UpdateCommandMode] Stopped
2025-10-26T19:08:23.697Z,1761505703.697 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:08:23.716Z,1761505703.716 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:08:23.717Z,1761505703.717 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:08:23.717Z,1761505703.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251507
2025-10-26T19:08:23.968Z,1761505703.968 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:08:23.968Z,1761505703.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998
2025-10-26T19:08:24.041Z,1761505704.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875444,-0.482938,0.019208],[0.483189,-0.875440,0.011559],[0.011233,0.019400,0.999749]]
2025-10-26T19:08:24.065Z,1761505704.065 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:08:24.065Z,1761505704.065 [marl:UpdateRudder:B] Stopped
2025-10-26T19:08:24.065Z,1761505704.065 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:08:24.065Z,1761505704.065 [marl:UpdateRudder] Stopped
2025-10-26T19:08:24.065Z,1761505704.065 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed] Stopped
2025-10-26T19:08:24.066Z,1761505704.066 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:08:24.220Z,1761505704.220 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:08:24.220Z,1761505704.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754984
2025-10-26T19:08:24.443Z,1761505704.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883134,-0.468725,0.019260],[0.468984,-0.883124,0.012121],[0.011327,0.019737,0.999741]]
2025-10-26T19:08:24.472Z,1761505704.472 [DAT](INFO): setting remote address to 6
2025-10-26T19:08:24.473Z,1761505704.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007309
2025-10-26T19:08:24.725Z,1761505704.725 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:24.725Z,1761505704.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259799
2025-10-26T19:08:24.867Z,1761505704.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890383,-0.454780,0.019809],[0.455088,-0.890313,0.015448],[0.010611,0.022769,0.999684]]
2025-10-26T19:08:24.976Z,1761505704.976 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:24.977Z,1761505704.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511070
2025-10-26T19:08:25.228Z,1761505705.228 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:25.228Z,1761505705.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762950
2025-10-26T19:08:25.258Z,1761505705.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897625,-0.440359,0.018784],[0.440655,-0.897524,0.016566],[0.009564,0.023147,0.999686]]
2025-10-26T19:08:25.480Z,1761505705.480 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:25.481Z,1761505705.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015418
2025-10-26T19:08:25.661Z,1761505705.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904896,-0.425281,0.017324],[0.425552,-0.904770,0.017232],[0.008346,0.022965,0.999701]]
2025-10-26T19:08:25.732Z,1761505705.732 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:25.733Z,1761505705.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267693
2025-10-26T19:08:25.984Z,1761505705.984 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:25.984Z,1761505705.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518997
2025-10-26T19:08:26.058Z,1761505706.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911794,-0.410350,0.015665],[0.410589,-0.911647,0.017773],[0.006988,0.022638,0.999719]]
2025-10-26T19:08:26.237Z,1761505706.237 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:26.238Z,1761505706.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772454
2025-10-26T19:08:26.392Z,1761505706.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:08:26.462Z,1761505706.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918127,-0.396074,0.012925],[0.396248,-0.918001,0.016163],[0.005463,0.019961,0.999786]]
2025-10-26T19:08:26.488Z,1761505706.488 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:26.488Z,1761505706.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023000
2025-10-26T19:08:26.742Z,1761505706.742 [DAT](INFO): DAT read: Rx Time:19:08:25.2374

2025-10-26T19:08:26.742Z,1761505706.742 [DAT](INFO): Rx dataTimestamp_ set to:1761505706.741835
2025-10-26T19:08:26.743Z,1761505706.743 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:26.743Z,1761505706.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277606
2025-10-26T19:08:26.872Z,1761505706.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922381,-0.386206,0.007587],[0.386259,-0.922359,0.007586],[0.004068,0.009928,0.999942]]
2025-10-26T19:08:26.992Z,1761505706.992 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:26.993Z,1761505706.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527120
2025-10-26T19:08:27.254Z,1761505707.254 [DAT](INFO): DAT read: 19:08:25.2374 LVL= 19328, 13521, 18226, 22131, AGC= 58, IDX= 283,-0.03, 0.464, 2.418, 2.100, 1.913, PHS=-1.347, 0.550, 0.143, RAW= 281.8,   7.6, CAL= 280.0,   5.9, ROT= 230.0,  -5.9

2025-10-26T19:08:27.268Z,1761505707.268 [DAT](INFO): got valid direction response:
 19:08:25.2374 LVL= 19328, 13521, 18226, 22131, AGC= 58, IDX= 283,-0.03, 0.464, 2.418, 2.100, 1.913, PHS=-1.347, 0.550, 0.143, RAW= 281.8,   7.6, CAL= 280.0,   5.9, ROT= 230.0,  -5.9

2025-10-26T19:08:27.269Z,1761505707.269 [DAT](INFO): DAT read: Bearing 112.6, -49.0 (Local)

2025-10-26T19:08:27.269Z,1761505707.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 112.6, -49.0 (Local)

2025-10-26T19:08:27.271Z,1761505707.271 [DAT](INFO): DAT read: Range 11 to 20 : 200.2 m  (Round-trip  267.0 ms) speed -0.5 m/s

2025-10-26T19:08:27.285Z,1761505707.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924890,-0.380234,-0.000555],[0.380220,-0.924843,-0.009948],[0.003270,-0.009411,0.999950]]
2025-10-26T19:08:27.296Z,1761505707.296 [DAT](INFO): DAT read: user:71>

2025-10-26T19:08:27.297Z,1761505707.297 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:08:27.298Z,1761505707.298 [DAT](INFO): set remote address to 6
2025-10-26T19:08:27.298Z,1761505707.298 [DAT](INFO): entering online mode
2025-10-26T19:08:27.396Z,1761505707.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:08:27.496Z,1761505707.496 [DAT](INFO): DAT read: user:72>

2025-10-26T19:08:27.497Z,1761505707.497 [DAT](INFO): DAT read: 

2025-10-26T19:08:27.498Z,1761505707.498 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:08:27.498Z,1761505707.498 [DAT](INFO): commRate: 600
2025-10-26T19:08:27.498Z,1761505707.498 [DAT](INFO): online mode acknowledged
2025-10-26T19:08:27.499Z,1761505707.499 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:08:27.499Z,1761505707.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033584
2025-10-26T19:08:27.674Z,1761505707.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925815,-0.377802,-0.011492],[0.377964,-0.925106,-0.036373],[0.003110,-0.038018,0.999272]]
2025-10-26T19:08:27.749Z,1761505707.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283578
2025-10-26T19:08:28.000Z,1761505708.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534806
2025-10-26T19:08:28.078Z,1761505708.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925854,-0.377089,-0.024481],[0.377867,-0.923292,-0.068906],[0.003381,-0.073047,0.997323]]
2025-10-26T19:08:28.253Z,1761505708.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787417
2025-10-26T19:08:28.482Z,1761505708.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925186,-0.377776,-0.036291],[0.379488,-0.919724,-0.100485],[0.004583,-0.106739,0.994277]]
2025-10-26T19:08:28.505Z,1761505708.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039033
2025-10-26T19:08:28.757Z,1761505708.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291065
2025-10-26T19:08:28.890Z,1761505708.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924183,-0.379019,-0.047233],[0.381903,-0.915011,-0.130017],[0.006060,-0.138198,0.990386]]
2025-10-26T19:08:29.010Z,1761505709.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544409
2025-10-26T19:08:29.260Z,1761505709.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794975
2025-10-26T19:08:29.290Z,1761505709.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923163,-0.380295,-0.056084],[0.384333,-0.910223,-0.154217],[0.007599,-0.163922,0.986444]]
2025-10-26T19:08:29.512Z,1761505709.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046856
2025-10-26T19:08:29.695Z,1761505709.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922042,-0.382080,-0.062069],[0.386986,-0.906182,-0.170517],[0.008905,-0.181244,0.983398]]
2025-10-26T19:08:29.764Z,1761505709.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298989
2025-10-26T19:08:30.016Z,1761505710.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550929
2025-10-26T19:08:30.107Z,1761505710.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920758,-0.384385,-0.066734],[0.390017,-0.902723,-0.181595],[0.009560,-0.193232,0.981106]]
2025-10-26T19:08:30.268Z,1761505710.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802894
2025-10-26T19:08:30.508Z,1761505710.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919254,-0.387353,-0.070207],[0.393547,-0.899891,-0.187927],[0.009615,-0.200383,0.979671]]
2025-10-26T19:08:30.520Z,1761505710.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054863
2025-10-26T19:08:30.773Z,1761505710.773 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:08:29.9149

2025-10-26T19:08:30.773Z,1761505710.773 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:08:30.774Z,1761505710.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308112
2025-10-26T19:08:30.910Z,1761505710.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917698,-0.390626,-0.072398],[0.397172,-0.897871,-0.189950],[0.009195,-0.203071,0.979121]]
2025-10-26T19:08:31.029Z,1761505711.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563302
2025-10-26T19:08:31.281Z,1761505711.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815501
2025-10-26T19:08:31.314Z,1761505711.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915982,-0.394366,-0.073837],[0.401134,-0.896365,-0.188734],[0.008245,-0.202496,0.979248]]
2025-10-26T19:08:31.533Z,1761505711.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067035
2025-10-26T19:08:31.726Z,1761505711.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914201,-0.398144,-0.075608],[0.405206,-0.894995,-0.186526],[0.006595,-0.201159,0.979536]]
2025-10-26T19:08:31.784Z,1761505711.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318997
2025-10-26T19:08:32.037Z,1761505712.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571050
2025-10-26T19:08:32.123Z,1761505712.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912655,-0.401381,-0.077159],[0.408702,-0.893945,-0.183917],[0.004845,-0.199388,0.979909]]
2025-10-26T19:08:32.288Z,1761505712.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822985
2025-10-26T19:08:32.526Z,1761505712.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911445,-0.403855,-0.078548],[0.411412,-0.893311,-0.180931],[0.002902,-0.197225,0.980354]]
2025-10-26T19:08:32.540Z,1761505712.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074964
2025-10-26T19:08:32.802Z,1761505712.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336360
2025-10-26T19:08:32.930Z,1761505712.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910586,-0.405756,-0.078716],[0.413319,-0.893303,-0.176574],[0.001329,-0.193320,0.981135]]
2025-10-26T19:08:33.045Z,1761505713.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579689
2025-10-26T19:08:33.296Z,1761505713.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830929
2025-10-26T19:08:33.334Z,1761505713.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910066,-0.406768,-0.079502],[0.414464,-0.893515,-0.172772],[-0.000758,-0.190184,0.981748]]
2025-10-26T19:08:33.548Z,1761505713.548 [DAT](INFO): Reached modem response timeout
2025-10-26T19:08:33.746Z,1761505713.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909425,-0.408209,-0.079443],[0.415857,-0.894024,-0.166689],[-0.002981,-0.184628,0.982804]]
2025-10-26T19:08:34.142Z,1761505714.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909132,-0.408823,-0.079647],[0.416479,-0.894585,-0.162058],[-0.004999,-0.180503,0.983562]]
2025-10-26T19:08:34.546Z,1761505714.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909454,-0.407881,-0.080779],[0.415743,-0.895321,-0.159872],[-0.007114,-0.178980,0.983827]]
2025-10-26T19:08:34.950Z,1761505714.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910162,-0.406117,-0.081699],[0.414152,-0.896429,-0.157777],[-0.009161,-0.177438,0.984089]]
2025-10-26T19:08:35.357Z,1761505715.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911246,-0.403441,-0.082858],[0.411714,-0.897680,-0.157045],[-0.011021,-0.177220,0.984109]]
2025-10-26T19:08:35.758Z,1761505715.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912753,-0.399747,-0.084166],[0.408306,-0.899254,-0.156934],[-0.012953,-0.177607,0.984016]]
2025-10-26T19:08:36.162Z,1761505716.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914535,-0.395347,-0.085602],[0.404236,-0.900977,-0.157586],[-0.014824,-0.178721,0.983788]]
2025-10-26T19:08:36.566Z,1761505716.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916383,-0.390621,-0.087505],[0.399962,-0.902474,-0.159911],[-0.016506,-0.181539,0.983245]]
2025-10-26T19:08:36.630Z,1761505716.630 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:08:36.630Z,1761505716.630 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:08:36.630Z,1761505716.630 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:08:36.630Z,1761505716.630 [marl:UpdateRudder:A] Stopped
2025-10-26T19:08:36.631Z,1761505716.631 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:08:36.631Z,1761505716.631 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:08:36.631Z,1761505716.631 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:08:36.631Z,1761505716.631 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:08:36.631Z,1761505716.631 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:08:36.632Z,1761505716.632 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:08:36.632Z,1761505716.632 [marl:UpdateCommandMode] Stopped
2025-10-26T19:08:36.632Z,1761505716.632 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:08:36.972Z,1761505716.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918246,-0.385914,-0.088849],[0.395599,-0.904126,-0.161423],[-0.018035,-0.183374,0.982878]]
2025-10-26T19:08:37.061Z,1761505717.061 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:08:37.061Z,1761505717.061 [marl:UpdateRudder:B] Stopped
2025-10-26T19:08:37.062Z,1761505717.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:08:37.062Z,1761505717.062 [marl:UpdateRudder] Stopped
2025-10-26T19:08:37.062Z,1761505717.062 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:08:37.374Z,1761505717.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919943,-0.381655,-0.089684],[0.391581,-0.905674,-0.162538],[-0.019191,-0.184644,0.982618]]
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed] Stopped
2025-10-26T19:08:37.422Z,1761505717.422 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:08:37.778Z,1761505717.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921428,-0.378120,-0.089420],[0.388044,-0.907265,-0.162146],[-0.019817,-0.184104,0.982707]]
2025-10-26T19:08:38.198Z,1761505718.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922478,-0.375502,-0.089622],[0.385521,-0.908190,-0.162984],[-0.020193,-0.184901,0.982550]]
2025-10-26T19:08:38.586Z,1761505718.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923208,-0.373667,-0.089778],[0.383767,-0.908729,-0.164119],[-0.020258,-0.185970,0.982347]]
2025-10-26T19:08:38.668Z,1761505718.668 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:08:38.668Z,1761505718.668 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:08:38.990Z,1761505718.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923453,-0.372961,-0.090187],[0.383172,-0.908772,-0.165264],[-0.020322,-0.187171,0.982117]]
2025-10-26T19:08:39.394Z,1761505719.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923105,-0.373750,-0.090492],[0.383989,-0.908569,-0.164483],[-0.020742,-0.186583,0.982220]]
2025-10-26T19:08:39.799Z,1761505719.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922280,-0.375590,-0.091281],[0.385917,-0.908012,-0.163044],[-0.021646,-0.185599,0.982387]]
2025-10-26T19:08:40.210Z,1761505720.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921330,-0.377566,-0.092713],[0.388118,-0.907158,-0.162569],[-0.022725,-0.185764,0.982332]]
2025-10-26T19:08:40.606Z,1761505720.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920237,-0.379933,-0.093881],[0.390629,-0.906363,-0.160985],[-0.023927,-0.184817,0.982482]]
2025-10-26T19:08:40.868Z,1761505720.868 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:08:41.010Z,1761505721.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919278,-0.381783,-0.095753],[0.392789,-0.905491,-0.160630],[-0.025378,-0.185274,0.982359]]
2025-10-26T19:08:41.120Z,1761505721.120 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:08:41.372Z,1761505721.372 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:08:41.414Z,1761505721.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918541,-0.383134,-0.097417],[0.394403,-0.904958,-0.159677],[-0.026981,-0.185091,0.982351]]
2025-10-26T19:08:41.818Z,1761505721.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918194,-0.383575,-0.098945],[0.395107,-0.904743,-0.159156],[-0.028472,-0.185230,0.982283]]
2025-10-26T19:08:42.229Z,1761505722.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918324,-0.382924,-0.100247],[0.394695,-0.904993,-0.158755],[-0.029932,-0.185356,0.982215]]
2025-10-26T19:08:42.627Z,1761505722.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919147,-0.380692,-0.101204],[0.392672,-0.905882,-0.158701],[-0.031263,-0.185610,0.982126]]
2025-10-26T19:08:43.032Z,1761505723.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920519,-0.377187,-0.101854],[0.389353,-0.907237,-0.159139],[-0.032381,-0.186148,0.981988]]
2025-10-26T19:08:43.434Z,1761505723.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922145,-0.373160,-0.101980],[0.385428,-0.908805,-0.159745],[-0.033069,-0.186614,0.981876]]
2025-10-26T19:08:43.838Z,1761505723.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924040,-0.368605,-0.101395],[0.380858,-0.910583,-0.160582],[-0.033137,-0.187001,0.981801]]
2025-10-26T19:08:44.246Z,1761505724.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925770,-0.364663,-0.099854],[0.376678,-0.912355,-0.160382],[-0.032617,-0.186089,0.981991]]
2025-10-26T19:08:44.649Z,1761505724.649 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:08:43.8149

2025-10-26T19:08:44.649Z,1761505724.649 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:08:44.650Z,1761505724.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926879,-0.362342,-0.098000],[0.374023,-0.913569,-0.159682],[-0.031670,-0.184660,0.982292]]
2025-10-26T19:08:45.050Z,1761505725.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927506,-0.361296,-0.095902],[0.372551,-0.914467,-0.157973],[-0.030624,-0.182250,0.982775]]
2025-10-26T19:08:45.454Z,1761505725.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927581,-0.361880,-0.092930],[0.372499,-0.914995,-0.155011],[-0.028935,-0.178401,0.983532]]
2025-10-26T19:08:45.858Z,1761505725.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927198,-0.363502,-0.090385],[0.373604,-0.914804,-0.153474],[-0.026896,-0.176069,0.984010]]
2025-10-26T19:08:46.269Z,1761505726.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926566,-0.365646,-0.088197],[0.375305,-0.914298,-0.152335],[-0.024938,-0.174249,0.984386]]
2025-10-26T19:08:46.667Z,1761505726.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925983,-0.367563,-0.086328],[0.376870,-0.913660,-0.152297],[-0.022896,-0.173559,0.984557]]
2025-10-26T19:08:47.070Z,1761505727.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925448,-0.369228,-0.084952],[0.378305,-0.912821,-0.153762],[-0.020773,-0.174436,0.984449]]
2025-10-26T19:08:47.474Z,1761505727.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925081,-0.370323,-0.084184],[0.379299,-0.911992,-0.156213],[-0.018926,-0.176440,0.984129]]
2025-10-26T19:08:47.881Z,1761505727.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924803,-0.371129,-0.083682],[0.380037,-0.911385,-0.157952],[-0.017646,-0.177877,0.983895]]
2025-10-26T19:08:48.282Z,1761505728.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924493,-0.371883,-0.083761],[0.380821,-0.910792,-0.159479],[-0.016981,-0.179335,0.983642]]
2025-10-26T19:08:48.698Z,1761505728.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924284,-0.372262,-0.084386],[0.381310,-0.910546,-0.159713],[-0.017383,-0.179797,0.983550]]
2025-10-26T19:08:49.092Z,1761505729.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924057,-0.372650,-0.085152],[0.381805,-0.910582,-0.158317],[-0.018541,-0.178805,0.983710]]
2025-10-26T19:08:49.494Z,1761505729.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923901,-0.372661,-0.086782],[0.382095,-0.910579,-0.157639],[-0.020276,-0.178801,0.983676]]
2025-10-26T19:08:49.540Z,1761505729.540 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:08:49.540Z,1761505729.540 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:08:49.540Z,1761505729.540 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateRudder:A] Stopped
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode] Stopped
2025-10-26T19:08:49.541Z,1761505729.541 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:08:49.898Z,1761505729.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924240,-0.371477,-0.088235],[0.381164,-0.911155,-0.156558],[-0.022238,-0.178329,0.983720]]
2025-10-26T19:08:49.950Z,1761505729.950 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:08:49.950Z,1761505729.950 [marl:UpdateRudder:B] Stopped
2025-10-26T19:08:49.950Z,1761505729.950 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:08:49.950Z,1761505729.950 [marl:UpdateRudder] Stopped
2025-10-26T19:08:49.951Z,1761505729.951 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:08:50.303Z,1761505730.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925695,-0.367639,-0.089054],[0.377526,-0.912675,-0.156519],[-0.023735,-0.178509,0.983652]]
2025-10-26T19:08:50.361Z,1761505730.361 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:08:50.361Z,1761505730.361 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:08:50.361Z,1761505730.361 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:08:50.361Z,1761505730.361 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:08:50.361Z,1761505730.361 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:08:50.361Z,1761505730.361 [marl:UpdateSpeed] Stopped
2025-10-26T19:08:50.362Z,1761505730.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:08:50.715Z,1761505730.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928155,-0.361565,-0.088313],[0.371423,-0.915048,-0.157263],[-0.023950,-0.178766,0.983600]]
2025-10-26T19:08:51.110Z,1761505731.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930889,-0.354735,-0.087229],[0.364562,-0.917326,-0.160023],[-0.023252,-0.180764,0.983252]]
2025-10-26T19:08:51.514Z,1761505731.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933675,-0.347708,-0.085732],[0.357435,-0.919600,-0.163022],[-0.022155,-0.182853,0.982890]]
2025-10-26T19:08:51.919Z,1761505731.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936224,-0.341236,-0.083921],[0.350783,-0.921720,-0.165479],[-0.020885,-0.184364,0.982636]]
2025-10-26T19:08:52.324Z,1761505732.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938547,-0.335182,-0.082351],[0.344593,-0.923518,-0.168435],[-0.019597,-0.186462,0.982267]]
2025-10-26T19:08:52.731Z,1761505732.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940369,-0.330439,-0.080722],[0.339685,-0.924724,-0.171755],[-0.017891,-0.188933,0.981827]]
2025-10-26T19:08:52.780Z,1761505732.780 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:08:52.968Z,1761505732.968 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:08:53.019Z,1761505733.019 [DAT](INFO): entering command mode
2025-10-26T19:08:53.130Z,1761505733.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941791,-0.326689,-0.079401],[0.335827,-0.925251,-0.176440],[-0.015825,-0.192834,0.981104]]
2025-10-26T19:08:53.221Z,1761505733.221 [DAT](INFO): DAT read: 

2025-10-26T19:08:53.221Z,1761505733.221 [DAT](INFO): DAT read: user:73>

2025-10-26T19:08:53.222Z,1761505733.222 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:08:53.222Z,1761505733.222 [DAT](INFO): setting remote address to 0
2025-10-26T19:08:53.472Z,1761505733.472 [DAT](INFO): DAT read: user:73>

2025-10-26T19:08:53.473Z,1761505733.473 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:08:53.474Z,1761505733.474 [DAT](INFO): set remote address to 0
2025-10-26T19:08:53.474Z,1761505733.474 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:08:53.474Z,1761505733.474 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:08:53.725Z,1761505733.725 [DAT](INFO): DAT read: user:74>

2025-10-26T19:08:53.726Z,1761505733.726 [DAT](INFO): DAT read: Tx time:19:08:52.8160

2025-10-26T19:08:53.726Z,1761505733.726 [DAT](INFO): Ping request sent.
2025-10-26T19:08:53.726Z,1761505733.726 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:08:53.727Z,1761505733.727 [DAT](INFO): publishing transmit ping time
2025-10-26T19:08:53.728Z,1761505733.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001346
2025-10-26T19:08:53.938Z,1761505733.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943396,-0.322663,-0.076767],[0.331469,-0.925267,-0.184418],[-0.011525,-0.199425,0.979845]]
2025-10-26T19:08:53.977Z,1761505733.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250323
2025-10-26T19:08:54.228Z,1761505734.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502226
2025-10-26T19:08:54.342Z,1761505734.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943626,-0.322233,-0.075739],[0.330877,-0.924802,-0.187780],[-0.009534,-0.202255,0.979287]]
2025-10-26T19:08:54.480Z,1761505734.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754164
2025-10-26T19:08:54.736Z,1761505734.736 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:08:54.736Z,1761505734.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010193
2025-10-26T19:08:54.864Z,1761505734.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943042,-0.324565,-0.072997],[0.332629,-0.923496,-0.191083],[-0.005394,-0.204480,0.978856]]
2025-10-26T19:08:54.989Z,1761505734.989 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:08:54.990Z,1761505734.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264007
2025-10-26T19:08:55.241Z,1761505735.241 [DAT](INFO): setting remote address to 6
2025-10-26T19:08:55.241Z,1761505735.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515294
2025-10-26T19:08:55.493Z,1761505735.493 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:55.493Z,1761505735.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766925
2025-10-26T19:08:55.554Z,1761505735.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942579,-0.326206,-0.071652],[0.333963,-0.922901,-0.191630],[-0.003617,-0.204556,0.978848]]
2025-10-26T19:08:55.744Z,1761505735.744 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:55.745Z,1761505735.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018375
2025-10-26T19:08:55.958Z,1761505735.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942212,-0.327565,-0.070271],[0.335013,-0.922360,-0.192401],[-0.001791,-0.204825,0.978797]]
2025-10-26T19:08:55.996Z,1761505735.996 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:55.996Z,1761505735.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270266
2025-10-26T19:08:56.248Z,1761505736.248 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:56.249Z,1761505736.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522331
2025-10-26T19:08:56.369Z,1761505736.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941990,-0.328513,-0.068811],[0.335642,-0.921945,-0.193294],[0.000060,-0.205177,0.978725]]
2025-10-26T19:08:56.500Z,1761505736.500 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:56.501Z,1761505736.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774626
2025-10-26T19:08:56.752Z,1761505736.752 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:56.752Z,1761505736.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026134
2025-10-26T19:08:56.791Z,1761505736.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941839,-0.329273,-0.067218],[0.336053,-0.921224,-0.195995],[0.002613,-0.207185,0.978298]]
2025-10-26T19:08:57.005Z,1761505737.005 [DAT](INFO): DAT read: Rx Time:19:08:55.5252

2025-10-26T19:08:57.005Z,1761505737.005 [DAT](INFO): Rx dataTimestamp_ set to:1761505737.005079
2025-10-26T19:08:57.006Z,1761505737.006 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:57.006Z,1761505737.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279874
2025-10-26T19:08:57.177Z,1761505737.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941670,-0.329803,-0.066995],[0.336529,-0.921324,-0.194703],[0.002490,-0.205892,0.978572]]
2025-10-26T19:08:57.256Z,1761505737.256 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:08:57.257Z,1761505737.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530474
2025-10-26T19:08:57.514Z,1761505737.514 [DAT](INFO): DAT read: 19:08:55.5252 LVL= 28032, 20129, 23794, 30163, AGC= 56, IDX= 241, 0.19,-2.768,-0.903,-1.413,-1.585, PHS=-1.081, 0.727, 0.128, RAW= 289.0,   2.9, CAL= 287.4,  -2.1, ROT= 222.6,   2.1

2025-10-26T19:08:57.516Z,1761505737.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:08:57.516Z,1761505737.516 [DAT](INFO): got valid direction response:
 19:08:55.5252 LVL= 28032, 20129, 23794, 30163, AGC= 56, IDX= 241, 0.19,-2.768,-0.903,-1.413,-1.585, PHS=-1.081, 0.727, 0.128, RAW= 289.0,   2.9, CAL= 287.4,  -2.1, ROT= 222.6,   2.1

2025-10-26T19:08:57.517Z,1761505737.517 [DAT](INFO): DAT read: Bearing 141.2, -40.8 (Local)

2025-10-26T19:08:57.518Z,1761505737.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.2, -40.8 (Local)

2025-10-26T19:08:57.520Z,1761505737.520 [DAT](INFO): DAT read: Range 11 to 20 : 228.8 m  (Round-trip  305.1 ms) speed -0.8 m/s

2025-10-26T19:08:57.520Z,1761505737.520 [DAT](INFO): DAT read: user:75>

2025-10-26T19:08:57.521Z,1761505737.521 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:08:57.521Z,1761505737.521 [DAT](INFO): set remote address to 6
2025-10-26T19:08:57.522Z,1761505737.522 [DAT](INFO): entering online mode
2025-10-26T19:08:57.609Z,1761505737.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941341,-0.330548,-0.067939],[0.337455,-0.921133,-0.194005],[0.001547,-0.205551,0.978645]]
2025-10-26T19:08:57.760Z,1761505737.760 [DAT](INFO): DAT read: user:76>

2025-10-26T19:08:57.761Z,1761505737.761 [DAT](INFO): DAT read: 

2025-10-26T19:08:57.762Z,1761505737.762 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:08:57.762Z,1761505737.762 [DAT](INFO): commRate: 600
2025-10-26T19:08:57.762Z,1761505737.762 [DAT](INFO): online mode acknowledged
2025-10-26T19:08:57.763Z,1761505737.763 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:08:57.768Z,1761505737.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037046
2025-10-26T19:08:57.983Z,1761505737.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940832,-0.331725,-0.069240],[0.338874,-0.921187,-0.191255],[-0.000339,-0.203402,0.979095]]
2025-10-26T19:08:58.012Z,1761505738.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286220
2025-10-26T19:08:58.264Z,1761505738.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538292
2025-10-26T19:08:58.384Z,1761505738.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940627,-0.332077,-0.070326],[0.339434,-0.921651,-0.188002],[-0.002385,-0.200711,0.979648]]
2025-10-26T19:08:58.518Z,1761505738.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792031
2025-10-26T19:08:58.520Z,1761505738.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:08:58.771Z,1761505738.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044713
2025-10-26T19:08:58.860Z,1761505738.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941215,-0.330357,-0.070564],[0.337790,-0.922614,-0.186228],[-0.003581,-0.199117,0.979969]]
2025-10-26T19:08:59.020Z,1761505739.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294209
2025-10-26T19:08:59.190Z,1761505739.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942668,-0.326432,-0.069424],[0.333709,-0.924468,-0.184382],[-0.003992,-0.196979,0.980400]]
2025-10-26T19:08:59.272Z,1761505739.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546182
2025-10-26T19:08:59.524Z,1761505739.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798186
2025-10-26T19:08:59.594Z,1761505739.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944387,-0.321600,-0.068603],[0.328803,-0.926448,-0.183253],[-0.004623,-0.195619,0.980669]]
2025-10-26T19:08:59.776Z,1761505739.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050127
2025-10-26T19:08:59.000Z,1761505740.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946261,-0.316399,-0.066939],[0.323371,-0.928583,-0.182110],[-0.004539,-0.193970,0.980997]]
2025-10-26T19:09:00.030Z,1761505740.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303413
2025-10-26T19:09:00.280Z,1761505740.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554205
2025-10-26T19:09:00.402Z,1761505740.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948004,-0.311593,-0.064796],[0.318231,-0.930763,-0.180026],[-0.004215,-0.191285,0.981525]]
2025-10-26T19:09:00.533Z,1761505740.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806833
2025-10-26T19:09:00.784Z,1761505740.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058224
2025-10-26T19:09:00.870Z,1761505740.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949459,-0.307347,-0.063765],[0.313870,-0.931980,-0.181379],[-0.003681,-0.192226,0.981344]]
2025-10-26T19:09:01.037Z,1761505741.037 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:09:00.2148

2025-10-26T19:09:01.037Z,1761505741.037 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:09:01.038Z,1761505741.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311480
2025-10-26T19:09:01.222Z,1761505741.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950678,-0.303852,-0.062335],[0.310167,-0.933118,-0.181898],[-0.002896,-0.192261,0.981340]]
2025-10-26T19:09:01.290Z,1761505741.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564309
2025-10-26T19:09:01.540Z,1761505741.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814185
2025-10-26T19:09:01.633Z,1761505741.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951637,-0.301058,-0.061248],[0.307219,-0.933805,-0.183370],[-0.001989,-0.193318,0.981134]]
2025-10-26T19:09:01.792Z,1761505741.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066295
2025-10-26T19:09:02.031Z,1761505742.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952654,-0.297948,-0.060634],[0.304053,-0.934230,-0.186458],[-0.001092,-0.196066,0.980590]]
2025-10-26T19:09:02.044Z,1761505742.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318118
2025-10-26T19:09:02.297Z,1761505742.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570822
2025-10-26T19:09:02.434Z,1761505742.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953443,-0.295517,-0.060140],[0.301574,-0.934611,-0.188561],[-0.000484,-0.197919,0.980218]]
2025-10-26T19:09:02.480Z,1761505742.480 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:09:02.480Z,1761505742.480 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:09:02.480Z,1761505742.480 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:09:02.480Z,1761505742.480 [marl:UpdateRudder:A] Stopped
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode] Stopped
2025-10-26T19:09:02.481Z,1761505742.481 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:09:02.548Z,1761505742.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822314
2025-10-26T19:09:02.803Z,1761505742.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076354
2025-10-26T19:09:02.880Z,1761505742.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954454,-0.292366,-0.059499],[0.298358,-0.934945,-0.191991],[0.000503,-0.200999,0.979591]]
2025-10-26T19:09:02.998Z,1761505742.998 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:09:02.998Z,1761505742.998 [marl:UpdateRudder:B] Stopped
2025-10-26T19:09:02.998Z,1761505742.998 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:09:02.999Z,1761505742.999 [marl:UpdateRudder] Stopped
2025-10-26T19:09:02.999Z,1761505742.999 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:09:03.053Z,1761505743.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326828
2025-10-26T19:09:03.246Z,1761505743.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955156,-0.290189,-0.058882],[0.296100,-0.935263,-0.193928],[0.001206,-0.202667,0.979247]]
2025-10-26T19:09:03.277Z,1761505743.277 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:09:03.277Z,1761505743.277 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:09:03.278Z,1761505743.278 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:09:03.278Z,1761505743.278 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:09:03.278Z,1761505743.278 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:09:03.278Z,1761505743.278 [marl:UpdateSpeed] Stopped
2025-10-26T19:09:03.278Z,1761505743.278 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:09:03.307Z,1761505743.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581012
2025-10-26T19:09:03.556Z,1761505743.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830175
2025-10-26T19:09:03.653Z,1761505743.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956024,-0.287367,-0.058636],[0.293283,-0.935455,-0.197252],[0.001832,-0.205775,0.978598]]
2025-10-26T19:09:03.808Z,1761505743.808 [DAT](INFO): Reached modem response timeout
2025-10-26T19:09:04.050Z,1761505744.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956872,-0.284571,-0.058447],[0.290503,-0.935794,-0.199743],[0.002147,-0.208108,0.978104]]
2025-10-26T19:09:04.454Z,1761505744.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957682,-0.282058,-0.057347],[0.287816,-0.936613,-0.199796],[0.002642,-0.207846,0.978158]]
2025-10-26T19:09:04.881Z,1761505744.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958313,-0.280027,-0.056753],[0.285708,-0.937333,-0.199444],[0.002654,-0.207345,0.978264]]
2025-10-26T19:09:05.272Z,1761505745.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958750,-0.278694,-0.055936],[0.284237,-0.937946,-0.198664],[0.002902,-0.206368,0.978470]]
2025-10-26T19:09:05.674Z,1761505745.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959002,-0.277985,-0.055137],[0.283384,-0.938512,-0.197204],[0.003073,-0.204744,0.978811]]
2025-10-26T19:09:06.078Z,1761505746.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959163,-0.277732,-0.053593],[0.282831,-0.939189,-0.194757],[0.003757,-0.201962,0.979386]]
2025-10-26T19:09:06.482Z,1761505746.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959062,-0.278313,-0.052364],[0.283164,-0.939608,-0.192239],[0.004301,-0.199197,0.979950]]
2025-10-26T19:09:06.892Z,1761505746.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958830,-0.279274,-0.051485],[0.283934,-0.939550,-0.191380],[0.005075,-0.198119,0.980165]]
2025-10-26T19:09:07.290Z,1761505747.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958391,-0.280981,-0.050365],[0.285402,-0.939622,-0.188830],[0.005734,-0.195347,0.980717]]
2025-10-26T19:09:07.695Z,1761505747.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957780,-0.283294,-0.049018],[0.287411,-0.939112,-0.188317],[0.007316,-0.194454,0.980884]]
2025-10-26T19:09:08.101Z,1761505748.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957083,-0.285844,-0.047815],[0.289682,-0.938535,-0.187716],[0.008782,-0.193510,0.981059]]
2025-10-26T19:09:08.503Z,1761505748.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956239,-0.288736,-0.047312],[0.292420,-0.937671,-0.187787],[0.009858,-0.193404,0.981070]]
2025-10-26T19:09:08.910Z,1761505748.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955472,-0.291376,-0.046624],[0.294883,-0.937025,-0.187160],[0.010846,-0.192575,0.981222]]
2025-10-26T19:09:09.310Z,1761505749.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954796,-0.293601,-0.046504],[0.297029,-0.936137,-0.188207],[0.011723,-0.193513,0.981028]]
2025-10-26T19:09:09.720Z,1761505749.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954366,-0.295038,-0.046236],[0.298378,-0.935579,-0.188845],[0.012459,-0.194023,0.980918]]
2025-10-26T19:09:10.129Z,1761505750.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954161,-0.295776,-0.045748],[0.299017,-0.935521,-0.188122],[0.012844,-0.193178,0.981080]]
2025-10-26T19:09:10.522Z,1761505750.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954220,-0.295502,-0.046286],[0.298837,-0.935332,-0.189344],[0.012659,-0.194508,0.980819]]
2025-10-26T19:09:10.930Z,1761505750.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954638,-0.294023,-0.047078],[0.297533,-0.935595,-0.190095],[0.011846,-0.195479,0.980636]]
2025-10-26T19:09:11.121Z,1761505751.121 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:09:11.330Z,1761505751.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955310,-0.291844,-0.047019],[0.295402,-0.936554,-0.188692],[0.011033,-0.194149,0.980910]]
2025-10-26T19:09:11.372Z,1761505751.372 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:09:11.624Z,1761505751.624 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:09:11.738Z,1761505751.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956513,-0.287859,-0.047122],[0.291521,-0.937905,-0.188016],[0.009926,-0.193577,0.981035]]
2025-10-26T19:09:12.139Z,1761505752.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958090,-0.282584,-0.047002],[0.286315,-0.939273,-0.189183],[0.009312,-0.194712,0.980816]]
2025-10-26T19:09:12.542Z,1761505752.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959949,-0.276272,-0.046604],[0.280047,-0.941127,-0.189350],[0.008452,-0.194817,0.980803]]
2025-10-26T19:09:12.958Z,1761505752.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962001,-0.269169,-0.045854],[0.272936,-0.943173,-0.189552],[0.007774,-0.194865,0.980799]]
2025-10-26T19:09:13.350Z,1761505753.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963983,-0.262211,-0.044522],[0.265859,-0.945304,-0.188995],[0.007469,-0.194025,0.980968]]
2025-10-26T19:09:13.755Z,1761505753.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965894,-0.255515,-0.041964],[0.258809,-0.947533,-0.187613],[0.008176,-0.192075,0.981346]]
2025-10-26T19:09:14.161Z,1761505754.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967747,-0.248891,-0.038981],[0.251736,-0.949389,-0.187856],[0.009747,-0.191610,0.981423]]
2025-10-26T19:09:14.562Z,1761505754.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969369,-0.242923,-0.036222],[0.245339,-0.950810,-0.189127],[0.011503,-0.192221,0.981284]]
2025-10-26T19:09:14.905Z,1761505754.905 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:09:14.0647

2025-10-26T19:09:14.905Z,1761505754.905 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:09:14.970Z,1761505754.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970564,-0.238604,-0.032772],[0.240432,-0.951927,-0.189808],[0.014092,-0.192101,0.981274]]
2025-10-26T19:09:15.370Z,1761505755.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971274,-0.236054,-0.030087],[0.237368,-0.952123,-0.192659],[0.016831,-0.194267,0.980804]]
2025-10-26T19:09:15.433Z,1761505755.433 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:09:15.433Z,1761505755.433 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:09:15.434Z,1761505755.434 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:09:15.434Z,1761505755.434 [marl:UpdateRudder:A] Stopped
2025-10-26T19:09:15.434Z,1761505755.434 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:09:15.434Z,1761505755.434 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:09:15.434Z,1761505755.434 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:09:15.434Z,1761505755.434 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:09:15.435Z,1761505755.435 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:09:15.435Z,1761505755.435 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:09:15.435Z,1761505755.435 [marl:UpdateCommandMode] Stopped
2025-10-26T19:09:15.435Z,1761505755.435 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:09:15.776Z,1761505755.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971472,-0.235564,-0.027424],[0.236353,-0.952191,-0.193572],[0.019486,-0.194532,0.980703]]
2025-10-26T19:09:15.846Z,1761505755.846 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:09:15.846Z,1761505755.846 [marl:UpdateRudder:B] Stopped
2025-10-26T19:09:15.846Z,1761505755.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:09:15.846Z,1761505755.846 [marl:UpdateRudder] Stopped
2025-10-26T19:09:15.846Z,1761505755.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:09:16.179Z,1761505756.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971400,-0.236064,-0.025601],[0.236404,-0.951391,-0.197405],[0.022243,-0.197811,0.979988]]
2025-10-26T19:09:16.282Z,1761505756.282 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:09:16.282Z,1761505756.282 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:09:16.282Z,1761505756.282 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:09:16.282Z,1761505756.282 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:09:16.282Z,1761505756.282 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:09:16.282Z,1761505756.282 [marl:UpdateSpeed] Stopped
2025-10-26T19:09:16.283Z,1761505756.283 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:09:16.590Z,1761505756.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971110,-0.237441,-0.023809],[0.237318,-0.950494,-0.200600],[0.025000,-0.200455,0.979384]]
2025-10-26T19:09:16.990Z,1761505756.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970619,-0.239601,-0.022149],[0.239026,-0.949497,-0.203279],[0.027675,-0.202600,0.978870]]
2025-10-26T19:09:17.392Z,1761505757.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970018,-0.242159,-0.020597],[0.241106,-0.948209,-0.206804],[0.030549,-0.205570,0.978166]]
2025-10-26T19:09:17.794Z,1761505757.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969312,-0.245118,-0.018759],[0.243523,-0.946954,-0.209700],[0.033638,-0.207833,0.977586]]
2025-10-26T19:09:18.224Z,1761505758.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968200,-0.249647,-0.016297],[0.247428,-0.945888,-0.209943],[0.036996,-0.207299,0.977578]]
2025-10-26T19:09:18.606Z,1761505758.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966179,-0.257395,-0.015681],[0.254594,-0.942462,-0.216676],[0.040993,-0.213340,0.976118]]
2025-10-26T19:09:19.011Z,1761505759.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962693,-0.269965,-0.018473],[0.266707,-0.935107,-0.233328],[0.045716,-0.229550,0.972223]]
2025-10-26T19:09:19.410Z,1761505759.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957946,-0.285832,-0.025302],[0.282472,-0.923808,-0.258435],[0.050494,-0.254714,0.965697]]
2025-10-26T19:09:19.814Z,1761505759.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952146,-0.303603,-0.035262],[0.300676,-0.909699,-0.286430],[0.054883,-0.283325,0.957452]]
2025-10-26T19:09:20.218Z,1761505760.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945670,-0.321805,-0.046370],[0.319763,-0.894751,-0.311725],[0.058825,-0.309616,0.949040]]
2025-10-26T19:09:20.637Z,1761505760.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938726,-0.339746,-0.058018],[0.338957,-0.879500,-0.334049],[0.062465,-0.333246,0.940768]]
2025-10-26T19:09:21.048Z,1761505761.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931375,-0.357256,-0.070056],[0.358049,-0.864054,-0.353853],[0.065884,-0.354653,0.932674]]
2025-10-26T19:09:21.471Z,1761505761.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923907,-0.373759,-0.081853],[0.376384,-0.849361,-0.370029],[0.068779,-0.372681,0.925407]]
2025-10-26T19:09:21.872Z,1761505761.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916324,-0.389772,-0.091801],[0.393960,-0.836429,-0.381027],[0.071729,-0.385310,0.919995]]
2025-10-26T19:09:22.274Z,1761505762.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908990,-0.404816,-0.099303],[0.409946,-0.825180,-0.388617],[0.075376,-0.393958,0.916033]]
2025-10-26T19:09:22.679Z,1761505762.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901778,-0.419153,-0.105393],[0.424879,-0.815049,-0.393920],[0.079213,-0.400007,0.913083]]
2025-10-26T19:09:23.088Z,1761505763.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894618,-0.433112,-0.109874],[0.438920,-0.805733,-0.397671],[0.083707,-0.403990,0.910926]]
2025-10-26T19:09:23.189Z,1761505763.189 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:09:23.228Z,1761505763.228 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:09:23.280Z,1761505763.280 [DAT](INFO): entering command mode
2025-10-26T19:09:23.481Z,1761505763.481 [DAT](INFO): DAT read: 

2025-10-26T19:09:23.481Z,1761505763.481 [DAT](INFO): DAT read: user:77>

2025-10-26T19:09:23.482Z,1761505763.482 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:09:23.482Z,1761505763.482 [DAT](INFO): setting remote address to 0
2025-10-26T19:09:23.526Z,1761505763.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887385,-0.446704,-0.114029],[0.452437,-0.796264,-0.401579],[0.088589,-0.407946,0.908698]]
2025-10-26T19:09:23.732Z,1761505763.732 [DAT](INFO): DAT read: user:77>

2025-10-26T19:09:23.733Z,1761505763.733 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:09:23.734Z,1761505763.734 [DAT](INFO): set remote address to 0
2025-10-26T19:09:23.734Z,1761505763.734 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:09:23.734Z,1761505763.734 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:09:23.914Z,1761505763.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880125,-0.460017,-0.117321],[0.465413,-0.787318,-0.404378],[0.093652,-0.410506,0.907036]]
2025-10-26T19:09:23.984Z,1761505763.984 [DAT](INFO): DAT read: user:78>

2025-10-26T19:09:23.985Z,1761505763.985 [DAT](INFO): DAT read: Tx time:19:09:23.0658

2025-10-26T19:09:23.985Z,1761505763.985 [DAT](INFO): Ping request sent.
2025-10-26T19:09:23.985Z,1761505763.985 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:09:23.986Z,1761505763.986 [DAT](INFO): publishing transmit ping time
2025-10-26T19:09:23.987Z,1761505763.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000997
2025-10-26T19:09:24.236Z,1761505764.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250914
2025-10-26T19:09:24.318Z,1761505764.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872506,-0.473657,-0.119926],[0.478510,-0.778710,-0.405758],[0.098803,-0.411412,0.906079]]
2025-10-26T19:09:24.489Z,1761505764.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503029
2025-10-26T19:09:24.729Z,1761505764.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864675,-0.487216,-0.122303],[0.491403,-0.769898,-0.407160],[0.104214,-0.412161,0.905131]]
2025-10-26T19:09:24.740Z,1761505764.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754820
2025-10-26T19:09:24.992Z,1761505764.992 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:09:24.993Z,1761505764.993 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:09:24.993Z,1761505764.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007501
2025-10-26T19:09:25.235Z,1761505765.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846936,-0.516110,-0.127788],[0.519551,-0.752262,-0.405177],[0.112986,-0.409552,0.905263]]
2025-10-26T19:09:25.244Z,1761505765.244 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:09:25.245Z,1761505765.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259000
2025-10-26T19:09:25.497Z,1761505765.497 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:09:25.498Z,1761505765.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511815
2025-10-26T19:09:25.623Z,1761505765.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837113,-0.530942,-0.131686],[0.534672,-0.743265,-0.402098],[0.115613,-0.407011,0.906077]]
2025-10-26T19:09:25.748Z,1761505765.748 [DAT](INFO): setting remote address to 6
2025-10-26T19:09:25.749Z,1761505765.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763148
2025-10-26T19:09:26.000Z,1761505766.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:26.001Z,1761505766.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015271
2025-10-26T19:09:26.030Z,1761505766.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826070,-0.546766,-0.136586],[0.551364,-0.733925,-0.396676],[0.116646,-0.402991,0.907740]]
2025-10-26T19:09:26.252Z,1761505766.252 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:26.252Z,1761505766.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266880
2025-10-26T19:09:26.431Z,1761505766.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814176,-0.562885,-0.142404],[0.568883,-0.724292,-0.389581],[0.116148,-0.398199,0.909916]]
2025-10-26T19:09:26.504Z,1761505766.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:26.505Z,1761505766.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519006
2025-10-26T19:09:26.756Z,1761505766.756 [DAT](INFO): DAT read: Rx Time:19:09:25.4360

2025-10-26T19:09:26.757Z,1761505766.757 [DAT](INFO): Rx dataTimestamp_ set to:1761505766.756608
2025-10-26T19:09:26.757Z,1761505766.757 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:26.758Z,1761505766.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772033
2025-10-26T19:09:26.876Z,1761505766.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801671,-0.578740,-0.149616],[0.586641,-0.713644,-0.382837],[0.114791,-0.394680,0.911620]]
2025-10-26T19:09:27.008Z,1761505767.008 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:27.008Z,1761505767.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022961
2025-10-26T19:09:27.278Z,1761505767.278 [DAT](INFO): DAT read: 19:09:25.4360 LVL= 25696, 27777, 24434, 22867, AGC= 56, IDX= 481, 0.09,-0.435, 1.105, 1.401, 0.334, PHS=-0.667, 0.817, 1.023, RAW= 263.6, -14.6, CAL= 263.5, -20.3, ROT= 246.5,  20.3

2025-10-26T19:09:27.282Z,1761505767.282 [DAT](INFO): got valid direction response:
 19:09:25.4360 LVL= 25696, 27777, 24434, 22867, AGC= 56, IDX= 481, 0.09,-0.435, 1.105, 1.401, 0.334, PHS=-0.667, 0.817, 1.023, RAW= 263.6, -14.6, CAL= 263.5, -20.3, ROT= 246.5,  20.3

2025-10-26T19:09:27.299Z,1761505767.299 [DAT](INFO): DAT read: Bearing  21, -18 (Remote)

2025-10-26T19:09:27.319Z,1761505767.319 [DAT](INFO): Remote Bearing received:Bearing  21, -18 (Remote)

2025-10-26T19:09:27.320Z,1761505767.320 [DAT](INFO): DAT read: Bearing 183.1, -43.5 (Local)

2025-10-26T19:09:27.321Z,1761505767.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.1, -43.5 (Local)

2025-10-26T19:09:27.322Z,1761505767.322 [DAT](INFO): DAT read: Range 11 to 20 : 255.8 m  (Round-trip  341.1 ms) speed -0.8 m/s

2025-10-26T19:09:27.323Z,1761505767.323 [DAT](INFO): DAT read: user:79>

2025-10-26T19:09:27.332Z,1761505767.332 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:09:27.333Z,1761505767.333 [DAT](INFO): set remote address to 6
2025-10-26T19:09:27.333Z,1761505767.333 [DAT](INFO): entering online mode
2025-10-26T19:09:27.337Z,1761505767.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788428,-0.594465,-0.158091],[0.604660,-0.701772,-0.376698],[0.112990,-0.392590,0.912746]]
2025-10-26T19:09:27.512Z,1761505767.512 [DAT](INFO): DAT read: user:80>

2025-10-26T19:09:27.513Z,1761505767.513 [DAT](INFO): DAT read: 

2025-10-26T19:09:27.514Z,1761505767.514 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:09:27.514Z,1761505767.514 [DAT](INFO): commRate: 600
2025-10-26T19:09:27.514Z,1761505767.514 [DAT](INFO): online mode acknowledged
2025-10-26T19:09:27.515Z,1761505767.515 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:09:27.516Z,1761505767.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529679
2025-10-26T19:09:27.642Z,1761505767.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775381,-0.609173,-0.166411],[0.621762,-0.690361,-0.369884],[0.110439,-0.390269,0.914053]]
2025-10-26T19:09:27.765Z,1761505767.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779193
2025-10-26T19:09:28.016Z,1761505768.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030840
2025-10-26T19:09:28.088Z,1761505768.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762771,-0.622509,-0.175107],[0.637603,-0.678802,-0.364267],[0.107896,-0.389501,0.914684]]
2025-10-26T19:09:28.268Z,1761505768.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282874
2025-10-26T19:09:28.451Z,1761505768.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750326,-0.634884,-0.184210],[0.652636,-0.667051,-0.359318],[0.105248,-0.389828,0.914854]]
2025-10-26T19:09:28.504Z,1761505768.504 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:09:28.504Z,1761505768.504 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:09:28.504Z,1761505768.504 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateRudder:A] Stopped
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:09:28.505Z,1761505768.505 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:09:28.506Z,1761505768.506 [marl:UpdateCommandMode] Stopped
2025-10-26T19:09:28.506Z,1761505768.506 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:09:28.520Z,1761505768.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534874
2025-10-26T19:09:28.656Z,1761505768.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:09:28.772Z,1761505768.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786810
2025-10-26T19:09:28.880Z,1761505768.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738370,-0.646531,-0.191851],[0.666505,-0.656189,-0.353819],[0.102864,-0.389119,0.915426]]
2025-10-26T19:09:28.951Z,1761505768.951 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:09:28.951Z,1761505768.951 [marl:UpdateRudder:B] Stopped
2025-10-26T19:09:28.951Z,1761505768.951 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:09:28.951Z,1761505768.951 [marl:UpdateRudder] Stopped
2025-10-26T19:09:28.951Z,1761505768.951 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:09:29.024Z,1761505769.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038865
2025-10-26T19:09:29.276Z,1761505769.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290846
2025-10-26T19:09:29.354Z,1761505769.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727221,-0.656966,-0.198859],[0.678974,-0.645993,-0.348837],[0.100712,-0.388701,0.915843]]
2025-10-26T19:09:29.450Z,1761505769.450 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:09:29.450Z,1761505769.450 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:09:29.450Z,1761505769.450 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:09:29.451Z,1761505769.451 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:09:29.451Z,1761505769.451 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:09:29.451Z,1761505769.451 [marl:UpdateSpeed] Stopped
2025-10-26T19:09:29.451Z,1761505769.451 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:09:29.528Z,1761505769.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542845
2025-10-26T19:09:29.660Z,1761505769.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:09:29.760Z,1761505769.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716643,-0.666613,-0.205061],[0.690487,-0.636725,-0.343232],[0.098235,-0.387566,0.916593]]
2025-10-26T19:09:29.780Z,1761505769.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794941
2025-10-26T19:09:30.034Z,1761505770.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048294
2025-10-26T19:09:30.218Z,1761505770.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706485,-0.675824,-0.210097],[0.701298,-0.628583,-0.336251],[0.095183,-0.384897,0.918038]]
2025-10-26T19:09:30.285Z,1761505770.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299023
2025-10-26T19:09:30.537Z,1761505770.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550931
2025-10-26T19:09:30.655Z,1761505770.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696646,-0.684073,-0.216170],[0.711528,-0.620293,-0.330098],[0.091722,-0.383772,0.918861]]
2025-10-26T19:09:30.789Z,1761505770.789 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:09:29.9146

2025-10-26T19:09:30.790Z,1761505770.790 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:09:30.792Z,1761505770.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806056
2025-10-26T19:09:31.041Z,1761505771.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055317
2025-10-26T19:09:31.066Z,1761505771.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686888,-0.692356,-0.220971],[0.721398,-0.612659,-0.322854],[0.088150,-0.381172,0.920292]]
2025-10-26T19:09:31.294Z,1761505771.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308271
2025-10-26T19:09:31.454Z,1761505771.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677344,-0.699863,-0.226710],[0.730760,-0.604549,-0.317033],[0.084822,-0.380411,0.920919]]
2025-10-26T19:09:31.545Z,1761505771.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559783
2025-10-26T19:09:31.796Z,1761505771.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810822
2025-10-26T19:09:31.858Z,1761505771.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667261,-0.707479,-0.232886],[0.740354,-0.595800,-0.311285],[0.081474,-0.380127,0.921339]]
2025-10-26T19:09:32.049Z,1761505772.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063887
2025-10-26T19:09:32.262Z,1761505772.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656796,-0.715293,-0.238694],[0.749952,-0.586591,-0.305749],[0.078684,-0.379824,0.921706]]
2025-10-26T19:09:32.300Z,1761505772.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314734
2025-10-26T19:09:32.553Z,1761505772.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567089
2025-10-26T19:09:32.669Z,1761505772.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645546,-0.723305,-0.245155],[0.759951,-0.576506,-0.300192],[0.075797,-0.380093,0.921837]]
2025-10-26T19:09:32.812Z,1761505772.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825538
2025-10-26T19:09:33.056Z,1761505773.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070775
2025-10-26T19:09:33.072Z,1761505773.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633883,-0.731488,-0.251232],[0.769937,-0.565973,-0.294739],[0.073408,-0.380263,0.921961]]
2025-10-26T19:09:33.309Z,1761505773.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323539
2025-10-26T19:09:33.474Z,1761505773.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621464,-0.740032,-0.257168],[0.780220,-0.554872,-0.288746],[0.070986,-0.380093,0.922220]]
2025-10-26T19:09:33.560Z,1761505773.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574895
2025-10-26T19:09:33.812Z,1761505773.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826825
2025-10-26T19:09:33.881Z,1761505773.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608207,-0.749192,-0.262289],[0.790780,-0.543179,-0.282177],[0.068935,-0.379035,0.922811]]
2025-10-26T19:09:34.064Z,1761505774.064 [DAT](INFO): Reached modem response timeout
2025-10-26T19:09:34.284Z,1761505774.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593634,-0.758861,-0.267823],[0.801950,-0.530190,-0.275273],[0.066897,-0.378192,0.923307]]
2025-10-26T19:09:34.688Z,1761505774.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577941,-0.769031,-0.273086],[0.813510,-0.516378,-0.267499],[0.064699,-0.376757,0.924050]]
2025-10-26T19:09:35.090Z,1761505775.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561457,-0.779435,-0.277933],[0.825141,-0.501960,-0.259187],[0.062508,-0.374857,0.924973]]
2025-10-26T19:09:35.494Z,1761505775.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544592,-0.789033,-0.284334],[0.836537,-0.486683,-0.251684],[0.060206,-0.374921,0.925099]]
2025-10-26T19:09:35.899Z,1761505775.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527626,-0.798330,-0.290310],[0.847505,-0.471434,-0.243898],[0.057849,-0.374726,0.925329]]
2025-10-26T19:09:36.302Z,1761505776.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510606,-0.806734,-0.297425],[0.858037,-0.455859,-0.236569],[0.055264,-0.375996,0.924972]]
2025-10-26T19:09:36.712Z,1761505776.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493564,-0.814567,-0.304756],[0.868136,-0.440363,-0.228957],[0.052298,-0.377574,0.924501]]
2025-10-26T19:09:37.110Z,1761505777.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476512,-0.821975,-0.311919],[0.877799,-0.425029,-0.220951],[0.049041,-0.379088,0.924060]]
2025-10-26T19:09:37.545Z,1761505777.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459309,-0.829220,-0.318480],[0.887116,-0.409885,-0.212178],[0.045402,-0.379984,0.923878]]
2025-10-26T19:09:37.943Z,1761505777.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442419,-0.836190,-0.324115],[0.895851,-0.395382,-0.202791],[0.041422,-0.380077,0.924027]]
2025-10-26T19:09:38.353Z,1761505778.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425424,-0.843230,-0.328600],[0.904243,-0.381267,-0.192303],[0.036871,-0.378945,0.924685]]
2025-10-26T19:09:38.710Z,1761505778.710 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:09:38.710Z,1761505778.710 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:09:38.759Z,1761505778.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408551,-0.849541,-0.333717],[0.912200,-0.367511,-0.181183],[0.031277,-0.378439,0.925098]]
2025-10-26T19:09:39.154Z,1761505779.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392633,-0.855304,-0.338075],[0.919352,-0.354963,-0.169685],[0.025128,-0.377434,0.925696]]
2025-10-26T19:09:39.559Z,1761505779.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378350,-0.859960,-0.342520],[0.925468,-0.343826,-0.159039],[0.019000,-0.377163,0.925952]]
2025-10-26T19:09:39.962Z,1761505779.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365823,-0.864419,-0.344896],[0.930594,-0.334568,-0.148524],[0.012995,-0.375292,0.926816]]
2025-10-26T19:09:40.366Z,1761505780.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354331,-0.868344,-0.347027],[0.935094,-0.326245,-0.138432],[0.006991,-0.373553,0.927582]]
2025-10-26T19:09:40.770Z,1761505780.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343414,-0.871413,-0.350294],[0.939184,-0.318323,-0.128857],[0.000780,-0.373242,0.927734]]
2025-10-26T19:09:40.872Z,1761505780.872 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:09:41.124Z,1761505781.124 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:09:41.181Z,1761505781.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332218,-0.874846,-0.352527],[0.943188,-0.310220,-0.118994],[-0.005259,-0.372031,0.928205]]
2025-10-26T19:09:41.376Z,1761505781.376 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:09:41.627Z,1761505781.627 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:09:41.627Z,1761505781.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:09:41.627Z,1761505781.627 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:09:41.627Z,1761505781.627 [marl:UpdateRudder:A] Stopped
2025-10-26T19:09:41.628Z,1761505781.628 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode] Stopped
2025-10-26T19:09:41.629Z,1761505781.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:09:41.983Z,1761505781.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308678,-0.880688,-0.359315],[0.951036,-0.292022,-0.101259],[-0.015750,-0.372978,0.927707]]
2025-10-26T19:09:42.043Z,1761505782.043 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:09:42.043Z,1761505782.043 [marl:UpdateRudder:B] Stopped
2025-10-26T19:09:42.043Z,1761505782.043 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:09:42.043Z,1761505782.043 [marl:UpdateRudder] Stopped
2025-10-26T19:09:42.043Z,1761505782.043 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:09:42.389Z,1761505782.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296223,-0.883294,-0.363378],[0.954924,-0.281572,-0.094006],[-0.019282,-0.374846,0.926887]]
2025-10-26T19:09:42.449Z,1761505782.449 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:09:42.449Z,1761505782.449 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:09:42.450Z,1761505782.450 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:09:42.450Z,1761505782.450 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:09:42.450Z,1761505782.450 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:09:42.450Z,1761505782.450 [marl:UpdateSpeed] Stopped
2025-10-26T19:09:42.450Z,1761505782.450 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:09:42.809Z,1761505782.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283436,-0.886274,-0.366310],[0.958755,-0.270358,-0.087727],[-0.021284,-0.376066,0.926348]]
2025-10-26T19:09:43.681Z,1761505783.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243965,-0.896248,-0.370432],[0.969629,-0.232249,-0.076677],[-0.017311,-0.377889,0.925689]]
2025-10-26T19:09:44.082Z,1761505784.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228458,-0.900098,-0.370985],[0.973439,-0.217055,-0.072830],[-0.014971,-0.377770,0.925779]]
2025-10-26T19:09:44.491Z,1761505784.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210072,-0.904212,-0.371847],[0.977592,-0.199546,-0.067050],[-0.013573,-0.377600,0.925870]]
2025-10-26T19:09:44.653Z,1761505784.653 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:09:43.8145

2025-10-26T19:09:44.653Z,1761505784.653 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:09:44.891Z,1761505784.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190062,-0.908312,-0.372620],[0.981687,-0.180821,-0.059951],[-0.012923,-0.377191,0.926045]]
2025-10-26T19:09:45.295Z,1761505785.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169264,-0.911856,-0.373989],[0.985487,-0.161541,-0.052156],[-0.012855,-0.377390,0.925965]]
2025-10-26T19:09:45.704Z,1761505785.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147892,-0.915237,-0.374791],[0.988908,-0.142103,-0.043207],[-0.013714,-0.377024,0.926102]]
2025-10-26T19:09:46.102Z,1761505786.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126119,-0.918416,-0.374975],[0.991893,-0.122682,-0.033133],[-0.015573,-0.376114,0.926443]]
2025-10-26T19:09:46.512Z,1761505786.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103655,-0.920757,-0.376114],[0.994439,-0.103028,-0.021843],[-0.018638,-0.376286,0.926316]]
2025-10-26T19:09:46.911Z,1761505786.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081905,-0.922814,-0.376437],[0.996389,-0.084301,-0.010135],[-0.022381,-0.375908,0.926387]]
2025-10-26T19:09:47.314Z,1761505787.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059058,-0.924217,-0.377273],[0.997884,-0.064948,0.002896],[-0.027180,-0.376304,0.926097]]
2025-10-26T19:09:47.724Z,1761505787.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036338,-0.925648,-0.376636],[0.998795,-0.046080,0.016884],[-0.032984,-0.375569,0.926207]]
2025-10-26T19:09:48.123Z,1761505788.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014153,-0.926653,-0.375650],[0.999125,-0.027893,0.031162],[-0.039354,-0.374881,0.926237]]
2025-10-26T19:09:48.527Z,1761505788.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006490,-0.927367,-0.374097],[0.998943,-0.011013,0.044631],[-0.045510,-0.373991,0.926315]]
2025-10-26T19:09:48.937Z,1761505788.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025303,-0.927295,-0.373474],[0.998379,0.004389,0.056743],[-0.050978,-0.374304,0.925904]]
2025-10-26T19:09:49.349Z,1761505789.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041932,-0.926639,-0.373607],[0.997564,0.017962,0.067410],[-0.055754,-0.375524,0.925134]]
2025-10-26T19:09:49.750Z,1761505789.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056875,-0.925852,-0.373582],[0.996580,0.030179,0.076928],[-0.059950,-0.376679,0.924402]]
2025-10-26T19:09:50.150Z,1761505790.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070745,-0.925245,-0.372716],[0.995440,0.041519,0.085875],[-0.063980,-0.377092,0.923963]]
2025-10-26T19:09:50.556Z,1761505790.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083288,-0.924324,-0.372408],[0.994247,0.051823,0.093736],[-0.067343,-0.378073,0.923323]]
2025-10-26T19:09:51.769Z,1761505791.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117078,-0.920227,-0.373464],[0.990438,0.080559,0.111996],[-0.072976,-0.383005,0.920859]]
2025-10-26T19:09:52.171Z,1761505792.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127666,-0.919216,-0.372482],[0.989089,0.090157,0.116514],[-0.073519,-0.383292,0.920696]]
2025-10-26T19:09:52.575Z,1761505792.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138436,-0.918765,-0.369738],[0.987631,0.100318,0.120503],[-0.073623,-0.381847,0.921289]]
2025-10-26T19:09:52.986Z,1761505792.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149694,-0.918290,-0.366518],[0.986006,0.111137,0.124260],[-0.073373,-0.379990,0.922076]]
2025-10-26T19:09:53.427Z,1761505793.427 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:09:53.492Z,1761505793.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:09:53.543Z,1761505793.543 [DAT](INFO): entering command mode
2025-10-26T19:09:53.745Z,1761505793.745 [DAT](INFO): DAT read: 

2025-10-26T19:09:53.745Z,1761505793.745 [DAT](INFO): DAT read: user:81>

2025-10-26T19:09:53.746Z,1761505793.746 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:09:53.746Z,1761505793.746 [DAT](INFO): setting remote address to 0
2025-10-26T19:09:53.810Z,1761505793.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175145,-0.916704,-0.359136],[0.981870,0.135775,0.132273],[-0.072494,-0.375792,0.923864]]
2025-10-26T19:09:53.997Z,1761505793.997 [DAT](INFO): DAT read: user:81>

2025-10-26T19:09:53.998Z,1761505793.998 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:09:53.998Z,1761505793.998 [DAT](INFO): set remote address to 0
2025-10-26T19:09:53.998Z,1761505793.998 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:09:53.999Z,1761505793.999 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:09:54.191Z,1761505794.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190086,-0.915476,-0.354641],[0.979088,0.150097,0.137324],[-0.072486,-0.373328,0.924863]]
2025-10-26T19:09:54.249Z,1761505794.249 [DAT](INFO): DAT read: user:82>

2025-10-26T19:09:54.250Z,1761505794.250 [DAT](INFO): DAT read: Tx time:19:09:53.3157

2025-10-26T19:09:54.250Z,1761505794.250 [DAT](INFO): Ping request sent.
2025-10-26T19:09:54.250Z,1761505794.250 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:09:54.251Z,1761505794.251 [DAT](INFO): publishing transmit ping time
2025-10-26T19:09:54.252Z,1761505794.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001532
2025-10-26T19:09:54.500Z,1761505794.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249888
2025-10-26T19:09:54.594Z,1761505794.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206500,-0.913042,-0.351726],[0.975741,0.165450,0.143373],[-0.072713,-0.372800,0.925058]]
2025-10-26T19:09:54.641Z,1761505794.641 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:09:54.641Z,1761505794.641 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:09:54.642Z,1761505794.642 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:09:54.642Z,1761505794.642 [marl:UpdateRudder:A] Stopped
2025-10-26T19:09:54.642Z,1761505794.642 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:09:54.642Z,1761505794.642 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:09:54.642Z,1761505794.642 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:09:54.642Z,1761505794.642 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:09:54.643Z,1761505794.643 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:09:54.643Z,1761505794.643 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:09:54.643Z,1761505794.643 [marl:UpdateCommandMode] Stopped
2025-10-26T19:09:54.643Z,1761505794.643 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:09:54.752Z,1761505794.752 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:09:54.753Z,1761505794.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502167
2025-10-26T19:09:55.004Z,1761505795.004 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:09:55.004Z,1761505795.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754040
2025-10-26T19:09:55.095Z,1761505795.095 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:09:55.095Z,1761505795.095 [marl:UpdateRudder:B] Stopped
2025-10-26T19:09:55.095Z,1761505795.095 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:09:55.095Z,1761505795.095 [marl:UpdateRudder] Stopped
2025-10-26T19:09:55.095Z,1761505795.095 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:09:55.257Z,1761505795.257 [DAT](INFO): setting remote address to 6
2025-10-26T19:09:55.258Z,1761505795.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007455
2025-10-26T19:09:55.403Z,1761505795.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242303,-0.907231,-0.343834],[0.967367,0.198848,0.157038],[-0.074099,-0.370664,0.925806]]
2025-10-26T19:09:55.473Z,1761505795.473 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:09:55.474Z,1761505795.474 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:09:55.474Z,1761505795.474 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:09:55.474Z,1761505795.474 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:09:55.475Z,1761505795.475 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:09:55.475Z,1761505795.475 [marl:UpdateSpeed] Stopped
2025-10-26T19:09:55.475Z,1761505795.475 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:09:55.509Z,1761505795.509 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:55.510Z,1761505795.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258822
2025-10-26T19:09:55.760Z,1761505795.760 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:55.760Z,1761505795.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510052
2025-10-26T19:09:55.821Z,1761505795.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260919,-0.903623,-0.339687],[0.962431,0.216100,0.164399],[-0.075149,-0.369820,0.926059]]
2025-10-26T19:09:56.012Z,1761505796.012 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:56.012Z,1761505796.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761993
2025-10-26T19:09:56.210Z,1761505796.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279943,-0.899395,-0.335739],[0.956955,0.233519,0.172357],[-0.076616,-0.369537,0.926052]]
2025-10-26T19:09:56.264Z,1761505796.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:56.265Z,1761505796.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014098
2025-10-26T19:09:56.516Z,1761505796.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:56.517Z,1761505796.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266406
2025-10-26T19:09:56.614Z,1761505796.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298951,-0.894418,-0.332633],[0.951044,0.250626,0.180835],[-0.078376,-0.370409,0.925556]]
2025-10-26T19:09:56.768Z,1761505796.768 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:56.769Z,1761505796.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518098
2025-10-26T19:09:57.021Z,1761505797.021 [DAT](INFO): DAT read: Rx Time:19:09:55.6921

2025-10-26T19:09:57.021Z,1761505797.021 [DAT](INFO): Rx dataTimestamp_ set to:1761505797.020857
2025-10-26T19:09:57.021Z,1761505797.021 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:57.022Z,1761505797.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771396
2025-10-26T19:09:57.023Z,1761505797.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317025,-0.889665,-0.328620],[0.945022,0.267030,0.188754],[-0.080176,-0.370393,0.925408]]
2025-10-26T19:09:57.272Z,1761505797.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:09:57.273Z,1761505797.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022349
2025-10-26T19:09:57.422Z,1761505797.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334007,-0.884896,-0.324651],[0.938997,0.282420,0.196273],[-0.081993,-0.370403,0.925245]]
2025-10-26T19:09:57.546Z,1761505797.546 [DAT](INFO): DAT read: 19:09:55.6921 LVL= 25072, 30113, 18674, 26019, AGC= 56, IDX= 434,-0.10, 0.833, 0.241, 2.149, 1.075, PHS=-0.140,-0.789, 1.030, RAW= 189.4,  -1.3, CAL= 189.6,  -4.0, ROT= 320.4,   4.0

2025-10-26T19:09:57.568Z,1761505797.568 [DAT](INFO): got valid direction response:
 19:09:55.6921 LVL= 25072, 30113, 18674, 26019, AGC= 56, IDX= 434,-0.10, 0.833, 0.241, 2.149, 1.075, PHS=-0.140,-0.789, 1.030, RAW= 189.4,  -1.3, CAL= 189.6,  -4.0, ROT= 320.4,   4.0

2025-10-26T19:09:57.569Z,1761505797.569 [DAT](INFO): DAT read: Bearing  14, -14 (Remote)

2025-10-26T19:09:57.569Z,1761505797.569 [DAT](INFO): Remote Bearing received:Bearing  14, -14 (Remote)

2025-10-26T19:09:57.570Z,1761505797.570 [DAT](INFO): DAT read: Bearing 201.3, -38.7 (Local)

2025-10-26T19:09:57.571Z,1761505797.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.3, -38.7 (Local)

2025-10-26T19:09:57.580Z,1761505797.580 [DAT](INFO): DAT read: Range 11 to 20 : 260.5 m  (Round-trip  347.4 ms) speed  0.4 m/s

2025-10-26T19:09:57.581Z,1761505797.581 [DAT](INFO): DAT read: user:83>

2025-10-26T19:09:57.582Z,1761505797.582 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:09:57.582Z,1761505797.582 [DAT](INFO): set remote address to 6
2025-10-26T19:09:57.592Z,1761505797.592 [DAT](INFO): entering online mode
2025-10-26T19:09:57.776Z,1761505797.776 [DAT](INFO): DAT read: user:84>

2025-10-26T19:09:57.777Z,1761505797.777 [DAT](INFO): DAT read: 

2025-10-26T19:09:57.778Z,1761505797.778 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:09:57.778Z,1761505797.778 [DAT](INFO): commRate: 600
2025-10-26T19:09:57.778Z,1761505797.778 [DAT](INFO): online mode acknowledged
2025-10-26T19:09:57.779Z,1761505797.779 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:09:57.781Z,1761505797.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528753
2025-10-26T19:09:57.885Z,1761505797.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349492,-0.879864,-0.322016],[0.933178,0.296121,0.203693],[-0.083867,-0.371687,0.924562]]
2025-10-26T19:09:58.032Z,1761505798.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780523
2025-10-26T19:09:58.270Z,1761505798.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363608,-0.875222,-0.319024],[0.927635,0.308814,0.210064],[-0.085334,-0.372319,0.924174]]
2025-10-26T19:09:58.280Z,1761505798.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029930
2025-10-26T19:09:58.532Z,1761505798.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281992
2025-10-26T19:09:58.674Z,1761505798.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376494,-0.870948,-0.315756],[0.922372,0.320583,0.215537],[-0.086496,-0.372393,0.924036]]
2025-10-26T19:09:58.784Z,1761505798.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533856
2025-10-26T19:09:59.037Z,1761505799.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786591
2025-10-26T19:09:59.088Z,1761505799.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388585,-0.866719,-0.312728],[0.917280,0.331772,0.220282],[-0.087168,-0.372458,0.923946]]
2025-10-26T19:09:59.292Z,1761505799.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041402
2025-10-26T19:09:59.482Z,1761505799.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400256,-0.862913,-0.308506],[0.912238,0.343121,0.223807],[-0.087271,-0.371011,0.924518]]
2025-10-26T19:09:59.541Z,1761505799.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290140
2025-10-26T19:09:59.788Z,1761505799.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:09:59.792Z,1761505799.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541895
2025-10-26T19:09:59.887Z,1761505799.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411966,-0.858725,-0.304755],[0.907046,0.354576,0.227031],[-0.086898,-0.369955,0.924977]]
2025-10-26T19:10:00.045Z,1761505800.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794108
2025-10-26T19:10:00.290Z,1761505800.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424797,-0.853467,-0.301897],[0.901190,0.366970,0.230629],[-0.086047,-0.370037,0.925024]]
2025-10-26T19:10:00.296Z,1761505800.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045880
2025-10-26T19:10:00.548Z,1761505800.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297920
2025-10-26T19:10:00.793Z,1761505800.793 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:10:00.803Z,1761505800.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552499
2025-10-26T19:10:01.053Z,1761505801.053 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:10:00.2144

2025-10-26T19:10:01.054Z,1761505801.054 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:10:01.055Z,1761505801.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803956
2025-10-26T19:10:01.277Z,1761505801.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473941,-0.831320,-0.290322],[0.876578,0.414112,0.245199],[-0.083613,-0.370699,0.924982]]
2025-10-26T19:10:01.304Z,1761505801.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053823
2025-10-26T19:10:01.557Z,1761505801.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306096
2025-10-26T19:10:01.808Z,1761505801.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558007
2025-10-26T19:10:02.060Z,1761505802.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809943
2025-10-26T19:10:02.126Z,1761505802.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512341,-0.811627,-0.280657],[0.854776,0.450419,0.257839],[-0.082856,-0.372000,0.924527]]
2025-10-26T19:10:02.313Z,1761505802.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062474
2025-10-26T19:10:02.531Z,1761505802.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532011,-0.801075,-0.274304],[0.842624,0.468984,0.264649],[-0.083360,-0.371931,0.924510]]
2025-10-26T19:10:02.564Z,1761505802.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314053
2025-10-26T19:10:02.819Z,1761505802.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568231
2025-10-26T19:10:02.945Z,1761505802.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551757,-0.790094,-0.267049],[0.829682,0.487435,0.272096],[-0.084812,-0.371697,0.924472]]
2025-10-26T19:10:03.068Z,1761505803.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818050
2025-10-26T19:10:03.320Z,1761505803.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069944
2025-10-26T19:10:03.338Z,1761505803.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571108,-0.778712,-0.259698],[0.816166,0.504828,0.281107],[-0.087799,-0.372499,0.923870]]
2025-10-26T19:10:03.573Z,1761505803.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322312
2025-10-26T19:10:03.743Z,1761505803.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589815,-0.768094,-0.249299],[0.802271,0.522143,0.289358],[-0.092084,-0.370673,0.924187]]
2025-10-26T19:10:03.825Z,1761505803.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574058
2025-10-26T19:10:04.076Z,1761505804.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825999
2025-10-26T19:10:04.146Z,1761505804.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607150,-0.757892,-0.238681],[0.788565,0.537810,0.298203],[-0.097641,-0.369269,0.924179]]
2025-10-26T19:10:04.328Z,1761505804.328 [DAT](INFO): Reached modem response timeout
2025-10-26T19:10:04.552Z,1761505804.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622912,-0.748232,-0.228318],[0.775348,0.551703,0.307341],[-0.103999,-0.368473,0.923803]]
2025-10-26T19:10:04.957Z,1761505804.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636176,-0.740195,-0.217696],[0.763606,0.563678,0.314919],[-0.110391,-0.366577,0.923815]]
2025-10-26T19:10:05.358Z,1761505805.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646759,-0.733542,-0.208851],[0.753760,0.572961,0.321809],[-0.116397,-0.365557,0.923482]]
2025-10-26T19:10:05.763Z,1761505805.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655404,-0.728069,-0.200902],[0.745421,0.580711,0.327296],[-0.121628,-0.364268,0.923318]]
2025-10-26T19:10:06.168Z,1761505806.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662611,-0.723182,-0.194820],[0.738333,0.587048,0.332023],[-0.125744,-0.363844,0.922933]]
2025-10-26T19:10:06.570Z,1761505806.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669054,-0.718197,-0.191205],[0.731957,0.592136,0.337068],[-0.128862,-0.365470,0.921860]]
2025-10-26T19:10:07.459Z,1761505807.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680228,-0.708567,-0.187675],[0.721312,0.601528,0.343327],[-0.130379,-0.368913,0.920274]]
2025-10-26T19:10:07.854Z,1761505807.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685226,-0.703535,-0.188425],[0.716943,0.605980,0.344647],[-0.128289,-0.371251,0.919628]]
2025-10-26T19:10:07.900Z,1761505807.900 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:10:07.900Z,1761505807.900 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:10:07.900Z,1761505807.900 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:10:07.901Z,1761505807.901 [marl:UpdateRudder:A] Stopped
2025-10-26T19:10:07.901Z,1761505807.901 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:10:07.901Z,1761505807.901 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:10:07.901Z,1761505807.901 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:10:07.901Z,1761505807.901 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:10:07.902Z,1761505807.902 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:10:07.902Z,1761505807.902 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:10:07.902Z,1761505807.902 [marl:UpdateCommandMode] Stopped
2025-10-26T19:10:07.902Z,1761505807.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:10:08.269Z,1761505808.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689994,-0.698797,-0.188659],[0.713028,0.611386,0.343217],[-0.124496,-0.371336,0.920114]]
2025-10-26T19:10:08.293Z,1761505808.293 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:10:08.293Z,1761505808.293 [marl:UpdateRudder:B] Stopped
2025-10-26T19:10:08.293Z,1761505808.293 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:10:08.293Z,1761505808.293 [marl:UpdateRudder] Stopped
2025-10-26T19:10:08.293Z,1761505808.293 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:10:08.662Z,1761505808.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694707,-0.693703,-0.190153],[0.709343,0.616904,0.340972],[-0.119228,-0.371759,0.920641]]
2025-10-26T19:10:08.706Z,1761505808.706 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:10:08.706Z,1761505808.706 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:10:08.706Z,1761505808.706 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:10:08.706Z,1761505808.706 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:10:08.706Z,1761505808.706 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:10:08.707Z,1761505808.707 [marl:UpdateSpeed] Stopped
2025-10-26T19:10:08.707Z,1761505808.707 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:10:09.066Z,1761505809.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699559,-0.688452,-0.191446],[0.705605,0.623207,0.337245],[-0.112867,-0.371008,0.921745]]
2025-10-26T19:10:09.471Z,1761505809.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704826,-0.682830,-0.192260],[0.701463,0.630493,0.332307],[-0.105691,-0.369082,0.923368]]
2025-10-26T19:10:09.877Z,1761505809.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710981,-0.676420,-0.192256],[0.696300,0.638934,0.327000],[-0.098350,-0.366359,0.925261]]
2025-10-26T19:10:10.279Z,1761505810.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718615,-0.668659,-0.191020],[0.689404,0.648987,0.321772],[-0.091186,-0.362920,0.927348]]
2025-10-26T19:10:10.682Z,1761505810.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728263,-0.658880,-0.188440],[0.679994,0.660628,0.318086],[-0.085092,-0.359788,0.929146]]
2025-10-26T19:10:11.086Z,1761505811.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739725,-0.647347,-0.183708],[0.668025,0.673626,0.316181],[-0.080928,-0.356608,0.930742]]
2025-10-26T19:10:11.132Z,1761505811.132 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:10:11.384Z,1761505811.384 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:10:11.499Z,1761505811.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750971,-0.636737,-0.174949],[0.655577,0.687173,0.313069],[-0.079122,-0.349798,0.933478]]
2025-10-26T19:10:11.636Z,1761505811.636 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:10:11.904Z,1761505811.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760642,-0.628929,-0.160848],[0.644260,0.700924,0.305997],[-0.079708,-0.336382,0.938346]]
2025-10-26T19:10:12.298Z,1761505812.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768797,-0.623218,-0.143354],[0.634198,0.714240,0.296066],[-0.082125,-0.318529,0.944349]]
2025-10-26T19:10:12.706Z,1761505812.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775725,-0.618379,-0.125931],[0.625194,0.725872,0.286779],[-0.085928,-0.301193,0.949684]]
2025-10-26T19:10:13.111Z,1761505813.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781637,-0.614090,-0.109260],[0.617103,0.735897,0.278639],[-0.090705,-0.285219,0.954161]]
2025-10-26T19:10:13.513Z,1761505813.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785941,-0.611219,-0.093314],[0.610855,0.744229,0.270147],[-0.095672,-0.269321,0.958286]]
2025-10-26T19:10:13.924Z,1761505813.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788199,-0.610268,-0.079473],[0.607191,0.750099,0.262051],[-0.100308,-0.254804,0.961776]]
2025-10-26T19:10:14.318Z,1761505814.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788175,-0.611624,-0.068526],[0.606575,0.753136,0.254664],[-0.104149,-0.242286,0.964599]]
2025-10-26T19:10:14.728Z,1761505814.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787409,-0.613568,-0.059339],[0.607061,0.755118,0.247537],[-0.107073,-0.230935,0.967060]]
2025-10-26T19:10:14.915Z,1761505814.915 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:10:14.0643

2025-10-26T19:10:14.915Z,1761505814.915 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:10:15.138Z,1761505815.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785975,-0.615893,-0.054028],[0.608518,0.755183,0.243731],[-0.109311,-0.224443,0.968337]]
2025-10-26T19:10:15.530Z,1761505815.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784765,-0.617733,-0.050501],[0.609878,0.755127,0.240483],[-0.110419,-0.219523,0.969339]]
2025-10-26T19:10:15.935Z,1761505815.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783746,-0.619088,-0.049719],[0.611111,0.754401,0.239629],[-0.110843,-0.218192,0.969591]]
2025-10-26T19:10:16.339Z,1761505816.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782923,-0.620119,-0.049835],[0.612152,0.753624,0.239418],[-0.110911,-0.217952,0.969637]]
2025-10-26T19:10:16.745Z,1761505816.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782463,-0.620567,-0.051458],[0.612716,0.752553,0.241336],[-0.111041,-0.220366,0.969076]]
2025-10-26T19:10:17.146Z,1761505817.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781891,-0.621022,-0.054570],[0.613496,0.750945,0.244346],[-0.110765,-0.224531,0.968151]]
2025-10-26T19:10:17.550Z,1761505817.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781522,-0.621271,-0.056969],[0.613975,0.749698,0.246957],[-0.110717,-0.227980,0.967350]]
2025-10-26T19:10:17.954Z,1761505817.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780562,-0.622260,-0.059297],[0.615139,0.747837,0.249688],[-0.111026,-0.231373,0.966509]]
2025-10-26T19:10:18.360Z,1761505818.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779014,-0.623907,-0.062267],[0.617169,0.745480,0.251718],[-0.110630,-0.234521,0.965795]]
2025-10-26T19:10:18.762Z,1761505818.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776917,-0.626309,-0.064318],[0.619961,0.743207,0.251577],[-0.109764,-0.235329,0.965698]]
2025-10-26T19:10:19.166Z,1761505819.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774198,-0.629349,-0.067361],[0.623623,0.740267,0.251194],[-0.108224,-0.236482,0.965590]]
2025-10-26T19:10:19.570Z,1761505819.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771384,-0.632411,-0.070878],[0.627482,0.737329,0.250224],[-0.105984,-0.237494,0.965590]]
2025-10-26T19:10:19.975Z,1761505819.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768602,-0.635589,-0.072643],[0.631293,0.735185,0.246927],[-0.103538,-0.235648,0.966307]]
2025-10-26T19:10:20.389Z,1761505820.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765680,-0.638732,-0.075865],[0.635423,0.732805,0.243381],[-0.099861,-0.234558,0.966959]]
2025-10-26T19:10:20.786Z,1761505820.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762431,-0.642324,-0.078225],[0.639917,0.730549,0.238337],[-0.095943,-0.231773,0.968027]]
2025-10-26T19:10:20.893Z,1761505820.893 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:10:20.893Z,1761505820.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:10:20.893Z,1761505820.893 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:10:20.893Z,1761505820.893 [marl:UpdateRudder:A] Stopped
2025-10-26T19:10:20.894Z,1761505820.894 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:10:20.894Z,1761505820.894 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:10:20.894Z,1761505820.894 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:10:20.894Z,1761505820.894 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:10:20.895Z,1761505820.895 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:10:20.895Z,1761505820.895 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:10:20.895Z,1761505820.895 [marl:UpdateCommandMode] Stopped
2025-10-26T19:10:20.896Z,1761505820.896 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:10:21.186Z,1761505821.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759000,-0.646108,-0.080399],[0.644601,0.728292,0.232551],[-0.091700,-0.228332,0.969255]]
2025-10-26T19:10:21.260Z,1761505821.260 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:10:21.260Z,1761505821.260 [marl:UpdateRudder:B] Stopped
2025-10-26T19:10:21.260Z,1761505821.260 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:10:21.260Z,1761505821.260 [marl:UpdateRudder] Stopped
2025-10-26T19:10:21.261Z,1761505821.261 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:10:21.593Z,1761505821.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755380,-0.650011,-0.082987],[0.649534,0.725974,0.225979],[-0.086643,-0.224603,0.970591]]
2025-10-26T19:10:21.638Z,1761505821.638 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:10:21.638Z,1761505821.638 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:10:21.638Z,1761505821.638 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:10:21.638Z,1761505821.638 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:10:21.638Z,1761505821.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:10:21.639Z,1761505821.639 [marl:UpdateSpeed] Stopped
2025-10-26T19:10:21.639Z,1761505821.639 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:10:21.994Z,1761505821.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751609,-0.653835,-0.087082],[0.654605,0.723149,0.220337],[-0.081091,-0.222611,0.971529]]
2025-10-26T19:10:22.401Z,1761505822.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748084,-0.657235,-0.091725],[0.659349,0.720523,0.214722],[-0.075033,-0.221109,0.972358]]
2025-10-26T19:10:22.835Z,1761505822.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745258,-0.659554,-0.097879],[0.663238,0.718169,0.210589],[-0.068601,-0.221860,0.972662]]
2025-10-26T19:10:23.210Z,1761505823.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743396,-0.660671,-0.104293],[0.665975,0.716699,0.206928],[-0.061964,-0.223286,0.972781]]
2025-10-26T19:10:23.610Z,1761505823.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742490,-0.660573,-0.111143],[0.667576,0.716021,0.204098],[-0.055241,-0.225737,0.972621]]
2025-10-26T19:10:23.664Z,1761505823.664 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:10:23.792Z,1761505823.792 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:10:23.843Z,1761505823.843 [DAT](INFO): entering command mode
2025-10-26T19:10:24.014Z,1761505824.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742662,-0.659123,-0.118365],[0.667905,0.716238,0.202252],[-0.048531,-0.229262,0.972154]]
2025-10-26T19:10:24.045Z,1761505824.045 [DAT](INFO): DAT read: 

2025-10-26T19:10:24.045Z,1761505824.045 [DAT](INFO): DAT read: user:85>

2025-10-26T19:10:24.046Z,1761505824.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:10:24.046Z,1761505824.046 [DAT](INFO): setting remote address to 0
2025-10-26T19:10:24.297Z,1761505824.297 [DAT](INFO): DAT read: user:85>

2025-10-26T19:10:24.298Z,1761505824.298 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:10:24.298Z,1761505824.298 [DAT](INFO): set remote address to 0
2025-10-26T19:10:24.299Z,1761505824.299 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:10:24.299Z,1761505824.299 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:10:24.418Z,1761505824.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743269,-0.657174,-0.125195],[0.667703,0.717114,0.199802],[-0.041525,-0.232100,0.971805]]
2025-10-26T19:10:24.548Z,1761505824.548 [DAT](INFO): DAT read: user:86>

2025-10-26T19:10:24.549Z,1761505824.549 [DAT](INFO): DAT read: Tx time:19:10:23.6155

2025-10-26T19:10:24.549Z,1761505824.549 [DAT](INFO): Ping request sent.
2025-10-26T19:10:24.549Z,1761505824.549 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:10:24.550Z,1761505824.550 [DAT](INFO): publishing transmit ping time
2025-10-26T19:10:24.550Z,1761505824.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000980
2025-10-26T19:10:24.805Z,1761505824.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255464
2025-10-26T19:10:24.873Z,1761505824.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745624,-0.652309,-0.136153],[0.665846,0.721242,0.190944],[-0.026356,-0.233029,0.972113]]
2025-10-26T19:10:25.053Z,1761505825.053 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:10:25.053Z,1761505825.053 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:10:25.053Z,1761505825.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503880
2025-10-26T19:10:25.305Z,1761505825.305 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:10:25.305Z,1761505825.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755825
2025-10-26T19:10:25.556Z,1761505825.556 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:10:25.556Z,1761505825.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006981
2025-10-26T19:10:25.630Z,1761505825.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747430,-0.649318,-0.140480],[0.664092,0.724464,0.184756],[-0.018193,-0.231384,0.972692]]
2025-10-26T19:10:25.808Z,1761505825.808 [DAT](INFO): setting remote address to 6
2025-10-26T19:10:25.809Z,1761505825.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259346
2025-10-26T19:10:26.035Z,1761505826.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749153,-0.646431,-0.144559],[0.662324,0.727768,0.177989],[-0.009852,-0.229086,0.973356]]
2025-10-26T19:10:26.063Z,1761505826.063 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:26.065Z,1761505826.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515396
2025-10-26T19:10:26.312Z,1761505826.312 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:26.312Z,1761505826.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763122
2025-10-26T19:10:26.439Z,1761505826.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751355,-0.643168,-0.147652],[0.659896,0.731709,0.170704],[-0.001753,-0.225694,0.974197]]
2025-10-26T19:10:26.564Z,1761505826.564 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:26.565Z,1761505826.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015176
2025-10-26T19:10:26.818Z,1761505826.818 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:26.820Z,1761505826.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269604
2025-10-26T19:10:26.882Z,1761505826.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758799,-0.633027,-0.153299],[0.651204,0.741864,0.159908],[0.012501,-0.221167,0.975156]]
2025-10-26T19:10:27.068Z,1761505827.068 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:27.068Z,1761505827.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519113
2025-10-26T19:10:27.320Z,1761505827.320 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:27.321Z,1761505827.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771501
2025-10-26T19:10:27.572Z,1761505827.572 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:27.572Z,1761505827.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023092
2025-10-26T19:10:27.651Z,1761505827.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763615,-0.626633,-0.155638],[0.645426,0.747471,0.157203],[0.017827,-0.220495,0.975225]]
2025-10-26T19:10:27.824Z,1761505827.824 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:27.825Z,1761505827.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275241
2025-10-26T19:10:28.056Z,1761505828.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768606,-0.619830,-0.158289],[0.639356,0.752646,0.157312],[0.021629,-0.222114,0.974781]]
2025-10-26T19:10:28.076Z,1761505828.076 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:28.077Z,1761505828.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527172
2025-10-26T19:10:28.328Z,1761505828.328 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:28.329Z,1761505828.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779346
2025-10-26T19:10:28.458Z,1761505828.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773609,-0.612943,-0.160715],[0.633210,0.757368,0.159498],[0.023957,-0.225156,0.974028]]
2025-10-26T19:10:28.580Z,1761505828.580 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:28.580Z,1761505828.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030997
2025-10-26T19:10:28.834Z,1761505828.834 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:28.835Z,1761505828.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285464
2025-10-26T19:10:28.945Z,1761505828.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781360,-0.601476,-0.166443],[0.623559,0.763330,0.168825],[0.025507,-0.235700,0.971491]]
2025-10-26T19:10:29.084Z,1761505829.084 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:29.085Z,1761505829.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535232
2025-10-26T19:10:29.321Z,1761505829.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783304,-0.597932,-0.170036],[0.621121,0.763969,0.174814],[0.025375,-0.242545,0.969808]]
2025-10-26T19:10:29.337Z,1761505829.337 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:29.338Z,1761505829.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787953
2025-10-26T19:10:29.588Z,1761505829.588 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:29.589Z,1761505829.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039519
2025-10-26T19:10:29.728Z,1761505829.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783118,-0.597222,-0.173353],[0.621356,0.762814,0.178976],[0.025348,-0.247874,0.968461]]
2025-10-26T19:10:29.841Z,1761505829.841 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:29.841Z,1761505829.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291869
2025-10-26T19:10:30.092Z,1761505830.092 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:30.093Z,1761505830.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543457
2025-10-26T19:10:30.122Z,1761505830.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780805,-0.599147,-0.177104],[0.624234,0.759921,0.181253],[0.025988,-0.252078,0.967358]]
2025-10-26T19:10:30.345Z,1761505830.345 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:30.345Z,1761505830.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796072
2025-10-26T19:10:30.527Z,1761505830.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776760,-0.603082,-0.181482],[0.629200,0.755648,0.181944],[0.027409,-0.255516,0.966416]]
2025-10-26T19:10:30.597Z,1761505830.597 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:30.598Z,1761505830.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048528
2025-10-26T19:10:30.854Z,1761505830.854 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:30.855Z,1761505830.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305180
2025-10-26T19:10:30.912Z,1761505830.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:10:30.934Z,1761505830.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772082,-0.607771,-0.185751],[0.634826,0.751239,0.180653],[0.029748,-0.257398,0.965847]]
2025-10-26T19:10:31.100Z,1761505831.100 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:31.101Z,1761505831.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551243
2025-10-26T19:10:31.342Z,1761505831.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767101,-0.612857,-0.189641],[0.640681,0.747029,0.177414],[0.032938,-0.257593,0.965692]]
2025-10-26T19:10:31.352Z,1761505831.352 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:31.353Z,1761505831.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803512
2025-10-26T19:10:31.604Z,1761505831.604 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:31.605Z,1761505831.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055135
2025-10-26T19:10:31.740Z,1761505831.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761718,-0.618717,-0.192289],[0.646862,0.743081,0.171461],[0.036800,-0.254989,0.966243]]
2025-10-26T19:10:31.857Z,1761505831.857 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:31.857Z,1761505831.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307891
2025-10-26T19:10:31.916Z,1761505831.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:10:32.108Z,1761505832.108 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:32.108Z,1761505832.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559101
2025-10-26T19:10:32.144Z,1761505832.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756281,-0.625007,-0.193403],[0.652950,0.739652,0.163009],[0.041169,-0.249563,0.967483]]
2025-10-26T19:10:32.360Z,1761505832.360 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:32.361Z,1761505832.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811166
2025-10-26T19:10:32.548Z,1761505832.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750761,-0.631483,-0.193871],[0.658965,0.736419,0.153138],[0.046066,-0.242725,0.969001]]
2025-10-26T19:10:32.612Z,1761505832.612 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:32.612Z,1761505832.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063067
2025-10-26T19:10:32.864Z,1761505832.864 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:32.864Z,1761505832.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315033
2025-10-26T19:10:32.950Z,1761505832.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745112,-0.638021,-0.194259],[0.664951,0.733153,0.142571],[0.051458,-0.235404,0.970534]]
2025-10-26T19:10:33.116Z,1761505833.116 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:33.117Z,1761505833.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567556
2025-10-26T19:10:33.359Z,1761505833.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739555,-0.644300,-0.194772],[0.670659,0.729954,0.131844],[0.057227,-0.228131,0.971947]]
2025-10-26T19:10:33.368Z,1761505833.368 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:33.369Z,1761505833.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819150
2025-10-26T19:10:33.620Z,1761505833.620 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:33.620Z,1761505833.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071079
2025-10-26T19:10:33.759Z,1761505833.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734812,-0.649300,-0.196114],[0.675342,0.727227,0.122691],[0.062956,-0.222599,0.972875]]
2025-10-26T19:10:33.873Z,1761505833.873 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:33.873Z,1761505833.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323805
2025-10-26T19:10:34.124Z,1761505834.124 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:34.125Z,1761505834.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575137
2025-10-26T19:10:34.174Z,1761505834.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731231,-0.652596,-0.198545],[0.678646,0.725378,0.115179],[0.068855,-0.218964,0.973300]]
2025-10-26T19:10:34.246Z,1761505834.246 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:10:34.246Z,1761505834.246 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:10:34.246Z,1761505834.246 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:10:34.247Z,1761505834.247 [marl:UpdateRudder:A] Stopped
2025-10-26T19:10:34.247Z,1761505834.247 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:10:34.247Z,1761505834.247 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:10:34.247Z,1761505834.247 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:10:34.247Z,1761505834.247 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:10:34.252Z,1761505834.252 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:10:34.252Z,1761505834.252 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:10:34.252Z,1761505834.252 [marl:UpdateCommandMode] Stopped
2025-10-26T19:10:34.252Z,1761505834.252 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:10:34.376Z,1761505834.376 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:34.376Z,1761505834.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827091
2025-10-26T19:10:34.566Z,1761505834.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729059,-0.654197,-0.201246],[0.680405,0.724635,0.109331],[0.074306,-0.216637,0.973420]]
2025-10-26T19:10:34.600Z,1761505834.600 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:10:34.600Z,1761505834.600 [marl:UpdateRudder:B] Stopped
2025-10-26T19:10:34.600Z,1761505834.600 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:10:34.600Z,1761505834.600 [marl:UpdateRudder] Stopped
2025-10-26T19:10:34.600Z,1761505834.600 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:10:34.600Z,1761505834.600 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:10:34.601Z,1761505834.601 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:10:34.601Z,1761505834.601 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:10:34.601Z,1761505834.601 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:10:34.601Z,1761505834.601 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:10:34.601Z,1761505834.601 [marl:UpdateSpeed] Stopped
2025-10-26T19:10:34.601Z,1761505834.601 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:10:34.640Z,1761505834.640 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:34.641Z,1761505834.641 [DAT](INFO): Reached modem response timeout
2025-10-26T19:10:34.892Z,1761505834.892 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:34.970Z,1761505834.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729069,-0.653227,-0.204332],[0.679873,0.725608,0.106138],[0.078933,-0.216302,0.973131]]
2025-10-26T19:10:35.144Z,1761505835.144 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:35.374Z,1761505835.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730181,-0.650905,-0.207746],[0.678193,0.727396,0.104638],[0.083005,-0.217296,0.972570]]
2025-10-26T19:10:35.397Z,1761505835.397 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:35.648Z,1761505835.648 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:35.779Z,1761505835.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732481,-0.646883,-0.212165],[0.675279,0.729935,0.105796],[0.086429,-0.220764,0.971490]]
2025-10-26T19:10:35.901Z,1761505835.901 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:36.153Z,1761505836.153 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:36.404Z,1761505836.404 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:36.586Z,1761505836.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739529,-0.636264,-0.219694],[0.666965,0.736687,0.111575],[0.090855,-0.229041,0.969167]]
2025-10-26T19:10:36.656Z,1761505836.656 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:10:36.908Z,1761505836.908 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:10:36.909Z,1761505836.909 [DAT](INFO): response not received
2025-10-26T19:10:36.909Z,1761505836.909 [DAT](INFO): DAT read: user:87>

2025-10-26T19:10:36.910Z,1761505836.910 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:10:36.910Z,1761505836.910 [DAT](INFO): set remote address to 6
2025-10-26T19:10:36.911Z,1761505836.911 [DAT](INFO): entering online mode
2025-10-26T19:10:36.991Z,1761505836.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743668,-0.630151,-0.223312],[0.662223,0.740165,0.116689],[0.091756,-0.234660,0.967737]]
2025-10-26T19:10:37.160Z,1761505837.160 [DAT](INFO): DAT read: user:88>

2025-10-26T19:10:37.161Z,1761505837.161 [DAT](INFO): DAT read: 

2025-10-26T19:10:37.162Z,1761505837.162 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:10:37.162Z,1761505837.162 [DAT](INFO): commRate: 600
2025-10-26T19:10:37.162Z,1761505837.162 [DAT](INFO): online mode acknowledged
2025-10-26T19:10:37.163Z,1761505837.163 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:10:37.394Z,1761505837.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749321,-0.621538,-0.228492],[0.655647,0.744783,0.124201],[0.092981,-0.242877,0.965591]]
2025-10-26T19:10:37.799Z,1761505837.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757882,-0.607029,-0.239018],[0.645454,0.750975,0.139379],[0.094889,-0.259908,0.960960]]
2025-10-26T19:10:38.202Z,1761505838.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768530,-0.587621,-0.253107],[0.632304,0.757987,0.160150],[0.097745,-0.283120,0.954091]]
2025-10-26T19:10:38.608Z,1761505838.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780008,-0.565493,-0.267964],[0.617519,0.764886,0.183354],[0.101277,-0.308490,0.945821]]
2025-10-26T19:10:38.888Z,1761505838.888 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:10:38.888Z,1761505838.888 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:10:39.011Z,1761505839.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791285,-0.542992,-0.281120],[0.602262,0.771531,0.204989],[0.105585,-0.331513,0.937524]]
2025-10-26T19:10:39.414Z,1761505839.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802207,-0.520395,-0.292665],[0.586719,0.777899,0.225021],[0.110564,-0.352225,0.929362]]
2025-10-26T19:10:39.829Z,1761505839.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812675,-0.498308,-0.302074],[0.571109,0.784065,0.243054],[0.115730,-0.370041,0.921779]]
2025-10-26T19:10:40.441Z,1761505840.441 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:10:39.5642

2025-10-26T19:10:40.442Z,1761505840.442 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:10:40.696Z,1761505840.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831307,-0.459745,-0.312351],[0.541388,0.796976,0.267820],[0.125808,-0.391744,0.911433]]
2025-10-26T19:10:41.541Z,1761505841.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847067,-0.428601,-0.314291],[0.514177,0.810531,0.280465],[0.134535,-0.399174,0.906951]]
2025-10-26T19:10:41.967Z,1761505841.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854370,-0.414767,-0.313083],[0.501137,0.817038,0.285151],[0.137530,-0.400522,0.905907]]
2025-10-26T19:10:42.366Z,1761505842.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861902,-0.401177,-0.310132],[0.487504,0.823863,0.289120],[0.139518,-0.400384,0.905664]]
2025-10-26T19:10:42.771Z,1761505842.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868779,-0.389061,-0.306357],[0.474724,0.830405,0.291658],[0.140928,-0.398821,0.906135]]
2025-10-26T19:10:43.174Z,1761505843.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875676,-0.376483,-0.302409],[0.461593,0.836548,0.295161],[0.141857,-0.398055,0.906327]]
2025-10-26T19:10:43.741Z,1761505843.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887096,-0.354954,-0.295074],[0.438693,0.847154,0.299796],[0.143559,-0.395395,0.907223]]
2025-10-26T19:10:44.131Z,1761505844.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892309,-0.345125,-0.290988],[0.427698,0.852566,0.300344],[0.144430,-0.392454,0.908361]]
2025-10-26T19:10:44.565Z,1761505844.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897246,-0.335740,-0.286754],[0.417200,0.857284,0.301674],[0.144546,-0.390310,0.909266]]
2025-10-26T19:10:44.987Z,1761505844.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902346,-0.326065,-0.281873],[0.406264,0.861853,0.303579],[0.143947,-0.388448,0.910158]]
2025-10-26T19:10:45.386Z,1761505845.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907650,-0.315286,-0.277067],[0.394550,0.866088,0.306955],[0.143186,-0.387925,0.910501]]
2025-10-26T19:10:45.799Z,1761505845.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913169,-0.303450,-0.272103],[0.381825,0.870464,0.310647],[0.142590,-0.387569,0.910746]]
2025-10-26T19:10:46.194Z,1761505846.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918803,-0.291246,-0.266414],[0.368241,0.875507,0.312869],[0.142125,-0.385569,0.911667]]
2025-10-26T19:10:46.621Z,1761505846.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924742,-0.277763,-0.260191],[0.353357,0.880561,0.315835],[0.141387,-0.384006,0.912441]]
2025-10-26T19:10:47.018Z,1761505847.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931115,-0.262682,-0.253026],[0.336697,0.885772,0.319442],[0.140212,-0.382630,0.913200]]
2025-10-26T19:10:47.433Z,1761505847.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937809,-0.246768,-0.244173],[0.318404,0.891679,0.321757],[0.138325,-0.379492,0.914796]]
2025-10-26T19:10:47.475Z,1761505847.475 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:10:47.476Z,1761505847.476 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:10:47.476Z,1761505847.476 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:10:47.476Z,1761505847.476 [marl:UpdateRudder:A] Stopped
2025-10-26T19:10:47.476Z,1761505847.476 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode] Stopped
2025-10-26T19:10:47.477Z,1761505847.477 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:10:47.841Z,1761505847.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944498,-0.230240,-0.234335],[0.299296,0.897162,0.324841],[0.135445,-0.376947,0.916278]]
2025-10-26T19:10:47.886Z,1761505847.886 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:10:47.886Z,1761505847.886 [marl:UpdateRudder:B] Stopped
2025-10-26T19:10:47.886Z,1761505847.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:10:47.886Z,1761505847.886 [marl:UpdateRudder] Stopped
2025-10-26T19:10:47.887Z,1761505847.887 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:10:47.887Z,1761505847.887 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:10:47.887Z,1761505847.887 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:10:47.887Z,1761505847.887 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:10:47.892Z,1761505847.892 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:10:47.892Z,1761505847.892 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:10:47.892Z,1761505847.892 [marl:UpdateSpeed] Stopped
2025-10-26T19:10:47.892Z,1761505847.892 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:10:48.253Z,1761505848.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951037,-0.213210,-0.223762],[0.279532,0.902232,0.328389],[0.131870,-0.374859,0.917655]]
2025-10-26T19:10:48.646Z,1761505848.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957226,-0.196162,-0.212694],[0.259527,0.907091,0.331410],[0.127922,-0.372434,0.919200]]
2025-10-26T19:10:49.051Z,1761505849.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962653,-0.180446,-0.201840],[0.240687,0.911761,0.332809],[0.123976,-0.368960,0.921140]]
2025-10-26T19:10:49.860Z,1761505849.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971927,-0.150118,-0.181171],[0.204896,0.918532,0.338108],[0.115655,-0.365737,0.923504]]
2025-10-26T19:10:50.289Z,1761505850.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975786,-0.135734,-0.171516],[0.188223,0.920526,0.342350],[0.111416,-0.366344,0.923785]]
2025-10-26T19:10:50.532Z,1761505850.532 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:10:50.666Z,1761505850.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979088,-0.122452,-0.162457],[0.172696,0.922369,0.345561],[0.107531,-0.366390,0.924227]]
2025-10-26T19:10:50.784Z,1761505850.784 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:10:51.036Z,1761505851.036 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:10:51.070Z,1761505851.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982022,-0.109639,-0.153660],[0.157620,0.924183,0.347911],[0.103865,-0.365876,0.924850]]
2025-10-26T19:10:51.475Z,1761505851.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984547,-0.097399,-0.145534],[0.143319,0.925712,0.350025],[0.100630,-0.365474,0.925366]]
2025-10-26T19:10:51.880Z,1761505851.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986823,-0.085074,-0.137634],[0.129040,0.926979,0.352219],[0.097619,-0.365338,0.925742]]
2025-10-26T19:10:52.306Z,1761505852.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988923,-0.072698,-0.129407],[0.114505,0.928407,0.353480],[0.094446,-0.364383,0.926448]]
2025-10-26T19:10:52.687Z,1761505852.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990851,-0.059132,-0.121315],[0.098918,0.929709,0.354761],[0.091810,-0.363516,0.927053]]
2025-10-26T19:10:53.091Z,1761505853.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992589,-0.044604,-0.113038],[0.082408,0.930698,0.356385],[0.089308,-0.363059,0.927476]]
2025-10-26T19:10:53.898Z,1761505853.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995342,-0.013514,-0.095459],[0.047227,0.931539,0.360560],[0.084052,-0.363389,0.927838]]
2025-10-26T19:10:53.933Z,1761505853.933 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:10:54.064Z,1761505854.064 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:10:54.115Z,1761505854.115 [DAT](INFO): entering command mode
2025-10-26T19:10:54.311Z,1761505854.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996281,0.002822,-0.086118],[0.028594,0.931996,0.361339],[0.081281,-0.362458,0.928449]]
2025-10-26T19:10:54.312Z,1761505854.312 [DAT](INFO): DAT read: 

2025-10-26T19:10:54.313Z,1761505854.313 [DAT](INFO): DAT read: user:89>

2025-10-26T19:10:54.313Z,1761505854.313 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:10:54.313Z,1761505854.313 [DAT](INFO): setting remote address to 0
2025-10-26T19:10:54.565Z,1761505854.565 [DAT](INFO): DAT read: user:89>

2025-10-26T19:10:54.567Z,1761505854.567 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:10:54.567Z,1761505854.567 [DAT](INFO): set remote address to 0
2025-10-26T19:10:54.568Z,1761505854.568 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:10:54.568Z,1761505854.568 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:10:54.714Z,1761505854.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996862,0.019700,-0.076663],[0.009535,0.931597,0.363369],[0.078577,-0.362960,0.928486]]
2025-10-26T19:10:54.819Z,1761505854.819 [DAT](INFO): DAT read: user:90>

2025-10-26T19:10:54.822Z,1761505854.822 [DAT](INFO): DAT read: Tx time:19:10:53.9168

2025-10-26T19:10:54.823Z,1761505854.823 [DAT](INFO): Ping request sent.
2025-10-26T19:10:54.824Z,1761505854.824 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:10:54.825Z,1761505854.825 [DAT](INFO): publishing transmit ping time
2025-10-26T19:10:54.828Z,1761505854.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004446
2025-10-26T19:10:55.068Z,1761505855.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245463
2025-10-26T19:10:55.253Z,1761505855.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997095,0.036032,-0.067105],[-0.009221,0.931653,0.363232],[0.075607,-0.361558,0.929279]]
2025-10-26T19:10:55.320Z,1761505855.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497598
2025-10-26T19:10:55.572Z,1761505855.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749574
2025-10-26T19:10:55.673Z,1761505855.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996965,0.052461,-0.057521],[-0.028010,0.931088,0.363719],[0.072638,-0.361004,0.929731]]
2025-10-26T19:10:55.824Z,1761505855.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001640
2025-10-26T19:10:56.076Z,1761505856.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253587
2025-10-26T19:10:56.132Z,1761505856.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995859,0.082651,-0.037859],[-0.063333,0.929515,0.363304],[0.065218,-0.359402,0.930901]]
2025-10-26T19:10:56.329Z,1761505856.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506224
2025-10-26T19:10:56.534Z,1761505856.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994887,0.097112,-0.027751],[-0.080479,0.928252,0.363141],[0.061025,-0.359051,0.931321]]
2025-10-26T19:10:56.580Z,1761505856.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757649
2025-10-26T19:10:56.838Z,1761505856.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014515
2025-10-26T19:10:56.934Z,1761505856.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993678,0.110848,-0.017802],[-0.096927,0.927050,0.362191],[0.056652,-0.358176,0.931934]]
2025-10-26T19:10:57.084Z,1761505857.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261568
2025-10-26T19:10:57.336Z,1761505857.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513607
2025-10-26T19:10:57.341Z,1761505857.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992247,0.124001,-0.008314],[-0.112637,0.925548,0.361488],[0.052520,-0.357749,0.932340]]
2025-10-26T19:10:57.588Z,1761505857.588 [DAT](INFO): DAT read: Rx Time:19:10:56.2395

2025-10-26T19:10:57.589Z,1761505857.589 [DAT](INFO): Rx dataTimestamp_ set to:1761505857.588571
2025-10-26T19:10:57.589Z,1761505857.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766602
2025-10-26T19:10:57.747Z,1761505857.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990741,0.135766,0.000733],[-0.126996,0.924806,0.358618],[0.048010,-0.355390,0.933484]]
2025-10-26T19:10:57.840Z,1761505857.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017534
2025-10-26T19:10:58.103Z,1761505858.103 [DAT](INFO): DAT read: 19:10:56.2395 LVL= 20976, 32753, 32754, 32755, AGC= 60, IDX= 266, 0.19, 2.672, 0.496, 1.529, 1.995, PHS= 0.779,-1.454,-0.509, RAW= 114.9,  12.2, CAL= 116.1,  13.6, ROT=  33.9, -13.6

2025-10-26T19:10:58.105Z,1761505858.105 [DAT](INFO): got valid direction response:
 19:10:56.2395 LVL= 20976, 32753, 32754, 32755, AGC= 60, IDX= 266, 0.19, 2.672, 0.496, 1.529, 1.995, PHS= 0.779,-1.454,-0.509, RAW= 114.9,  12.2, CAL= 116.1,  13.6, ROT=  33.9, -13.6

2025-10-26T19:10:58.106Z,1761505858.106 [DAT](INFO): DAT read: Bearing  17, -10 (Remote)

2025-10-26T19:10:58.106Z,1761505858.106 [DAT](INFO): Remote Bearing received:Bearing  17, -10 (Remote)

2025-10-26T19:10:58.107Z,1761505858.107 [DAT](INFO): DAT read: Bearing 171.3,  27.9 (Local)

2025-10-26T19:10:58.107Z,1761505858.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.3,  27.9 (Local)

2025-10-26T19:10:58.109Z,1761505858.109 [DAT](INFO): DAT read: Range 11 to 20 : 220.1 m  (Round-trip  293.5 ms) speed  0.6 m/s

2025-10-26T19:10:58.109Z,1761505858.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:10:58.110Z,1761505858.110 [DAT](INFO): direction in FSK: [0.806740,0.542107,0.235142]
2025-10-26T19:10:58.111Z,1761505858.111 [DAT](INFO): publishing direction and range info
2025-10-26T19:10:58.154Z,1761505858.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989088,0.147002,0.009748],[-0.140799,0.923735,0.356214],[0.043360,-0.353699,0.934354]]
2025-10-26T19:10:58.313Z,1761505858.313 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505920.00. Resetting abort timer.
2025-10-26T19:10:58.550Z,1761505858.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987337,0.157561,0.018464],[-0.153839,0.922540,0.353911],[0.038729,-0.352270,0.935097]]
2025-10-26T19:10:58.954Z,1761505858.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985452,0.167832,0.026774],[-0.166437,0.921120,0.351904],[0.034399,-0.351241,0.935653]]
2025-10-26T19:10:59.774Z,1761505859.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981388,0.187315,0.042318],[-0.190190,0.917581,0.349102],[0.026562,-0.350653,0.936129]]
2025-10-26T19:11:00.166Z,1761505860.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979156,0.196832,0.050110],[-0.201840,0.915407,0.348269],[0.022679,-0.351124,0.936054]]
2025-10-26T19:11:00.570Z,1761505860.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976620,0.206997,0.058008],[-0.214120,0.912677,0.348099],[0.019113,-0.352381,0.935661]]
2025-10-26T19:11:00.621Z,1761505860.621 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateRudder:A] Stopped
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:11:00.622Z,1761505860.622 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:11:00.623Z,1761505860.623 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:11:00.623Z,1761505860.623 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:11:00.623Z,1761505860.623 [marl:UpdateCommandMode] Stopped
2025-10-26T19:11:00.623Z,1761505860.623 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:11:00.974Z,1761505860.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973596,0.218352,0.066583],[-0.227734,0.908912,0.349309],[0.015754,-0.355249,0.934639]]
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateRudder:B] Stopped
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateRudder] Stopped
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:11:01.044Z,1761505861.044 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:11:01.045Z,1761505861.045 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:11:01.045Z,1761505861.045 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:11:01.045Z,1761505861.045 [marl:UpdateSpeed] Stopped
2025-10-26T19:11:01.045Z,1761505861.045 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:11:01.116Z,1761505861.116 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:11:01.116Z,1761505861.116 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:11:01.369Z,1761505861.369 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:11:01.426Z,1761505861.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969851,0.231417,0.076390],[-0.243376,0.903614,0.352490],[0.012545,-0.360454,0.932693]]
2025-10-26T19:11:01.623Z,1761505861.623 [DAT](INFO): setting remote address to 6
2025-10-26T19:11:01.782Z,1761505861.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965422,0.245946,0.086431],[-0.260514,0.897979,0.354636],[0.009609,-0.364890,0.931001]]
2025-10-26T19:11:01.872Z,1761505861.872 [DAT](INFO): DAT read: user:91>

2025-10-26T19:11:01.873Z,1761505861.873 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:11:01.874Z,1761505861.874 [DAT](INFO): set remote address to 6
2025-10-26T19:11:01.874Z,1761505861.874 [DAT](INFO): entering online mode
2025-10-26T19:11:02.038Z,1761505862.038 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:11:02.124Z,1761505862.124 [DAT](INFO): DAT read: user:92>

2025-10-26T19:11:02.125Z,1761505862.125 [DAT](INFO): DAT read: 

2025-10-26T19:11:02.126Z,1761505862.126 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:11:02.126Z,1761505862.126 [DAT](INFO): commRate: 600
2025-10-26T19:11:02.126Z,1761505862.126 [DAT](INFO): online mode acknowledged
2025-10-26T19:11:02.127Z,1761505862.127 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:11:02.194Z,1761505862.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960223,0.261822,0.097065],[-0.279155,0.891732,0.356212],[0.006708,-0.369139,0.929350]]
2025-10-26T19:11:02.596Z,1761505862.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954377,0.278521,0.107660],[-0.298582,0.885643,0.355648],[0.003707,-0.371568,0.928398]]
2025-10-26T19:11:02.994Z,1761505862.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948116,0.295263,0.117881],[-0.317925,0.880084,0.352671],[0.000385,-0.371850,0.928293]]
2025-10-26T19:11:03.040Z,1761505863.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:11:03.399Z,1761505863.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941353,0.312344,0.127657],[-0.337413,0.874428,0.348608],[-0.002741,-0.371236,0.928534]]
2025-10-26T19:11:03.802Z,1761505863.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934374,0.329028,0.136696],[-0.356249,0.868875,0.343719],[-0.005678,-0.369859,0.929070]]
2025-10-26T19:11:04.208Z,1761505864.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927848,0.343741,0.144710],[-0.372854,0.864154,0.337963],[-0.008880,-0.367533,0.929968]]
2025-10-26T19:11:04.610Z,1761505864.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921950,0.356454,0.151484],[-0.387116,0.860379,0.331496],[-0.012171,-0.364265,0.931216]]
2025-10-26T19:11:05.014Z,1761505865.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916429,0.367664,0.158051],[-0.399900,0.856517,0.326280],[-0.015412,-0.362217,0.931966]]
2025-10-26T19:11:05.409Z,1761505865.409 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:11:04.5640

2025-10-26T19:11:05.409Z,1761505865.409 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:11:05.431Z,1761505865.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910930,0.378140,0.164973],[-0.412152,0.851885,0.323144],[-0.018345,-0.362356,0.931859]]
2025-10-26T19:11:05.823Z,1761505865.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905317,0.388229,0.172278],[-0.424209,0.846680,0.321215],[-0.021159,-0.363883,0.931204]]
2025-10-26T19:11:06.250Z,1761505866.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899369,0.398332,0.180187],[-0.436523,0.840951,0.319764],[-0.024156,-0.366241,0.930206]]
2025-10-26T19:11:06.631Z,1761505866.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892800,0.408886,0.189001],[-0.449616,0.834492,0.318543],[-0.027472,-0.369373,0.928875]]
2025-10-26T19:11:07.034Z,1761505867.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885512,0.420347,0.197933],[-0.463605,0.827502,0.316720],[-0.030658,-0.372222,0.927637]]
2025-10-26T19:11:07.439Z,1761505867.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877132,0.433132,0.207451],[-0.479036,0.819759,0.313878],[-0.034109,-0.374689,0.926523]]
2025-10-26T19:11:07.842Z,1761505867.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868146,0.446632,0.216433],[-0.494880,0.812066,0.309260],[-0.037632,-0.375591,0.926021]]
2025-10-26T19:11:08.257Z,1761505868.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858119,0.461162,0.225745],[-0.511798,0.803492,0.304076],[-0.041155,-0.376470,0.925514]]
2025-10-26T19:11:08.650Z,1761505868.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847560,0.476189,0.234279],[-0.528819,0.794938,0.297360],[-0.044637,-0.375922,0.925576]]
2025-10-26T19:11:09.054Z,1761505869.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836973,0.491114,0.241420],[-0.545166,0.786686,0.289687],[-0.047653,-0.374074,0.926174]]
2025-10-26T19:11:09.459Z,1761505869.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826314,0.505836,0.247659],[-0.560966,0.778393,0.281818],[-0.050223,-0.371798,0.926954]]
2025-10-26T19:11:09.880Z,1761505869.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815412,0.520464,0.253419],[-0.576510,0.769710,0.274196],[-0.052350,-0.369681,0.927683]]
2025-10-26T19:11:10.289Z,1761505870.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805343,0.533191,0.259095],[-0.590337,0.761200,0.268471],[-0.054077,-0.369165,0.927789]]
2025-10-26T19:11:10.695Z,1761505870.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795728,0.544604,0.264996],[-0.603101,0.752632,0.264224],[-0.055547,-0.370069,0.927342]]
2025-10-26T19:11:11.096Z,1761505871.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786697,0.554562,0.271236],[-0.614662,0.744505,0.260581],[-0.057429,-0.371717,0.926568]]
2025-10-26T19:11:11.500Z,1761505871.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777869,0.563739,0.277703],[-0.625641,0.736269,0.257841],[-0.059109,-0.374309,0.925418]]
2025-10-26T19:11:11.904Z,1761505871.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769791,0.571552,0.284166],[-0.635377,0.728673,0.255600],[-0.060975,-0.377312,0.924077]]
2025-10-26T19:11:12.309Z,1761505872.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761827,0.578968,0.290543],[-0.644699,0.721357,0.252998],[-0.063107,-0.380053,0.922809]]
2025-10-26T19:11:12.729Z,1761505872.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753733,0.586286,0.296910],[-0.653876,0.714293,0.249463],[-0.065824,-0.382170,0.921745]]
2025-10-26T19:11:13.116Z,1761505873.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745670,0.593145,0.303570],[-0.662795,0.707048,0.246547],[-0.068400,-0.385048,0.920358]]
2025-10-26T19:11:13.520Z,1761505873.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736990,0.600589,0.310063],[-0.672177,0.699363,0.243042],[-0.070878,-0.387537,0.919125]]
2025-10-26T19:11:13.565Z,1761505873.565 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:11:13.565Z,1761505873.565 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:11:13.565Z,1761505873.565 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:11:13.566Z,1761505873.566 [marl:UpdateRudder:A] Stopped
2025-10-26T19:11:13.566Z,1761505873.566 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:11:13.566Z,1761505873.566 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:11:13.566Z,1761505873.566 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:11:13.566Z,1761505873.566 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:11:13.566Z,1761505873.566 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:11:13.567Z,1761505873.567 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:11:13.567Z,1761505873.567 [marl:UpdateCommandMode] Stopped
2025-10-26T19:11:13.567Z,1761505873.567 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:11:13.925Z,1761505873.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728198,0.608268,0.315811],[-0.681446,0.691800,0.238838],[-0.073200,-0.389130,0.918270]]
2025-10-26T19:11:13.951Z,1761505873.951 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateRudder:B] Stopped
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateRudder] Stopped
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:11:13.952Z,1761505873.952 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:11:13.953Z,1761505873.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:11:13.953Z,1761505873.953 [marl:UpdateSpeed] Stopped
2025-10-26T19:11:13.953Z,1761505873.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:11:14.329Z,1761505874.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718702,0.616800,0.320974],[-0.691271,0.683568,0.234265],[-0.074913,-0.390247,0.917658]]
2025-10-26T19:11:14.738Z,1761505874.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708997,0.625664,0.325372],[-0.701051,0.675357,0.228957],[-0.076492,-0.390433,0.917448]]
2025-10-26T19:11:15.141Z,1761505875.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699004,0.634669,0.329527],[-0.710795,0.667209,0.222719],[-0.078510,-0.389907,0.917501]]
2025-10-26T19:11:15.488Z,1761505875.488 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:11:15.568Z,1761505875.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689550,0.643840,0.331650],[-0.719705,0.660323,0.214473],[-0.080909,-0.386580,0.918700]]
2025-10-26T19:11:15.741Z,1761505875.741 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:11:15.966Z,1761505875.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682227,0.652590,0.329685],[-0.726262,0.656873,0.202638],[-0.084322,-0.377683,0.922088]]
2025-10-26T19:11:15.992Z,1761505875.992 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:11:16.351Z,1761505876.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677753,0.661204,0.321653],[-0.729896,0.657882,0.185590],[-0.088897,-0.360557,0.928491]]
2025-10-26T19:11:16.756Z,1761505876.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675024,0.668804,0.311518],[-0.731791,0.660681,0.167279],[-0.093937,-0.340884,0.935400]]
2025-10-26T19:11:17.162Z,1761505877.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672619,0.675610,0.301886],[-0.733307,0.663257,0.149502],[-0.099223,-0.321933,0.941549]]
2025-10-26T19:11:17.560Z,1761505877.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670454,0.681484,0.293377],[-0.734543,0.665401,0.132993],[-0.104581,-0.304664,0.946701]]
2025-10-26T19:11:17.968Z,1761505877.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668138,0.686301,0.287371],[-0.735879,0.666571,0.119012],[-0.109875,-0.290987,0.950397]]
2025-10-26T19:11:18.380Z,1761505878.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665119,0.691312,0.282320],[-0.737857,0.666561,0.106126],[-0.114817,-0.278898,0.953432]]
2025-10-26T19:11:18.786Z,1761505878.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662055,0.696166,0.277553],[-0.739850,0.666201,0.093799],[-0.119606,-0.267448,0.956120]]
2025-10-26T19:11:19.209Z,1761505879.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658875,0.699945,0.275609],[-0.741917,0.665162,0.084372],[-0.124269,-0.260070,0.957560]]
2025-10-26T19:11:19.273Z,1761505879.273 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:11:18.4139

2025-10-26T19:11:19.273Z,1761505879.273 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:11:19.580Z,1761505879.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655846,0.703067,0.274886],[-0.743853,0.663938,0.076613],[-0.128643,-0.254721,0.958420]]
2025-10-26T19:11:20.003Z,1761505880.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653537,0.704978,0.275492],[-0.745141,0.663151,0.070675],[-0.132869,-0.251469,0.958702]]
2025-10-26T19:11:20.415Z,1761505880.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652235,0.705829,0.276395],[-0.745594,0.663121,0.066037],[-0.136672,-0.249150,0.958773]]
2025-10-26T19:11:20.867Z,1761505880.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651748,0.705591,0.278145],[-0.745430,0.663564,0.063376],[-0.139850,-0.248643,0.958446]]
2025-10-26T19:11:21.215Z,1761505881.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652191,0.704448,0.279998],[-0.744628,0.664547,0.062503],[-0.142042,-0.249258,0.957964]]
2025-10-26T19:11:21.609Z,1761505881.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653858,0.702586,0.280789],[-0.742875,0.666547,0.062068],[-0.143551,-0.249175,0.957760]]
2025-10-26T19:11:22.015Z,1761505882.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655659,0.700615,0.281514],[-0.741059,0.668565,0.062076],[-0.144719,-0.249319,0.957547]]
2025-10-26T19:11:22.417Z,1761505882.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656709,0.699157,0.282691],[-0.740075,0.669536,0.063332],[-0.144992,-0.250803,0.957118]]
2025-10-26T19:11:22.858Z,1761505882.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656524,0.698481,0.284782],[-0.740287,0.669087,0.065563],[-0.144749,-0.253864,0.956348]]
2025-10-26T19:11:23.218Z,1761505883.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654966,0.698990,0.287110],[-0.741762,0.667237,0.067698],[-0.144250,-0.257308,0.955502]]
2025-10-26T19:11:23.622Z,1761505883.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652029,0.700988,0.288917],[-0.744417,0.664192,0.068502],[-0.143877,-0.259740,0.954900]]
2025-10-26T19:11:24.035Z,1761505884.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648444,0.703259,0.291455],[-0.747577,0.660537,0.069423],[-0.143694,-0.262903,0.954062]]
2025-10-26T19:11:24.060Z,1761505884.060 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:11:24.076Z,1761505884.076 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:11:24.128Z,1761505884.128 [DAT](INFO): entering command mode
2025-10-26T19:11:24.328Z,1761505884.328 [DAT](INFO): DAT read: 

2025-10-26T19:11:24.329Z,1761505884.329 [DAT](INFO): DAT read: user:93>

2025-10-26T19:11:24.329Z,1761505884.329 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:11:24.330Z,1761505884.330 [DAT](INFO): setting remote address to 0
2025-10-26T19:11:24.432Z,1761505884.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644408,0.706605,0.292315],[-0.751058,0.656695,0.068296],[-0.143704,-0.263556,0.953880]]
2025-10-26T19:11:24.580Z,1761505884.580 [DAT](INFO): DAT read: user:93>

2025-10-26T19:11:24.581Z,1761505884.581 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:11:24.581Z,1761505884.581 [DAT](INFO): set remote address to 0
2025-10-26T19:11:24.582Z,1761505884.582 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:11:24.582Z,1761505884.582 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:11:24.834Z,1761505884.834 [DAT](INFO): DAT read: user:94>

2025-10-26T19:11:24.837Z,1761505884.837 [DAT](INFO): DAT read: Tx time:19:11:23.9151

2025-10-26T19:11:24.838Z,1761505884.838 [DAT](INFO): Ping request sent.
2025-10-26T19:11:24.839Z,1761505884.839 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:11:24.840Z,1761505884.840 [DAT](INFO): publishing transmit ping time
2025-10-26T19:11:24.844Z,1761505884.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004516
2025-10-26T19:11:24.882Z,1761505884.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640327,0.710697,0.291360],[-0.754543,0.652971,0.065519],[-0.143685,-0.261798,0.954367]]
2025-10-26T19:11:25.087Z,1761505885.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248938
2025-10-26T19:11:25.237Z,1761505885.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636420,0.715148,0.289021],[-0.758097,0.649063,0.063289],[-0.142332,-0.259384,0.955228]]
2025-10-26T19:11:25.336Z,1761505885.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498107
2025-10-26T19:11:25.589Z,1761505885.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750663
2025-10-26T19:11:25.642Z,1761505885.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633107,0.720347,0.283329],[-0.761421,0.645434,0.060442],[-0.139331,-0.253998,0.957116]]
2025-10-26T19:11:25.841Z,1761505885.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002287
2025-10-26T19:11:26.047Z,1761505886.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631659,0.724226,0.276593],[-0.763348,0.643300,0.058862],[-0.135303,-0.248318,0.959183]]
2025-10-26T19:11:26.095Z,1761505886.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256566
2025-10-26T19:11:26.344Z,1761505886.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506103
2025-10-26T19:11:26.449Z,1761505886.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633264,0.725223,0.270239],[-0.762732,0.644013,0.059050],[-0.131213,-0.243514,0.960981]]
2025-10-26T19:11:26.493Z,1761505886.493 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:11:26.493Z,1761505886.493 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateRudder:A] Stopped
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:11:26.494Z,1761505886.494 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:11:26.495Z,1761505886.495 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:11:26.495Z,1761505886.495 [marl:UpdateCommandMode] Stopped
2025-10-26T19:11:26.495Z,1761505886.495 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:11:26.596Z,1761505886.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758137
2025-10-26T19:11:26.852Z,1761505886.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012839
2025-10-26T19:11:26.868Z,1761505886.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636806,0.724001,0.265144],[-0.760553,0.646330,0.061780],[-0.126642,-0.240998,0.962228]]
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateRudder:B] Stopped
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateRudder] Stopped
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:11:26.933Z,1761505886.933 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:11:26.934Z,1761505886.934 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:11:26.934Z,1761505886.934 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:11:26.934Z,1761505886.934 [marl:UpdateSpeed] Stopped
2025-10-26T19:11:26.934Z,1761505886.934 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:11:27.101Z,1761505887.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262739
2025-10-26T19:11:27.257Z,1761505887.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641249,0.721905,0.260100],[-0.757687,0.649279,0.065929],[-0.121283,-0.239352,0.963328]]
2025-10-26T19:11:27.352Z,1761505887.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514183
2025-10-26T19:11:27.604Z,1761505887.604 [DAT](INFO): DAT read: Rx Time:19:11:26.2213

2025-10-26T19:11:27.605Z,1761505887.605 [DAT](INFO): Rx dataTimestamp_ set to:1761505887.604554
2025-10-26T19:11:27.605Z,1761505887.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767149
2025-10-26T19:11:27.673Z,1761505887.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645868,0.719161,0.256246],[-0.754645,0.652211,0.071634],[-0.115610,-0.239641,0.963954]]
2025-10-26T19:11:27.856Z,1761505887.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018065
2025-10-26T19:11:28.082Z,1761505888.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650537,0.715281,0.255296],[-0.751400,0.655056,0.079376],[-0.110457,-0.243466,0.963599]]
2025-10-26T19:11:28.114Z,1761505888.114 [DAT](INFO): DAT read: 19:11:26.2213 LVL= 11568, 19297, 24626, 22483, AGC= 55, IDX= 210, 0.38, 1.725, 0.497,-0.521, 0.874, PHS= 0.953,-0.332,-1.440, RAW=  62.5,   7.9, CAL=  60.7,   9.2, ROT=  89.3,  -9.2

2025-10-26T19:11:28.115Z,1761505888.115 [DAT](INFO): got valid direction response:
 19:11:26.2213 LVL= 11568, 19297, 24626, 22483, AGC= 55, IDX= 210, 0.38, 1.725, 0.497,-0.521, 0.874, PHS= 0.953,-0.332,-1.440, RAW=  62.5,   7.9, CAL=  60.7,   9.2, ROT=  89.3,  -9.2

2025-10-26T19:11:28.116Z,1761505888.116 [DAT](INFO): DAT read: Bearing  24, -11 (Remote)

2025-10-26T19:11:28.117Z,1761505888.117 [DAT](INFO): Remote Bearing received:Bearing  24, -11 (Remote)

2025-10-26T19:11:28.117Z,1761505888.117 [DAT](INFO): DAT read: Bearing 169.0,  65.3 (Local)

2025-10-26T19:11:28.118Z,1761505888.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.0,  65.3 (Local)

2025-10-26T19:11:28.119Z,1761505888.119 [DAT](INFO): DAT read: Range 11 to 20 : 207.8 m  (Round-trip  277.1 ms) speed  0.1 m/s

2025-10-26T19:11:28.120Z,1761505888.120 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:11:28.121Z,1761505888.121 [DAT](INFO): direction in FSK: [0.012060,0.987063,0.159881]
2025-10-26T19:11:28.121Z,1761505888.121 [DAT](INFO): publishing direction and range info
2025-10-26T19:11:28.330Z,1761505888.330 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761505920.00. Resetting abort timer.
2025-10-26T19:11:28.577Z,1761505888.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658983,0.705671,0.260326],[-0.745008,0.659987,0.096852],[-0.103467,-0.257769,0.960651]]
2025-10-26T19:11:28.966Z,1761505888.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661281,0.701713,0.265152],[-0.743299,0.660575,0.105581],[-0.101065,-0.266906,0.958409]]
2025-10-26T19:11:29.369Z,1761505889.369 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:11:29.376Z,1761505889.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660723,0.700430,0.269892],[-0.744218,0.658163,0.113841],[-0.097895,-0.276077,0.956137]]
2025-10-26T19:11:29.620Z,1761505889.620 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:11:29.775Z,1761505889.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656204,0.702717,0.274928],[-0.748765,0.651546,0.121814],[-0.093527,-0.285792,0.953717]]
2025-10-26T19:11:29.873Z,1761505889.873 [DAT](INFO): setting remote address to 6
2025-10-26T19:11:30.124Z,1761505890.124 [DAT](INFO): DAT read: user:95>

2025-10-26T19:11:30.125Z,1761505890.125 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:11:30.125Z,1761505890.125 [DAT](INFO): set remote address to 6
2025-10-26T19:11:30.126Z,1761505890.126 [DAT](INFO): entering online mode
2025-10-26T19:11:30.196Z,1761505890.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647989,0.707422,0.282249],[-0.756583,0.640522,0.131579],[-0.087705,-0.298807,0.950275]]
2025-10-26T19:11:30.377Z,1761505890.377 [DAT](INFO): DAT read: user:96>

2025-10-26T19:11:30.378Z,1761505890.378 [DAT](INFO): DAT read: 

2025-10-26T19:11:30.380Z,1761505890.380 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:11:30.380Z,1761505890.380 [DAT](INFO): commRate: 600
2025-10-26T19:11:30.380Z,1761505890.380 [DAT](INFO): online mode acknowledged
2025-10-26T19:11:30.381Z,1761505890.381 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:11:30.585Z,1761505890.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636977,0.712620,0.293997],[-0.766634,0.625576,0.144663],[-0.080828,-0.317535,0.944796]]
2025-10-26T19:11:30.987Z,1761505890.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624423,0.718351,0.306704],[-0.777693,0.608339,0.158486],[-0.072731,-0.337484,0.938517]]
2025-10-26T19:11:31.391Z,1761505891.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611650,0.723932,0.319072],[-0.788509,0.590637,0.171466],[-0.064326,-0.356469,0.932090]]
2025-10-26T19:11:31.794Z,1761505891.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599138,0.729859,0.329149],[-0.798687,0.573569,0.181982],[-0.055968,-0.371920,0.926576]]
2025-10-26T19:11:32.611Z,1761505892.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575967,0.741173,0.344856],[-0.816477,0.542391,0.197933],[-0.040344,-0.395570,0.917549]]
2025-10-26T19:11:33.006Z,1761505893.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564089,0.747694,0.350368],[-0.825049,0.527407,0.202821],[-0.033138,-0.403480,0.914388]]
2025-10-26T19:11:33.160Z,1761505893.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:11:33.654Z,1761505893.654 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:11:32.8138

2025-10-26T19:11:33.654Z,1761505893.654 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:11:33.814Z,1761505893.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537630,0.763506,0.357789],[-0.842968,0.496243,0.207723],[-0.018953,-0.413282,0.910406]]
2025-10-26T19:11:34.164Z,1761505894.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:11:34.219Z,1761505894.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523297,0.771698,0.361445],[-0.852063,0.479908,0.208988],[-0.012184,-0.417337,0.908670]]
2025-10-26T19:11:34.626Z,1761505894.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508899,0.780700,0.362670],[-0.860808,0.464228,0.208571],[-0.005530,-0.418331,0.908278]]
2025-10-26T19:11:35.025Z,1761505895.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494335,0.789979,0.362720],[-0.869270,0.448592,0.207689],[0.001357,-0.417970,0.908460]]
2025-10-26T19:11:35.432Z,1761505895.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479913,0.799634,0.360927],[-0.877274,0.433401,0.206284],[0.008526,-0.415631,0.909494]]
2025-10-26T19:11:35.836Z,1761505895.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466178,0.808652,0.358832],[-0.884550,0.418811,0.205350],[0.015774,-0.413134,0.910533]]
2025-10-26T19:11:36.238Z,1761505896.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453696,0.816779,0.356416],[-0.890864,0.405449,0.204871],[0.022826,-0.410467,0.911590]]
2025-10-26T19:11:36.655Z,1761505896.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441967,0.823789,0.355017],[-0.896543,0.392604,0.205117],[0.029592,-0.408943,0.912080]]
2025-10-26T19:11:37.046Z,1761505897.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431031,0.829161,0.355956],[-0.901609,0.379915,0.206798],[0.036236,-0.410070,0.911334]]
2025-10-26T19:11:37.453Z,1761505897.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420116,0.833444,0.358989],[-0.906471,0.366860,0.209102],[0.042576,-0.413260,0.909617]]
2025-10-26T19:11:37.905Z,1761505897.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409488,0.836947,0.363097],[-0.911060,0.354269,0.210863],[0.047847,-0.417149,0.907578]]
2025-10-26T19:11:38.329Z,1761505898.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398219,0.840096,0.368320],[-0.915766,0.340958,0.212417],[0.052869,-0.421883,0.905107]]
2025-10-26T19:11:38.737Z,1761505898.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386063,0.844246,0.371759],[-0.920704,0.327704,0.211931],[0.057095,-0.424098,0.903815]]
2025-10-26T19:11:39.052Z,1761505899.052 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:11:39.052Z,1761505899.052 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:11:39.142Z,1761505899.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372846,0.849320,0.373686],[-0.925894,0.314117,0.209881],[0.060875,-0.424247,0.903498]]
2025-10-26T19:11:39.542Z,1761505899.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358759,0.855617,0.373110],[-0.931206,0.300489,0.206308],[0.064405,-0.421456,0.904559]]
2025-10-26T19:11:39.603Z,1761505899.603 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:11:39.603Z,1761505899.603 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:11:39.603Z,1761505899.603 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateRudder:A] Stopped
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode] Stopped
2025-10-26T19:11:39.604Z,1761505899.604 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:11:39.944Z,1761505899.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343999,0.863221,0.369478],[-0.936496,0.286871,0.201691],[0.068112,-0.415397,0.907087]]
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateRudder:B] Stopped
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateRudder] Stopped
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:11:39.986Z,1761505899.986 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:11:39.987Z,1761505899.987 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:11:39.987Z,1761505899.987 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:11:39.987Z,1761505899.987 [marl:UpdateSpeed] Stopped
2025-10-26T19:11:39.987Z,1761505899.987 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:11:40.346Z,1761505900.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328939,0.871353,0.364065],[-0.941591,0.273170,0.196939],[0.072152,-0.407581,0.910314]]
2025-10-26T19:11:40.750Z,1761505900.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314230,0.879245,0.358032],[-0.946256,0.259671,0.192796],[0.076545,-0.399372,0.913588]]
2025-10-26T19:11:41.234Z,1761505901.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300233,0.885767,0.353945],[-0.950396,0.246164,0.190132],[0.081285,-0.393472,0.915736]]
2025-10-26T19:11:41.643Z,1761505901.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287021,0.891764,0.349822],[-0.954015,0.233150,0.188402],[0.086449,-0.387811,0.917676]]
2025-10-26T19:11:42.096Z,1761505902.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275408,0.896127,0.348004],[-0.956993,0.221234,0.187669],[0.091185,-0.384723,0.918517]]
2025-10-26T19:11:42.494Z,1761505902.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264603,0.899580,0.347478],[-0.959617,0.209934,0.187248],[0.095497,-0.382992,0.918802]]
2025-10-26T19:11:42.898Z,1761505902.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254034,0.901659,0.349968],[-0.962072,0.198374,0.187256],[0.099417,-0.384264,0.917855]]
2025-10-26T19:11:43.302Z,1761505903.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242928,0.903022,0.354313],[-0.964590,0.186193,0.186811],[0.102724,-0.387148,0.916277]]
2025-10-26T19:11:43.736Z,1761505903.736 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:11:43.736Z,1761505903.736 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:11:43.989Z,1761505903.989 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:11:44.127Z,1761505904.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218764,0.903651,0.368180],[-0.969978,0.160312,0.182874],[0.106230,-0.397133,0.911592]]
2025-10-26T19:11:44.240Z,1761505904.240 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:11:44.492Z,1761505904.492 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:11:44.522Z,1761505904.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204626,0.904797,0.373458],[-0.973049,0.146587,0.178011],[0.106319,-0.399819,0.910407]]
2025-10-26T19:11:44.980Z,1761505904.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170721,0.909678,0.378602],[-0.979837,0.116261,0.162488],[0.103795,-0.398708,0.911185]]
2025-10-26T19:11:45.011Z,1761505905.011 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +36.61,     +2003.55,    ,  68.58,  0.00
2025-10-26T19:11:45.382Z,1761505905.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151565,0.913835,0.376741],[-0.983136,0.099913,0.153168],[0.102329,-0.393603,0.913568]]
2025-10-26T19:11:45.787Z,1761505905.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132430,0.918283,0.373121],[-0.986043,0.083728,0.143908],[0.100907,-0.386971,0.916554]]
2025-10-26T19:11:46.192Z,1761505906.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113401,0.922446,0.369098],[-0.988523,0.067431,0.135188],[0.099815,-0.380193,0.919506]]
2025-10-26T19:11:46.600Z,1761505906.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094342,0.926472,0.364347],[-0.990538,0.050717,0.127520],[0.099665,-0.372930,0.922491]]
2025-10-26T19:11:46.998Z,1761505906.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075070,0.929405,0.361346],[-0.992117,0.033150,0.120848],[0.100338,-0.367569,0.924567]]
2025-10-26T19:11:47.402Z,1761505907.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055572,0.931403,0.359722],[-0.993274,0.014918,0.114822],[0.101580,-0.363683,0.925968]]
2025-10-26T19:11:47.773Z,1761505907.773 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:11:46.9137

2025-10-26T19:11:47.773Z,1761505907.773 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:11:47.816Z,1761505907.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036970,0.932188,0.360081],[-0.994027,-0.002721,0.109102],[0.102683,-0.361964,0.926519]]
2025-10-26T19:11:48.210Z,1761505908.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019324,0.932260,0.361273],[-0.994454,-0.019442,0.103361],[0.103383,-0.361267,0.926714]]
2025-10-26T19:11:48.619Z,1761505908.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002145,0.931487,0.363768],[-0.994592,-0.035787,0.097502],[0.103840,-0.362010,0.926373]]
2025-10-26T19:11:49.022Z,1761505909.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014354,0.929709,0.368014],[-0.994489,-0.051503,0.091322],[0.103857,-0.364675,0.925325]]
2025-10-26T19:11:49.425Z,1761505909.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030779,0.927945,0.371445],[-0.994175,-0.066823,0.084557],[0.103285,-0.366679,0.924597]]
2025-10-26T19:11:49.856Z,1761505909.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047304,0.925195,0.376533],[-0.993655,-0.082092,0.076878],[0.102037,-0.370507,0.923208]]
2025-10-26T19:11:50.279Z,1761505910.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063169,0.922323,0.381223],[-0.992977,-0.096371,0.068619],[0.100027,-0.374211,0.921933]]
2025-10-26T19:11:50.680Z,1761505910.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078277,0.919500,0.385218],[-0.992120,-0.109768,0.060410],[0.097831,-0.377453,0.920846]]
2025-10-26T19:11:51.093Z,1761505911.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092196,0.917264,0.387462],[-0.991148,-0.121867,0.052662],[0.095524,-0.379177,0.920380]]
2025-10-26T19:11:51.890Z,1761505911.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117120,0.912279,0.392467],[-0.988847,-0.143732,0.039011],[0.091999,-0.383521,0.918939]]
2025-10-26T19:11:52.301Z,1761505912.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127974,0.910005,0.394353],[-0.987683,-0.153033,0.032619],[0.090033,-0.385321,0.918380]]
2025-10-26T19:11:52.705Z,1761505912.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138543,0.907908,0.395611],[-0.986451,-0.161950,0.026212],[0.087867,-0.386620,0.918044]]
2025-10-26T19:11:52.740Z,1761505912.740 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:11:52.740Z,1761505912.740 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:11:52.740Z,1761505912.740 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:11:52.740Z,1761505912.740 [marl:UpdateRudder:A] Stopped
2025-10-26T19:11:52.740Z,1761505912.740 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode] Stopped
2025-10-26T19:11:52.741Z,1761505912.741 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:11:53.106Z,1761505913.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149594,0.906039,0.395872],[-0.985032,-0.171243,0.019699],[0.085639,-0.387000,0.918094]]
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateRudder:B] Stopped
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateRudder] Stopped
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:11:53.157Z,1761505913.157 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:11:53.158Z,1761505913.158 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:11:53.158Z,1761505913.158 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:11:53.158Z,1761505913.158 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:11:53.158Z,1761505913.158 [marl:UpdateSpeed] Stopped
2025-10-26T19:11:53.158Z,1761505913.158 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:11:53.506Z,1761505913.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161280,0.904250,0.395375],[-0.983407,-0.180967,0.012737],[0.083067,-0.386760,0.918431]]
2025-10-26T19:11:53.912Z,1761505913.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173805,0.902762,0.393462],[-0.981484,-0.191460,0.005735],[0.080510,-0.385179,0.919323]]
2025-10-26T19:11:54.314Z,1761505914.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187135,0.900620,0.392256],[-0.979227,-0.202762,-0.001623],[0.078073,-0.384411,0.919855]]
2025-10-26T19:11:54.357Z,1761505914.357 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:11:54.581Z,1761505914.581 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:11:54.636Z,1761505914.636 [DAT](INFO): entering command mode
2025-10-26T19:11:54.724Z,1761505914.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201656,0.898955,0.388863],[-0.976511,-0.215291,-0.008699],[0.075899,-0.381483,0.921255]]
2025-10-26T19:11:54.834Z,1761505914.834 [DAT](INFO): DAT read: 

2025-10-26T19:11:54.836Z,1761505914.836 [DAT](INFO): DAT read: user:97>

2025-10-26T19:11:54.838Z,1761505914.838 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:11:54.840Z,1761505914.840 [DAT](INFO): setting remote address to 0
2025-10-26T19:11:54.876Z,1761505914.876 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T19:11:54.876Z,1761505914.876 [NAL9602] Data Fault, FailCount= 1
2025-10-26T19:11:54.876Z,1761505914.876 [NAL9602](ERROR): Data Fault
2025-10-26T19:11:54.964Z,1761505914.964 [marl:NeedComms] Running Loop=1
2025-10-26T19:11:54.964Z,1761505914.964 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T19:11:54.964Z,1761505914.964 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T19:11:54.964Z,1761505914.964 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T19:11:54.964Z,1761505914.964 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T19:11:54.965Z,1761505914.965 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T19:11:54.965Z,1761505914.965 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T19:11:54.965Z,1761505914.965 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T19:11:54.966Z,1761505914.966 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T19:11:54.966Z,1761505914.966 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T19:11:54.966Z,1761505914.966 [marl:NeedComms:A] Running Loop=1
2025-10-26T19:11:54.976Z,1761505914.976 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T19:11:54.976Z,1761505914.976 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T19:11:54.976Z,1761505914.976 [marl:NeedComms:A] Stopped
2025-10-26T19:11:55.085Z,1761505915.085 [DAT](INFO): DAT read: user:97>

2025-10-26T19:11:55.087Z,1761505915.087 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:11:55.087Z,1761505915.087 [DAT](INFO): set remote address to 0
2025-10-26T19:11:55.088Z,1761505915.088 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:11:55.088Z,1761505915.088 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:11:55.143Z,1761505915.143 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T19:11:55.177Z,1761505915.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216375,0.896846,0.385809],[-0.973494,-0.228185,-0.015532],[0.074106,-0.378943,0.922448]]
2025-10-26T19:11:55.188Z,1761505915.188 [NAL9602](INFO): Powering down
2025-10-26T19:11:55.336Z,1761505915.336 [DAT](INFO): DAT read: user:98>

2025-10-26T19:11:55.337Z,1761505915.337 [DAT](INFO): DAT read: Tx time:19:11:54.4149

2025-10-26T19:11:55.337Z,1761505915.337 [DAT](INFO): Ping request sent.
2025-10-26T19:11:55.337Z,1761505915.337 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:11:55.338Z,1761505915.338 [DAT](INFO): publishing transmit ping time
2025-10-26T19:11:55.338Z,1761505915.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000986
2025-10-26T19:11:55.590Z,1761505915.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252334
2025-10-26T19:11:55.598Z,1761505915.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231717,0.894373,0.382629],[-0.970107,-0.241609,-0.022743],[0.072106,-0.376461,0.923622]]
2025-10-26T19:11:55.841Z,1761505915.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503403
2025-10-26T19:11:55.974Z,1761505915.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247359,0.891740,0.378964],[-0.966393,-0.255308,-0.030024],[0.069979,-0.373655,0.924924]]
2025-10-26T19:11:56.093Z,1761505916.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755107
2025-10-26T19:11:56.344Z,1761505916.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918
2025-10-26T19:11:56.495Z,1761505916.495 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T19:11:56.495Z,1761505916.495 [NAL9602] No Fault, FailCount= 1
2025-10-26T19:11:56.517Z,1761505916.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263742,0.889453,0.373248],[-0.962213,-0.269764,-0.037062],[0.067724,-0.368918,0.926991]]
2025-10-26T19:11:56.596Z,1761505916.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259052
2025-10-26T19:11:56.852Z,1761505916.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514093
2025-10-26T19:11:57.005Z,1761505917.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298628,0.883407,0.361128],[-0.952377,-0.300282,-0.052988],[0.061630,-0.359754,0.931009]]
2025-10-26T19:11:57.100Z,1761505917.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763047
2025-10-26T19:11:57.352Z,1761505917.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991
2025-10-26T19:11:57.403Z,1761505917.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318622,0.878887,0.355019],[-0.946367,-0.316123,-0.066749],[0.053565,-0.357246,0.932473]]
2025-10-26T19:11:57.604Z,1761505917.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266999
2025-10-26T19:11:57.810Z,1761505917.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340932,0.874236,0.345655],[-0.939235,-0.332424,-0.085630],[0.040043,-0.353845,0.934446]]
2025-10-26T19:11:57.856Z,1761505917.856 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:11:57.857Z,1761505917.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519161
2025-10-26T19:11:58.109Z,1761505918.109 [DAT](INFO): DAT read: Rx Time:19:11:56.7295

2025-10-26T19:11:58.109Z,1761505918.109 [DAT](INFO): Rx dataTimestamp_ set to:1761505918.108745
2025-10-26T19:11:58.109Z,1761505918.109 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:11:58.110Z,1761505918.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772280
2025-10-26T19:11:58.256Z,1761505918.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364360,0.869080,0.334578],[-0.930986,-0.348614,-0.108317],[0.022502,-0.350954,0.936122]]
2025-10-26T19:11:58.360Z,1761505918.360 [DAT](INFO): setting remote address to 6
2025-10-26T19:11:58.361Z,1761505918.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023339
2025-10-26T19:11:58.619Z,1761505918.619 [DAT](INFO): DAT read: 19:11:56.7295 LVL= 32752, 29985, 32754, 32755, AGC= 67, IDX= 456, 0.33, 1.183, 2.699, 0.670, 1.726, PHS=-0.442, 1.018,-1.100, RAW= 347.7,   5.6, CAL= 347.5,   4.2, ROT= 162.5,  -4.2

2025-10-26T19:11:58.620Z,1761505918.620 [DAT](INFO): got valid direction response:
 19:11:56.7295 LVL= 32752, 29985, 32754, 32755, AGC= 67, IDX= 456, 0.33, 1.183, 2.699, 0.670, 1.726, PHS=-0.442, 1.018,-1.100, RAW= 347.7,   5.6, CAL= 347.5,   4.2, ROT= 162.5,  -4.2

2025-10-26T19:11:58.621Z,1761505918.621 [DAT](INFO): DAT read: Bearing  32,  -7 (Remote)

2025-10-26T19:11:58.621Z,1761505918.621 [DAT](INFO): Remote Bearing received:Bearing  32,  -7 (Remote)

2025-10-26T19:11:58.622Z,1761505918.622 [DAT](INFO): DAT read: Bearing 205.7,  12.6 (Local)

2025-10-26T19:11:58.623Z,1761505918.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.7,  12.6 (Local)

2025-10-26T19:11:58.624Z,1761505918.624 [DAT](INFO): DAT read: Range 11 to 20 : 214.2 m  (Round-trip  285.6 ms) speed -0.6 m/s

2025-10-26T19:11:58.625Z,1761505918.625 [DAT](INFO): DAT read: user:99>

2025-10-26T19:11:58.626Z,1761505918.626 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:11:58.626Z,1761505918.626 [DAT](INFO): set remote address to 6
2025-10-26T19:11:58.627Z,1761505918.627 [DAT](INFO): entering online mode
2025-10-26T19:11:58.654Z,1761505918.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388238,0.863425,0.322133],[-0.921556,-0.364695,-0.133163],[0.002504,-0.348562,0.937282]]
2025-10-26T19:11:58.865Z,1761505918.865 [DAT](INFO): DAT read: user:100>

2025-10-26T19:11:58.865Z,1761505918.865 [DAT](INFO): DAT read: 

2025-10-26T19:11:58.867Z,1761505918.867 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:11:58.867Z,1761505918.867 [DAT](INFO): commRate: 600
2025-10-26T19:11:58.867Z,1761505918.867 [DAT](INFO): online mode acknowledged
2025-10-26T19:11:58.868Z,1761505918.868 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:11:58.868Z,1761505918.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530735
2025-10-26T19:11:59.067Z,1761505919.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411384,0.856724,0.311105],[-0.911264,-0.379476,-0.159988],[-0.019009,-0.349315,0.936812]]
2025-10-26T19:11:59.116Z,1761505919.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779065
2025-10-26T19:11:59.368Z,1761505919.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030964
2025-10-26T19:11:59.463Z,1761505919.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433208,0.850183,0.299199],[-0.900344,-0.392968,-0.186968],[-0.041382,-0.350378,0.935694]]
2025-10-26T19:11:59.621Z,1761505919.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283601
2025-10-26T19:11:59.872Z,1761505919.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534990
2025-10-26T19:12:00.124Z,1761505920.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786933
2025-10-26T19:12:00.271Z,1761505920.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474692,0.836164,0.274768],[-0.875959,-0.418384,-0.240104],[-0.085808,-0.354661,0.931049]]
2025-10-26T19:12:00.376Z,1761505920.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038939
2025-10-26T19:12:00.635Z,1761505920.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297786
2025-10-26T19:12:00.674Z,1761505920.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494641,0.828903,0.261247],[-0.862391,-0.430852,-0.265798],[-0.107762,-0.356771,0.927956]]
2025-10-26T19:12:00.888Z,1761505920.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550903
2025-10-26T19:12:01.082Z,1761505921.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514740,0.821003,0.246974],[-0.847531,-0.443811,-0.291073],[-0.129362,-0.359145,0.924273]]
2025-10-26T19:12:01.142Z,1761505921.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804436
2025-10-26T19:12:01.392Z,1761505921.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054984
2025-10-26T19:12:01.483Z,1761505921.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533355,0.813127,0.233145],[-0.832468,-0.455653,-0.315241],[-0.150098,-0.362221,0.919927]]
2025-10-26T19:12:01.644Z,1761505921.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306985
2025-10-26T19:12:01.893Z,1761505921.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551560,0.805160,0.217941],[-0.816667,-0.468061,-0.337601],[-0.169813,-0.364193,0.915711]]
2025-10-26T19:12:01.896Z,1761505921.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559010
2025-10-26T19:12:02.149Z,1761505922.149 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:12:01.3136

2025-10-26T19:12:02.149Z,1761505922.149 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:12:02.150Z,1761505922.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.812209
2025-10-26T19:12:02.291Z,1761505922.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569595,0.797225,0.199983],[-0.799919,-0.481761,-0.357821],[-0.188920,-0.363783,0.912124]]
2025-10-26T19:12:02.400Z,1761505922.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062930
2025-10-26T19:12:02.652Z,1761505922.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314944
2025-10-26T19:12:02.695Z,1761505922.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586821,0.789109,0.181519],[-0.782687,-0.495356,-0.376860],[-0.207467,-0.363222,0.908310]]
2025-10-26T19:12:02.904Z,1761505922.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566975
2025-10-26T19:12:03.098Z,1761505923.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602679,0.781113,0.163218],[-0.765390,-0.507982,-0.395135],[-0.225733,-0.363066,0.904006]]
2025-10-26T19:12:03.156Z,1761505923.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819060
2025-10-26T19:12:03.408Z,1761505923.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070941
2025-10-26T19:12:03.503Z,1761505923.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618197,0.772767,0.143752],[-0.747349,-0.521207,-0.412083],[-0.243520,-0.362181,0.899735]]
2025-10-26T19:12:03.661Z,1761505923.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323103
2025-10-26T19:12:03.912Z,1761505923.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575018
2025-10-26T19:12:03.915Z,1761505923.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633337,0.763940,0.123608],[-0.728622,-0.534826,-0.427868],[-0.260756,-0.361048,0.895349]]
2025-10-26T19:12:04.164Z,1761505924.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826868
2025-10-26T19:12:04.288Z,1761505924.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:12:04.310Z,1761505924.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647410,0.755056,0.103687],[-0.710133,-0.548227,-0.441766],[-0.276714,-0.359635,0.891118]]
2025-10-26T19:12:04.417Z,1761505924.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079245
2025-10-26T19:12:04.668Z,1761505924.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330927
2025-10-26T19:12:04.721Z,1761505924.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660383,0.746137,0.084702],[-0.692279,-0.561218,-0.453634],[-0.290936,-0.358209,0.887154]]
2025-10-26T19:12:04.921Z,1761505924.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583691
2025-10-26T19:12:05.172Z,1761505925.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834992
2025-10-26T19:12:05.292Z,1761505925.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:12:05.424Z,1761505925.424 [DAT](INFO): Reached modem response timeout
2025-10-26T19:12:05.522Z,1761505925.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683780,0.727915,0.050845],[-0.657694,-0.584636,-0.475016],[-0.316045,-0.358246,0.878507]]
2025-10-26T19:12:05.926Z,1761505925.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693876,0.719213,0.035615],[-0.641785,-0.595230,-0.483543],[-0.326571,-0.358376,0.874596]]
2025-10-26T19:12:05.966Z,1761505925.966 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:12:05.967Z,1761505925.967 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:12:05.967Z,1761505925.967 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:12:05.967Z,1761505925.967 [marl:UpdateRudder:A] Stopped
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode] Stopped
2025-10-26T19:12:05.968Z,1761505925.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:12:06.330Z,1761505926.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702718,0.711151,0.021259],[-0.627017,-0.604908,-0.490851],[-0.336210,-0.358260,0.870984]]
2025-10-26T19:12:06.353Z,1761505926.353 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:12:06.353Z,1761505926.353 [marl:UpdateRudder:B] Stopped
2025-10-26T19:12:06.353Z,1761505926.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:12:06.353Z,1761505926.353 [marl:UpdateRudder] Stopped
2025-10-26T19:12:06.353Z,1761505926.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed] Stopped
2025-10-26T19:12:06.354Z,1761505926.354 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:12:06.737Z,1761505926.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710741,0.703403,0.008384],[-0.613128,-0.613594,-0.497571],[-0.344849,-0.358785,0.867383]]
2025-10-26T19:12:07.138Z,1761505927.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717917,0.696121,-0.003119],[-0.600291,-0.621343,-0.503571],[-0.352484,-0.359650,0.863948]]
2025-10-26T19:12:07.552Z,1761505927.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724209,0.689456,-0.013136],[-0.588531,-0.627899,-0.509288],[-0.359380,-0.361100,0.860496]]
2025-10-26T19:12:08.006Z,1761505928.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729783,0.683254,-0.024095],[-0.577672,-0.635094,-0.512787],[-0.365666,-0.360304,0.858178]]
2025-10-26T19:12:08.537Z,1761505928.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734417,0.677857,-0.033782],[-0.568366,-0.641468,-0.515246],[-0.370933,-0.359205,0.856376]]
2025-10-26T19:12:08.934Z,1761505928.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739011,0.672240,-0.044227],[-0.559494,-0.648984,-0.515544],[-0.375272,-0.356248,0.855721]]
2025-10-26T19:12:09.334Z,1761505929.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742844,0.667058,-0.056707],[-0.551636,-0.657895,-0.512711],[-0.379315,-0.349583,0.856687]]
2025-10-26T19:12:09.740Z,1761505929.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745369,0.662513,-0.074168],[-0.545382,-0.669975,-0.503678],[-0.383384,-0.334976,0.860702]]
2025-10-26T19:12:10.142Z,1761505930.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746873,0.657862,-0.096945],[-0.539948,-0.685069,-0.489016],[-0.388119,-0.312888,0.866871]]
2025-10-26T19:12:10.551Z,1761505930.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747158,0.653472,-0.121365],[-0.535235,-0.699825,-0.473041],[-0.394053,-0.288478,0.872641]]
2025-10-26T19:12:10.950Z,1761505930.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747226,0.648579,-0.144910],[-0.530354,-0.713366,-0.458077],[-0.400472,-0.265433,0.877022]]
2025-10-26T19:12:11.354Z,1761505931.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747146,0.643670,-0.165714],[-0.525472,-0.724703,-0.445739],[-0.407003,-0.245954,0.879690]]
2025-10-26T19:12:11.762Z,1761505931.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747447,0.638195,-0.184471],[-0.520193,-0.734976,-0.434981],[-0.413185,-0.229165,0.881341]]
2025-10-26T19:12:12.163Z,1761505932.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748787,0.632002,-0.199726],[-0.513882,-0.743873,-0.427292],[-0.418621,-0.217315,0.881777]]
2025-10-26T19:12:12.228Z,1761505932.228 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:12:12.480Z,1761505932.480 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:12:12.566Z,1761505932.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751135,0.625046,-0.212401],[-0.506822,-0.752174,-0.421149],[-0.423000,-0.208690,0.881771]]
2025-10-26T19:12:12.732Z,1761505932.732 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:12:12.970Z,1761505932.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753570,0.618812,-0.221820],[-0.500293,-0.758762,-0.417118],[-0.426427,-0.203353,0.881367]]
2025-10-26T19:12:13.392Z,1761505933.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754105,0.616471,-0.226472],[-0.496054,-0.760641,-0.418754],[-0.430414,-0.203442,0.879406]]
2025-10-26T19:12:13.784Z,1761505933.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752120,0.620445,-0.222177],[-0.499599,-0.756654,-0.421754],[-0.429786,-0.206211,0.879068]]
2025-10-26T19:12:14.591Z,1761505934.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746176,0.631300,-0.211380],[-0.513001,-0.747591,-0.421826],[-0.424325,-0.206318,0.881692]]
2025-10-26T19:12:14.996Z,1761505934.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742442,0.636820,-0.207945],[-0.521114,-0.744068,-0.418094],[-0.420976,-0.202047,0.884283]]
2025-10-26T19:12:15.397Z,1761505935.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740038,0.639716,-0.207622],[-0.527475,-0.743569,-0.410945],[-0.417269,-0.194600,0.887703]]
2025-10-26T19:12:15.809Z,1761505935.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739958,0.638697,-0.211016],[-0.530594,-0.747037,-0.400506],[-0.413439,-0.184394,0.891665]]
2025-10-26T19:12:16.021Z,1761505936.021 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:12:15.1635

2025-10-26T19:12:16.022Z,1761505936.022 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:12:16.202Z,1761505936.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741454,0.635445,-0.215535],[-0.531404,-0.752207,-0.389609],[-0.409702,-0.174341,0.895405]]
2025-10-26T19:12:16.606Z,1761505936.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744177,0.631157,-0.218725],[-0.530134,-0.757260,-0.381465],[-0.406396,-0.167924,0.898134]]
2025-10-26T19:12:17.024Z,1761505937.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748009,0.626842,-0.218061],[-0.527016,-0.760704,-0.378924],[-0.403406,-0.168517,0.899370]]
2025-10-26T19:12:17.420Z,1761505937.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752868,0.621823,-0.215698],[-0.522375,-0.763902,-0.378918],[-0.400392,-0.172599,0.899942]]
2025-10-26T19:12:17.818Z,1761505937.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758190,0.617228,-0.210184],[-0.517245,-0.765617,-0.382477],[-0.396996,-0.181273,0.899741]]
2025-10-26T19:12:18.222Z,1761505938.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762338,0.614805,-0.202127],[-0.513871,-0.764888,-0.388436],[-0.393417,-0.192252,0.899034]]
2025-10-26T19:12:18.627Z,1761505938.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765047,0.614902,-0.191307],[-0.512846,-0.761430,-0.396501],[-0.389477,-0.205231,0.897880]]
2025-10-26T19:12:19.037Z,1761505939.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765981,0.617744,-0.177947],[-0.515344,-0.755523,-0.404483],[-0.384310,-0.218122,0.897067]]
2025-10-26T19:12:19.112Z,1761505939.112 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:12:19.112Z,1761505939.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:12:19.112Z,1761505939.112 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateRudder:A] Stopped
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:12:19.113Z,1761505939.113 [marl:UpdateCommandMode] Stopped
2025-10-26T19:12:19.114Z,1761505939.114 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:12:19.434Z,1761505939.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766458,0.620498,-0.165908],[-0.519366,-0.750705,-0.408291],[-0.377891,-0.226770,0.897649]]
2025-10-26T19:12:19.472Z,1761505939.472 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:12:19.472Z,1761505939.472 [marl:UpdateRudder:B] Stopped
2025-10-26T19:12:19.473Z,1761505939.473 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:12:19.473Z,1761505939.473 [marl:UpdateRudder] Stopped
2025-10-26T19:12:19.473Z,1761505939.473 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:12:19.838Z,1761505939.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766196,0.623682,-0.154805],[-0.524950,-0.746422,-0.409000],[-0.370636,-0.232109,0.899308]]
2025-10-26T19:12:19.861Z,1761505939.861 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:12:19.862Z,1761505939.862 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:12:19.862Z,1761505939.862 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:12:19.862Z,1761505939.862 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:12:19.862Z,1761505939.862 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:12:19.862Z,1761505939.862 [marl:UpdateSpeed] Stopped
2025-10-26T19:12:19.862Z,1761505939.862 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:12:20.243Z,1761505940.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764994,0.627279,-0.145967],[-0.531755,-0.743052,-0.406338],[-0.363348,-0.233227,0.901989]]
2025-10-26T19:12:20.649Z,1761505940.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762630,0.631646,-0.139350],[-0.539637,-0.740082,-0.401336],[-0.356633,-0.230873,0.905268]]
2025-10-26T19:12:21.454Z,1761505941.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757465,0.638956,-0.134097],[-0.553205,-0.737220,-0.387905],[-0.346713,-0.219641,0.911892]]
2025-10-26T19:12:21.858Z,1761505941.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756760,0.639730,-0.134385],[-0.556510,-0.738345,-0.380977],[-0.342944,-0.213521,0.914766]]
2025-10-26T19:12:22.263Z,1761505942.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758134,0.637939,-0.135150],[-0.557088,-0.741338,-0.374260],[-0.338947,-0.208449,0.917422]]
2025-10-26T19:12:22.666Z,1761505942.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761576,0.633641,-0.136019],[-0.554981,-0.746032,-0.368012],[-0.334662,-0.204781,0.919819]]
2025-10-26T19:12:23.070Z,1761505943.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765590,0.628733,-0.136261],[-0.551796,-0.750656,-0.363370],[-0.330748,-0.203004,0.921627]]
2025-10-26T19:12:23.522Z,1761505943.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769587,0.624312,-0.134053],[-0.548564,-0.753861,-0.361622],[-0.326822,-0.204763,0.922637]]
2025-10-26T19:12:23.944Z,1761505943.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774049,0.619709,-0.129650],[-0.544866,-0.756318,-0.362084],[-0.322443,-0.209629,0.923085]]
2025-10-26T19:12:24.423Z,1761505944.423 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:12:24.594Z,1761505944.594 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:12:24.647Z,1761505944.647 [DAT](INFO): entering command mode
2025-10-26T19:12:24.783Z,1761505944.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781690,0.612584,-0.117053],[-0.539263,-0.758172,-0.366565],[-0.313298,-0.223418,0.923000]]
2025-10-26T19:12:24.847Z,1761505944.847 [DAT](INFO): DAT read: 

2025-10-26T19:12:24.849Z,1761505944.849 [DAT](INFO): DAT read: user:101>

2025-10-26T19:12:24.850Z,1761505944.850 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:12:24.852Z,1761505944.852 [DAT](INFO): setting remote address to 0
2025-10-26T19:12:25.096Z,1761505945.096 [DAT](INFO): DAT read: user:101>

2025-10-26T19:12:25.097Z,1761505945.097 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:12:25.097Z,1761505945.097 [DAT](INFO): set remote address to 0
2025-10-26T19:12:25.098Z,1761505945.098 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:12:25.098Z,1761505945.098 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:12:25.184Z,1761505945.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785733,0.608242,-0.112536],[-0.535936,-0.760254,-0.367133],[-0.308862,-0.228156,0.923336]]
2025-10-26T19:12:25.193Z,1761505945.193 [NAL9602](INFO): Powering up NAL9602
2025-10-26T19:12:25.348Z,1761505945.348 [DAT](INFO): DAT read: user:102>

2025-10-26T19:12:25.349Z,1761505945.349 [DAT](INFO): DAT read: Tx time:19:12:24.4147

2025-10-26T19:12:25.349Z,1761505945.349 [DAT](INFO): Ping request sent.
2025-10-26T19:12:25.349Z,1761505945.349 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:12:25.350Z,1761505945.350 [DAT](INFO): publishing transmit ping time
2025-10-26T19:12:25.350Z,1761505945.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000987
2025-10-26T19:12:25.586Z,1761505945.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789566,0.604014,-0.108414],[-0.532444,-0.762122,-0.368339],[-0.305106,-0.233103,0.923349]]
2025-10-26T19:12:25.601Z,1761505945.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251130
2025-10-26T19:12:25.852Z,1761505945.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502837
2025-10-26T19:12:25.999Z,1761505945.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793685,0.598838,-0.107039],[-0.527924,-0.765462,-0.367919],[-0.302258,-0.235504,0.923676]]
2025-10-26T19:12:26.104Z,1761505946.104 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:12:26.105Z,1761505946.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755142
2025-10-26T19:12:26.356Z,1761505946.356 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:12:26.357Z,1761505946.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007054
2025-10-26T19:12:26.401Z,1761505946.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797841,0.593002,-0.108623],[-0.522595,-0.770119,-0.365803],[-0.300574,-0.235086,0.924332]]
2025-10-26T19:12:26.608Z,1761505946.608 [DAT](INFO): setting remote address to 6
2025-10-26T19:12:26.609Z,1761505946.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259171
2025-10-26T19:12:26.832Z,1761505946.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802224,0.586483,-0.111694],[-0.516260,-0.775415,-0.363603],[-0.299856,-0.234028,0.924834]]
2025-10-26T19:12:26.861Z,1761505946.861 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:26.861Z,1761505946.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511744
2025-10-26T19:12:27.113Z,1761505947.113 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:27.114Z,1761505947.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764264
2025-10-26T19:12:27.203Z,1761505947.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806512,0.579385,-0.117693],[-0.508984,-0.781713,-0.360362],[-0.300790,-0.230732,0.925358]]
2025-10-26T19:12:27.364Z,1761505947.364 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:27.365Z,1761505947.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015030
2025-10-26T19:12:27.606Z,1761505947.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810008,0.573489,-0.122462],[-0.502277,-0.786270,-0.359858],[-0.302663,-0.229978,0.924935]]
2025-10-26T19:12:27.616Z,1761505947.616 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:27.616Z,1761505947.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266943
2025-10-26T19:12:27.868Z,1761505947.868 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:27.869Z,1761505947.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519055
2025-10-26T19:12:28.014Z,1761505948.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812544,0.568680,-0.127968],[-0.496841,-0.790492,-0.358149],[-0.304830,-0.227433,0.924853]]
2025-10-26T19:12:28.123Z,1761505948.123 [DAT](INFO): DAT read: Rx Time:19:12:26.7467

2025-10-26T19:12:28.123Z,1761505948.123 [DAT](INFO): Rx dataTimestamp_ set to:1761505948.122995
2025-10-26T19:12:28.124Z,1761505948.124 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:28.124Z,1761505948.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774890
2025-10-26T19:12:28.372Z,1761505948.372 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:12:28.373Z,1761505948.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023064
2025-10-26T19:12:28.414Z,1761505948.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814002,0.565655,-0.132044],[-0.493209,-0.793153,-0.357286],[-0.306832,-0.225707,0.924614]]
2025-10-26T19:12:28.631Z,1761505948.631 [DAT](INFO): DAT read: 19:12:26.7467 LVL= 32752, 29121, 31282, 32755, AGC= 64, IDX=  26, 0.18, 1.934,-2.499, 2.724, 2.471, PHS=-0.435, 1.359, 0.210, RAW= 309.2, -14.3, CAL= 310.2, -18.4, ROT= 199.8,  18.4

2025-10-26T19:12:28.635Z,1761505948.635 [DAT](INFO): got valid direction response:
 19:12:26.7467 LVL= 32752, 29121, 31282, 32755, AGC= 64, IDX=  26, 0.18, 1.934,-2.499, 2.724, 2.471, PHS=-0.435, 1.359, 0.210, RAW= 309.2, -14.3, CAL= 310.2, -18.4, ROT= 199.8,  18.4

2025-10-26T19:12:28.636Z,1761505948.636 [DAT](INFO): DAT read: Bearing  28, -12 (Remote)

2025-10-26T19:12:28.636Z,1761505948.636 [DAT](INFO): Remote Bearing received:Bearing  28, -12 (Remote)

2025-10-26T19:12:28.637Z,1761505948.637 [DAT](INFO): DAT read: Bearing 199.2,   4.4 (Local)

2025-10-26T19:12:28.638Z,1761505948.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.2,   4.4 (Local)

2025-10-26T19:12:28.655Z,1761505948.655 [DAT](INFO): DAT read: Range 11 to 20 : 227.2 m  (Round-trip  303.0 ms) speed  0.0 m/s

2025-10-26T19:12:28.656Z,1761505948.656 [DAT](INFO): DAT read: user:103>

2025-10-26T19:12:28.657Z,1761505948.657 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:12:28.657Z,1761505948.657 [DAT](INFO): set remote address to 6
2025-10-26T19:12:28.658Z,1761505948.658 [DAT](INFO): entering online mode
2025-10-26T19:12:28.857Z,1761505948.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814494,0.564787,-0.132726],[-0.491779,-0.793468,-0.358554],[-0.307820,-0.226768,0.924025]]
2025-10-26T19:12:28.876Z,1761505948.876 [DAT](INFO): DAT read: user:104>

2025-10-26T19:12:28.877Z,1761505948.877 [DAT](INFO): DAT read: 

2025-10-26T19:12:28.878Z,1761505948.878 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:12:28.878Z,1761505948.878 [DAT](INFO): commRate: 600
2025-10-26T19:12:28.878Z,1761505948.878 [DAT](INFO): online mode acknowledged
2025-10-26T19:12:28.879Z,1761505948.879 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:12:28.880Z,1761505948.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529765
2025-10-26T19:12:29.128Z,1761505949.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778875
2025-10-26T19:12:29.223Z,1761505949.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814400,0.565067,-0.132105],[-0.492046,-0.793093,-0.359018],[-0.307640,-0.227383,0.923934]]
2025-10-26T19:12:29.380Z,1761505949.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030955
2025-10-26T19:12:29.626Z,1761505949.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813799,0.566100,-0.131388],[-0.493828,-0.792807,-0.357199],[-0.306375,-0.225805,0.924741]]
2025-10-26T19:12:29.632Z,1761505949.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282990
2025-10-26T19:12:29.884Z,1761505949.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534900
2025-10-26T19:12:30.030Z,1761505950.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812661,0.568006,-0.130198],[-0.496844,-0.792115,-0.354543],[-0.304515,-0.223435,0.925931]]
2025-10-26T19:12:30.137Z,1761505950.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787304
2025-10-26T19:12:30.388Z,1761505950.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038857
2025-10-26T19:12:30.435Z,1761505950.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810368,0.571327,-0.129957],[-0.501507,-0.791033,-0.350368],[-0.302975,-0.218753,0.927552]]
2025-10-26T19:12:30.640Z,1761505950.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290902
2025-10-26T19:12:30.863Z,1761505950.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806658,0.576146,-0.131752],[-0.507726,-0.789643,-0.344497],[-0.302518,-0.210997,0.929496]]
2025-10-26T19:12:30.892Z,1761505950.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542994
2025-10-26T19:12:31.144Z,1761505951.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794905
2025-10-26T19:12:31.242Z,1761505951.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802015,0.581648,-0.135859],[-0.514324,-0.788149,-0.338070],[-0.303715,-0.201261,0.931263]]
2025-10-26T19:12:31.401Z,1761505951.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050798
2025-10-26T19:12:31.646Z,1761505951.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796443,0.588123,-0.140677],[-0.521270,-0.785626,-0.333269],[-0.306523,-0.192099,0.932278]]
2025-10-26T19:12:31.649Z,1761505951.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299543
2025-10-26T19:12:31.900Z,1761505951.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550871
2025-10-26T19:12:32.054Z,1761505952.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791190,0.593860,-0.146112],[-0.526851,-0.783171,-0.330260],[-0.310559,-0.184319,0.932513]]
2025-10-26T19:12:32.077Z,1761505952.077 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:12:32.077Z,1761505952.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:12:32.078Z,1761505952.078 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:12:32.078Z,1761505952.078 [marl:UpdateRudder:A] Stopped
2025-10-26T19:12:32.078Z,1761505952.078 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:12:32.078Z,1761505952.078 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:12:32.078Z,1761505952.078 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:12:32.078Z,1761505952.078 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:12:32.079Z,1761505952.079 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:12:32.079Z,1761505952.079 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:12:32.079Z,1761505952.079 [marl:UpdateCommandMode] Stopped
2025-10-26T19:12:32.079Z,1761505952.079 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:12:32.154Z,1761505952.154 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:12:31.3134

2025-10-26T19:12:32.154Z,1761505952.154 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:12:32.155Z,1761505952.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805198
2025-10-26T19:12:32.404Z,1761505952.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054826
2025-10-26T19:12:32.497Z,1761505952.497 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:12:32.498Z,1761505952.498 [marl:UpdateRudder:B] Stopped
2025-10-26T19:12:32.498Z,1761505952.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:12:32.498Z,1761505952.498 [marl:UpdateRudder] Stopped
2025-10-26T19:12:32.498Z,1761505952.498 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:12:32.656Z,1761505952.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306921
2025-10-26T19:12:32.867Z,1761505952.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783660,0.601409,-0.155513],[-0.532903,-0.779517,-0.329193],[-0.319204,-0.175102,0.931369]]
2025-10-26T19:12:32.909Z,1761505952.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559636
2025-10-26T19:12:32.918Z,1761505952.918 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:12:32.918Z,1761505952.918 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:12:32.919Z,1761505952.919 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:12:32.919Z,1761505952.919 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:12:32.919Z,1761505952.919 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:12:32.919Z,1761505952.919 [marl:UpdateSpeed] Stopped
2025-10-26T19:12:32.919Z,1761505952.919 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:12:33.160Z,1761505953.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810903
2025-10-26T19:12:33.262Z,1761505953.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783097,0.600699,-0.160998],[-0.531259,-0.780737,-0.328958],[-0.323302,-0.172075,0.930519]]
2025-10-26T19:12:33.412Z,1761505953.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062906
2025-10-26T19:12:33.664Z,1761505953.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314975
2025-10-26T19:12:33.670Z,1761505953.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782866,0.600155,-0.164118],[-0.529345,-0.781076,-0.331231],[-0.326979,-0.172434,0.929167]]
2025-10-26T19:12:33.916Z,1761505953.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566929
2025-10-26T19:12:34.070Z,1761505954.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782219,0.600467,-0.166049],[-0.527950,-0.780399,-0.335031],[-0.330760,-0.174402,0.927460]]
2025-10-26T19:12:34.170Z,1761505954.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820556
2025-10-26T19:12:34.420Z,1761505954.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070905
2025-10-26T19:12:34.483Z,1761505954.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781512,0.601126,-0.166996],[-0.526982,-0.779312,-0.339060],[-0.333959,-0.176976,0.925824]]
2025-10-26T19:12:34.672Z,1761505954.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322953
2025-10-26T19:12:34.878Z,1761505954.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780036,0.602831,-0.167746],[-0.527021,-0.777453,-0.343243],[-0.337332,-0.179337,0.924146]]
2025-10-26T19:12:34.924Z,1761505954.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574926
2025-10-26T19:12:35.177Z,1761505955.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827478
2025-10-26T19:12:35.416Z,1761505955.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:12:35.429Z,1761505955.429 [DAT](INFO): Reached modem response timeout
2025-10-26T19:12:35.690Z,1761505955.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771316,0.608481,-0.186608],[-0.534606,-0.778511,-0.328811],[-0.345352,-0.153855,0.925776]]
2025-10-26T19:12:36.090Z,1761505956.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762655,0.612606,-0.207536],[-0.543762,-0.781008,-0.307164],[-0.350258,-0.121410,0.928751]]
2025-10-26T19:12:36.116Z,1761505956.116 [NAL9602](INFO): NAL9602 initialized
2025-10-26T19:12:36.420Z,1761505956.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:12:36.494Z,1761505956.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752230,0.617077,-0.231012],[-0.555118,-0.782393,-0.282322],[-0.354957,-0.084132,0.931089]]
2025-10-26T19:12:36.898Z,1761505956.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740395,0.622981,-0.252410],[-0.568275,-0.780699,-0.259945],[-0.358997,-0.049024,0.932050]]
2025-10-26T19:12:37.303Z,1761505957.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727776,0.629934,-0.271155],[-0.582094,-0.776442,-0.241463],[-0.362641,-0.017893,0.931757]]
2025-10-26T19:12:37.746Z,1761505957.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715366,0.637358,-0.286402],[-0.594939,-0.770538,-0.228735],[-0.366470,0.006763,0.930405]]
2025-10-26T19:12:38.176Z,1761505958.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703692,0.643233,-0.301775],[-0.605310,-0.765149,-0.219425],[-0.372045,0.028260,0.927785]]
2025-10-26T19:12:38.578Z,1761505958.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692838,0.648749,-0.314801],[-0.613113,-0.759782,-0.216390],[-0.379563,0.043085,0.924162]]
2025-10-26T19:12:38.984Z,1761505958.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682236,0.655173,-0.324502],[-0.619563,-0.753721,-0.219194],[-0.388194,0.051508,0.920137]]
2025-10-26T19:12:39.111Z,1761505959.111 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:12:39.112Z,1761505959.112 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:12:39.387Z,1761505959.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671721,0.663889,-0.328699],[-0.625970,-0.745951,-0.227417],[-0.396173,0.052995,0.916645]]
2025-10-26T19:12:39.790Z,1761505959.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661102,0.674878,-0.327849],[-0.633484,-0.736214,-0.238090],[-0.402048,0.050285,0.914237]]
2025-10-26T19:12:40.194Z,1761505960.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649652,0.687586,-0.324310],[-0.643053,-0.724552,-0.248007],[-0.405506,0.047430,0.912861]]
2025-10-26T19:12:40.598Z,1761505960.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636546,0.702556,-0.318158],[-0.655054,-0.710247,-0.257787],[-0.407080,0.044318,0.912317]]
2025-10-26T19:12:41.002Z,1761505961.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621212,0.719036,-0.311581],[-0.669209,-0.693643,-0.266492],[-0.407744,0.042965,0.912085]]
2025-10-26T19:12:41.410Z,1761505961.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604208,0.735915,-0.305552],[-0.684286,-0.675682,-0.274237],[-0.408271,0.043389,0.911829]]
2025-10-26T19:12:41.816Z,1761505961.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575579,0.762724,-0.294891],[-0.710290,-0.644999,-0.281895],[-0.405212,0.047205,0.913003]]
2025-10-26T19:12:42.226Z,1761505962.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562315,0.776636,-0.283968],[-0.723855,-0.628320,-0.285040],[-0.399795,0.045270,0.915486]]
2025-10-26T19:12:42.232Z,1761505962.232 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:12:42.232Z,1761505962.232 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:12:42.484Z,1761505962.484 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:12:42.624Z,1761505962.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547878,0.790744,-0.273045],[-0.738169,-0.610539,-0.286964],[-0.393619,0.044332,0.918204]]
2025-10-26T19:12:42.742Z,1761505962.742 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:12:42.992Z,1761505962.992 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:12:43.026Z,1761505963.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532174,0.804304,-0.264361],[-0.751944,-0.592512,-0.288979],[-0.389064,0.044997,0.920111]]
2025-10-26T19:12:43.428Z,1761505963.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516476,0.815708,-0.260525],[-0.763496,-0.576427,-0.291215],[-0.387720,0.048504,0.920500]]
2025-10-26T19:12:43.834Z,1761505963.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503161,0.824082,-0.260227],[-0.771601,-0.564007,-0.294158],[-0.389180,0.052782,0.919648]]
2025-10-26T19:12:44.234Z,1761505964.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494263,0.829364,-0.260497],[-0.776283,-0.555959,-0.297142],[-0.391265,0.055353,0.918612]]
2025-10-26T19:12:44.639Z,1761505964.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488086,0.833763,-0.258091],[-0.779385,-0.549456,-0.301094],[-0.392851,0.054192,0.918004]]
2025-10-26T19:12:45.043Z,1761505965.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478141,0.843274,-0.245502],[-0.785221,-0.535660,-0.310638],[-0.393459,0.044244,0.918277]]
2025-10-26T19:12:45.129Z,1761505965.129 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:12:45.129Z,1761505965.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:12:45.129Z,1761505965.129 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateRudder:A] Stopped
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode] Stopped
2025-10-26T19:12:45.130Z,1761505965.130 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:12:45.458Z,1761505965.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463235,0.855739,-0.230487],[-0.794658,-0.516210,-0.319447],[-0.392343,0.035179,0.919146]]
2025-10-26T19:12:45.509Z,1761505965.509 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:12:45.510Z,1761505965.510 [marl:UpdateRudder:B] Stopped
2025-10-26T19:12:45.510Z,1761505965.510 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:12:45.510Z,1761505965.510 [marl:UpdateRudder] Stopped
2025-10-26T19:12:45.510Z,1761505965.510 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:12:45.850Z,1761505965.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443831,0.868524,-0.220634],[-0.806511,-0.494472,-0.324095],[-0.390582,0.034100,0.919936]]
2025-10-26T19:12:45.900Z,1761505965.900 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:12:45.900Z,1761505965.900 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:12:45.900Z,1761505965.900 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:12:45.901Z,1761505965.901 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:12:45.901Z,1761505965.901 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:12:45.901Z,1761505965.901 [marl:UpdateSpeed] Stopped
2025-10-26T19:12:45.901Z,1761505965.901 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:12:46.262Z,1761505966.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424009,0.879038,-0.217965],[-0.818314,-0.474975,-0.323668],[-0.388044,0.041126,0.920723]]
2025-10-26T19:12:46.273Z,1761505966.273 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:12:45.4133

2025-10-26T19:12:46.273Z,1761505966.273 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:12:46.658Z,1761505966.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409483,0.884524,-0.223477],[-0.827152,-0.463290,-0.318093],[-0.384895,0.054596,0.921344]]
2025-10-26T19:12:47.062Z,1761505967.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398818,0.888259,-0.227904],[-0.833964,-0.454670,-0.312697],[-0.381377,0.065355,0.922107]]
2025-10-26T19:12:47.470Z,1761505967.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392974,0.891560,-0.225149],[-0.839059,-0.447841,-0.308899],[-0.376232,0.067524,0.924062]]
2025-10-26T19:12:47.871Z,1761505967.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391331,0.895350,-0.212622],[-0.842723,-0.441487,-0.308071],[-0.369701,0.058624,0.927299]]
2025-10-26T19:12:48.276Z,1761505968.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390643,0.900869,-0.189294],[-0.845835,-0.432416,-0.312376],[-0.363264,0.038084,0.930908]]
2025-10-26T19:12:49.094Z,1761505969.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375619,0.917667,-0.129606],[-0.855137,-0.397091,-0.333256],[-0.357283,-0.014346,0.933886]]
2025-10-26T19:12:49.499Z,1761505969.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365769,0.925150,-0.101536],[-0.862347,-0.377920,-0.336948],[-0.350099,-0.035686,0.936032]]
2025-10-26T19:12:49.903Z,1761505969.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357107,0.930980,-0.075828],[-0.870822,-0.361193,-0.333479],[-0.337851,-0.053055,0.939703]]
2025-10-26T19:12:50.307Z,1761505970.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350547,0.934995,-0.053854],[-0.879369,-0.348386,-0.324556],[-0.322221,-0.066415,0.944332]]
2025-10-26T19:12:50.716Z,1761505970.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346036,0.937570,-0.034955],[-0.885965,-0.338796,-0.316675],[-0.308748,-0.078613,0.947890]]
2025-10-26T19:12:51.114Z,1761505971.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342748,0.939198,-0.020748],[-0.888544,-0.331275,-0.317406],[-0.304980,-0.090355,0.948063]]
2025-10-26T19:12:51.541Z,1761505971.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340887,0.940060,-0.009144],[-0.887846,-0.325120,-0.325617],[-0.309072,-0.102880,0.945458]]
2025-10-26T19:12:51.953Z,1761505971.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339792,0.940501,0.000581],[-0.887049,-0.320275,-0.332517],[-0.312547,-0.113502,0.943097]]
2025-10-26T19:12:52.346Z,1761505972.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337570,0.941133,0.017775],[-0.889089,-0.312587,-0.334380],[-0.309140,-0.128680,0.942271]]
2025-10-26T19:12:52.754Z,1761505972.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340633,0.939636,0.032467],[-0.889578,-0.310924,-0.334630],[-0.304335,-0.142868,0.941790]]
2025-10-26T19:12:53.156Z,1761505973.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349469,0.935915,0.043984],[-0.885539,-0.314594,-0.341835],[-0.306091,-0.158410,0.938730]]
2025-10-26T19:12:53.558Z,1761505973.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357032,0.932858,0.048004],[-0.878173,-0.317701,-0.357600],[-0.318340,-0.169830,0.932640]]
2025-10-26T19:12:53.962Z,1761505973.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361982,0.931053,0.045927],[-0.871059,-0.320288,-0.372386],[-0.332001,-0.174802,0.926941]]
2025-10-26T19:12:54.366Z,1761505974.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363840,0.930564,0.040889],[-0.868435,-0.323021,-0.376136],[-0.336811,-0.172362,0.925662]]
2025-10-26T19:12:54.452Z,1761505974.452 [marl:NeedComms:C] Running Loop=1
2025-10-26T19:12:54.453Z,1761505974.453 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:12:54.593Z,1761505974.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:12:54.644Z,1761505974.644 [DAT](INFO): entering command mode
2025-10-26T19:12:54.783Z,1761505974.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361957,0.931281,0.041257],[-0.870630,-0.321905,-0.371996],[-0.333152,-0.170566,0.927317]]
2025-10-26T19:12:54.848Z,1761505974.848 [DAT](INFO): DAT read: 

2025-10-26T19:12:54.850Z,1761505974.850 [DAT](INFO): DAT read: user:105>

2025-10-26T19:12:54.852Z,1761505974.852 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:12:54.852Z,1761505974.852 [DAT](INFO): setting remote address to 0
2025-10-26T19:12:55.082Z,1761505975.082 [Radio_Surface](INFO): Powering up
2025-10-26T19:12:55.096Z,1761505975.096 [DAT](INFO): DAT read: user:105>

2025-10-26T19:12:55.098Z,1761505975.098 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:12:55.098Z,1761505975.098 [DAT](INFO): set remote address to 0
2025-10-26T19:12:55.099Z,1761505975.099 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:12:55.099Z,1761505975.099 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:12:55.268Z,1761505975.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359742,0.931908,0.046185],[-0.876265,-0.320428,-0.359841],[-0.320540,-0.169920,0.931870]]
2025-10-26T19:12:55.348Z,1761505975.348 [DAT](INFO): DAT read: user:106>

2025-10-26T19:12:55.349Z,1761505975.349 [DAT](INFO): DAT read: Tx time:19:12:54.4145

2025-10-26T19:12:55.349Z,1761505975.349 [DAT](INFO): Ping request sent.
2025-10-26T19:12:55.349Z,1761505975.349 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:12:55.350Z,1761505975.350 [DAT](INFO): publishing transmit ping time
2025-10-26T19:12:55.350Z,1761505975.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000975
2025-10-26T19:12:55.600Z,1761505975.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250931
2025-10-26T19:12:55.853Z,1761505975.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503632
2025-10-26T19:12:56.066Z,1761505976.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357683,0.929091,0.094090],[-0.891657,-0.309845,-0.330068],[-0.277510,-0.201956,0.939256]]
2025-10-26T19:12:56.104Z,1761505976.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755052
2025-10-26T19:12:56.356Z,1761505976.356 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:12:56.356Z,1761505976.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007054
2025-10-26T19:12:56.470Z,1761505976.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361539,0.925673,0.111441],[-0.899091,-0.314496,-0.304513],[-0.246832,-0.210288,0.945967]]
2025-10-26T19:12:56.609Z,1761505976.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259084
2025-10-26T19:12:56.860Z,1761505976.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510950
2025-10-26T19:12:56.891Z,1761505976.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379517,0.917295,0.120572],[-0.909695,-0.346233,-0.229300],[-0.168589,-0.196707,0.965859]]
2025-10-26T19:12:57.113Z,1761505977.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763068
2025-10-26T19:12:57.364Z,1761505977.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043
2025-10-26T19:12:57.616Z,1761505977.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266856
2025-10-26T19:12:57.690Z,1761505977.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378777,0.919544,0.104724],[-0.922972,-0.366984,-0.115955],[-0.068193,-0.140579,0.987718]]
2025-10-26T19:12:57.872Z,1761505977.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522960
2025-10-26T19:12:58.094Z,1761505978.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359772,0.929903,0.076455],[-0.931264,-0.352826,-0.090886],[-0.057539,-0.103898,0.992922]]
2025-10-26T19:12:58.119Z,1761505978.119 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateRudder:A] Stopped
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:12:58.120Z,1761505978.120 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:12:58.121Z,1761505978.121 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:12:58.121Z,1761505978.121 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:12:58.121Z,1761505978.121 [marl:UpdateCommandMode] Stopped
2025-10-26T19:12:58.121Z,1761505978.121 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:12:58.125Z,1761505978.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775060
2025-10-26T19:12:58.377Z,1761505978.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027189
2025-10-26T19:12:58.498Z,1761505978.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347829,0.934809,0.071742],[-0.936908,-0.343721,-0.063711],[-0.034899,-0.089376,0.995386]]
2025-10-26T19:12:58.530Z,1761505978.530 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:12:58.530Z,1761505978.530 [marl:UpdateRudder:B] Stopped
2025-10-26T19:12:58.530Z,1761505978.530 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:12:58.530Z,1761505978.530 [marl:UpdateRudder] Stopped
2025-10-26T19:12:58.530Z,1761505978.530 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:12:58.631Z,1761505978.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281099
2025-10-26T19:12:58.880Z,1761505978.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530952
2025-10-26T19:12:58.902Z,1761505978.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358617,0.929952,0.081142],[-0.932978,-0.354202,-0.063968],[-0.030746,-0.098644,0.994648]]
2025-10-26T19:12:59.024Z,1761505979.024 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:12:59.024Z,1761505979.024 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:12:59.024Z,1761505979.024 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:12:59.024Z,1761505979.024 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:12:59.025Z,1761505979.025 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:12:59.025Z,1761505979.025 [marl:UpdateSpeed] Stopped
2025-10-26T19:12:59.026Z,1761505979.026 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:12:59.133Z,1761505979.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783346
2025-10-26T19:12:59.310Z,1761505979.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373704,0.922769,0.094031],[-0.926756,-0.367273,-0.078954],[-0.038322,-0.116650,0.992433]]
2025-10-26T19:12:59.385Z,1761505979.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035062
2025-10-26T19:12:59.636Z,1761505979.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286922
2025-10-26T19:12:59.720Z,1761505979.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376991,0.920882,0.099269],[-0.926176,-0.373791,-0.049791],[-0.008746,-0.110711,0.993814]]
2025-10-26T19:12:59.888Z,1761505979.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538822
2025-10-26T19:13:00.114Z,1761505980.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364328,0.928993,0.065092],[-0.930825,-0.365425,0.005408],[0.028810,-0.058619,0.997865]]
2025-10-26T19:13:00.140Z,1761505980.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790999
2025-10-26T19:13:00.332Z,1761505980.332 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T19:13:00.332Z,1761505980.332 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T19:13:00.392Z,1761505980.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042949
2025-10-26T19:13:00.518Z,1761505980.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352132,0.935065,0.040703],[-0.935176,-0.353276,0.025316],[0.038052,-0.029149,0.998851]]
2025-10-26T19:13:00.644Z,1761505980.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294913
2025-10-26T19:13:00.896Z,1761505980.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546893
2025-10-26T19:13:00.937Z,1761505980.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360729,0.930751,0.059802],[-0.932425,-0.361364,-0.000218],[0.021408,-0.055840,0.998210]]
2025-10-26T19:13:01.148Z,1761505981.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798919
2025-10-26T19:13:01.338Z,1761505981.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361629,0.927992,0.089746],[-0.932232,-0.358575,-0.048666],[-0.012981,-0.101263,0.994775]]
2025-10-26T19:13:01.401Z,1761505981.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051119
2025-10-26T19:13:01.653Z,1761505981.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303481
2025-10-26T19:13:01.736Z,1761505981.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359416,0.928677,0.091534],[-0.932336,-0.353195,-0.077474],[-0.039619,-0.113186,0.992784]]
2025-10-26T19:13:01.905Z,1761505981.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555756
2025-10-26T19:13:02.138Z,1761505982.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354864,0.931488,0.080014],[-0.933234,-0.347790,-0.090090],[-0.056089,-0.106641,0.992714]]
2025-10-26T19:13:02.160Z,1761505982.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810875
2025-10-26T19:13:02.413Z,1761505982.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063636
2025-10-26T19:13:02.542Z,1761505982.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358498,0.930570,0.074288],[-0.933175,-0.355029,-0.056036],[-0.025771,-0.089412,0.995661]]
2025-10-26T19:13:02.664Z,1761505982.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314963
2025-10-26T19:13:02.917Z,1761505982.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567192
2025-10-26T19:13:02.948Z,1761505982.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369874,0.925244,0.084364],[-0.928559,-0.371185,-0.000150],[0.031176,-0.078393,0.996435]]
2025-10-26T19:13:03.169Z,1761505983.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819493
2025-10-26T19:13:03.350Z,1761505983.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373607,0.922168,0.100118],[-0.926713,-0.375760,0.002874],[0.040271,-0.091707,0.994971]]
2025-10-26T19:13:03.422Z,1761505983.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071902
2025-10-26T19:13:03.672Z,1761505983.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322814
2025-10-26T19:13:03.754Z,1761505983.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383863,0.918584,0.094092],[-0.923372,-0.381215,-0.045379],[-0.005815,-0.104301,0.994529]]
2025-10-26T19:13:03.925Z,1761505983.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575235
2025-10-26T19:13:04.158Z,1761505984.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390073,0.915868,0.095025],[-0.920107,-0.383747,-0.078370],[-0.035311,-0.118003,0.992385]]
2025-10-26T19:13:04.176Z,1761505984.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826897
2025-10-26T19:13:04.429Z,1761505984.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079432
2025-10-26T19:13:04.563Z,1761505984.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387323,0.916973,0.095612],[-0.921411,-0.381487,-0.073952],[-0.031337,-0.116741,0.992668]]
2025-10-26T19:13:04.680Z,1761505984.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330993
2025-10-26T19:13:04.932Z,1761505984.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583015
2025-10-26T19:13:04.966Z,1761505984.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386181,0.918290,0.087229],[-0.921779,-0.380648,-0.073693],[-0.034468,-0.108864,0.993459]]
2025-10-26T19:13:05.184Z,1761505985.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834883
2025-10-26T19:13:05.370Z,1761505985.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387502,0.917408,0.090578],[-0.921798,-0.384378,-0.050425],[-0.011444,-0.103034,0.994612]]
2025-10-26T19:13:05.438Z,1761505985.438 [DAT](INFO): Reached modem response timeout
2025-10-26T19:13:05.775Z,1761505985.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392774,0.914802,0.094160],[-0.918796,-0.394726,0.002296],[0.039268,-0.085612,0.995554]]
2025-10-26T19:13:06.178Z,1761505986.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396433,0.913009,0.096206],[-0.914650,-0.401813,0.044299],[0.079102,-0.070433,0.994375]]
2025-10-26T19:13:06.540Z,1761505986.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:13:06.582Z,1761505986.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393836,0.914844,0.089182],[-0.912801,-0.400668,0.079110],[0.108106,-0.050249,0.992869]]
2025-10-26T19:13:06.986Z,1761505986.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389862,0.918906,0.060158],[-0.916283,-0.393605,0.074165],[0.091829,-0.026208,0.995430]]
2025-10-26T19:13:07.401Z,1761505987.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377064,0.925800,0.026761],[-0.926025,-0.377382,0.007833],[0.017351,-0.021828,0.999611]]
2025-10-26T19:13:07.544Z,1761505987.544 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T19:13:07.544Z,1761505987.544 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:13:07.706Z,1761505987.706 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:13:07.706Z,1761505987.706 [DAT](INFO): response not received
2025-10-26T19:13:07.706Z,1761505987.706 [DAT](ERROR): No response from remote modem.
2025-10-26T19:13:07.795Z,1761505987.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380603,0.923929,0.038683],[-0.924177,-0.378580,-0.050736],[-0.032232,-0.055060,0.997963]]
2025-10-26T19:13:08.198Z,1761505988.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399248,0.912766,0.086368],[-0.916735,-0.395982,-0.052862],[-0.014050,-0.100281,0.994860]]
2025-10-26T19:13:08.602Z,1761505988.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427159,0.896932,0.114225],[-0.903997,-0.426170,-0.034189],[0.018014,-0.117863,0.992866]]
2025-10-26T19:13:09.006Z,1761505989.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435760,0.893215,0.110814],[-0.899889,-0.434780,-0.034145],[0.017680,-0.114599,0.993254]]
2025-10-26T19:13:09.418Z,1761505989.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425348,0.900720,0.088216],[-0.905028,-0.423531,-0.039318],[0.001947,-0.096562,0.995325]]
2025-10-26T19:13:09.814Z,1761505989.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419331,0.905914,0.059000],[-0.907812,-0.417986,-0.034139],[-0.006265,-0.067876,0.997674]]
2025-10-26T19:13:10.218Z,1761505990.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418134,0.907614,0.037421],[-0.908384,-0.417853,-0.015427],[0.001635,-0.040443,0.999180]]
2025-10-26T19:13:10.624Z,1761505990.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415116,0.909225,0.031447],[-0.909465,-0.415622,0.011470],[0.023499,-0.023839,0.999440]]
2025-10-26T19:13:11.026Z,1761505991.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417878,0.907575,0.041050],[-0.907978,-0.418746,0.015077],[0.030873,-0.030972,0.999043]]
2025-10-26T19:13:11.083Z,1761505991.083 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:13:11.083Z,1761505991.083 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:13:11.084Z,1761505991.084 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:13:11.084Z,1761505991.084 [marl:UpdateRudder:A] Stopped
2025-10-26T19:13:11.084Z,1761505991.084 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:13:11.084Z,1761505991.084 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:13:11.085Z,1761505991.085 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:13:11.086Z,1761505991.086 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:13:11.086Z,1761505991.086 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:13:11.089Z,1761505991.089 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:13:11.089Z,1761505991.089 [marl:UpdateCommandMode] Stopped
2025-10-26T19:13:11.089Z,1761505991.089 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:13:11.433Z,1761505991.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411581,0.909258,0.062054],[-0.911190,-0.411909,-0.008014],[0.018274,-0.059841,0.998041]]
2025-10-26T19:13:11.490Z,1761505991.490 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:13:11.490Z,1761505991.490 [marl:UpdateRudder:B] Stopped
2025-10-26T19:13:11.490Z,1761505991.490 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:13:11.490Z,1761505991.490 [marl:UpdateRudder] Stopped
2025-10-26T19:13:11.490Z,1761505991.490 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:13:11.835Z,1761505991.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400537,0.914159,0.062316],[-0.916157,-0.398440,-0.043610],[-0.015037,-0.074558,0.997103]]
2025-10-26T19:13:12.238Z,1761505992.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393793,0.918019,0.046568],[-0.918142,-0.390407,-0.067802],[-0.044063,-0.069456,0.996611]]
2025-10-26T19:13:12.274Z,1761505992.274 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:13:12.274Z,1761505992.274 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:13:12.274Z,1761505992.274 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:13:12.275Z,1761505992.275 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:13:12.275Z,1761505992.275 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:13:12.275Z,1761505992.275 [marl:UpdateSpeed] Stopped
2025-10-26T19:13:12.275Z,1761505992.275 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:13:12.649Z,1761505992.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419628,0.905518,0.062842],[-0.906531,-0.414579,-0.079531],[-0.045964,-0.090342,0.994850]]
2025-10-26T19:13:13.051Z,1761505993.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429328,0.897790,0.098234],[-0.902559,-0.422574,-0.082574],[-0.032624,-0.124113,0.991732]]
2025-10-26T19:13:13.463Z,1761505993.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425039,0.897266,0.119395],[-0.905173,-0.421590,-0.054069],[0.001822,-0.131055,0.991373]]
2025-10-26T19:13:13.859Z,1761505993.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415367,0.903963,0.101590],[-0.909143,-0.416279,-0.013057],[0.030487,-0.097784,0.994741]]
2025-10-26T19:13:14.262Z,1761505994.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415699,0.907488,0.060494],[-0.909497,-0.415004,-0.024229],[0.003118,-0.065091,0.997874]]
2025-10-26T19:13:14.662Z,1761505994.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420458,0.906620,0.035422],[-0.906584,-0.418238,-0.056410],[-0.036327,-0.055831,0.997779]]
2025-10-26T19:13:15.068Z,1761505995.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423358,0.903970,0.060058],[-0.905741,-0.420859,-0.050108],[-0.020020,-0.075611,0.996936]]
2025-10-26T19:13:15.470Z,1761505995.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438827,0.894531,0.085122],[-0.898571,-0.437003,-0.039991],[0.001425,-0.094037,0.995568]]
2025-10-26T19:13:15.875Z,1761505995.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439015,0.893398,0.095424],[-0.898452,-0.435679,-0.054481],[-0.007099,-0.109652,0.993945]]
2025-10-26T19:13:16.279Z,1761505996.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437386,0.894401,0.093488],[-0.899247,-0.434206,-0.053093],[-0.006893,-0.107291,0.994204]]
2025-10-26T19:13:16.683Z,1761505996.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446770,0.891321,0.077089],[-0.894199,-0.447616,-0.006893],[0.028362,-0.072012,0.997000]]
2025-10-26T19:13:17.086Z,1761505997.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446273,0.893050,0.057464],[-0.891975,-0.449083,0.052005],[0.072249,-0.028048,0.996992]]
2025-10-26T19:13:17.490Z,1761505997.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442063,0.896357,0.033540],[-0.892890,-0.443306,0.078915],[0.085604,0.004938,0.996317]]
2025-10-26T19:13:17.904Z,1761505997.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425659,0.904765,0.014623],[-0.902762,-0.425712,0.061568],[0.061929,0.013006,0.997996]]
2025-10-26T19:13:18.299Z,1761505998.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404466,0.914323,0.020507],[-0.914085,-0.404875,0.022902],[0.029243,-0.009482,0.999527]]
2025-10-26T19:13:18.705Z,1761505998.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398049,0.915333,0.061013],[-0.917163,-0.398472,-0.005592],[0.019193,-0.058184,0.998121]]
2025-10-26T19:13:19.109Z,1761505999.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396100,0.913771,0.090151],[-0.917886,-0.396645,-0.012560],[0.024281,-0.087723,0.995849]]
2025-10-26T19:13:19.510Z,1761505999.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384977,0.919133,0.083586],[-0.922832,-0.384652,-0.020603],[0.013215,-0.085068,0.996288]]
2025-10-26T19:13:19.916Z,1761505999.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372179,0.925821,0.065859],[-0.928126,-0.370613,-0.035035],[-0.008028,-0.074165,0.997214]]
2025-10-26T19:13:20.319Z,1761506000.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360687,0.931419,0.048610],[-0.932140,-0.358201,-0.052987],[-0.031941,-0.064423,0.997411]]
2025-10-26T19:13:20.729Z,1761506000.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354965,0.934140,0.037168],[-0.933017,-0.351469,-0.077130],[-0.058987,-0.062057,0.996328]]
2025-10-26T19:13:21.126Z,1761506001.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366932,0.928930,0.049492],[-0.927087,-0.360786,-0.101701],[-0.076618,-0.083201,0.993583]]
2025-10-26T19:13:21.530Z,1761506001.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378711,0.922978,0.068488],[-0.922444,-0.370395,-0.109112],[-0.075340,-0.104498,0.991667]]
2025-10-26T19:13:21.938Z,1761506001.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378924,0.921720,0.082761],[-0.924527,-0.373093,-0.077798],[-0.040831,-0.105994,0.993528]]
2025-10-26T19:13:22.340Z,1761506002.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387099,0.917123,0.095079],[-0.922032,-0.385424,-0.036140],[0.003501,-0.101656,0.994814]]
2025-10-26T19:13:22.742Z,1761506002.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385528,0.917719,0.095703],[-0.922696,-0.383556,-0.038951],[0.000961,-0.103322,0.994648]]
2025-10-26T19:13:23.146Z,1761506003.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368741,0.926357,0.076762],[-0.928820,-0.363967,-0.069438],[-0.036385,-0.096902,0.994629]]
2025-10-26T19:13:23.552Z,1761506003.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366120,0.928997,0.054042],[-0.928987,-0.361498,-0.079387],[-0.054214,-0.079270,0.995378]]
2025-10-26T19:13:23.962Z,1761506003.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367228,0.929241,0.040686],[-0.929370,-0.364807,-0.056458],[-0.037621,-0.058546,0.997576]]
2025-10-26T19:13:24.358Z,1761506004.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361970,0.931519,0.035364],[-0.932165,-0.361427,-0.020944],[-0.006728,-0.040546,0.999155]]
2025-10-26T19:13:24.404Z,1761506004.404 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:13:24.404Z,1761506004.404 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateRudder:A] Stopped
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:13:24.405Z,1761506004.405 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:13:24.406Z,1761506004.406 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:13:24.406Z,1761506004.406 [marl:UpdateCommandMode] Stopped
2025-10-26T19:13:24.406Z,1761506004.406 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:13:24.762Z,1761506004.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345676,0.937924,0.028412],[-0.938334,-0.345710,-0.003865],[0.006197,-0.027996,0.999589]]
2025-10-26T19:13:24.890Z,1761506004.890 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:13:24.890Z,1761506004.890 [marl:UpdateRudder:B] Stopped
2025-10-26T19:13:24.891Z,1761506004.891 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:13:24.891Z,1761506004.891 [marl:UpdateRudder] Stopped
2025-10-26T19:13:24.891Z,1761506004.891 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:13:24.898Z,1761506004.898 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:13:25.092Z,1761506005.092 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:13:25.092Z,1761506005.092 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:13:25.167Z,1761506005.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321686,0.946491,0.025955],[-0.946820,-0.321762,-0.001316],[0.007106,-0.024998,0.999662]]
2025-10-26T19:13:25.344Z,1761506005.344 [DAT](INFO): DAT read: user:107>

2025-10-26T19:13:25.345Z,1761506005.345 [DAT](INFO): DAT read: Tx time:19:13:24.4142

2025-10-26T19:13:25.345Z,1761506005.345 [DAT](INFO): Ping request sent.
2025-10-26T19:13:25.345Z,1761506005.345 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:13:25.346Z,1761506005.346 [DAT](INFO): publishing transmit ping time
2025-10-26T19:13:25.346Z,1761506005.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932
2025-10-26T19:13:25.576Z,1761506005.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302591,0.952586,0.031930],[-0.953115,-0.302534,-0.006691],[0.003286,-0.032457,0.999468]]
2025-10-26T19:13:25.596Z,1761506005.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250893
2025-10-26T19:13:25.606Z,1761506005.606 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:13:25.606Z,1761506005.606 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:13:25.606Z,1761506005.606 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:13:25.606Z,1761506005.606 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:13:25.607Z,1761506005.607 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:13:25.607Z,1761506005.607 [marl:UpdateSpeed] Stopped
2025-10-26T19:13:25.607Z,1761506005.607 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:13:25.848Z,1761506005.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502840
2025-10-26T19:13:25.974Z,1761506005.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290726,0.955990,0.039511],[-0.956772,-0.290116,-0.020509],[-0.008144,-0.043765,0.999009]]
2025-10-26T19:13:26.100Z,1761506006.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754879
2025-10-26T19:13:26.352Z,1761506006.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006817
2025-10-26T19:13:26.395Z,1761506006.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288133,0.955891,0.057020],[-0.957555,-0.287096,-0.025786],[-0.008278,-0.062030,0.998040]]
2025-10-26T19:13:26.604Z,1761506006.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258831
2025-10-26T19:13:26.789Z,1761506006.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296763,0.949829,0.098773],[-0.954755,-0.297206,-0.010537],[0.019348,-0.097431,0.995054]]
2025-10-26T19:13:26.857Z,1761506006.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511018
2025-10-26T19:13:27.108Z,1761506007.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762776
2025-10-26T19:13:27.186Z,1761506007.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294576,0.943753,0.150183],[-0.953471,-0.300812,0.020131],[0.064175,-0.137265,0.988453]]
2025-10-26T19:13:27.362Z,1761506007.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016599
2025-10-26T19:13:27.590Z,1761506007.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291137,0.940785,0.173678],[-0.952366,-0.302232,0.040686],[0.090768,-0.153559,0.983962]]
2025-10-26T19:13:27.612Z,1761506007.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899
2025-10-26T19:13:27.865Z,1761506007.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519684
2025-10-26T19:13:27.000Z,1761506008.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296124,0.944342,0.143279],[-0.953825,-0.300264,0.007687],[0.050281,-0.134387,0.989652]]
2025-10-26T19:13:28.116Z,1761506008.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770953
2025-10-26T19:13:28.369Z,1761506008.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023133
2025-10-26T19:13:28.424Z,1761506008.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287684,0.954346,0.080388],[-0.957700,-0.286046,-0.031453],[-0.007023,-0.086036,0.996267]]
2025-10-26T19:13:28.620Z,1761506008.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274762
2025-10-26T19:13:28.841Z,1761506008.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281589,0.958944,0.033662],[-0.959468,-0.281810,0.001923],[0.011331,-0.031756,0.999431]]
2025-10-26T19:13:28.875Z,1761506008.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529017
2025-10-26T19:13:29.125Z,1761506009.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779012
2025-10-26T19:13:29.206Z,1761506009.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287466,0.956982,0.039361],[-0.954645,-0.289608,0.069139],[0.077564,-0.017701,0.996830]]
2025-10-26T19:13:29.377Z,1761506009.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031124
2025-10-26T19:13:29.610Z,1761506009.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285750,0.954017,0.090550],[-0.950343,-0.294263,0.101282],[0.123270,-0.057112,0.990728]]
2025-10-26T19:13:29.634Z,1761506009.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288313
2025-10-26T19:13:29.885Z,1761506009.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539833
2025-10-26T19:13:30.014Z,1761506010.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258988,0.956057,0.137403],[-0.956929,-0.273301,0.097945],[0.131193,-0.106118,0.985661]]
2025-10-26T19:13:30.136Z,1761506010.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790817
2025-10-26T19:13:30.389Z,1761506010.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043149
2025-10-26T19:13:30.424Z,1761506010.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234347,0.962252,0.138391],[-0.965318,-0.247181,0.084044],[0.115079,-0.113896,0.986805]]
2025-10-26T19:13:30.640Z,1761506010.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294864
2025-10-26T19:13:30.857Z,1761506010.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226828,0.968392,0.103761],[-0.968102,-0.235829,0.084634],[0.106429,-0.081254,0.990995]]
2025-10-26T19:13:30.892Z,1761506010.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546882
2025-10-26T19:13:31.145Z,1761506011.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799424
2025-10-26T19:13:31.226Z,1761506011.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222508,0.973188,0.058269],[-0.968214,-0.227583,0.103768],[0.114247,-0.033328,0.992893]]
2025-10-26T19:13:31.396Z,1761506011.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050882
2025-10-26T19:13:31.637Z,1761506011.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203509,0.978544,0.032167],[-0.970016,-0.205976,0.129003],[0.132861,-0.004949,0.991122]]
2025-10-26T19:13:31.648Z,1761506011.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302945
2025-10-26T19:13:31.901Z,1761506011.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555455
2025-10-26T19:13:32.037Z,1761506012.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187113,0.981048,0.050333],[-0.970831,-0.192498,0.142939],[0.149919,-0.022120,0.988451]]
2025-10-26T19:13:32.152Z,1761506012.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806900
2025-10-26T19:13:32.404Z,1761506012.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058981
2025-10-26T19:13:32.438Z,1761506012.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176298,0.979747,0.094946],[-0.972989,-0.188057,0.133890],[0.149034,-0.068777,0.986437]]
2025-10-26T19:13:32.657Z,1761506012.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311195
2025-10-26T19:13:32.868Z,1761506012.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163168,0.978203,0.128429],[-0.979041,-0.176622,0.101405],[0.121878,-0.109192,0.986521]]
2025-10-26T19:13:32.908Z,1761506012.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563002
2025-10-26T19:13:33.160Z,1761506013.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814823
2025-10-26T19:13:33.246Z,1761506013.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157582,0.977209,0.142234],[-0.984616,-0.166494,0.053024],[0.075497,-0.131691,0.988412]]
2025-10-26T19:13:33.413Z,1761506013.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067807
2025-10-26T19:13:33.655Z,1761506013.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157179,0.979783,0.123772],[-0.986650,-0.161204,0.023143],[0.042628,-0.118482,0.992041]]
2025-10-26T19:13:33.665Z,1761506013.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319019
2025-10-26T19:13:33.916Z,1761506013.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570854
2025-10-26T19:13:34.054Z,1761506014.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141437,0.986732,0.079726],[-0.988295,-0.145393,0.046192],[0.057171,-0.072260,0.995746]]
2025-10-26T19:13:34.168Z,1761506014.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822938
2025-10-26T19:13:34.420Z,1761506014.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074888
2025-10-26T19:13:34.458Z,1761506014.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137213,0.988989,0.055429],[-0.985816,-0.141804,0.089769],[0.096640,-0.042326,0.994419]]
2025-10-26T19:13:34.672Z,1761506014.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326874
2025-10-26T19:13:34.874Z,1761506014.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144787,0.987261,0.065979],[-0.983053,-0.151106,0.103794],[0.112442,-0.049833,0.992408]]
2025-10-26T19:13:34.924Z,1761506014.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578975
2025-10-26T19:13:35.176Z,1761506015.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830893
2025-10-26T19:13:35.268Z,1761506015.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140338,0.984117,0.108717],[-0.983826,-0.150951,0.096443],[0.111322,-0.093424,0.989383]]
2025-10-26T19:13:35.428Z,1761506015.428 [DAT](INFO): Reached modem response timeout
2025-10-26T19:13:35.670Z,1761506015.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134786,0.980462,0.143273],[-0.985928,-0.147134,0.079360],[0.098889,-0.130560,0.986496]]
2025-10-26T19:13:36.074Z,1761506016.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130027,0.983941,0.122281],[-0.989397,-0.136808,0.048763],[0.064709,-0.114644,0.991297]]
2025-10-26T19:13:36.479Z,1761506016.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125345,0.988778,0.081286],[-0.990952,-0.128740,0.037942],[0.047981,-0.075795,0.995968]]
2025-10-26T19:13:36.887Z,1761506016.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125094,0.989885,0.066922],[-0.989818,-0.129134,0.059880],[0.067916,-0.058750,0.995960]]
2025-10-26T19:13:37.286Z,1761506017.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127679,0.989087,0.073514],[-0.987302,-0.133812,0.085606],[0.094509,-0.061650,0.993613]]
2025-10-26T19:13:37.664Z,1761506017.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:13:37.690Z,1761506017.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126294,0.988557,0.082495],[-0.985247,-0.134682,0.105586],[0.115488,-0.067943,0.990982]]
2025-10-26T19:13:37.697Z,1761506017.697 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:13:37.697Z,1761506017.697 [DAT](INFO): response not received
2025-10-26T19:13:37.697Z,1761506017.697 [DAT](ERROR): No response from remote modem.
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateRudder:A] Stopped
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:13:37.756Z,1761506017.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:13:37.757Z,1761506017.757 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:13:37.757Z,1761506017.757 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:13:37.757Z,1761506017.757 [marl:UpdateCommandMode] Stopped
2025-10-26T19:13:37.757Z,1761506017.757 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:13:38.095Z,1761506018.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118831,0.988370,0.094891],[-0.984997,-0.129389,0.114187],[0.125137,-0.079898,0.988917]]
2025-10-26T19:13:38.118Z,1761506018.118 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:13:38.118Z,1761506018.118 [marl:UpdateRudder:B] Stopped
2025-10-26T19:13:38.118Z,1761506018.118 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:13:38.118Z,1761506018.118 [marl:UpdateRudder] Stopped
2025-10-26T19:13:38.119Z,1761506018.119 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:13:38.499Z,1761506018.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109276,0.987442,0.114095],[-0.987314,-0.121124,0.102661],[0.115191,-0.101430,0.988151]]
2025-10-26T19:13:38.670Z,1761506018.670 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:13:38.902Z,1761506018.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101271,0.985736,0.134418],[-0.989945,-0.113259,0.084744],[0.098760,-0.124485,0.987294]]
2025-10-26T19:13:38.961Z,1761506018.961 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:13:38.961Z,1761506018.961 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:13:38.961Z,1761506018.961 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:13:38.962Z,1761506018.962 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:13:38.962Z,1761506018.962 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:13:38.962Z,1761506018.962 [marl:UpdateSpeed] Stopped
2025-10-26T19:13:38.962Z,1761506018.962 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:13:39.306Z,1761506019.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112556,0.980447,0.161418],[-0.988422,-0.127112,0.082853],[0.101752,-0.150224,0.983402]]
2025-10-26T19:13:39.558Z,1761506019.558 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:13:39.558Z,1761506019.558 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:13:39.723Z,1761506019.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119091,0.979529,0.162296],[-0.986050,-0.135826,0.096213],[0.116288,-0.148574,0.982040]]
2025-10-26T19:13:40.115Z,1761506020.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099479,0.987460,0.122580],[-0.986679,-0.113829,0.116226],[0.128721,-0.109385,0.985630]]
2025-10-26T19:13:40.518Z,1761506020.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080702,0.995806,0.043097],[-0.987279,-0.085804,0.133855],[0.136991,-0.031747,0.990063]]
2025-10-26T19:13:40.922Z,1761506020.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070369,0.997307,-0.020684],[-0.987174,-0.066645,0.145069],[0.143300,0.030627,0.989205]]
2025-10-26T19:13:41.329Z,1761506021.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054971,0.998311,-0.018792],[-0.986400,-0.051377,0.156126],[0.154897,0.027119,0.987558]]
2025-10-26T19:13:41.736Z,1761506021.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037644,0.998475,0.040379],[-0.985227,-0.043839,0.165550],[0.167067,-0.033550,0.985375]]
2025-10-26T19:13:42.134Z,1761506022.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027414,0.994146,0.104514],[-0.986349,-0.043885,0.158716],[0.162373,-0.098737,0.981777]]
2025-10-26T19:13:42.538Z,1761506022.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012741,0.989792,0.141951],[-0.991397,-0.030999,0.127165],[0.130267,-0.139110,0.981672]]
2025-10-26T19:13:42.943Z,1761506022.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007790,0.990654,0.136179],[-0.995789,-0.020125,0.089434],[0.091339,-0.134909,0.986639]]
2025-10-26T19:13:43.356Z,1761506023.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007803,0.994682,0.102693],[-0.997945,-0.014277,0.062458],[0.063592,-0.101995,0.992750]]
2025-10-26T19:13:43.752Z,1761506023.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005093,0.998029,0.062547],[-0.998302,-0.008704,0.057589],[0.058020,-0.062148,0.996379]]
2025-10-26T19:13:44.154Z,1761506024.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010800,0.999354,0.034278],[-0.998492,-0.012623,0.053422],[0.053820,-0.033649,0.997984]]
2025-10-26T19:13:44.559Z,1761506024.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003809,0.999096,0.042337],[-0.998967,-0.005719,0.045079],[0.045280,-0.042121,0.998086]]
2025-10-26T19:13:44.963Z,1761506024.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003744,0.997957,0.063772],[-0.997659,-0.008082,0.067900],[0.068277,-0.063368,0.995652]]
2025-10-26T19:13:45.369Z,1761506025.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000436,0.995929,0.090140],[-0.994090,-0.010217,0.108076],[0.108557,-0.089560,0.990048]]
2025-10-26T19:13:45.771Z,1761506025.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006823,0.994071,0.108518],[-0.993396,-0.005692,0.114599],[0.114537,-0.108583,0.987467]]
2025-10-26T19:13:46.174Z,1761506026.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017132,0.993200,0.115149],[-0.995174,0.005810,0.097957],[0.096622,-0.116272,0.988506]]
2025-10-26T19:13:46.580Z,1761506026.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026241,0.993906,0.107060],[-0.995301,0.015990,0.095504],[0.093210,-0.109063,0.989655]]
2025-10-26T19:13:46.982Z,1761506026.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017443,0.995652,0.091503],[-0.996278,0.009580,0.085668],[0.084419,-0.092657,0.992113]]
2025-10-26T19:13:47.386Z,1761506027.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009382,0.997015,0.076638],[-0.997819,0.004326,0.065871],[0.065343,-0.077088,0.994881]]
2025-10-26T19:13:47.793Z,1761506027.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010246,0.997429,0.070929],[-0.997044,0.004789,0.076688],[0.076151,-0.071505,0.994529]]
2025-10-26T19:13:48.196Z,1761506028.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015520,0.997631,0.067025],[-0.994674,0.008574,0.102709],[0.101891,-0.068262,0.992451]]
2025-10-26T19:13:48.598Z,1761506028.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030199,0.997551,0.063094],[-0.996374,0.025021,0.081316],[0.079538,-0.065321,0.994689]]
2025-10-26T19:13:49.002Z,1761506029.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030911,0.997275,0.066993],[-0.998501,0.027782,0.047151],[0.045161,-0.068350,0.996639]]
2025-10-26T19:13:49.406Z,1761506029.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030903,0.996491,0.077784],[-0.998857,0.027951,0.038760],[0.036450,-0.078893,0.996217]]
2025-10-26T19:13:49.812Z,1761506029.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047657,0.994916,0.088723],[-0.997975,0.043679,0.046243],[0.042132,-0.090747,0.994982]]
2025-10-26T19:13:50.214Z,1761506030.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055144,0.993043,0.104041],[-0.996118,0.047553,0.074083],[0.068621,-0.107722,0.991810]]
2025-10-26T19:13:50.618Z,1761506030.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044619,0.994759,0.091994],[-0.993768,0.034781,0.105903],[0.102148,-0.096146,0.990112]]
2025-10-26T19:13:51.024Z,1761506031.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041058,0.997674,0.054416],[-0.993050,0.034734,0.112449],[0.110298,-0.058655,0.992166]]
2025-10-26T19:13:51.098Z,1761506031.098 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:13:51.098Z,1761506031.098 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:13:51.098Z,1761506031.098 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:13:51.099Z,1761506031.099 [marl:UpdateRudder:A] Stopped
2025-10-26T19:13:51.099Z,1761506031.099 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:13:51.099Z,1761506031.099 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:13:51.099Z,1761506031.099 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:13:51.103Z,1761506031.103 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:13:51.104Z,1761506031.104 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:13:51.104Z,1761506031.104 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:13:51.104Z,1761506031.104 [marl:UpdateCommandMode] Stopped
2025-10-26T19:13:51.104Z,1761506031.104 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:13:51.426Z,1761506031.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026832,0.999205,0.029491],[-0.995549,0.024044,0.091124],[0.090342,-0.031805,0.995403]]
2025-10-26T19:13:51.485Z,1761506031.485 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:13:51.485Z,1761506031.485 [marl:UpdateRudder:B] Stopped
2025-10-26T19:13:51.486Z,1761506031.486 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:13:51.486Z,1761506031.486 [marl:UpdateRudder] Stopped
2025-10-26T19:13:51.487Z,1761506031.487 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:13:51.836Z,1761506031.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019544,0.999427,0.027631],[-0.998136,0.017906,0.058344],[0.057816,-0.028720,0.997914]]
2025-10-26T19:13:51.844Z,1761506031.844 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191351.00,A,3646.39994,N,12152.03174,W,0.952,240.73,261025,,,A*71
2025-10-26T19:13:51.847Z,1761506031.847 [NAL9602](INFO): GPS fix at 20251026T191351: (36.773332, -121.867196)
2025-10-26T19:13:51.881Z,1761506031.881 [UniversalFixResidualReporter](INFO): Fix residual: 1.9 %DT, over the last 603.5 m. Residual distance 11.4 m at bearing -47.2 degrees. Fix at (36.7733, -121.8672) with 84.3 m made good.
2025-10-26T19:13:51.904Z,1761506031.904 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:13:51.904Z,1761506031.904 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:13:51.905Z,1761506031.905 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:13:51.905Z,1761506031.905 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:13:51.905Z,1761506031.905 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:13:51.905Z,1761506031.905 [marl:UpdateSpeed] Stopped
2025-10-26T19:13:51.905Z,1761506031.905 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:13:51.906Z,1761506031.906 [marl:NeedComms:C] Stopped
2025-10-26T19:13:51.906Z,1761506031.906 [marl:NeedComms:D] Running Loop=1
2025-10-26T19:13:51.913Z,1761506031.913 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506048.00. Resetting abort timer.
2025-10-26T19:13:52.234Z,1761506032.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055074,0.997200,0.050578],[-0.998291,0.054002,0.022315],[0.019521,-0.051720,0.998471]]
2025-10-26T19:13:52.639Z,1761506032.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085750,0.993533,0.074419],[-0.996269,0.084774,0.016188],[0.009775,-0.075529,0.997096]]
2025-10-26T19:13:53.043Z,1761506033.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092378,0.992721,0.077280],[-0.995432,0.090193,0.031309],[0.024111,-0.079819,0.996518]]
2025-10-26T19:13:53.453Z,1761506033.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077009,0.994493,0.071083],[-0.996657,0.074835,0.032773],[0.027273,-0.073369,0.996932]]
2025-10-26T19:13:53.856Z,1761506033.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046202,0.996902,0.063650],[-0.998828,0.045185,0.017321],[0.014391,-0.064376,0.997822]]
2025-10-26T19:13:54.254Z,1761506034.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039930,0.997871,0.051574],[-0.999179,0.040230,-0.004783],[-0.006848,-0.051341,0.998658]]
2025-10-26T19:13:54.658Z,1761506034.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065458,0.997372,0.031058],[-0.997752,0.065868,-0.012376],[-0.014389,-0.030178,0.999441]]
2025-10-26T19:13:55.064Z,1761506035.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083509,0.996311,0.019770],[-0.996093,0.082886,0.030486],[0.028735,-0.022239,0.999340]]
2025-10-26T19:13:55.134Z,1761506035.134 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:13:55.341Z,1761506035.341 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:13:55.342Z,1761506035.342 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:13:55.466Z,1761506035.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068830,0.996628,0.044660],[-0.992177,0.063712,0.107358],[0.104150,-0.051700,0.993217]]
2025-10-26T19:13:55.592Z,1761506035.592 [DAT](INFO): DAT read: user:108>

2025-10-26T19:13:55.593Z,1761506035.593 [DAT](INFO): DAT read: Tx time:19:13:54.6640

2025-10-26T19:13:55.593Z,1761506035.593 [DAT](INFO): Ping request sent.
2025-10-26T19:13:55.593Z,1761506035.593 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:13:55.594Z,1761506035.594 [DAT](INFO): publishing transmit ping time
2025-10-26T19:13:55.594Z,1761506035.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937
2025-10-26T19:13:55.845Z,1761506035.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251519
2025-10-26T19:13:55.870Z,1761506035.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047869,0.993136,0.106726],[-0.990342,0.033270,0.134594],[0.130120,-0.112138,0.985136]]
2025-10-26T19:13:56.097Z,1761506036.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503428
2025-10-26T19:13:56.277Z,1761506036.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046110,0.985704,0.162052],[-0.993518,0.028379,0.110074],[0.103902,-0.166077,0.980624]]
2025-10-26T19:13:56.349Z,1761506036.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754989
2025-10-26T19:13:56.600Z,1761506036.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006807
2025-10-26T19:13:56.678Z,1761506036.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038913,0.985895,0.162780],[-0.997085,0.027611,0.071127],[0.065629,-0.165073,0.984095]]
2025-10-26T19:13:56.854Z,1761506036.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260739
2025-10-26T19:13:57.086Z,1761506037.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036985,0.993079,0.111472],[-0.997943,0.030860,0.056185],[0.052357,-0.113321,0.992178]]
2025-10-26T19:13:57.104Z,1761506037.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510923
2025-10-26T19:13:57.357Z,1761506037.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763159
2025-10-26T19:13:57.487Z,1761506037.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054531,0.996504,0.063293],[-0.996260,0.050044,0.070433],[0.067019,-0.066898,0.995506]]
2025-10-26T19:13:57.609Z,1761506037.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015435
2025-10-26T19:13:57.860Z,1761506037.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266863
2025-10-26T19:13:57.902Z,1761506037.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077998,0.996772,0.019020],[-0.995362,0.076782,0.057960],[0.056313,-0.023452,0.998138]]
2025-10-26T19:13:58.112Z,1761506038.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518759
2025-10-26T19:13:58.319Z,1761506038.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076373,0.996534,0.032963],[-0.994725,0.073880,0.071157],[0.068475,-0.038223,0.996920]]
2025-10-26T19:13:58.364Z,1761506038.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770938
2025-10-26T19:13:58.616Z,1761506038.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022888
2025-10-26T19:13:58.705Z,1761506038.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078203,0.995555,0.052475],[-0.992296,0.072658,0.100346],[0.096088,-0.059918,0.993568]]
2025-10-26T19:13:58.868Z,1761506038.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274800
2025-10-26T19:13:59.109Z,1761506039.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095812,0.992776,0.072220],[-0.989231,0.086902,0.117772],[0.110645,-0.082726,0.990411]]
2025-10-26T19:13:59.120Z,1761506039.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526907
2025-10-26T19:13:59.372Z,1761506039.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778888
2025-10-26T19:13:59.509Z,1761506039.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102939,0.990553,0.090604],[-0.989505,0.092691,0.110851],[0.101405,-0.101064,0.989698]]
2025-10-26T19:13:59.624Z,1761506039.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030816
2025-10-26T19:13:59.881Z,1761506039.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287419
2025-10-26T19:13:59.910Z,1761506039.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094353,0.990153,0.103414],[-0.992192,0.085016,0.091256],[0.081565,-0.111217,0.990443]]
2025-10-26T19:14:00.128Z,1761506040.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534849
2025-10-26T19:14:00.321Z,1761506040.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085661,0.991327,0.099665],[-0.993511,0.077479,0.083266],[0.074822,-0.106151,0.991531]]
2025-10-26T19:14:00.380Z,1761506040.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786892
2025-10-26T19:14:00.632Z,1761506040.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038910
2025-10-26T19:14:00.885Z,1761506040.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290968
2025-10-26T19:14:01.136Z,1761506041.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542826
2025-10-26T19:14:01.389Z,1761506041.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795701
2025-10-26T19:14:01.640Z,1761506041.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046798
2025-10-26T19:14:01.893Z,1761506041.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299003
2025-10-26T19:14:02.145Z,1761506042.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551438
2025-10-26T19:14:02.397Z,1761506042.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803029
2025-10-26T19:14:02.474Z,1761506042.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101901,0.994596,0.019875],[-0.993675,0.100818,0.049452],[0.047181,-0.024788,0.998579]]
2025-10-26T19:14:02.648Z,1761506042.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054802
2025-10-26T19:14:02.868Z,1761506042.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116488,0.990111,0.078174],[-0.992404,0.112900,0.048860],[0.039551,-0.083271,0.995742]]
2025-10-26T19:14:02.901Z,1761506042.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307481
2025-10-26T19:14:03.156Z,1761506043.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562837
2025-10-26T19:14:03.263Z,1761506043.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138790,0.985267,0.099930],[-0.988305,0.131364,0.077436],[0.063168,-0.109508,0.991977]]
2025-10-26T19:14:03.405Z,1761506043.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811064
2025-10-26T19:14:03.656Z,1761506043.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062791
2025-10-26T19:14:03.668Z,1761506043.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159144,0.983906,0.081257],[-0.982370,0.149641,0.112057],[0.098094,-0.097658,0.990374]]
2025-10-26T19:14:03.909Z,1761506043.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315460
2025-10-26T19:14:04.070Z,1761506044.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145661,0.987842,0.054332],[-0.982960,0.138279,0.121118],[0.112132,-0.071048,0.991150]]
2025-10-26T19:14:04.160Z,1761506044.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566941
2025-10-26T19:14:04.412Z,1761506044.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818816
2025-10-26T19:14:04.474Z,1761506044.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141673,0.988372,0.055227],[-0.986818,0.136601,0.086782],[0.078229,-0.066794,0.994695]]
2025-10-26T19:14:04.664Z,1761506044.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070875
2025-10-26T19:14:04.884Z,1761506044.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153494,0.985095,0.077639],[-0.987204,0.149438,0.055639],[0.043208,-0.085186,0.995428]]
2025-10-26T19:14:04.916Z,1761506044.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322973
2025-10-26T19:14:05.168Z,1761506045.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574789
2025-10-26T19:14:05.282Z,1761506045.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149976,0.982707,0.108605],[-0.987857,0.144434,0.057258],[0.040581,-0.115873,0.992435]]
2025-10-26T19:14:05.420Z,1761506045.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826820
2025-10-26T19:14:05.680Z,1761506045.680 [DAT](INFO): Reached modem response timeout
2025-10-26T19:14:05.687Z,1761506045.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127591,0.982084,0.138675],[-0.990110,0.117897,0.076036],[0.058324,-0.147005,0.987415]]
2025-10-26T19:14:06.090Z,1761506046.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119070,0.984060,0.132093],[-0.991317,0.110349,0.071513],[0.055796,-0.139461,0.988654]]
2025-10-26T19:14:06.126Z,1761506046.126 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:14:06.126Z,1761506046.126 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:14:06.126Z,1761506046.126 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:14:06.127Z,1761506046.127 [marl:UpdateRudder:A] Stopped
2025-10-26T19:14:06.127Z,1761506046.127 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:14:06.127Z,1761506046.127 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:14:06.127Z,1761506046.127 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:14:06.127Z,1761506046.127 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:14:06.144Z,1761506046.144 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:14:06.144Z,1761506046.144 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:14:06.144Z,1761506046.144 [marl:UpdateCommandMode] Stopped
2025-10-26T19:14:06.144Z,1761506046.144 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:14:06.499Z,1761506046.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121859,0.989446,0.078407],[-0.991675,0.118061,0.051400],[0.041601,-0.084018,0.995595]]
2025-10-26T19:14:06.568Z,1761506046.568 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:14:06.568Z,1761506046.568 [marl:UpdateRudder:B] Stopped
2025-10-26T19:14:06.568Z,1761506046.568 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:14:06.568Z,1761506046.568 [marl:UpdateRudder] Stopped
2025-10-26T19:14:06.568Z,1761506046.568 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:14:06.916Z,1761506046.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115450,0.993142,0.018456],[-0.992552,0.114614,0.041291],[0.038893,-0.023086,0.998977]]
2025-10-26T19:14:06.976Z,1761506046.976 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:14:06.976Z,1761506046.976 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:14:06.976Z,1761506046.976 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:14:06.976Z,1761506046.976 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:14:06.976Z,1761506046.976 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:14:06.976Z,1761506046.976 [marl:UpdateSpeed] Stopped
2025-10-26T19:14:06.977Z,1761506046.977 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:14:07.307Z,1761506047.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103414,0.994609,-0.007624],[-0.993754,0.103642,0.041374],[0.041941,0.003297,0.999115]]
2025-10-26T19:14:07.711Z,1761506047.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108224,0.993997,0.016037],[-0.992585,0.107144,0.057394],[0.055332,-0.022130,0.998223]]
2025-10-26T19:14:07.718Z,1761506047.718 [NAL9602](INFO): SBD MO Status=1, MOMSN=2962, MT Status=0, MTMSN=0
2025-10-26T19:14:07.768Z,1761506047.768 [NAL9602](INFO): Sent 83 bytes from file Logs/20251026T180417/Courier0018.lzma
2025-10-26T19:14:07.768Z,1761506047.768 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:14:07.940Z,1761506047.940 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:14:07.941Z,1761506047.941 [DAT](INFO): response not received
2025-10-26T19:14:07.941Z,1761506047.941 [DAT](ERROR): No response from remote modem.
2025-10-26T19:14:08.110Z,1761506048.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124537,0.990399,0.059995],[-0.988288,0.118443,0.096217],[0.088187,-0.071275,0.993551]]
2025-10-26T19:14:08.666Z,1761506048.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135727,0.986026,0.096598],[-0.983843,0.122649,0.130423],[0.116753,-0.112739,0.986741]]
2025-10-26T19:14:08.794Z,1761506048.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:14:09.046Z,1761506049.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147838,0.983413,0.105084],[-0.982900,0.134299,0.125979],[0.109777,-0.121912,0.986452]]
2025-10-26T19:14:09.796Z,1761506049.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:14:11.222Z,1761506051.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197827,0.980057,0.018806],[-0.974236,0.194460,0.114238],[0.108303,-0.040921,0.993275]]
2025-10-26T19:14:11.619Z,1761506051.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207485,0.974767,0.082335],[-0.976251,0.200967,0.080906],[0.062318,-0.097167,0.993315]]
2025-10-26T19:14:12.022Z,1761506052.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201118,0.974824,0.096279],[-0.979317,0.197874,0.042240],[0.022125,-0.102783,0.994458]]
2025-10-26T19:14:12.426Z,1761506052.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189437,0.978086,0.086379],[-0.981862,0.187996,0.024594],[0.007817,-0.089471,0.995959]]
2025-10-26T19:14:12.855Z,1761506052.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187706,0.980099,0.064587],[-0.982027,0.185940,0.032406],[0.019752,-0.069509,0.997386]]
2025-10-26T19:14:13.235Z,1761506053.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192027,0.980219,0.047928],[-0.980788,0.189971,0.044334],[0.034352,-0.055521,0.997866]]
2025-10-26T19:14:13.638Z,1761506053.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209576,0.976638,0.047498],[-0.976779,0.206900,0.055632],[0.044505,-0.058054,0.997321]]
2025-10-26T19:14:14.043Z,1761506054.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213209,0.975685,0.050803],[-0.975955,0.210280,0.057398],[0.045320,-0.061819,0.997058]]
2025-10-26T19:14:14.446Z,1761506054.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197954,0.979108,0.046496],[-0.979900,0.196473,0.034562],[0.024705,-0.052403,0.998320]]
2025-10-26T19:14:14.864Z,1761506054.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185564,0.981442,0.048342],[-0.982266,0.183927,0.036389],[0.026822,-0.054238,0.998168]]
2025-10-26T19:14:15.254Z,1761506055.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194929,0.978718,0.064132],[-0.978350,0.189388,0.083442],[0.069520,-0.079009,0.994447]]
2025-10-26T19:14:15.658Z,1761506055.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217708,0.973175,0.074386],[-0.969329,0.206683,0.132976],[0.114035,-0.101055,0.988324]]
2025-10-26T19:14:16.062Z,1761506056.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237227,0.969591,0.060133],[-0.963610,0.227011,0.141142],[0.123199,-0.091427,0.988161]]
2025-10-26T19:14:16.471Z,1761506056.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253622,0.966548,0.038227],[-0.960632,0.247042,0.127111],[0.113415,-0.068960,0.991152]]
2025-10-26T19:14:16.872Z,1761506056.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265157,0.964008,0.019488],[-0.958232,0.261214,0.116443],[0.107162,-0.049550,0.993006]]
2025-10-26T19:14:17.275Z,1761506057.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268090,0.962889,0.031180],[-0.959225,0.263783,0.101518],[0.089526,-0.057125,0.994345]]
2025-10-26T19:14:17.678Z,1761506057.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262102,0.963103,0.061118],[-0.962584,0.256394,0.087717],[0.068811,-0.081822,0.994269]]
2025-10-26T19:14:18.082Z,1761506058.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259415,0.961491,0.090771],[-0.964353,0.252806,0.078182],[0.052224,-0.107817,0.992798]]
2025-10-26T19:14:18.494Z,1761506058.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260591,0.962110,0.080225],[-0.964333,0.255395,0.069537],[0.046413,-0.095485,0.994348]]
2025-10-26T19:14:18.890Z,1761506058.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259835,0.965201,0.029534],[-0.964265,0.257701,0.061510],[0.051758,-0.044461,0.997669]]
2025-10-26T19:14:19.305Z,1761506059.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277775,0.960557,-0.013101],[-0.958331,0.278026,0.065602],[0.066657,-0.005668,0.997760]]
2025-10-26T19:14:19.701Z,1761506059.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297707,0.954430,-0.020854],[-0.949937,0.298333,0.092822],[0.094814,-0.007823,0.995464]]
2025-10-26T19:14:20.104Z,1761506060.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292693,0.956064,0.016494],[-0.949314,0.288473,0.124848],[0.114605,-0.052200,0.992039]]
2025-10-26T19:14:20.509Z,1761506060.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288677,0.953541,0.086169],[-0.949714,0.273788,0.151933],[0.121283,-0.125696,0.984627]]
2025-10-26T19:14:20.910Z,1761506060.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293913,0.946583,0.132648],[-0.946397,0.268745,0.179192],[0.133972,-0.178204,0.974831]]
2025-10-26T19:14:21.317Z,1761506061.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295346,0.947732,0.120724],[-0.947103,0.273830,0.167368],[0.125562,-0.163769,0.978475]]
2025-10-26T19:14:21.340Z,1761506061.340 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateRudder:A] Stopped
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:14:21.341Z,1761506061.341 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:14:21.342Z,1761506061.342 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:14:21.342Z,1761506061.342 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:14:21.342Z,1761506061.342 [marl:UpdateCommandMode] Stopped
2025-10-26T19:14:21.342Z,1761506061.342 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:14:21.725Z,1761506061.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312392,0.947912,0.062238],[-0.945126,0.303541,0.120830],[0.095645,-0.096569,0.990720]]
2025-10-26T19:14:21.750Z,1761506061.750 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:14:21.750Z,1761506061.750 [marl:UpdateRudder:B] Stopped
2025-10-26T19:14:21.750Z,1761506061.750 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:14:21.750Z,1761506061.750 [marl:UpdateRudder] Stopped
2025-10-26T19:14:21.750Z,1761506061.750 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:14:22.122Z,1761506062.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332108,0.943224,-0.005821],[-0.940336,0.331562,0.076386],[0.073979,-0.019894,0.997061]]
2025-10-26T19:14:22.140Z,1761506062.140 [NAL9602](INFO): SBD MO Status=1, MOMSN=2963, MT Status=0, MTMSN=0
2025-10-26T19:14:22.188Z,1761506062.188 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0019.lzma
2025-10-26T19:14:22.188Z,1761506062.188 [NAL9602](INFO): Packets left to send: 2
2025-10-26T19:14:22.252Z,1761506062.252 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:14:22.252Z,1761506062.252 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:14:22.252Z,1761506062.252 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:14:22.252Z,1761506062.252 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:14:22.253Z,1761506062.253 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:14:22.253Z,1761506062.253 [marl:UpdateSpeed] Stopped
2025-10-26T19:14:22.253Z,1761506062.253 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:14:22.529Z,1761506062.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329561,0.943322,-0.039160],[-0.942479,0.331155,0.045493],[0.055883,0.021915,0.998197]]
2025-10-26T19:14:23.138Z,1761506063.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332237,0.940553,0.070559],[-0.943154,0.330584,0.034278],[0.008915,-0.077937,0.996918]]
2025-10-26T19:14:23.527Z,1761506063.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332144,0.935053,0.123919],[-0.942974,0.326122,0.066669],[0.021926,-0.138996,0.990050]]
2025-10-26T19:14:25.613Z,1761506065.613 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:14:25.802Z,1761506065.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336576,0.941400,-0.021962],[-0.938032,0.337234,0.079808],[0.082538,-0.006260,0.996568]]
2025-10-26T19:14:25.848Z,1761506065.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:14:25.848Z,1761506065.848 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:14:26.101Z,1761506066.101 [DAT](INFO): DAT read: user:109>

2025-10-26T19:14:26.102Z,1761506066.102 [DAT](INFO): DAT read: Tx time:19:14:25.1638

2025-10-26T19:14:26.102Z,1761506066.102 [DAT](INFO): Ping request sent.
2025-10-26T19:14:26.102Z,1761506066.102 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:14:26.102Z,1761506066.102 [DAT](INFO): publishing transmit ping time
2025-10-26T19:14:26.103Z,1761506066.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000906
2025-10-26T19:14:26.186Z,1761506066.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321930,0.946421,-0.025463],[-0.944665,0.322890,0.057882],[0.063003,0.005420,0.997999]]
2025-10-26T19:14:26.352Z,1761506066.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250282
2025-10-26T19:14:26.590Z,1761506066.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310095,0.950260,0.029113],[-0.950240,0.308839,0.040758],[0.029740,-0.040303,0.998745]]
2025-10-26T19:14:26.604Z,1761506066.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502080
2025-10-26T19:14:26.856Z,1761506066.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754311
2025-10-26T19:14:26.994Z,1761506066.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325848,0.940321,0.098079],[-0.945258,0.322100,0.052336],[0.017621,-0.109764,0.993802]]
2025-10-26T19:14:27.108Z,1761506067.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006397
2025-10-26T19:14:27.360Z,1761506067.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258232
2025-10-26T19:14:27.402Z,1761506067.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352962,0.926498,0.130460],[-0.935379,0.346137,0.072497],[0.022011,-0.147618,0.988799]]
2025-10-26T19:14:27.613Z,1761506067.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929
2025-10-26T19:14:27.803Z,1761506067.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360160,0.926472,0.109250],[-0.932623,0.354771,0.065975],[0.022365,-0.125651,0.991822]]
2025-10-26T19:14:27.888Z,1761506067.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.786369
2025-10-26T19:14:28.140Z,1761506068.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.038233
2025-10-26T19:14:28.210Z,1761506068.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364337,0.930300,0.042435],[-0.930408,0.361667,0.059476],[0.039983,-0.061151,0.997327]]
2025-10-26T19:14:28.392Z,1761506068.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.290264
2025-10-26T19:14:28.615Z,1761506068.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363538,0.931351,-0.020641],[-0.928775,0.364072,0.069493],[0.072237,-0.006093,0.997369]]
2025-10-26T19:14:28.653Z,1761506068.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.550453
2025-10-26T19:14:28.905Z,1761506068.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.803101
2025-10-26T19:14:29.016Z,1761506069.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355628,0.934179,-0.028951],[-0.932445,0.356743,0.057272],[0.063830,0.006628,0.997939]]
2025-10-26T19:14:29.157Z,1761506069.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.054895
2025-10-26T19:14:29.412Z,1761506069.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.310326
2025-10-26T19:14:29.420Z,1761506069.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347721,0.937439,0.017242],[-0.937315,0.347106,0.030933],[0.023013,-0.026917,0.999373]]
2025-10-26T19:14:29.664Z,1761506069.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.562249
2025-10-26T19:14:29.822Z,1761506069.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354783,0.931857,0.075970],[-0.934941,0.353281,0.032826],[0.003751,-0.082673,0.996570]]
2025-10-26T19:14:29.916Z,1761506069.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.814329
2025-10-26T19:14:30.169Z,1761506070.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.066502
2025-10-26T19:14:30.230Z,1761506070.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375422,0.919284,0.118215],[-0.926348,0.367937,0.080637],[0.030633,-0.139781,0.989708]]
2025-10-26T19:14:30.420Z,1761506070.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.318270
2025-10-26T19:14:30.637Z,1761506070.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369568,0.918292,0.141985],[-0.925453,0.350037,0.144954],[0.083410,-0.184971,0.979198]]
2025-10-26T19:14:30.673Z,1761506070.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.570504
2025-10-26T19:14:30.924Z,1761506070.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.822310
2025-10-26T19:14:31.034Z,1761506071.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344383,0.927737,0.143893],[-0.933255,0.321617,0.159990],[0.102150,-0.189387,0.976575]]
2025-10-26T19:14:31.176Z,1761506071.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.074271
2025-10-26T19:14:31.430Z,1761506071.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.327963
2025-10-26T19:14:31.441Z,1761506071.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340596,0.935734,0.091632],[-0.936426,0.328875,0.122260],[0.084268,-0.127448,0.988259]]
2025-10-26T19:14:31.680Z,1761506071.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.578316
2025-10-26T19:14:31.843Z,1761506071.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353874,0.935162,0.015638],[-0.933575,0.352161,0.066486],[0.056668,-0.038127,0.997665]]
2025-10-26T19:14:31.932Z,1761506071.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.830377
2025-10-26T19:14:32.184Z,1761506072.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.082273
2025-10-26T19:14:32.251Z,1761506072.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369180,0.928405,-0.042082],[-0.928526,0.370387,0.025559],[0.039316,0.029638,0.998787]]
2025-10-26T19:14:32.436Z,1761506072.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.334303
2025-10-26T19:14:32.650Z,1761506072.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367928,0.927929,-0.059799],[-0.928592,0.370018,0.028339],[0.048423,0.045103,0.997808]]
2025-10-26T19:14:32.688Z,1761506072.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.586385
2025-10-26T19:14:32.940Z,1761506072.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.838251
2025-10-26T19:14:33.054Z,1761506073.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347018,0.937578,-0.022952],[-0.935566,0.347776,0.061385],[0.065535,0.000172,0.997850]]
2025-10-26T19:14:33.192Z,1761506073.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.090315
2025-10-26T19:14:33.459Z,1761506073.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.355810
2025-10-26T19:14:33.484Z,1761506073.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337873,0.939909,0.049125],[-0.937773,0.331741,0.102616],[0.080153,-0.080739,0.993507]]
2025-10-26T19:14:33.697Z,1761506073.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.595250
2025-10-26T19:14:33.863Z,1761506073.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345845,0.931740,0.110689],[-0.933138,0.329197,0.144506],[0.098204,-0.153264,0.983293]]
2025-10-26T19:14:33.948Z,1761506073.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.846372
2025-10-26T19:14:34.200Z,1761506074.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.098243
2025-10-26T19:14:34.272Z,1761506074.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352859,0.925031,0.140739],[-0.929032,0.328473,0.170309],[0.111312,-0.190846,0.975289]]
2025-10-26T19:14:34.452Z,1761506074.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.350244
2025-10-26T19:14:34.671Z,1761506074.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364989,0.922834,0.123130],[-0.924147,0.343083,0.168067],[0.112854,-0.175133,0.978055]]
2025-10-26T19:14:34.705Z,1761506074.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.602872
2025-10-26T19:14:34.956Z,1761506074.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.854190
2025-10-26T19:14:35.074Z,1761506075.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373130,0.926641,0.045941],[-0.919741,0.362939,0.149507],[0.121865,-0.098040,0.987693]]
2025-10-26T19:14:35.088Z,1761506075.088 [NAL9602](INFO): SBD MO Status=1, MOMSN=2964, MT Status=0, MTMSN=0
2025-10-26T19:14:35.140Z,1761506075.140 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0019.lzma
2025-10-26T19:14:35.140Z,1761506075.140 [NAL9602](INFO): Packets left to send: 1
2025-10-26T19:14:35.208Z,1761506075.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.106374
2025-10-26T19:14:35.460Z,1761506075.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.358307
2025-10-26T19:14:35.478Z,1761506075.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365516,0.929899,-0.041061],[-0.921561,0.367735,0.124483],[0.130856,-0.007660,0.991372]]
2025-10-26T19:14:35.713Z,1761506075.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.611159
2025-10-26T19:14:35.965Z,1761506075.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.862966
2025-10-26T19:14:36.030Z,1761506076.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335714,0.941271,-0.036134],[-0.934411,0.337625,0.113510],[0.119043,-0.004342,0.992880]]
2025-10-26T19:14:36.216Z,1761506076.216 [DAT](INFO): Reached modem response timeout
2025-10-26T19:14:36.418Z,1761506076.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339038,0.939617,0.046621],[-0.934379,0.330552,0.132935],[0.109497,-0.088631,0.990028]]
2025-10-26T19:14:38.493Z,1761506078.493 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:14:38.493Z,1761506078.493 [DAT](INFO): response not received
2025-10-26T19:14:38.493Z,1761506078.493 [DAT](ERROR): No response from remote modem.
2025-10-26T19:14:38.592Z,1761506078.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353661,0.933059,-0.065765],[-0.933029,0.356877,0.045784],[0.066189,0.045168,0.996784]]
2025-10-26T19:14:38.641Z,1761506078.641 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:14:38.641Z,1761506078.641 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:14:38.641Z,1761506078.641 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:14:38.641Z,1761506078.641 [marl:UpdateRudder:A] Stopped
2025-10-26T19:14:38.641Z,1761506078.641 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode] Stopped
2025-10-26T19:14:38.642Z,1761506078.642 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:14:38.966Z,1761506078.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355437,0.931848,-0.072969],[-0.933377,0.358003,0.025327],[0.049724,0.059105,0.997013]]
2025-10-26T19:14:39.026Z,1761506079.026 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:14:39.026Z,1761506079.026 [marl:UpdateRudder:B] Stopped
2025-10-26T19:14:39.026Z,1761506079.026 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:14:39.026Z,1761506079.026 [marl:UpdateRudder] Stopped
2025-10-26T19:14:39.026Z,1761506079.026 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:14:39.370Z,1761506079.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339190,0.939970,-0.037496],[-0.938938,0.340730,0.047941],[0.057839,0.018946,0.998146]]
2025-10-26T19:14:39.417Z,1761506079.417 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:14:39.417Z,1761506079.417 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:14:39.417Z,1761506079.417 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:14:39.417Z,1761506079.417 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:14:39.417Z,1761506079.417 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:14:39.418Z,1761506079.418 [marl:UpdateSpeed] Stopped
2025-10-26T19:14:39.418Z,1761506079.418 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:14:39.779Z,1761506079.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333289,0.942356,0.029720],[-0.940140,0.329797,0.085853],[0.071103,-0.056555,0.995864]]
2025-10-26T19:14:39.823Z,1761506079.823 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:14:39.824Z,1761506079.824 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:14:39.916Z,1761506079.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:14:40.178Z,1761506080.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360801,0.927636,0.096510],[-0.928843,0.348071,0.126875],[0.084101,-0.135419,0.987213]]
2025-10-26T19:14:40.582Z,1761506080.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383451,0.915980,0.118097],[-0.918218,0.364366,0.155285],[0.099207,-0.167983,0.980785]]
2025-10-26T19:14:40.920Z,1761506080.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:14:40.987Z,1761506080.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379616,0.918949,0.106888],[-0.920220,0.363161,0.145978],[0.095329,-0.153776,0.983496]]
2025-10-26T19:14:41.390Z,1761506081.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381187,0.920247,0.088553],[-0.922187,0.371717,0.106761],[0.065330,-0.122359,0.990333]]
2025-10-26T19:14:41.794Z,1761506081.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382039,0.922980,0.046405],[-0.922782,0.378266,0.073408],[0.050201,-0.070867,0.996222]]
2025-10-26T19:14:42.204Z,1761506082.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359531,0.932987,0.016521],[-0.932283,0.358391,0.049024],[0.039817,-0.033028,0.998661]]
2025-10-26T19:14:42.604Z,1761506082.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349426,0.936833,0.015645],[-0.936632,0.348809,0.032455],[0.024948,-0.025994,0.999351]]
2025-10-26T19:14:43.006Z,1761506083.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355775,0.934348,0.020452],[-0.934349,0.355127,0.029621],[0.020413,-0.029647,0.999352]]
2025-10-26T19:14:43.410Z,1761506083.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364065,0.930414,0.042262],[-0.931373,0.363652,0.017347],[0.000772,-0.045677,0.998956]]
2025-10-26T19:14:43.814Z,1761506083.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381331,0.921881,0.068724],[-0.924107,0.382131,0.001625],[-0.024763,-0.064128,0.997634]]
2025-10-26T19:14:44.218Z,1761506084.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401204,0.912736,0.077127],[-0.915922,0.400768,0.021725],[-0.011081,-0.079358,0.996785]]
2025-10-26T19:14:44.626Z,1761506084.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395315,0.916132,0.066550],[-0.917972,0.391470,0.063858],[0.032450,-0.086335,0.995737]]
2025-10-26T19:14:45.063Z,1761506085.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374699,0.925274,0.058889],[-0.925525,0.369534,0.082751],[0.054806,-0.085510,0.994829]]
2025-10-26T19:14:45.074Z,1761506085.074 [NAL9602](INFO): SBD MO Status=1, MOMSN=2965, MT Status=0, MTMSN=0
2025-10-26T19:14:45.124Z,1761506085.124 [NAL9602](INFO): Sent 317 bytes from file Logs/20251026T180417/Express0019.lzma
2025-10-26T19:14:45.124Z,1761506085.124 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:14:45.466Z,1761506085.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357662,0.932202,0.055474],[-0.932536,0.353377,0.074168],[0.049536,-0.078258,0.995702]]
2025-10-26T19:14:45.941Z,1761506085.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342315,0.937897,0.056297],[-0.938458,0.338356,0.069368],[0.046012,-0.076578,0.996001]]
2025-10-26T19:14:46.315Z,1761506086.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341727,0.938182,0.055117],[-0.938040,0.336913,0.081056],[0.057476,-0.079401,0.995184]]
2025-10-26T19:14:46.727Z,1761506086.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349232,0.935767,0.048754],[-0.935347,0.345008,0.078071],[0.056236,-0.072867,0.995755]]
2025-10-26T19:14:47.122Z,1761506087.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349136,0.936361,0.036496],[-0.936872,0.347993,0.034219],[0.019341,-0.046139,0.998748]]
2025-10-26T19:14:47.528Z,1761506087.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337382,0.940762,0.033763],[-0.941356,0.337340,0.007101],[-0.004710,-0.034179,0.999405]]
2025-10-26T19:14:47.930Z,1761506087.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323688,0.945127,0.044277],[-0.946145,0.323032,0.021439],[0.005959,-0.048832,0.998789]]
2025-10-26T19:14:48.335Z,1761506088.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332085,0.941375,0.059436],[-0.942149,0.327996,0.069089],[0.045544,-0.078941,0.995838]]
2025-10-26T19:14:48.754Z,1761506088.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356112,0.934164,0.022832],[-0.927830,0.350585,0.127365],[0.110975,-0.066541,0.991593]]
2025-10-26T19:14:49.552Z,1761506089.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343015,0.939330,0.000294],[-0.935087,0.341436,0.095043],[0.089176,-0.032876,0.995473]]
2025-10-26T19:14:49.955Z,1761506089.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327165,0.944849,0.014913],[-0.941321,0.324477,0.092894],[0.082932,-0.044430,0.995564]]
2025-10-26T19:14:50.368Z,1761506090.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326235,0.943793,0.053158],[-0.941896,0.319789,0.102799],[0.080021,-0.083606,0.993281]]
2025-10-26T19:14:50.769Z,1761506090.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341081,0.934961,0.097527],[-0.937271,0.330293,0.111491],[0.072027,-0.129436,0.988968]]
2025-10-26T19:14:51.165Z,1761506091.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348594,0.930206,0.114886],[-0.934871,0.336308,0.113633],[0.067066,-0.147015,0.986858]]
2025-10-26T19:14:51.566Z,1761506091.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346475,0.934040,0.086748],[-0.936299,0.338681,0.092944],[0.057434,-0.113425,0.991885]]
2025-10-26T19:14:51.972Z,1761506091.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345110,0.938000,0.032495],[-0.937972,0.343458,0.047389],[0.033291,-0.046834,0.998348]]
2025-10-26T19:14:52.001Z,1761506092.001 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:14:52.001Z,1761506092.001 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:14:52.001Z,1761506092.001 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateRudder:A] Stopped
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:14:52.002Z,1761506092.002 [marl:UpdateCommandMode] Stopped
2025-10-26T19:14:52.003Z,1761506092.003 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:14:52.375Z,1761506092.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351786,0.935868,-0.019967],[-0.935854,0.352090,0.014498],[0.020598,0.013587,0.999695]]
2025-10-26T19:14:52.405Z,1761506092.405 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:14:52.405Z,1761506092.405 [marl:UpdateRudder:B] Stopped
2025-10-26T19:14:52.405Z,1761506092.405 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:14:52.405Z,1761506092.405 [marl:UpdateRudder] Stopped
2025-10-26T19:14:52.406Z,1761506092.406 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:14:52.785Z,1761506092.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338642,0.940001,-0.041464],[-0.940394,0.339592,0.018335],[0.031316,0.032783,0.998972]]
2025-10-26T19:14:52.880Z,1761506092.880 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:14:52.880Z,1761506092.880 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:14:52.880Z,1761506092.880 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:14:52.881Z,1761506092.881 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:14:52.881Z,1761506092.881 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:14:52.881Z,1761506092.881 [marl:UpdateSpeed] Stopped
2025-10-26T19:14:52.881Z,1761506092.881 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:14:53.184Z,1761506093.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307608,0.951124,-0.027194],[-0.950350,0.308519,0.040627],[0.047031,0.013347,0.998804]]
2025-10-26T19:14:53.586Z,1761506093.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305263,0.951822,0.029143],[-0.950974,0.303110,0.061432],[0.049639,-0.046467,0.997686]]
2025-10-26T19:14:53.990Z,1761506093.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317995,0.941584,0.110896],[-0.947667,0.312165,0.066939],[0.028411,-0.126379,0.991575]]
2025-10-26T19:14:54.395Z,1761506094.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324866,0.931006,0.166404],[-0.945752,0.319077,0.061175],[0.003859,-0.177250,0.984158]]
2025-10-26T19:14:54.858Z,1761506094.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325069,0.933688,0.150190],[-0.945634,0.319190,0.062404],[0.010326,-0.162310,0.986686]]
2025-10-26T19:14:55.206Z,1761506095.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310342,0.947093,0.081864],[-0.950250,0.306649,0.054696],[0.026699,-0.094766,0.995142]]
2025-10-26T19:14:55.610Z,1761506095.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303180,0.952913,0.006276],[-0.951721,0.302455,0.052414],[0.048048,-0.021863,0.998606]]
2025-10-26T19:14:55.637Z,1761506095.637 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:14:55.884Z,1761506095.884 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:14:55.884Z,1761506095.884 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:14:56.015Z,1761506096.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306602,0.951014,-0.039587],[-0.947765,0.308869,0.079632],[0.087958,0.013104,0.996038]]
2025-10-26T19:14:56.136Z,1761506096.136 [DAT](INFO): DAT read: user:110>

2025-10-26T19:14:56.137Z,1761506096.137 [DAT](INFO): DAT read: Tx time:19:14:55.2136

2025-10-26T19:14:56.137Z,1761506096.137 [DAT](INFO): Ping request sent.
2025-10-26T19:14:56.137Z,1761506096.137 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:14:56.138Z,1761506096.138 [DAT](INFO): publishing transmit ping time
2025-10-26T19:14:56.138Z,1761506096.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947
2025-10-26T19:14:56.389Z,1761506096.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251502
2025-10-26T19:14:56.418Z,1761506096.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300691,0.953218,-0.030984],[-0.947259,0.302271,0.106454],[0.110840,-0.002660,0.993835]]
2025-10-26T19:14:56.640Z,1761506096.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502941
2025-10-26T19:14:56.861Z,1761506096.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298121,0.954186,0.025558],[-0.950129,0.294073,0.103807],[0.091535,-0.055231,0.994269]]
2025-10-26T19:14:56.900Z,1761506096.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762939
2025-10-26T19:14:57.155Z,1761506097.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016636
2025-10-26T19:14:57.232Z,1761506097.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300001,0.949078,0.096177],[-0.952351,0.292161,0.087580],[0.055021,-0.117868,0.991504]]
2025-10-26T19:14:57.404Z,1761506097.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266919
2025-10-26T19:14:57.632Z,1761506097.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295345,0.945665,0.135972],[-0.954688,0.286667,0.079955],[0.036632,-0.153425,0.987481]]
2025-10-26T19:14:57.656Z,1761506097.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519003
2025-10-26T19:14:57.909Z,1761506097.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771513
2025-10-26T19:14:58.034Z,1761506098.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302954,0.946257,0.113213],[-0.952814,0.298366,0.055893],[0.019110,-0.124804,0.991997]]
2025-10-26T19:14:58.160Z,1761506098.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022961
2025-10-26T19:14:58.412Z,1761506098.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274853
2025-10-26T19:14:58.438Z,1761506098.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314942,0.947693,0.051862],[-0.948927,0.313335,0.036853],[0.018675,-0.060820,0.997974]]
2025-10-26T19:14:58.666Z,1761506098.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528325
2025-10-26T19:14:58.869Z,1761506098.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306001,0.952003,0.007380],[-0.951279,0.305442,0.042114],[0.037838,-0.019908,0.999085]]
2025-10-26T19:14:58.917Z,1761506098.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779064
2025-10-26T19:14:59.168Z,1761506099.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030858
2025-10-26T19:14:59.252Z,1761506099.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292781,0.956179,-0.000356],[-0.955602,0.292617,0.034646],[0.033232,-0.009804,0.999400]]
2025-10-26T19:14:59.420Z,1761506099.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282874
2025-10-26T19:14:59.650Z,1761506099.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309302,0.950920,0.009116],[-0.950476,0.308822,0.035004],[0.030470,-0.019491,0.999346]]
2025-10-26T19:14:59.672Z,1761506099.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535025
2025-10-26T19:14:59.924Z,1761506099.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786816
2025-10-26T19:15:00.054Z,1761506100.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309883,0.950296,0.030181],[-0.949452,0.307622,0.062523],[0.050131,-0.048031,0.997587]]
2025-10-26T19:15:00.176Z,1761506100.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038907
2025-10-26T19:15:00.428Z,1761506100.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290917
2025-10-26T19:15:00.464Z,1761506100.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293920,0.953891,0.060858],[-0.954165,0.289056,0.077561],[0.056394,-0.080866,0.995128]]
2025-10-26T19:15:00.680Z,1761506100.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542857
2025-10-26T19:15:00.874Z,1761506100.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296206,0.950003,0.098775],[-0.953916,0.289046,0.080599],[0.048019,-0.118097,0.991840]]
2025-10-26T19:15:00.932Z,1761506100.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794971
2025-10-26T19:15:01.184Z,1761506101.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046910
2025-10-26T19:15:01.266Z,1761506101.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301705,0.946826,0.111777],[-0.951785,0.292293,0.093112],[0.055489,-0.134479,0.989362]]
2025-10-26T19:15:01.436Z,1761506101.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298875
2025-10-26T19:15:01.670Z,1761506101.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295500,0.951838,0.081753],[-0.953153,0.287951,0.092643],[0.064640,-0.105299,0.992338]]
2025-10-26T19:15:01.688Z,1761506101.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550907
2025-10-26T19:15:01.709Z,1761506101.709 [NAL9602](INFO): SBD MO Status=0, MOMSN=2966, MT Status=0, MTMSN=0
2025-10-26T19:15:01.814Z,1761506101.814 [marl:NeedComms:D] Stopped
2025-10-26T19:15:01.814Z,1761506101.814 [marl:NeedComms:E] Running Loop=1
2025-10-26T19:15:01.940Z,1761506101.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802913
2025-10-26T19:15:02.075Z,1761506102.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272151,0.961402,0.040506],[-0.961202,0.269643,0.058170],[0.045002,-0.054765,0.997485]]
2025-10-26T19:15:02.192Z,1761506102.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054838
2025-10-26T19:15:02.445Z,1761506102.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307488
2025-10-26T19:15:02.478Z,1761506102.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263795,0.964240,0.025556],[-0.964461,0.263255,0.022632],[0.015095,-0.030619,0.999417]]
2025-10-26T19:15:02.697Z,1761506102.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559275
2025-10-26T19:15:02.882Z,1761506102.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267630,0.962789,0.037582],[-0.963445,0.267898,-0.002183],[-0.012170,-0.035625,0.999291]]
2025-10-26T19:15:02.888Z,1761506102.888 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191502.00,A,3646.39715,N,12152.05092,W,1.089,272.06,261025,,,A*74
2025-10-26T19:15:02.890Z,1761506102.890 [NAL9602](INFO): GPS fix at 20251026T191502: (36.773286, -121.867515)
2025-10-26T19:15:02.948Z,1761506102.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810956
2025-10-26T19:15:02.986Z,1761506102.986 [marl:NeedComms:E] Stopped
2025-10-26T19:15:02.986Z,1761506102.986 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T19:15:02.987Z,1761506102.987 [marl:NeedComms] Stopped
2025-10-26T19:15:02.987Z,1761506102.987 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T19:15:02.987Z,1761506102.987 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T19:15:02.987Z,1761506102.987 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T19:15:02.988Z,1761506102.988 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506048.00. Resetting abort timer.
2025-10-26T19:15:03.201Z,1761506103.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063581
2025-10-26T19:15:03.286Z,1761506103.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273763,0.961016,0.038752],[-0.961509,0.274444,-0.013411],[-0.023524,-0.033589,0.999159]]
2025-10-26T19:15:03.452Z,1761506103.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314911
2025-10-26T19:15:03.691Z,1761506103.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280341,0.958853,0.044834],[-0.959860,0.280454,0.003872],[-0.008861,-0.044120,0.998987]]
2025-10-26T19:15:03.706Z,1761506103.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567892
2025-10-26T19:15:03.956Z,1761506103.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818899
2025-10-26T19:15:04.096Z,1761506104.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277314,0.959265,0.053925],[-0.960761,0.276528,0.021681],[0.005886,-0.057822,0.998309]]
2025-10-26T19:15:04.210Z,1761506104.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071866
2025-10-26T19:15:04.460Z,1761506104.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322808
2025-10-26T19:15:04.498Z,1761506104.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274242,0.959999,0.056513],[-0.961509,0.272681,0.033847],[0.017083,-0.063620,0.997828]]
2025-10-26T19:15:04.714Z,1761506104.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576698
2025-10-26T19:15:04.905Z,1761506104.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268028,0.962020,0.051748],[-0.962858,0.265668,0.048213],[0.032634,-0.062749,0.997496]]
2025-10-26T19:15:04.965Z,1761506104.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827052
2025-10-26T19:15:05.218Z,1761506105.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079806
2025-10-26T19:15:05.307Z,1761506105.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252958,0.966007,0.053317],[-0.965856,0.248962,0.071689],[0.055978,-0.069631,0.996001]]
2025-10-26T19:15:05.337Z,1761506105.337 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:15:05.337Z,1761506105.337 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:15:05.337Z,1761506105.337 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:15:05.337Z,1761506105.337 [marl:UpdateRudder:A] Stopped
2025-10-26T19:15:05.337Z,1761506105.337 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode] Stopped
2025-10-26T19:15:05.338Z,1761506105.338 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:15:05.468Z,1761506105.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330873
2025-10-26T19:15:05.721Z,1761506105.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583926
2025-10-26T19:15:05.730Z,1761506105.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236775,0.968874,0.072252],[-0.968318,0.229256,0.099000],[0.079354,-0.093404,0.992461]]
2025-10-26T19:15:05.788Z,1761506105.788 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:15:05.788Z,1761506105.788 [marl:UpdateRudder:B] Stopped
2025-10-26T19:15:05.789Z,1761506105.789 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:15:05.789Z,1761506105.789 [marl:UpdateRudder] Stopped
2025-10-26T19:15:05.789Z,1761506105.789 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:15:05.972Z,1761506105.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834881
2025-10-26T19:15:06.114Z,1761506106.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239474,0.966772,0.089466],[-0.967996,0.230615,0.098999],[0.075077,-0.110310,0.991058]]
2025-10-26T19:15:06.133Z,1761506106.133 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191505.00,A,3646.39696,N,12152.05102,W,0.544,196.48,261025,,,A*77
2025-10-26T19:15:06.135Z,1761506106.135 [NAL9602](INFO): GPS fix at 20251026T191505: (36.773283, -121.867517)
2025-10-26T19:15:06.156Z,1761506106.156 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:15:06.156Z,1761506106.156 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:15:06.156Z,1761506106.156 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:15:06.157Z,1761506106.157 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:15:06.157Z,1761506106.157 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:15:06.157Z,1761506106.157 [marl:UpdateSpeed] Stopped
2025-10-26T19:15:06.157Z,1761506106.157 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:15:06.159Z,1761506106.159 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506048.00. Resetting abort timer.
2025-10-26T19:15:06.224Z,1761506106.224 [DAT](INFO): Reached modem response timeout
2025-10-26T19:15:06.518Z,1761506106.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266102,0.960664,0.079468],[-0.962682,0.260631,0.072901],[0.049321,-0.095902,0.994168]]
2025-10-26T19:15:06.924Z,1761506106.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279006,0.959351,0.042449],[-0.959348,0.276504,0.056541],[0.042505,-0.056498,0.997497]]
2025-10-26T19:15:07.326Z,1761506107.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271652,0.962395,-0.000848],[-0.960732,0.271234,0.058530],[0.056559,-0.015085,0.998285]]
2025-10-26T19:15:07.735Z,1761506107.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264030,0.964389,-0.015566],[-0.961805,0.264463,0.070638],[0.072239,-0.003680,0.997381]]
2025-10-26T19:15:08.135Z,1761506108.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252716,0.967368,0.018271],[-0.965094,0.250690,0.075818],[0.068764,-0.036793,0.996954]]
2025-10-26T19:15:08.493Z,1761506108.493 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:15:08.494Z,1761506108.494 [DAT](INFO): response not received
2025-10-26T19:15:08.494Z,1761506108.494 [DAT](ERROR): No response from remote modem.
2025-10-26T19:15:08.560Z,1761506108.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246696,0.964150,0.097748],[-0.967205,0.238668,0.086898],[0.060453,-0.115980,0.991410]]
2025-10-26T19:15:08.949Z,1761506108.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246307,0.952942,0.176730],[-0.967595,0.231316,0.101256],[0.055611,-0.195943,0.979037]]
2025-10-26T19:15:08.954Z,1761506108.954 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191508.00,A,3646.39686,N,12152.05116,W,0.816,247.28,261025,,,A*7D
2025-10-26T19:15:08.956Z,1761506108.956 [NAL9602](INFO): GPS fix at 20251026T191508: (36.773281, -121.867519)
2025-10-26T19:15:09.021Z,1761506109.021 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506048.00. Resetting abort timer.
2025-10-26T19:15:09.346Z,1761506109.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240389,0.950738,0.195730],[-0.970078,0.228223,0.082846],[0.034095,-0.209788,0.977152]]
2025-10-26T19:15:09.750Z,1761506109.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220360,0.962483,0.158328],[-0.975351,0.215511,0.047387],[0.011488,-0.164868,0.986249]]
2025-10-26T19:15:10.154Z,1761506110.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213785,0.970647,0.110185],[-0.976802,0.210967,0.036768],[0.012443,-0.115489,0.993231]]
2025-10-26T19:15:10.559Z,1761506110.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226381,0.971573,0.069256],[-0.973386,0.223055,0.052589],[0.035646,-0.079318,0.996212]]
2025-10-26T19:15:10.962Z,1761506110.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225696,0.972515,0.057239],[-0.972712,0.221719,0.068347],[0.053777,-0.071102,0.996018]]
2025-10-26T19:15:11.040Z,1761506111.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:15:11.367Z,1761506111.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208335,0.975869,0.065395],[-0.976391,0.203613,0.072131],[0.057075,-0.078879,0.995249]]
2025-10-26T19:15:11.772Z,1761506111.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182210,0.979446,0.086520],[-0.981824,0.176485,0.069821],[0.053116,-0.097669,0.993800]]
2025-10-26T19:15:11.777Z,1761506111.777 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191511.00,A,3646.39707,N,12152.05294,W,1.788,276.01,261025,,,A*74
2025-10-26T19:15:11.780Z,1761506111.780 [NAL9602](INFO): GPS fix at 20251026T191511: (36.773285, -121.867549)
2025-10-26T19:15:11.802Z,1761506111.802 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506048.00. Resetting abort timer.
2025-10-26T19:15:12.044Z,1761506112.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:15:12.175Z,1761506112.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168820,0.979121,0.113236],[-0.984505,0.161980,0.067171],[0.047426,-0.122821,0.991295]]
2025-10-26T19:15:12.578Z,1761506112.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169296,0.976613,0.132537],[-0.983541,0.158799,0.086195],[0.063132,-0.144948,0.987423]]
2025-10-26T19:15:12.982Z,1761506112.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148222,0.981353,0.122382],[-0.984303,0.134403,0.114387],[0.095805,-0.137416,0.985869]]
2025-10-26T19:15:13.388Z,1761506113.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126007,0.987553,0.094136],[-0.983850,0.112245,0.139425],[0.127123,-0.110184,0.985748]]
2025-10-26T19:15:13.791Z,1761506113.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114378,0.990638,0.074526],[-0.982892,0.101943,0.153400],[0.144366,-0.090797,0.985350]]
2025-10-26T19:15:14.205Z,1761506114.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113995,0.990767,0.073394],[-0.982820,0.101670,0.154038],[0.145153,-0.089693,0.985335]]
2025-10-26T19:15:14.598Z,1761506114.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123662,0.990481,0.060460],[-0.980487,0.112577,0.161161],[0.152820,-0.079210,0.985075]]
2025-10-26T19:15:15.008Z,1761506115.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110723,0.993722,0.016049],[-0.979427,0.106360,0.171494],[0.168710,-0.034707,0.985054]]
2025-10-26T19:15:15.081Z,1761506115.081 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191514.00,A,3646.39689,N,12152.05399,W,0.719,245.72,261025,,,A*77
2025-10-26T19:15:15.084Z,1761506115.084 [NAL9602](INFO): GPS fix at 20251026T191514: (36.773282, -121.867566)
2025-10-26T19:15:15.141Z,1761506115.141 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:15.410Z,1761506115.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079733,0.996775,0.009059],[-0.977798,0.076442,0.195111],[0.193789,-0.024414,0.980739]]
2025-10-26T19:15:15.811Z,1761506115.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056636,0.996203,0.066115],[-0.972866,0.040188,0.227852],[0.224329,-0.077226,0.971449]]
2025-10-26T19:15:16.218Z,1761506116.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049350,0.988679,0.141701],[-0.970006,0.013633,0.242700],[0.238020,-0.149428,0.959697]]
2025-10-26T19:15:16.620Z,1761506116.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048387,0.982845,0.177971],[-0.971605,0.004999,0.236557],[0.231609,-0.184364,0.955179]]
2025-10-26T19:15:17.022Z,1761506117.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043435,0.986975,0.154898],[-0.978032,0.010367,0.208197],[0.203880,-0.160538,0.965744]]
2025-10-26T19:15:17.426Z,1761506117.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037382,0.994438,0.098471],[-0.981155,0.017830,0.192400],[0.189574,-0.103808,0.976363]]
2025-10-26T19:15:17.832Z,1761506117.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030635,0.998609,0.042909],[-0.976048,0.020637,0.216573],[0.215386,-0.048516,0.975323]]
2025-10-26T19:15:17.837Z,1761506117.837 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191517.00,A,3646.39681,N,12152.05457,W,1.205,267.81,261025,,,A*7C
2025-10-26T19:15:17.840Z,1761506117.840 [NAL9602](INFO): GPS fix at 20251026T191517: (36.773280, -121.867576)
2025-10-26T19:15:17.862Z,1761506117.862 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:18.236Z,1761506118.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007949,0.999338,0.035505],[-0.967632,-0.001270,0.252364],[0.252242,-0.036361,0.966981]]
2025-10-26T19:15:18.297Z,1761506118.297 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:15:18.297Z,1761506118.297 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:15:18.297Z,1761506118.297 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateRudder:A] Stopped
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:15:18.298Z,1761506118.298 [marl:UpdateCommandMode] Stopped
2025-10-26T19:15:18.299Z,1761506118.299 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:15:18.638Z,1761506118.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021492,0.995710,0.089998],[-0.957840,-0.046303,0.283548],[0.286499,-0.080110,0.954726]]
2025-10-26T19:15:18.673Z,1761506118.673 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:15:18.674Z,1761506118.674 [marl:UpdateRudder:B] Stopped
2025-10-26T19:15:18.674Z,1761506118.674 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:15:18.674Z,1761506118.674 [marl:UpdateRudder] Stopped
2025-10-26T19:15:18.674Z,1761506118.674 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:15:19.042Z,1761506119.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026439,0.986937,0.158922],[-0.950104,-0.074239,0.302972],[0.310812,-0.142982,0.939655]]
2025-10-26T19:15:19.098Z,1761506119.098 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:15:19.098Z,1761506119.098 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:15:19.098Z,1761506119.098 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:15:19.098Z,1761506119.098 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:15:19.098Z,1761506119.098 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:15:19.098Z,1761506119.098 [marl:UpdateSpeed] Stopped
2025-10-26T19:15:19.099Z,1761506119.099 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:15:19.446Z,1761506119.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021213,0.981260,0.191519],[-0.948406,-0.080364,0.306704],[0.316347,-0.175132,0.932338]]
2025-10-26T19:15:19.853Z,1761506119.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019823,0.981880,0.188462],[-0.952456,-0.075866,0.295081],[0.304032,-0.173652,0.936701]]
2025-10-26T19:15:20.293Z,1761506120.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022712,0.985405,0.168705],[-0.957735,-0.069848,0.279041],[0.286752,-0.155237,0.945344]]
2025-10-26T19:15:20.704Z,1761506120.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035311,0.986059,0.162607],[-0.955887,-0.080800,0.282403],[0.291604,-0.145461,0.945414]]
2025-10-26T19:15:21.101Z,1761506121.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038018,0.984212,0.172861],[-0.947730,-0.090354,0.306011],[0.316799,-0.152191,0.936203]]
2025-10-26T19:15:21.106Z,1761506121.106 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191520.00,A,3646.39671,N,12152.05603,W,1.944,264.75,261025,,,A*72
2025-10-26T19:15:21.109Z,1761506121.109 [NAL9602](INFO): GPS fix at 20251026T191520: (36.773279, -121.867600)
2025-10-26T19:15:21.171Z,1761506121.171 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:21.502Z,1761506121.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025024,0.979500,0.199883],[-0.940110,-0.091050,0.328486],[0.339952,-0.179692,0.923116]]
2025-10-26T19:15:21.948Z,1761506121.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010866,0.976083,0.217129],[-0.941880,-0.082905,0.325558],[0.335773,-0.200972,0.920254]]
2025-10-26T19:15:22.105Z,1761506122.105 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:15:22.346Z,1761506122.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001131,0.979844,0.199759],[-0.952234,-0.059944,0.299428],[0.305367,-0.190556,0.932974]]
2025-10-26T19:15:22.360Z,1761506122.360 [DAT](INFO): setting remote address to 6
2025-10-26T19:15:22.613Z,1761506122.613 [DAT](INFO): DAT read: user:111>

2025-10-26T19:15:22.613Z,1761506122.613 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:15:22.614Z,1761506122.614 [DAT](INFO): set remote address to 6
2025-10-26T19:15:22.614Z,1761506122.614 [DAT](INFO): entering online mode
2025-10-26T19:15:22.751Z,1761506122.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011531,0.986881,0.161036],[-0.962228,-0.032856,0.270255],[0.272001,-0.158070,0.949226]]
2025-10-26T19:15:22.864Z,1761506122.864 [DAT](INFO): DAT read: user:112>

2025-10-26T19:15:22.865Z,1761506122.865 [DAT](INFO): DAT read: 

2025-10-26T19:15:22.866Z,1761506122.866 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:15:22.866Z,1761506122.866 [DAT](INFO): commRate: 600
2025-10-26T19:15:22.866Z,1761506122.866 [DAT](INFO): online mode acknowledged
2025-10-26T19:15:22.867Z,1761506122.867 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:15:23.154Z,1761506123.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016926,0.992743,0.119058],[-0.963642,-0.015561,0.266742],[0.266659,-0.119244,0.956386]]
2025-10-26T19:15:23.562Z,1761506123.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010976,0.996773,0.079514],[-0.955134,-0.013086,0.295885],[0.295971,-0.079195,0.951908]]
2025-10-26T19:15:24.002Z,1761506124.002 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191523.00,A,3646.39645,N,12152.05830,W,1.711,260.05,261025,,,A*75
2025-10-26T19:15:24.012Z,1761506124.012 [NAL9602](INFO): GPS fix at 20251026T191523: (36.773274, -121.867638)
2025-10-26T19:15:24.245Z,1761506124.245 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:24.556Z,1761506124.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012376,0.996042,0.088013],[-0.931929,-0.020414,0.362065],[0.362429,-0.086503,0.927988]]
2025-10-26T19:15:24.928Z,1761506124.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034832,0.994910,0.094553],[-0.925277,-0.003651,0.379274],[0.377689,-0.100698,0.920441]]
2025-10-26T19:15:25.331Z,1761506125.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059095,0.994559,0.085786],[-0.917983,0.020380,0.396097],[0.392194,-0.102157,0.914193]]
2025-10-26T19:15:25.759Z,1761506125.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079804,0.994947,0.060930],[-0.917089,0.049332,0.395619],[0.390614,-0.087450,0.916391]]
2025-10-26T19:15:25.930Z,1761506125.930 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:15:26.138Z,1761506126.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098104,0.994786,0.027874],[-0.921881,0.080293,0.379062],[0.374847,-0.062884,0.924951]]
2025-10-26T19:15:26.145Z,1761506126.145 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:15:25.3123

2025-10-26T19:15:26.145Z,1761506126.145 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:15:26.145Z,1761506126.145 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:15:26.199Z,1761506126.199 [DAT](INFO): entering command mode
2025-10-26T19:15:26.397Z,1761506126.397 [DAT](INFO): DAT read: 

2025-10-26T19:15:26.398Z,1761506126.398 [DAT](INFO): DAT read: user:113>

2025-10-26T19:15:26.398Z,1761506126.398 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:15:26.399Z,1761506126.399 [DAT](INFO): setting remote address to 0
2025-10-26T19:15:26.542Z,1761506126.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114918,0.993368,0.003839],[-0.924748,0.105567,0.365645],[0.362815,-0.045570,0.930746]]
2025-10-26T19:15:26.649Z,1761506126.649 [DAT](INFO): DAT read: user:113>

2025-10-26T19:15:26.650Z,1761506126.650 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:15:26.650Z,1761506126.650 [DAT](INFO): set remote address to 0
2025-10-26T19:15:26.650Z,1761506126.650 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:15:26.651Z,1761506126.651 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:15:26.900Z,1761506126.900 [DAT](INFO): DAT read: user:114>

2025-10-26T19:15:26.901Z,1761506126.901 [DAT](INFO): DAT read: Tx time:19:15:25.9634

2025-10-26T19:15:26.901Z,1761506126.901 [DAT](INFO): Ping request sent.
2025-10-26T19:15:26.901Z,1761506126.901 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:15:26.902Z,1761506126.902 [DAT](INFO): publishing transmit ping time
2025-10-26T19:15:26.902Z,1761506126.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000973
2025-10-26T19:15:26.955Z,1761506126.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125362,0.992094,-0.005760],[-0.921380,0.118575,0.370133],[0.367890,-0.041094,0.928961]]
2025-10-26T19:15:26.983Z,1761506126.983 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191526.00,A,3646.39464,N,12152.06021,W,3.149,260.05,261025,,,A*73
2025-10-26T19:15:26.985Z,1761506126.985 [NAL9602](INFO): GPS fix at 20251026T191526: (36.773244, -121.867670)
2025-10-26T19:15:27.038Z,1761506127.038 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:27.152Z,1761506127.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250896
2025-10-26T19:15:27.350Z,1761506127.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139773,0.990144,-0.008872],[-0.915763,0.132671,0.379180],[0.376620,-0.044874,0.925280]]
2025-10-26T19:15:27.406Z,1761506127.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504754
2025-10-26T19:15:27.656Z,1761506127.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754908
2025-10-26T19:15:27.754Z,1761506127.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158153,0.987358,-0.010583],[-0.912781,0.150279,0.379799],[0.376587,-0.050407,0.925009]]
2025-10-26T19:15:27.908Z,1761506127.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918
2025-10-26T19:15:28.162Z,1761506128.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260381
2025-10-26T19:15:28.165Z,1761506128.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176936,0.984156,-0.011458],[-0.914105,0.168635,0.368747],[0.364837,-0.054771,0.929459]]
2025-10-26T19:15:28.413Z,1761506128.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511229
2025-10-26T19:15:28.565Z,1761506128.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195209,0.980683,-0.012412],[-0.917681,0.187104,0.350504],[0.346056,-0.057031,0.936479]]
2025-10-26T19:15:28.666Z,1761506128.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763998
2025-10-26T19:15:28.916Z,1761506128.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855
2025-10-26T19:15:28.966Z,1761506128.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212922,0.976951,-0.015225],[-0.920106,0.205727,0.333289],[0.328739,-0.056956,0.942702]]
2025-10-26T19:15:29.169Z,1761506129.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267527
2025-10-26T19:15:29.370Z,1761506129.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230057,0.972930,-0.021919],[-0.920343,0.224833,0.320030],[0.316295,-0.053452,0.947154]]
2025-10-26T19:15:29.420Z,1761506129.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518961
2025-10-26T19:15:29.674Z,1761506129.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772410
2025-10-26T19:15:29.774Z,1761506129.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245430,0.968861,-0.032745],[-0.919972,0.243429,0.307237],[0.305641,-0.045280,0.951070]]
2025-10-26T19:15:29.924Z,1761506129.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022878
2025-10-26T19:15:30.177Z,1761506130.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275711
2025-10-26T19:15:30.194Z,1761506130.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258303,0.965127,-0.042530],[-0.920584,0.259252,0.292086],[0.292926,-0.036294,0.955446]]
2025-10-26T19:15:30.428Z,1761506130.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526852
2025-10-26T19:15:30.582Z,1761506130.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269522,0.961869,-0.046546],[-0.921401,0.271632,0.277915],[0.279962,-0.032017,0.959477]]
2025-10-26T19:15:30.681Z,1761506130.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779722
2025-10-26T19:15:30.933Z,1761506130.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031002
2025-10-26T19:15:30.987Z,1761506130.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278835,0.959187,-0.047016],[-0.920993,0.280961,0.269874],[0.272070,-0.031949,0.961747]]
2025-10-26T19:15:31.186Z,1761506131.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283920
2025-10-26T19:15:31.390Z,1761506131.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286404,0.956739,-0.051210],[-0.918560,0.289387,0.269264],[0.272435,-0.030079,0.961704]]
2025-10-26T19:15:31.437Z,1761506131.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535027
2025-10-26T19:15:31.447Z,1761506131.447 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:15:31.447Z,1761506131.447 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:15:31.447Z,1761506131.447 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:15:31.447Z,1761506131.447 [marl:UpdateRudder:A] Stopped
2025-10-26T19:15:31.447Z,1761506131.447 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode] Stopped
2025-10-26T19:15:31.448Z,1761506131.448 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:15:31.688Z,1761506131.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786928
2025-10-26T19:15:31.865Z,1761506131.865 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:15:31.865Z,1761506131.865 [marl:UpdateRudder:B] Stopped
2025-10-26T19:15:31.866Z,1761506131.866 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:15:31.866Z,1761506131.866 [marl:UpdateRudder] Stopped
2025-10-26T19:15:31.866Z,1761506131.866 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:15:31.941Z,1761506131.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039166
2025-10-26T19:15:32.192Z,1761506132.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290909
2025-10-26T19:15:32.200Z,1761506132.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296176,0.952601,-0.069502],[-0.908060,0.303395,0.288754],[0.296154,-0.022410,0.954877]]
2025-10-26T19:15:32.235Z,1761506132.235 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:15:32.235Z,1761506132.235 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:15:32.236Z,1761506132.236 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:15:32.236Z,1761506132.236 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:15:32.236Z,1761506132.236 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:15:32.236Z,1761506132.236 [marl:UpdateSpeed] Stopped
2025-10-26T19:15:32.236Z,1761506132.236 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:15:32.445Z,1761506132.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543614
2025-10-26T19:15:32.602Z,1761506132.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307369,0.948201,-0.080246],[-0.900454,0.317088,0.297721],[0.307745,-0.019253,0.951274]]
2025-10-26T19:15:32.697Z,1761506132.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795372
2025-10-26T19:15:32.948Z,1761506132.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046915
2025-10-26T19:15:33.012Z,1761506133.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324296,0.941722,-0.089398],[-0.892667,0.335929,0.300494],[0.313013,-0.017647,0.949585]]
2025-10-26T19:15:33.017Z,1761506133.017 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191532.00,A,3646.38876,N,12152.07387,W,7.775,249.42,261025,,,A*73
2025-10-26T19:15:33.019Z,1761506133.019 [NAL9602](INFO): GPS fix at 20251026T191532: (36.773146, -121.867898)
2025-10-26T19:15:33.096Z,1761506133.096 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:33.201Z,1761506133.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299752
2025-10-26T19:15:33.412Z,1761506133.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341291,0.935188,-0.094574],[-0.886772,0.353710,0.297531],[0.311699,-0.017679,0.950016]]
2025-10-26T19:15:33.453Z,1761506133.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551717
2025-10-26T19:15:33.705Z,1761506133.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803584
2025-10-26T19:15:33.956Z,1761506133.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054839
2025-10-26T19:15:34.208Z,1761506134.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306959
2025-10-26T19:15:34.220Z,1761506134.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375828,0.922518,-0.087826],[-0.881821,0.385154,0.272117],[0.284859,-0.024823,0.958248]]
2025-10-26T19:15:34.460Z,1761506134.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558982
2025-10-26T19:15:34.627Z,1761506134.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393778,0.915975,-0.077000],[-0.879765,0.399832,0.257193],[0.266369,-0.033535,0.963287]]
2025-10-26T19:15:34.713Z,1761506134.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811335
2025-10-26T19:15:34.965Z,1761506134.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063321
2025-10-26T19:15:35.026Z,1761506135.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411061,0.909135,-0.067097],[-0.876043,0.414311,0.246768],[0.252144,-0.042657,0.966749]]
2025-10-26T19:15:35.216Z,1761506135.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314916
2025-10-26T19:15:35.430Z,1761506135.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428178,0.901332,-0.065293],[-0.870533,0.430781,0.237908],[0.242561,-0.045027,0.969091]]
2025-10-26T19:15:35.469Z,1761506135.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566975
2025-10-26T19:15:35.722Z,1761506135.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820232
2025-10-26T19:15:35.834Z,1761506135.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444927,0.892667,-0.072009],[-0.864333,0.449069,0.226419],[0.234453,-0.038500,0.971365]]
2025-10-26T19:15:35.842Z,1761506135.842 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191535.00,A,3646.38767,N,12152.07929,W,7.037,245.22,261025,,,A*7E
2025-10-26T19:15:35.845Z,1761506135.845 [NAL9602](INFO): GPS fix at 20251026T191535: (36.773128, -121.867988)
2025-10-26T19:15:35.887Z,1761506135.887 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506176.00. Resetting abort timer.
2025-10-26T19:15:35.972Z,1761506135.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070889
2025-10-26T19:15:36.224Z,1761506136.224 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:15:36.224Z,1761506136.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322909
2025-10-26T19:15:36.241Z,1761506136.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460308,0.883954,-0.082111],[-0.858672,0.466800,0.211614],[0.225386,-0.026901,0.973898]]
2025-10-26T19:15:36.476Z,1761506136.476 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:15:36.476Z,1761506136.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574965
2025-10-26T19:15:36.657Z,1761506136.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473152,0.876345,-0.090255],[-0.854078,0.481414,0.196956],[0.216052,-0.016106,0.976249]]
2025-10-26T19:15:36.729Z,1761506136.729 [DAT](INFO): setting remote address to 6
2025-10-26T19:15:36.729Z,1761506136.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827890
2025-10-26T19:15:36.980Z,1761506136.980 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:36.980Z,1761506136.980 [DAT](INFO): Reached modem response timeout
2025-10-26T19:15:37.232Z,1761506137.232 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:37.451Z,1761506137.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488982,0.866239,-0.102596],[-0.846713,0.499623,0.182903],[0.209697,-0.002568,0.977763]]
2025-10-26T19:15:37.486Z,1761506137.486 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:37.736Z,1761506137.736 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:37.855Z,1761506137.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502656,0.857631,-0.108659],[-0.839110,0.514262,0.177282],[0.207922,0.002065,0.978143]]
2025-10-26T19:15:37.988Z,1761506137.988 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:38.240Z,1761506138.240 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:38.260Z,1761506138.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517440,0.848300,-0.112440],[-0.830622,0.529499,0.172330],[0.205724,0.004224,0.978601]]
2025-10-26T19:15:38.492Z,1761506138.492 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:38.675Z,1761506138.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532358,0.839146,-0.111483],[-0.822107,0.543902,0.168261],[0.201831,0.002076,0.979418]]
2025-10-26T19:15:38.744Z,1761506138.744 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:38.996Z,1761506138.996 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:15:39.066Z,1761506139.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549001,0.829083,-0.105919],[-0.812893,0.559115,0.163080],[0.194428,-0.003430,0.980911]]
2025-10-26T19:15:39.254Z,1761506139.254 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:15:39.254Z,1761506139.254 [DAT](INFO): response not received
2025-10-26T19:15:39.255Z,1761506139.255 [DAT](INFO): DAT read: user:115>

2025-10-26T19:15:39.256Z,1761506139.256 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:15:39.257Z,1761506139.257 [DAT](INFO): set remote address to 6
2025-10-26T19:15:39.258Z,1761506139.258 [DAT](INFO): entering online mode
2025-10-26T19:15:39.470Z,1761506139.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567115,0.817922,-0.096873],[-0.803146,0.575239,0.155103],[0.182587,-0.010158,0.983137]]
2025-10-26T19:15:39.505Z,1761506139.505 [DAT](INFO): DAT read: user:116>

2025-10-26T19:15:39.505Z,1761506139.505 [DAT](INFO): DAT read: 

2025-10-26T19:15:39.506Z,1761506139.506 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:15:39.507Z,1761506139.507 [DAT](INFO): commRate: 600
2025-10-26T19:15:39.507Z,1761506139.507 [DAT](INFO): online mode acknowledged
2025-10-26T19:15:39.508Z,1761506139.508 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:15:39.876Z,1761506139.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583220,0.807746,-0.086034],[-0.794651,0.589295,0.145808],[0.168476,-0.016671,0.985565]]
2025-10-26T19:15:39.960Z,1761506139.960 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:15:39.960Z,1761506139.960 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:15:40.278Z,1761506140.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595737,0.799382,-0.078018],[-0.788157,0.600529,0.134808],[0.154616,-0.018820,0.987795]]
2025-10-26T19:15:40.687Z,1761506140.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606594,0.791567,-0.073932],[-0.782350,0.610877,0.121480],[0.141322,-0.015849,0.989837]]
2025-10-26T19:15:41.086Z,1761506141.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617193,0.783600,-0.071017],[-0.776145,0.621153,0.108482],[0.129119,-0.011835,0.991558]]
2025-10-26T19:15:41.491Z,1761506141.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628147,0.774988,-0.069461],[-0.769002,0.631935,0.096400],[0.118604,-0.007138,0.992916]]
2025-10-26T19:15:42.168Z,1761506142.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:15:42.298Z,1761506142.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651868,0.755098,-0.069959],[-0.750831,0.655612,0.080159],[0.106394,0.000274,0.994324]]
2025-10-26T19:15:42.712Z,1761506142.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664608,0.743351,-0.075664],[-0.739908,0.668851,0.071928],[0.104076,0.008181,0.994536]]
2025-10-26T19:15:42.781Z,1761506142.781 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:15:41.9122

2025-10-26T19:15:42.781Z,1761506142.781 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:15:43.172Z,1761506143.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:15:43.557Z,1761506143.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692564,0.715393,-0.092560],[-0.714043,0.698101,0.052897],[0.102459,0.029457,0.994301]]
2025-10-26T19:15:43.914Z,1761506143.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706232,0.700881,-0.100011],[-0.700394,0.712283,0.045849],[0.103371,0.037667,0.993929]]
2025-10-26T19:15:44.319Z,1761506144.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718990,0.686992,-0.105333],[-0.687005,0.725439,0.041974],[0.105248,0.042185,0.993551]]
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateRudder:A] Stopped
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:15:44.436Z,1761506144.436 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:15:44.437Z,1761506144.437 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:15:44.437Z,1761506144.437 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:15:44.437Z,1761506144.437 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:15:44.437Z,1761506144.437 [marl:UpdateCommandMode] Stopped
2025-10-26T19:15:44.437Z,1761506144.437 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:15:44.738Z,1761506144.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730881,0.674133,-0.106571],[-0.673999,0.737494,0.042756],[0.107419,0.040579,0.993385]]
2025-10-26T19:15:44.862Z,1761506144.862 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:15:44.862Z,1761506144.862 [marl:UpdateRudder:B] Stopped
2025-10-26T19:15:44.862Z,1761506144.862 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:15:44.863Z,1761506144.863 [marl:UpdateRudder] Stopped
2025-10-26T19:15:44.863Z,1761506144.863 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:15:45.126Z,1761506145.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742320,0.662019,-0.103406],[-0.661200,0.748738,0.046972],[0.108521,0.033504,0.993529]]
2025-10-26T19:15:45.238Z,1761506145.238 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:15:45.238Z,1761506145.238 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:15:45.239Z,1761506145.239 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:15:45.239Z,1761506145.239 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:15:45.239Z,1761506145.239 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:15:45.239Z,1761506145.239 [marl:UpdateSpeed] Stopped
2025-10-26T19:15:45.240Z,1761506145.240 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:15:45.534Z,1761506145.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753412,0.650934,-0.093030],[-0.649046,0.758868,0.053468],[0.105402,0.020097,0.994227]]
2025-10-26T19:15:45.935Z,1761506145.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765399,0.639148,-0.075197],[-0.636259,0.769083,0.060711],[0.096636,0.001377,0.995319]]
2025-10-26T19:15:46.338Z,1761506146.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778466,0.625351,-0.054094],[-0.622200,0.780160,0.064936],[0.082810,-0.016893,0.996422]]
2025-10-26T19:15:46.743Z,1761506146.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792016,0.609582,-0.033469],[-0.606926,0.792119,0.064719],[0.065963,-0.030946,0.997342]]
2025-10-26T19:15:47.550Z,1761506147.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808902,0.587896,-0.007461],[-0.586669,0.807919,0.055545],[0.038683,-0.040553,0.998428]]
2025-10-26T19:15:47.954Z,1761506147.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815313,0.579001,-0.004776],[-0.578228,0.814600,0.045601],[0.030294,-0.034418,0.998948]]
2025-10-26T19:15:48.815Z,1761506148.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832123,0.554544,-0.007146],[-0.554293,0.832030,0.022006],[0.018149,-0.014351,0.999732]]
2025-10-26T19:15:49.566Z,1761506149.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851489,0.524308,-0.008204],[-0.524319,0.851522,0.000993],[0.007507,0.003456,0.999966]]
2025-10-26T19:15:49.970Z,1761506149.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861514,0.507693,-0.006446],[-0.507730,0.861487,-0.007116],[0.001940,0.009404,0.999954]]
2025-10-26T19:15:50.376Z,1761506150.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871277,0.490777,-0.003927],[-0.490779,0.871165,-0.014439],[-0.003665,0.014507,0.999888]]
2025-10-26T19:15:50.444Z,1761506150.444 [marl:SendObservationData] Running Loop=1
2025-10-26T19:15:50.444Z,1761506150.444 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T19:15:50.444Z,1761506150.444 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T19:15:50.445Z,1761506150.445 [marl:SendObservationData:A] Running Loop=1
2025-10-26T19:15:50.446Z,1761506150.446 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9ca00000004051400000000000404263048c0add77c05e776cbb2d8aad402f971e60000000406b833340000000 n/a str  and temp var is  nan n/a str 
2025-10-26T19:15:50.446Z,1761506150.446 [marl:SendObservationData:A] Stopped
2025-10-26T19:15:50.446Z,1761506150.446 [marl:SendObservationData:B] Running Loop=1
2025-10-26T19:15:50.805Z,1761506150.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880842,0.473410,0.000118],[-0.473315,0.880671,-0.019777],[-0.009466,0.017364,0.999804]]
2025-10-26T19:15:50.896Z,1761506150.896 [marl:SendObservationData:B] Stopped
2025-10-26T19:15:50.896Z,1761506150.896 [marl:SendObservationData:C] Running Loop=1
2025-10-26T19:15:51.182Z,1761506151.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890041,0.455847,0.005593],[-0.455631,0.889893,-0.022162],[-0.015079,0.017177,0.999739]]
2025-10-26T19:15:51.263Z,1761506151.263 [marl:SendObservationData:C] Stopped
2025-10-26T19:15:51.263Z,1761506151.263 [marl:SendObservationData:E] Running Loop=1
2025-10-26T19:15:51.586Z,1761506151.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898099,0.439652,0.011132],[-0.439336,0.898032,-0.022844],[-0.020040,0.015625,0.999677]]
2025-10-26T19:15:51.654Z,1761506151.654 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.012621 min 
2025-10-26T19:15:51.654Z,1761506151.654 [marl:SendObservationData:E] Stopped
2025-10-26T19:15:51.654Z,1761506151.654 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T19:15:51.654Z,1761506151.654 [marl:SendObservationData] Stopped
2025-10-26T19:15:51.655Z,1761506151.655 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T19:15:51.655Z,1761506151.655 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T19:15:51.990Z,1761506151.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904832,0.425427,0.017042],[-0.425053,0.904907,-0.021742],[-0.024671,0.012429,0.999618]]
2025-10-26T19:15:52.396Z,1761506152.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910207,0.413529,0.022749],[-0.413080,0.910429,-0.021989],[-0.029805,0.010617,0.999499]]
2025-10-26T19:15:52.855Z,1761506152.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919952,0.390401,0.035705],[-0.389714,0.920602,-0.024794],[-0.042549,0.008895,0.999055]]
2025-10-26T19:15:52.868Z,1761506152.868 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:15:53.123Z,1761506153.123 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:15:53.126Z,1761506153.126 [DAT](INFO): #Outgoing data=2
2025-10-26T19:15:53.126Z,1761506153.126 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:15:53.372Z,1761506153.372 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:15:53.614Z,1761506153.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925278,0.377025,0.041391],[-0.376022,0.926122,-0.030109],[-0.049685,0.012296,0.998689]]
2025-10-26T19:15:54.010Z,1761506154.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931026,0.362021,0.046162],[-0.360530,0.931988,-0.037630],[-0.056645,0.018392,0.998225]]
2025-10-26T19:15:54.420Z,1761506154.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937162,0.345556,0.048156],[-0.343397,0.937972,-0.047819],[-0.061694,0.028277,0.997694]]
2025-10-26T19:15:54.869Z,1761506154.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949045,0.312247,0.042608],[-0.308657,0.948269,-0.074280],[-0.063598,0.057343,0.996327]]
2025-10-26T19:15:55.230Z,1761506155.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954438,0.296035,0.037569],[-0.292073,0.952545,-0.085739],[-0.061168,0.070860,0.995609]]
2025-10-26T19:15:56.037Z,1761506156.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964734,0.261270,0.032050],[-0.257580,0.962096,-0.089577],[-0.054239,0.078162,0.995464]]
2025-10-26T19:15:56.062Z,1761506156.062 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:15:56.145Z,1761506156.145 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:15:56.196Z,1761506156.196 [DAT](INFO): entering command mode
2025-10-26T19:15:56.396Z,1761506156.396 [DAT](INFO): DAT read: 

2025-10-26T19:15:56.397Z,1761506156.397 [DAT](INFO): DAT read: user:117>

2025-10-26T19:15:56.397Z,1761506156.397 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:15:56.397Z,1761506156.397 [DAT](INFO): setting remote address to 0
2025-10-26T19:15:56.436Z,1761506156.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969559,0.242825,0.031480],[-0.239671,0.967469,-0.081009],[-0.050127,0.070998,0.996216]]
2025-10-26T19:15:56.648Z,1761506156.648 [DAT](INFO): DAT read: user:117>

2025-10-26T19:15:56.649Z,1761506156.649 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:15:56.649Z,1761506156.649 [DAT](INFO): set remote address to 0
2025-10-26T19:15:56.650Z,1761506156.650 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:15:56.650Z,1761506156.650 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:15:56.867Z,1761506156.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974157,0.223691,0.031301],[-0.221259,0.972921,-0.066853],[-0.045408,0.058200,0.997272]]
2025-10-26T19:15:56.900Z,1761506156.900 [DAT](INFO): DAT read: user:118>

2025-10-26T19:15:56.901Z,1761506156.901 [DAT](INFO): DAT read: Tx time:19:15:55.9632

2025-10-26T19:15:56.901Z,1761506156.901 [DAT](INFO): Ping request sent.
2025-10-26T19:15:56.901Z,1761506156.901 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:15:56.902Z,1761506156.902 [DAT](INFO): publishing transmit ping time
2025-10-26T19:15:56.902Z,1761506156.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944
2025-10-26T19:15:57.152Z,1761506157.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250876
2025-10-26T19:15:57.244Z,1761506157.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978567,0.203519,0.031406],[-0.201885,0.978205,-0.048548],[-0.040602,0.041167,0.998327]]
2025-10-26T19:15:57.302Z,1761506157.302 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:15:57.302Z,1761506157.302 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:15:57.302Z,1761506157.302 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:15:57.303Z,1761506157.303 [marl:UpdateRudder:A] Stopped
2025-10-26T19:15:57.303Z,1761506157.303 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:15:57.303Z,1761506157.303 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:15:57.303Z,1761506157.303 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:15:57.303Z,1761506157.303 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:15:57.307Z,1761506157.307 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:15:57.308Z,1761506157.308 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:15:57.308Z,1761506157.308 [marl:UpdateCommandMode] Stopped
2025-10-26T19:15:57.308Z,1761506157.308 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:15:57.404Z,1761506157.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502867
2025-10-26T19:15:57.650Z,1761506157.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982728,0.182261,0.032045],[-0.181300,0.982948,-0.030726],[-0.037098,0.024385,0.999014]]
2025-10-26T19:15:57.657Z,1761506157.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755508
2025-10-26T19:15:57.680Z,1761506157.680 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:15:57.680Z,1761506157.680 [marl:UpdateRudder:B] Stopped
2025-10-26T19:15:57.680Z,1761506157.680 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:15:57.680Z,1761506157.680 [marl:UpdateRudder] Stopped
2025-10-26T19:15:57.680Z,1761506157.680 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:15:57.908Z,1761506157.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-10-26T19:15:58.050Z,1761506158.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986518,0.160134,0.033760],[-0.159675,0.987042,-0.015879],[-0.035866,0.010275,0.999304]]
2025-10-26T19:15:58.093Z,1761506158.093 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:15:58.093Z,1761506158.093 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:15:58.093Z,1761506158.093 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:15:58.094Z,1761506158.094 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:15:58.094Z,1761506158.094 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:15:58.094Z,1761506158.094 [marl:UpdateSpeed] Stopped
2025-10-26T19:15:58.094Z,1761506158.094 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:15:58.161Z,1761506158.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259440
2025-10-26T19:15:58.412Z,1761506158.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510803
2025-10-26T19:15:58.454Z,1761506158.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989891,0.137014,0.036635],[-0.136933,0.990569,-0.004745],[-0.036940,-0.000319,0.999317]]
2025-10-26T19:15:58.664Z,1761506158.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762841
2025-10-26T19:15:58.875Z,1761506158.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992969,0.111427,0.039969],[-0.111597,0.993751,0.002040],[-0.039492,-0.006486,0.999199]]
2025-10-26T19:15:58.916Z,1761506158.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855
2025-10-26T19:15:59.168Z,1761506159.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266749
2025-10-26T19:15:59.262Z,1761506159.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995366,0.086130,0.042763],[-0.086419,0.996247,0.004954],[-0.042175,-0.008627,0.999073]]
2025-10-26T19:15:59.421Z,1761506159.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983
2025-10-26T19:15:59.666Z,1761506159.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996692,0.068563,0.043626],[-0.068982,0.997584,0.008171],[-0.042960,-0.011153,0.999015]]
2025-10-26T19:15:59.672Z,1761506159.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770789
2025-10-26T19:15:59.925Z,1761506159.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023434
2025-10-26T19:16:00.070Z,1761506160.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997618,0.054035,0.042887],[-0.054534,0.998456,0.010539],[-0.042252,-0.012852,0.999024]]
2025-10-26T19:16:00.176Z,1761506160.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274847
2025-10-26T19:16:00.428Z,1761506160.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526848
2025-10-26T19:16:00.480Z,1761506160.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998310,0.040367,0.041815],[-0.040975,0.999065,0.013793],[-0.041219,-0.015483,0.999030]]
2025-10-26T19:16:00.680Z,1761506160.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778769
2025-10-26T19:16:00.878Z,1761506160.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998829,0.026176,0.040698],[-0.026821,0.999522,0.015393],[-0.040275,-0.016467,0.999053]]
2025-10-26T19:16:00.933Z,1761506160.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030997
2025-10-26T19:16:01.184Z,1761506161.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282786
2025-10-26T19:16:01.282Z,1761506161.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999124,0.011203,0.040315],[-0.011838,0.999809,0.015551],[-0.040133,-0.016015,0.999066]]
2025-10-26T19:16:01.437Z,1761506161.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535469
2025-10-26T19:16:01.686Z,1761506161.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999159,-0.004344,0.040779],[0.003866,0.999923,0.011776],[-0.040827,-0.011609,0.999099]]
2025-10-26T19:16:01.688Z,1761506161.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786765
2025-10-26T19:16:01.940Z,1761506161.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038812
2025-10-26T19:16:02.092Z,1761506162.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998947,-0.019573,0.041495],[0.019391,0.999801,0.004780],[-0.041581,-0.003970,0.999127]]
2025-10-26T19:16:02.192Z,1761506162.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290832
2025-10-26T19:16:02.444Z,1761506162.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542865
2025-10-26T19:16:02.494Z,1761506162.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998541,-0.033956,0.041976],[0.034257,0.999392,-0.006462],[-0.041731,0.007891,0.999098]]
2025-10-26T19:16:02.697Z,1761506162.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795193
2025-10-26T19:16:02.898Z,1761506162.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998031,-0.046536,0.042062],[0.047426,0.998666,-0.020427],[-0.041056,0.022382,0.998906]]
2025-10-26T19:16:02.948Z,1761506162.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046930
2025-10-26T19:16:03.200Z,1761506163.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298814
2025-10-26T19:16:03.303Z,1761506163.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997422,-0.058255,0.041911],[0.059579,0.997740,-0.031062],[-0.040007,0.033479,0.998638]]
2025-10-26T19:16:03.452Z,1761506163.452 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:16:03.453Z,1761506163.453 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:16:03.453Z,1761506163.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551454
2025-10-26T19:16:03.706Z,1761506163.706 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:16:03.706Z,1761506163.706 [DAT](INFO): #Outgoing data=3
2025-10-26T19:16:03.706Z,1761506163.706 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:16:03.707Z,1761506163.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805458
2025-10-26T19:16:03.738Z,1761506163.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996429,-0.073196,0.042081],[0.074753,0.996526,-0.036706],[-0.039248,0.039721,0.998440]]
2025-10-26T19:16:03.956Z,1761506163.956 [DAT](INFO): setting remote address to 6
2025-10-26T19:16:03.957Z,1761506163.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055136
2025-10-26T19:16:04.117Z,1761506164.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994623,-0.095152,0.040879],[0.096648,0.994655,-0.036342],[-0.037203,0.040097,0.998503]]
2025-10-26T19:16:04.208Z,1761506164.208 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:04.209Z,1761506164.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307431
2025-10-26T19:16:04.460Z,1761506164.460 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:04.461Z,1761506164.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558971
2025-10-26T19:16:04.514Z,1761506164.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992725,-0.114254,0.037980],[0.115344,0.992935,-0.027862],[-0.034528,0.032040,0.998890]]
2025-10-26T19:16:04.712Z,1761506164.712 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:04.713Z,1761506164.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811623
2025-10-26T19:16:04.926Z,1761506164.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990781,-0.131057,0.034309],[0.131640,0.991179,-0.015303],[-0.032001,0.019678,0.999294]]
2025-10-26T19:16:04.964Z,1761506164.964 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:04.965Z,1761506164.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063072
2025-10-26T19:16:05.216Z,1761506165.216 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:05.216Z,1761506165.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314936
2025-10-26T19:16:05.322Z,1761506165.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988499,-0.148193,0.030151],[0.148300,0.988941,-0.001339],[-0.029619,0.005795,0.999544]]
2025-10-26T19:16:05.468Z,1761506165.468 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:05.469Z,1761506165.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567047
2025-10-26T19:16:05.720Z,1761506165.720 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:05.721Z,1761506165.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819403
2025-10-26T19:16:05.732Z,1761506165.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985606,-0.166928,0.026770],[0.166828,0.985968,0.005939],[-0.027386,-0.001387,0.999624]]
2025-10-26T19:16:05.973Z,1761506165.973 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:05.973Z,1761506165.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071557
2025-10-26T19:16:06.134Z,1761506166.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982360,-0.185414,0.024287],[0.185352,0.982660,0.004823],[-0.024760,-0.000236,0.999693]]
2025-10-26T19:16:06.224Z,1761506166.224 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:06.225Z,1761506166.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323075
2025-10-26T19:16:06.476Z,1761506166.476 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:06.476Z,1761506166.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574925
2025-10-26T19:16:06.542Z,1761506166.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978912,-0.203066,0.022272],[0.203184,0.979136,-0.003154],[-0.021167,0.007613,0.999747]]
2025-10-26T19:16:06.729Z,1761506166.729 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:06.730Z,1761506166.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828431
2025-10-26T19:16:06.939Z,1761506166.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975822,-0.217643,0.020058],[0.217997,0.975792,-0.017531],[-0.015757,0.021480,0.999645]]
2025-10-26T19:16:06.980Z,1761506166.980 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:06.980Z,1761506166.980 [DAT](INFO): Reached modem response timeout
2025-10-26T19:16:07.233Z,1761506167.233 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:07.342Z,1761506167.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973305,-0.228890,0.016961],[0.229363,0.972700,-0.035312],[-0.008416,0.038260,0.999232]]
2025-10-26T19:16:07.484Z,1761506167.484 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:07.736Z,1761506167.736 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:07.747Z,1761506167.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970800,-0.239521,0.013306],[0.239890,0.969388,-0.052334],[-0.000363,0.053998,0.998541]]
2025-10-26T19:16:07.988Z,1761506167.988 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:08.152Z,1761506168.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968343,-0.249391,0.010812],[0.249558,0.966166,-0.065153],[0.005802,0.065788,0.997817]]
2025-10-26T19:16:08.240Z,1761506168.240 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:08.492Z,1761506168.492 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:08.566Z,1761506168.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965405,-0.260533,0.010728],[0.260617,0.962746,-0.072109],[0.008459,0.072411,0.997339]]
2025-10-26T19:16:08.744Z,1761506168.744 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:08.957Z,1761506168.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961060,-0.276068,0.012244],[0.276226,0.958448,-0.071258],[0.007937,0.071865,0.997383]]
2025-10-26T19:16:08.996Z,1761506168.996 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:09.249Z,1761506169.249 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:16:09.249Z,1761506169.249 [DAT](INFO): response not received
2025-10-26T19:16:09.249Z,1761506169.249 [DAT](INFO): DAT read: user:119>

2025-10-26T19:16:09.250Z,1761506169.250 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:16:09.250Z,1761506169.250 [DAT](INFO): set remote address to 6
2025-10-26T19:16:09.251Z,1761506169.251 [DAT](INFO): entering online mode
2025-10-26T19:16:09.362Z,1761506169.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954849,-0.296815,0.012794],[0.297020,0.952798,-0.062883],[0.006474,0.063844,0.997939]]
2025-10-26T19:16:09.501Z,1761506169.501 [DAT](INFO): DAT read: user:120>

2025-10-26T19:16:09.501Z,1761506169.501 [DAT](INFO): DAT read: 

2025-10-26T19:16:09.502Z,1761506169.502 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:16:09.503Z,1761506169.503 [DAT](INFO): commRate: 600
2025-10-26T19:16:09.503Z,1761506169.503 [DAT](INFO): online mode acknowledged
2025-10-26T19:16:09.504Z,1761506169.504 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:16:09.772Z,1761506169.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946741,-0.321839,0.010007],[0.321934,0.945504,-0.048786],[0.006239,0.049410,0.998759]]
2025-10-26T19:16:10.169Z,1761506170.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937202,-0.348770,0.003400],[0.348678,0.936624,-0.034041],[0.008688,0.033088,0.999415]]
2025-10-26T19:16:10.203Z,1761506170.203 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateRudder:A] Stopped
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:16:10.204Z,1761506170.204 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:16:10.205Z,1761506170.205 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:16:10.205Z,1761506170.205 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:16:10.205Z,1761506170.205 [marl:UpdateCommandMode] Stopped
2025-10-26T19:16:10.205Z,1761506170.205 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:16:10.574Z,1761506170.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926560,-0.376089,-0.006570],[0.375812,0.926332,-0.025961],[0.015850,0.021585,0.999641]]
2025-10-26T19:16:10.634Z,1761506170.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:16:10.634Z,1761506170.634 [marl:UpdateRudder:B] Stopped
2025-10-26T19:16:10.634Z,1761506170.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:16:10.634Z,1761506170.634 [marl:UpdateRudder] Stopped
2025-10-26T19:16:10.635Z,1761506170.635 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:16:10.978Z,1761506170.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921191,-0.388640,-0.019117],[0.388361,0.921354,-0.016792],[0.024139,0.008045,0.999676]]
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed] Stopped
2025-10-26T19:16:11.049Z,1761506171.049 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:16:11.383Z,1761506171.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917883,-0.395857,-0.028061],[0.395668,0.918312,-0.012253],[0.030619,0.000144,0.999531]]
2025-10-26T19:16:11.787Z,1761506171.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914809,-0.402476,-0.033731],[0.402332,0.915425,-0.011257],[0.035409,-0.003273,0.999368]]
2025-10-26T19:16:12.190Z,1761506172.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910910,-0.411004,-0.036301],[0.410841,0.911626,-0.012195],[0.038105,-0.003805,0.999266]]
2025-10-26T19:16:12.605Z,1761506172.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904691,-0.424388,-0.037795],[0.424173,0.905474,-0.013929],[0.040134,-0.003430,0.999188]]
2025-10-26T19:16:12.781Z,1761506172.781 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:16:11.9133

2025-10-26T19:16:12.781Z,1761506172.781 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:16:12.998Z,1761506172.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896344,-0.441652,-0.038876],[0.441358,0.897183,-0.016324],[0.042089,-0.002527,0.999111]]
2025-10-26T19:16:13.296Z,1761506173.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:16:13.404Z,1761506173.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886259,-0.461489,-0.039668],[0.461080,0.887146,-0.019452],[0.044168,-0.001050,0.999024]]
2025-10-26T19:16:13.806Z,1761506173.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874946,-0.482503,-0.040761],[0.482010,0.875894,-0.021805],[0.046223,-0.000569,0.998931]]
2025-10-26T19:16:14.210Z,1761506174.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862776,-0.503947,-0.040681],[0.503227,0.863730,-0.027080],[0.048784,0.002893,0.998805]]
2025-10-26T19:16:14.300Z,1761506174.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:16:14.618Z,1761506174.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850167,-0.524934,-0.040749],[0.523945,0.851117,-0.032871],[0.051937,0.006596,0.998629]]
2025-10-26T19:16:15.018Z,1761506175.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837810,-0.544271,-0.042926],[0.543089,0.838877,-0.036601],[0.055931,0.007352,0.998408]]
2025-10-26T19:16:15.423Z,1761506175.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826166,-0.561587,-0.045501],[0.560242,0.827387,-0.039498],[0.059829,0.007140,0.998183]]
2025-10-26T19:16:15.829Z,1761506175.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815586,-0.576619,-0.048270],[0.575118,0.816987,-0.042094],[0.063708,0.006570,0.997947]]
2025-10-26T19:16:16.230Z,1761506176.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806561,-0.589008,-0.050276],[0.587243,0.808090,-0.046228],[0.067856,0.007761,0.997665]]
2025-10-26T19:16:16.634Z,1761506176.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799266,-0.598724,-0.051993],[0.596498,0.800878,-0.052779],[0.073240,0.011170,0.997252]]
2025-10-26T19:16:17.039Z,1761506177.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793548,-0.606213,-0.052796],[0.603332,0.795124,-0.061384],[0.079191,0.016858,0.996717]]
2025-10-26T19:16:17.444Z,1761506177.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788654,-0.612451,-0.054119],[0.609061,0.790249,-0.067461],[0.084085,0.020242,0.996253]]
2025-10-26T19:16:17.846Z,1761506177.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783996,-0.618324,-0.055014],[0.614833,0.785671,-0.068576],[0.085626,0.019939,0.996128]]
2025-10-26T19:16:18.250Z,1761506178.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774850,-0.629858,-0.053733],[0.626325,0.776445,-0.069642],[0.085585,0.020308,0.996124]]
2025-10-26T19:16:18.655Z,1761506178.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762565,-0.644542,-0.055318],[0.640988,0.764360,-0.069907],[0.087341,0.017850,0.996018]]
2025-10-26T19:16:19.058Z,1761506179.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751462,-0.656913,-0.061396],[0.653619,0.753903,-0.066429],[0.089925,0.009790,0.995900]]
2025-10-26T19:16:19.462Z,1761506179.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742125,-0.666639,-0.069598],[0.663678,0.745381,-0.062760],[0.093715,0.000385,0.995599]]
2025-10-26T19:16:19.867Z,1761506179.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732857,-0.676081,-0.076389],[0.673343,0.736798,-0.061140],[0.097619,-0.006630,0.995202]]
2025-10-26T19:16:20.272Z,1761506180.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724070,-0.685186,-0.079013],[0.682330,0.728321,-0.063045],[0.100744,-0.008264,0.994878]]
2025-10-26T19:16:20.683Z,1761506180.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716970,-0.692753,-0.077770],[0.689552,0.721152,-0.066763],[0.102334,-0.005760,0.994733]]
2025-10-26T19:16:21.086Z,1761506181.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710556,-0.699775,-0.073659],[0.696126,0.714363,-0.071375],[0.102566,-0.000560,0.994726]]
2025-10-26T19:16:21.482Z,1761506181.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701039,-0.709605,-0.070753],[0.705636,0.704595,-0.074991],[0.103066,0.002646,0.994671]]
2025-10-26T19:16:21.887Z,1761506181.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689687,-0.720642,-0.070764],[0.716556,0.693304,-0.076660],[0.104305,0.002165,0.994543]]
2025-10-26T19:16:22.291Z,1761506182.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677818,-0.731593,-0.073044],[0.727484,0.681742,-0.077433],[0.106447,-0.000653,0.994318]]
2025-10-26T19:16:22.695Z,1761506182.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666645,-0.741676,-0.074173],[0.737450,0.670756,-0.079081],[0.108404,-0.001980,0.994105]]
2025-10-26T19:16:22.880Z,1761506182.880 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:16:22.880Z,1761506182.880 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:16:23.102Z,1761506183.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655477,-0.751492,-0.074898],[0.747025,0.659738,-0.081848],[0.110921,-0.002301,0.993827]]
2025-10-26T19:16:23.132Z,1761506183.132 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:16:23.154Z,1761506183.154 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:16:23.154Z,1761506183.154 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:16:23.154Z,1761506183.154 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:16:23.154Z,1761506183.154 [marl:UpdateRudder:A] Stopped
2025-10-26T19:16:23.155Z,1761506183.155 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:16:23.155Z,1761506183.155 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:16:23.155Z,1761506183.155 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:16:23.155Z,1761506183.155 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:16:23.155Z,1761506183.155 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:16:23.155Z,1761506183.155 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:16:23.156Z,1761506183.156 [marl:UpdateCommandMode] Stopped
2025-10-26T19:16:23.156Z,1761506183.156 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:16:23.385Z,1761506183.385 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:16:23.385Z,1761506183.385 [DAT](INFO): #Outgoing data=4
2025-10-26T19:16:23.385Z,1761506183.385 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:16:23.503Z,1761506183.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643696,-0.761796,-0.072959],[0.756930,0.647817,-0.085966],[0.112752,0.000111,0.993623]]
2025-10-26T19:16:23.618Z,1761506183.618 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:16:23.618Z,1761506183.618 [marl:UpdateRudder:B] Stopped
2025-10-26T19:16:23.619Z,1761506183.619 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:16:23.619Z,1761506183.619 [marl:UpdateRudder] Stopped
2025-10-26T19:16:23.619Z,1761506183.619 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:16:23.637Z,1761506183.637 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:16:23.906Z,1761506183.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630884,-0.772821,-0.068798],[0.767445,0.634606,-0.091122],[0.114081,0.004689,0.993460]]
2025-10-26T19:16:23.982Z,1761506183.982 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:16:23.982Z,1761506183.982 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:16:23.982Z,1761506183.982 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:16:23.983Z,1761506183.983 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:16:23.983Z,1761506183.983 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:16:23.983Z,1761506183.983 [marl:UpdateSpeed] Stopped
2025-10-26T19:16:23.983Z,1761506183.983 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:16:24.311Z,1761506184.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617531,-0.783805,-0.065622],[0.778203,0.620970,-0.093787],[0.114260,0.006849,0.993427]]
2025-10-26T19:16:24.739Z,1761506184.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602665,-0.795344,-0.064976],[0.789788,0.606135,-0.094002],[0.114148,0.005334,0.993449]]
2025-10-26T19:16:25.118Z,1761506185.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585504,-0.808143,-0.063954],[0.802559,0.588971,-0.094932],[0.114385,0.004256,0.993427]]
2025-10-26T19:16:25.280Z,1761506185.280 [Radio_Surface](INFO): Powering down
2025-10-26T19:16:25.522Z,1761506185.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565611,-0.822199,-0.063823],[0.816476,0.569194,-0.096876],[0.115979,0.002684,0.993248]]
2025-10-26T19:16:25.926Z,1761506185.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542877,-0.837436,-0.063139],[0.831210,0.546528,-0.101965],[0.119896,0.002873,0.992782]]
2025-10-26T19:16:26.330Z,1761506186.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519204,-0.852486,-0.060785],[0.845351,0.522717,-0.110222],[0.125736,0.005843,0.992046]]
2025-10-26T19:16:26.383Z,1761506186.383 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:16:26.408Z,1761506186.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:16:26.460Z,1761506186.460 [DAT](INFO): entering command mode
2025-10-26T19:16:26.660Z,1761506186.660 [DAT](INFO): DAT read: 

2025-10-26T19:16:26.661Z,1761506186.661 [DAT](INFO): DAT read: user:121>

2025-10-26T19:16:26.661Z,1761506186.661 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:16:26.661Z,1761506186.661 [DAT](INFO): setting remote address to 0
2025-10-26T19:16:26.737Z,1761506186.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497565,-0.865552,-0.057002],[0.857295,0.500705,-0.119751],[0.132192,0.010716,0.991166]]
2025-10-26T19:16:26.912Z,1761506186.912 [DAT](INFO): DAT read: user:121>

2025-10-26T19:16:26.913Z,1761506186.913 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:16:26.913Z,1761506186.913 [DAT](INFO): set remote address to 0
2025-10-26T19:16:26.914Z,1761506186.914 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:16:26.914Z,1761506186.914 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:16:27.138Z,1761506187.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479617,-0.875846,-0.053490],[0.866620,0.482362,-0.127658],[0.137610,0.014872,0.990375]]
2025-10-26T19:16:27.164Z,1761506187.164 [DAT](INFO): DAT read: user:122>

2025-10-26T19:16:27.165Z,1761506187.165 [DAT](INFO): DAT read: Tx time:19:16:26.2630

2025-10-26T19:16:27.165Z,1761506187.165 [DAT](INFO): Ping request sent.
2025-10-26T19:16:27.165Z,1761506187.165 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:16:27.166Z,1761506187.166 [DAT](INFO): publishing transmit ping time
2025-10-26T19:16:27.166Z,1761506187.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946
2025-10-26T19:16:27.416Z,1761506187.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250876
2025-10-26T19:16:27.544Z,1761506187.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465659,-0.883516,-0.050610],[0.873663,0.468070,-0.132751],[0.140977,0.017601,0.989856]]
2025-10-26T19:16:27.672Z,1761506187.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506026
2025-10-26T19:16:27.921Z,1761506187.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755454
2025-10-26T19:16:27.946Z,1761506187.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453852,-0.889823,-0.047250],[0.879678,0.455870,-0.135462],[0.142077,0.019915,0.989655]]
2025-10-26T19:16:28.174Z,1761506188.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008213
2025-10-26T19:16:28.350Z,1761506188.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442119,-0.895781,-0.045908],[0.885687,0.444080,-0.135468],[0.141736,0.019232,0.989718]]
2025-10-26T19:16:28.425Z,1761506188.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259357
2025-10-26T19:16:28.676Z,1761506188.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510799
2025-10-26T19:16:28.754Z,1761506188.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428574,-0.902413,-0.044439],[0.892549,0.430501,-0.134260],[0.140289,0.017877,0.989949]]
2025-10-26T19:16:28.928Z,1761506188.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762883
2025-10-26T19:16:29.159Z,1761506189.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412158,-0.910116,-0.042609],[0.900517,0.414030,-0.132846],[0.138547,0.016383,0.990220]]
2025-10-26T19:16:29.180Z,1761506189.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014888
2025-10-26T19:16:29.432Z,1761506189.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833
2025-10-26T19:16:29.685Z,1761506189.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519427
2025-10-26T19:16:29.936Z,1761506189.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770775
2025-10-26T19:16:29.966Z,1761506189.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372769,-0.927045,-0.040386],[0.917462,0.374734,-0.133555],[0.138945,0.012733,0.990218]]
2025-10-26T19:16:30.188Z,1761506190.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022872
2025-10-26T19:16:30.371Z,1761506190.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351097,-0.935517,-0.039234],[0.925357,0.353073,-0.138035],[0.142987,0.012158,0.989650]]
2025-10-26T19:16:30.441Z,1761506190.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275789
2025-10-26T19:16:30.693Z,1761506190.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527150
2025-10-26T19:16:30.779Z,1761506190.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330435,-0.943042,-0.038534],[0.932137,0.332476,-0.143461],[0.148101,0.011486,0.988905]]
2025-10-26T19:16:30.945Z,1761506190.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779277
2025-10-26T19:16:31.179Z,1761506191.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313086,-0.948970,-0.037846],[0.937401,0.315176,-0.148131],[0.152500,0.010901,0.988243]]
2025-10-26T19:16:31.196Z,1761506191.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030966
2025-10-26T19:16:31.448Z,1761506191.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282823
2025-10-26T19:16:31.595Z,1761506191.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297382,-0.954062,-0.036456],[0.941911,0.299409,-0.152179],[0.156103,0.010917,0.987680]]
2025-10-26T19:16:31.701Z,1761506191.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535399
2025-10-26T19:16:31.952Z,1761506191.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786845
2025-10-26T19:16:31.986Z,1761506191.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283145,-0.958429,-0.035246],[0.945907,0.285137,-0.154781],[0.158396,0.010486,0.987320]]
2025-10-26T19:16:32.204Z,1761506192.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038814
2025-10-26T19:16:32.390Z,1761506192.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270195,-0.962203,-0.034070],[0.949412,0.272151,-0.156688],[0.160038,0.009990,0.987060]]
2025-10-26T19:16:32.461Z,1761506192.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295291
2025-10-26T19:16:32.709Z,1761506192.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543490
2025-10-26T19:16:32.821Z,1761506192.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257678,-0.965674,-0.032780],[0.952643,0.259578,-0.158402],[0.161474,0.009590,0.986830]]
2025-10-26T19:16:32.960Z,1761506192.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794860
2025-10-26T19:16:33.198Z,1761506193.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245454,-0.968866,-0.032422],[0.955604,0.247447,-0.159974],[0.163016,0.008283,0.986589]]
2025-10-26T19:16:33.212Z,1761506193.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046935
2025-10-26T19:16:33.464Z,1761506193.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298856
2025-10-26T19:16:33.605Z,1761506193.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233855,-0.971710,-0.033039],[0.958159,0.236097,-0.161830],[0.165052,0.006189,0.986265]]
2025-10-26T19:16:33.716Z,1761506193.716 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:16:33.716Z,1761506193.716 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:16:33.717Z,1761506193.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551299
2025-10-26T19:16:33.969Z,1761506193.969 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:16:33.969Z,1761506193.969 [DAT](INFO): #Outgoing data=4
2025-10-26T19:16:33.970Z,1761506193.970 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:16:33.970Z,1761506193.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804455
2025-10-26T19:16:34.035Z,1761506194.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223364,-0.974155,-0.033629],[0.960201,0.225838,-0.164352],[0.167699,0.004420,0.985828]]
2025-10-26T19:16:34.220Z,1761506194.220 [DAT](INFO): setting remote address to 6
2025-10-26T19:16:34.221Z,1761506194.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055202
2025-10-26T19:16:34.411Z,1761506194.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213184,-0.976328,-0.036549],[0.962036,0.216294,-0.166443],[0.170408,0.000321,0.985374]]
2025-10-26T19:16:34.472Z,1761506194.472 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:34.472Z,1761506194.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306853
2025-10-26T19:16:34.725Z,1761506194.725 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:34.725Z,1761506194.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559578
2025-10-26T19:16:34.853Z,1761506194.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202985,-0.978385,-0.039498],[0.963981,0.206751,-0.167316],[0.171866,-0.004112,0.985112]]
2025-10-26T19:16:34.976Z,1761506194.976 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:34.977Z,1761506194.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811036
2025-10-26T19:16:35.218Z,1761506195.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192894,-0.980397,-0.040161],[0.966330,0.196911,-0.165627],[0.170289,-0.006860,0.985370]]
2025-10-26T19:16:35.228Z,1761506195.228 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:35.229Z,1761506195.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063078
2025-10-26T19:16:35.480Z,1761506195.480 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:35.480Z,1761506195.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314983
2025-10-26T19:16:35.626Z,1761506195.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181925,-0.982533,-0.039144],[0.969321,0.185885,-0.160821],[0.165288,-0.008685,0.986207]]
2025-10-26T19:16:35.732Z,1761506195.732 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:35.733Z,1761506195.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567122
2025-10-26T19:16:35.984Z,1761506195.984 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:35.984Z,1761506195.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818965
2025-10-26T19:16:36.033Z,1761506196.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167953,-0.985141,-0.035897],[0.973056,0.171508,-0.154103],[0.157970,-0.009048,0.987403]]
2025-10-26T19:16:36.237Z,1761506196.237 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:36.237Z,1761506196.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071626
2025-10-26T19:16:36.430Z,1761506196.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151257,-0.988051,-0.029613],[0.977095,0.153982,-0.146887],[0.149692,-0.006717,0.988710]]
2025-10-26T19:16:36.479Z,1761506196.479 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:16:36.479Z,1761506196.479 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:16:36.479Z,1761506196.479 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:16:36.480Z,1761506196.480 [marl:UpdateRudder:A] Stopped
2025-10-26T19:16:36.480Z,1761506196.480 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:16:36.480Z,1761506196.480 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:16:36.480Z,1761506196.480 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:16:36.480Z,1761506196.480 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:16:36.480Z,1761506196.480 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:16:36.481Z,1761506196.481 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:16:36.481Z,1761506196.481 [marl:UpdateCommandMode] Stopped
2025-10-26T19:16:36.481Z,1761506196.481 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:16:36.488Z,1761506196.488 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:36.489Z,1761506196.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323089
2025-10-26T19:16:36.740Z,1761506196.740 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:36.740Z,1761506196.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574973
2025-10-26T19:16:36.863Z,1761506196.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132661,-0.990868,-0.024132],[0.980912,0.134742,-0.140201],[0.142172,-0.005072,0.989829]]
2025-10-26T19:16:36.907Z,1761506196.907 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:16:36.907Z,1761506196.907 [marl:UpdateRudder:B] Stopped
2025-10-26T19:16:36.907Z,1761506196.907 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:16:36.907Z,1761506196.907 [marl:UpdateRudder] Stopped
2025-10-26T19:16:36.907Z,1761506196.907 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:16:36.927Z,1761506196.927 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:16:36.927Z,1761506196.927 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:16:36.928Z,1761506196.928 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:16:36.928Z,1761506196.928 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:16:36.928Z,1761506196.928 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:16:36.928Z,1761506196.928 [marl:UpdateSpeed] Stopped
2025-10-26T19:16:36.928Z,1761506196.928 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:16:36.992Z,1761506196.992 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:36.992Z,1761506196.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826984
2025-10-26T19:16:37.241Z,1761506197.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112275,-0.993506,-0.018450],[0.984237,0.113743,-0.135427],[0.136646,-0.002954,0.990616]]
2025-10-26T19:16:37.244Z,1761506197.244 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:37.244Z,1761506197.244 [DAT](INFO): Reached modem response timeout
2025-10-26T19:16:37.496Z,1761506197.496 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:37.645Z,1761506197.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089905,-0.995889,-0.011044],[0.986906,0.090574,-0.133468],[0.133919,0.001100,0.990992]]
2025-10-26T19:16:37.748Z,1761506197.748 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:38.000Z,1761506198.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:38.252Z,1761506198.252 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:38.450Z,1761506198.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040264,-0.999186,0.002271],[0.989702,0.039569,-0.137568],[0.137366,0.007786,0.990490]]
2025-10-26T19:16:38.504Z,1761506198.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:38.756Z,1761506198.756 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:38.870Z,1761506198.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009707,-0.999847,0.014528],[0.989098,-0.011736,-0.146792],[0.146940,0.012945,0.989061]]
2025-10-26T19:16:39.009Z,1761506199.009 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:39.260Z,1761506199.260 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:16:39.512Z,1761506199.512 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:16:39.513Z,1761506199.513 [DAT](INFO): response not received
2025-10-26T19:16:39.513Z,1761506199.513 [DAT](INFO): DAT read: user:123>

2025-10-26T19:16:39.514Z,1761506199.514 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:16:39.514Z,1761506199.514 [DAT](INFO): set remote address to 6
2025-10-26T19:16:39.515Z,1761506199.515 [DAT](INFO): entering online mode
2025-10-26T19:16:39.672Z,1761506199.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050234,-0.998675,0.011205],[0.986256,-0.051371,-0.157032],[0.157400,0.003163,0.987530]]
2025-10-26T19:16:39.764Z,1761506199.764 [DAT](INFO): DAT read: user:124>

2025-10-26T19:16:39.765Z,1761506199.765 [DAT](INFO): DAT read: 

2025-10-26T19:16:39.766Z,1761506199.766 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:16:39.767Z,1761506199.767 [DAT](INFO): commRate: 600
2025-10-26T19:16:39.767Z,1761506199.767 [DAT](INFO): online mode acknowledged
2025-10-26T19:16:39.768Z,1761506199.768 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:16:40.020Z,1761506200.020 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:16:40.020Z,1761506200.020 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:16:40.083Z,1761506200.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061645,-0.998087,-0.004608],[0.984955,-0.060086,-0.162026],[0.161439,-0.014526,0.986776]]
2025-10-26T19:16:40.476Z,1761506200.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065576,-0.997419,-0.029258],[0.984299,-0.059843,-0.166055],[0.163875,-0.039688,0.985682]]
2025-10-26T19:16:40.879Z,1761506200.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064283,-0.996252,-0.057875],[0.984018,-0.053630,-0.169800],[0.166059,-0.067865,0.983778]]
2025-10-26T19:16:41.284Z,1761506201.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060164,-0.994392,-0.086972],[0.983688,-0.044267,-0.174353],[0.169525,-0.096043,0.980835]]
2025-10-26T19:16:41.687Z,1761506201.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054497,-0.991986,-0.113987],[0.983003,-0.033257,-0.180551],[0.175313,-0.121889,0.976938]]
2025-10-26T19:16:42.087Z,1761506202.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048379,-0.989283,-0.137764],[0.981819,-0.021755,-0.188567],[0.183549,-0.144382,0.972350]]
2025-10-26T19:16:42.490Z,1761506202.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043941,-0.986404,-0.158353],[0.980168,-0.011908,-0.197809],[0.193234,-0.163904,0.967366]]
2025-10-26T19:16:42.897Z,1761506202.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040505,-0.983918,-0.173971],[0.978466,-0.003791,-0.206374],[0.202395,-0.178583,0.962883]]
2025-10-26T19:16:43.042Z,1761506203.042 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:16:42.2118

2025-10-26T19:16:43.042Z,1761506203.042 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:16:43.299Z,1761506203.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038442,-0.981431,-0.187925],[0.977116,0.002454,-0.212694],[0.209205,-0.191801,0.958877]]
2025-10-26T19:16:43.719Z,1761506203.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037552,-0.979282,-0.198990],[0.976647,0.006188,-0.214762],[0.211544,-0.202407,0.956180]]
2025-10-26T19:16:44.107Z,1761506204.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038113,-0.977662,-0.206700],[0.977269,0.006702,-0.211897],[0.208549,-0.210078,0.955183]]
2025-10-26T19:16:44.421Z,1761506204.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:16:44.510Z,1761506204.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039936,-0.976512,-0.211731],[0.979188,0.003952,-0.202916],[0.198987,-0.215428,0.956031]]
2025-10-26T19:16:44.914Z,1761506204.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042496,-0.976194,-0.212696],[0.982373,-0.002039,-0.186920],[0.182037,-0.216890,0.959073]]
2025-10-26T19:16:45.322Z,1761506205.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045662,-0.976706,-0.209669],[0.986072,-0.010467,-0.165991],[0.159930,-0.214328,0.963580]]
2025-10-26T19:16:45.424Z,1761506205.424 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T19:16:45.424Z,1761506205.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:16:45.733Z,1761506205.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050910,-0.977437,-0.205002],[0.989418,-0.021438,-0.143498],[0.135865,-0.210138,0.968185]]
2025-10-26T19:16:46.126Z,1761506206.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057619,-0.978742,-0.196833],[0.991973,-0.033899,-0.121821],[0.112559,-0.202273,0.972839]]
2025-10-26T19:16:46.537Z,1761506206.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064515,-0.979975,-0.188381],[0.993649,-0.045644,-0.102851],[0.092193,-0.193820,0.976696]]
2025-10-26T19:16:46.934Z,1761506206.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070557,-0.981163,-0.179833],[0.994557,-0.055339,-0.088285],[0.076670,-0.185084,0.979727]]
2025-10-26T19:16:47.341Z,1761506207.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075793,-0.982206,-0.171836],[0.994888,-0.062957,-0.078964],[0.066740,-0.176943,0.981956]]
2025-10-26T19:16:47.743Z,1761506207.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080453,-0.982916,-0.165538],[0.994824,-0.068840,-0.074743],[0.062071,-0.170695,0.983367]]
2025-10-26T19:16:48.146Z,1761506208.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084991,-0.983186,-0.161623],[0.994455,-0.073620,-0.075098],[0.061936,-0.167109,0.983991]]
2025-10-26T19:16:48.554Z,1761506208.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089026,-0.983131,-0.159775],[0.993945,-0.077318,-0.078072],[0.064401,-0.165758,0.984061]]
2025-10-26T19:16:48.954Z,1761506208.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092151,-0.982740,-0.160405],[0.993523,-0.079989,-0.080707],[0.066484,-0.166804,0.983746]]
2025-10-26T19:16:49.359Z,1761506209.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087995,-0.982922,-0.161623],[0.994038,-0.076160,-0.078029],[0.064387,-0.167525,0.983763]]
2025-10-26T19:16:49.769Z,1761506209.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080715,-0.982987,-0.164987],[0.995031,-0.069784,-0.071021],[0.058300,-0.169900,0.983735]]
2025-10-26T19:16:49.803Z,1761506209.803 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:16:49.803Z,1761506209.803 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:16:49.803Z,1761506209.803 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateRudder:A] Stopped
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:16:49.804Z,1761506209.804 [marl:UpdateCommandMode] Stopped
2025-10-26T19:16:49.805Z,1761506209.805 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:16:50.166Z,1761506210.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076572,-0.982787,-0.168124],[0.995737,-0.066676,-0.063742],[0.051435,-0.172288,0.983703]]
2025-10-26T19:16:50.197Z,1761506210.197 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateRudder:B] Stopped
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateRudder] Stopped
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:16:50.198Z,1761506210.198 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:16:50.199Z,1761506210.199 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:16:50.199Z,1761506210.199 [marl:UpdateSpeed] Stopped
2025-10-26T19:16:50.199Z,1761506210.199 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:16:50.570Z,1761506210.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074351,-0.982006,-0.173598],[0.996318,-0.065698,-0.055080],[0.042684,-0.177054,0.983275]]
2025-10-26T19:16:50.974Z,1761506210.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072749,-0.981254,-0.178463],[0.996834,-0.065780,-0.044670],[0.032094,-0.181148,0.982932]]
2025-10-26T19:16:51.380Z,1761506211.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071050,-0.980890,-0.181124],[0.997275,-0.066244,-0.032454],[0.019835,-0.182936,0.982925]]
2025-10-26T19:16:51.782Z,1761506211.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069134,-0.980946,-0.181566],[0.997582,-0.066679,-0.019594],[0.007114,-0.182482,0.983184]]
2025-10-26T19:16:52.186Z,1761506212.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068011,-0.981160,-0.180832],[0.997676,-0.067641,-0.008220],[-0.004166,-0.180971,0.983480]]
2025-10-26T19:16:52.591Z,1761506212.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068004,-0.981296,-0.180093],[0.997616,-0.069013,-0.000667],[-0.011774,-0.179709,0.983649]]
2025-10-26T19:16:52.996Z,1761506212.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069332,-0.981380,-0.179125],[0.997471,-0.071007,0.002950],[-0.015614,-0.178467,0.983822]]
2025-10-26T19:16:53.128Z,1761506213.128 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:16:53.380Z,1761506213.380 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:16:53.398Z,1761506213.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069998,-0.981264,-0.179501],[0.997403,-0.071904,0.004127],[-0.016957,-0.178746,0.983749]]
2025-10-26T19:16:53.632Z,1761506213.632 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:16:53.806Z,1761506213.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069655,-0.980803,-0.182138],[0.997431,-0.071535,0.003760],[-0.016717,-0.181409,0.983266]]
2025-10-26T19:16:54.206Z,1761506214.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069927,-0.980303,-0.184707],[0.997431,-0.071591,0.002345],[-0.015522,-0.184069,0.982791]]
2025-10-26T19:16:54.611Z,1761506214.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070819,-0.979904,-0.186475],[0.997385,-0.072265,0.000959],[-0.014415,-0.185919,0.982459]]
2025-10-26T19:16:55.025Z,1761506215.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073003,-0.979547,-0.187506],[0.997238,-0.074271,-0.000263],[-0.013668,-0.187007,0.982263]]
2025-10-26T19:16:55.418Z,1761506215.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076212,-0.979405,-0.186967],[0.996996,-0.077450,-0.000686],[-0.013809,-0.186458,0.982366]]
2025-10-26T19:16:55.833Z,1761506215.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079822,-0.979532,-0.184787],[0.996703,-0.081132,-0.000470],[-0.014531,-0.184216,0.982778]]
2025-10-26T19:16:56.228Z,1761506216.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083440,-0.979460,-0.183563],[0.996385,-0.084955,0.000388],[-0.015975,-0.182867,0.983008]]
2025-10-26T19:16:56.630Z,1761506216.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086712,-0.979481,-0.181930],[0.996070,-0.088546,0.001963],[-0.018032,-0.181045,0.983309]]
2025-10-26T19:16:56.691Z,1761506216.691 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:16:56.910Z,1761506216.910 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:16:56.0617

2025-10-26T19:16:56.910Z,1761506216.910 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:16:56.910Z,1761506216.910 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:16:56.966Z,1761506216.966 [DAT](INFO): entering command mode
2025-10-26T19:16:57.044Z,1761506217.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090157,-0.978981,-0.182941],[0.995733,-0.092236,0.002866],[-0.019679,-0.181902,0.983120]]
2025-10-26T19:16:57.160Z,1761506217.160 [DAT](INFO): DAT read: 

2025-10-26T19:16:57.161Z,1761506217.161 [DAT](INFO): DAT read: user:125>

2025-10-26T19:16:57.161Z,1761506217.161 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:16:57.161Z,1761506217.161 [DAT](INFO): setting remote address to 0
2025-10-26T19:16:57.413Z,1761506217.413 [DAT](INFO): DAT read: user:125>

2025-10-26T19:16:57.414Z,1761506217.414 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:16:57.414Z,1761506217.414 [DAT](INFO): set remote address to 0
2025-10-26T19:16:57.414Z,1761506217.414 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:16:57.415Z,1761506217.415 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:16:57.464Z,1761506217.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093767,-0.978179,-0.185402],[0.995385,-0.095927,0.002697],[-0.020423,-0.184293,0.982659]]
2025-10-26T19:16:57.664Z,1761506217.664 [DAT](INFO): DAT read: user:126>

2025-10-26T19:16:57.665Z,1761506217.665 [DAT](INFO): DAT read: Tx time:19:16:56.7628

2025-10-26T19:16:57.665Z,1761506217.665 [DAT](INFO): Ping request sent.
2025-10-26T19:16:57.665Z,1761506217.665 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:16:57.666Z,1761506217.666 [DAT](INFO): publishing transmit ping time
2025-10-26T19:16:57.666Z,1761506217.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000980
2025-10-26T19:16:57.842Z,1761506217.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098211,-0.977368,-0.187364],[0.994961,-0.100253,0.001431],[-0.020182,-0.186280,0.982289]]
2025-10-26T19:16:57.916Z,1761506217.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250889
2025-10-26T19:16:58.168Z,1761506218.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502833
2025-10-26T19:16:58.246Z,1761506218.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102514,-0.976294,-0.190632],[0.994557,-0.104185,-0.001261],[-0.018630,-0.189724,0.981661]]
2025-10-26T19:16:58.420Z,1761506218.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-10-26T19:16:58.652Z,1761506218.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107039,-0.975793,-0.190712],[0.994126,-0.108121,-0.004756],[-0.015979,-0.190101,0.981634]]
2025-10-26T19:16:58.672Z,1761506218.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006953
2025-10-26T19:16:58.924Z,1761506218.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258770
2025-10-26T19:16:59.056Z,1761506219.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112171,-0.974940,-0.192119],[0.993617,-0.112368,-0.009906],[-0.011931,-0.192004,0.981322]]
2025-10-26T19:16:59.176Z,1761506219.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946
2025-10-26T19:16:59.429Z,1761506219.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763054
2025-10-26T19:16:59.458Z,1761506219.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118287,-0.974445,-0.190959],[0.992961,-0.117237,-0.016829],[-0.005989,-0.191605,0.981454]]
2025-10-26T19:16:59.683Z,1761506219.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017585
2025-10-26T19:16:59.862Z,1761506219.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125551,-0.973712,-0.190058],[0.992085,-0.122808,-0.026189],[0.002160,-0.191841,0.981424]]
2025-10-26T19:16:59.932Z,1761506219.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266969
2025-10-26T19:17:00.184Z,1761506220.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518853
2025-10-26T19:17:00.268Z,1761506220.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132612,-0.973332,-0.187188],[0.991094,-0.127911,-0.037025],[0.012094,-0.190431,0.981626]]
2025-10-26T19:17:00.436Z,1761506220.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770888
2025-10-26T19:17:00.670Z,1761506220.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138857,-0.973041,-0.184149],[0.990056,-0.132165,-0.048190],[0.022553,-0.189009,0.981716]]
2025-10-26T19:17:00.689Z,1761506220.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023059
2025-10-26T19:17:00.940Z,1761506220.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274874
2025-10-26T19:17:01.074Z,1761506221.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143758,-0.972954,-0.180816],[0.989092,-0.135339,-0.058136],[0.032092,-0.187202,0.981797]]
2025-10-26T19:17:01.192Z,1761506221.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526906
2025-10-26T19:17:01.444Z,1761506221.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778947
2025-10-26T19:17:01.482Z,1761506221.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146376,-0.973008,-0.178406],[0.988428,-0.136601,-0.065962],[0.039811,-0.185997,0.981743]]
2025-10-26T19:17:01.697Z,1761506221.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031241
2025-10-26T19:17:01.882Z,1761506221.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146919,-0.973370,-0.175969],[0.988089,-0.136187,-0.071652],[0.045779,-0.184400,0.981784]]
2025-10-26T19:17:01.948Z,1761506221.948 [DAT](INFO): DAT read: Rx Time:19:17:00.4851

2025-10-26T19:17:01.949Z,1761506221.949 [DAT](INFO): Rx dataTimestamp_ set to:1761506221.948640
2025-10-26T19:17:01.949Z,1761506221.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284041
2025-10-26T19:17:02.200Z,1761506222.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534922
2025-10-26T19:17:02.306Z,1761506222.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147004,-0.973606,-0.174587],[0.987841,-0.135479,-0.076256],[0.050591,-0.183674,0.981685]]
2025-10-26T19:17:02.458Z,1761506222.458 [DAT](INFO): DAT read: 19:17:00.4851 LVL= 23008, 26065, 13778, 25635, AGC= 59, IDX= 455,-0.17,-0.539,-0.986, 1.041,-0.120, PHS=-0.317,-0.821, 1.117, RAW= 195.5,   0.2, CAL= 195.6,  -2.4, ROT= 314.4,   2.4

2025-10-26T19:17:02.460Z,1761506222.460 [DAT](INFO): got valid direction response:
 19:17:00.4851 LVL= 23008, 26065, 13778, 25635, AGC= 59, IDX= 455,-0.17,-0.539,-0.986, 1.041,-0.120, PHS=-0.317,-0.821, 1.117, RAW= 195.5,   0.2, CAL= 195.6,  -2.4, ROT= 314.4,   2.4

2025-10-26T19:17:02.461Z,1761506222.461 [DAT](INFO): DAT read: Bearing  33,  26 (Remote)

2025-10-26T19:17:02.461Z,1761506222.461 [DAT](INFO): Remote Bearing received:Bearing  33,  26 (Remote)

2025-10-26T19:17:02.462Z,1761506222.462 [DAT](INFO): DAT read: Bearing 249.0, -41.8 (Local)

2025-10-26T19:17:02.462Z,1761506222.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.0, -41.8 (Local)

2025-10-26T19:17:02.464Z,1761506222.464 [DAT](INFO): DAT read: Range 11 to 20 : 1269.9 m  (Round-trip  1693.2 ms) speed  0.5 m/s

2025-10-26T19:17:02.465Z,1761506222.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:17:02.466Z,1761506222.466 [DAT](INFO): direction in FSK: [0.699050,-0.713846,-0.041876]
2025-10-26T19:17:02.466Z,1761506222.466 [DAT](INFO): publishing direction and range info
2025-10-26T19:17:02.690Z,1761506222.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147854,-0.973450,-0.174739],[0.987495,-0.135532,-0.080532],[0.054711,-0.184461,0.981316]]
2025-10-26T19:17:02.763Z,1761506222.763 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:17:02.763Z,1761506222.763 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:17:02.763Z,1761506222.763 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateRudder:A] Stopped
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:17:02.764Z,1761506222.764 [marl:UpdateCommandMode] Stopped
2025-10-26T19:17:02.765Z,1761506222.765 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:17:02.775Z,1761506222.775 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506176.00. Resetting abort timer.
2025-10-26T19:17:03.094Z,1761506223.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148927,-0.973142,-0.175545],[0.987160,-0.135941,-0.083880],[0.057764,-0.185783,0.980892]]
2025-10-26T19:17:03.160Z,1761506223.160 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:17:03.160Z,1761506223.160 [marl:UpdateRudder:B] Stopped
2025-10-26T19:17:03.160Z,1761506223.160 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:17:03.160Z,1761506223.160 [marl:UpdateRudder] Stopped
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:17:03.161Z,1761506223.161 [marl:UpdateSpeed] Stopped
2025-10-26T19:17:03.162Z,1761506223.162 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:17:03.510Z,1761506223.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150402,-0.972828,-0.176024],[0.986839,-0.137033,-0.085857],[0.059403,-0.186620,0.980634]]
2025-10-26T19:17:03.902Z,1761506223.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152651,-0.972098,-0.178112],[0.986443,-0.138888,-0.087412],[0.060236,-0.189041,0.980120]]
2025-10-26T19:17:04.306Z,1761506224.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157509,-0.971158,-0.179008],[0.985592,-0.143282,-0.089886],[0.061645,-0.190586,0.979733]]
2025-10-26T19:17:04.714Z,1761506224.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165844,-0.969838,-0.178634],[0.984029,-0.150870,-0.094474],[0.064674,-0.191449,0.979369]]
2025-10-26T19:17:05.114Z,1761506225.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174846,-0.968526,-0.177164],[0.982232,-0.159118,-0.099510],[0.068188,-0.191415,0.979138]]
2025-10-26T19:17:05.523Z,1761506225.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183187,-0.967317,-0.175329],[0.980412,-0.166635,-0.105002],[0.072355,-0.191130,0.978894]]
2025-10-26T19:17:05.922Z,1761506225.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191046,-0.966292,-0.172574],[0.978506,-0.173574,-0.111350],[0.077642,-0.190138,0.978682]]
2025-10-26T19:17:06.328Z,1761506226.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198770,-0.965341,-0.169137],[0.976393,-0.180171,-0.119141],[0.084538,-0.188826,0.978365]]
2025-10-26T19:17:06.735Z,1761506226.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206361,-0.964383,-0.165472],[0.974011,-0.186323,-0.128787],[0.093369,-0.187748,0.977769]]
2025-10-26T19:17:06.989Z,1761506226.989 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:17:07.134Z,1761506227.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213043,-0.963503,-0.162094],[0.971543,-0.191330,-0.139632],[0.103522,-0.187229,0.976846]]
2025-10-26T19:17:07.240Z,1761506227.240 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:17:07.493Z,1761506227.493 [DAT](INFO): setting remote address to 6
2025-10-26T19:17:07.538Z,1761506227.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217723,-0.963058,-0.158480],[0.969319,-0.194381,-0.150453],[0.114089,-0.186375,0.975832]]
2025-10-26T19:17:07.744Z,1761506227.744 [DAT](INFO): DAT read: user:127>

2025-10-26T19:17:07.745Z,1761506227.745 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:17:07.746Z,1761506227.746 [DAT](INFO): set remote address to 6
2025-10-26T19:17:07.746Z,1761506227.746 [DAT](INFO): entering online mode
2025-10-26T19:17:07.946Z,1761506227.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219085,-0.963171,-0.155898],[0.967831,-0.194266,-0.159891],[0.123717,-0.185912,0.974747]]
2025-10-26T19:17:07.997Z,1761506227.997 [DAT](INFO): DAT read: user:128>

2025-10-26T19:17:07.998Z,1761506227.998 [DAT](INFO): DAT read: 

2025-10-26T19:17:07.000Z,1761506228.000 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:17:08.000Z,1761506228.000 [DAT](INFO): commRate: 600
2025-10-26T19:17:08.000Z,1761506228.000 [DAT](INFO): online mode acknowledged
2025-10-26T19:17:08.002Z,1761506228.002 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:17:08.346Z,1761506228.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218710,-0.963484,-0.154479],[0.966672,-0.192342,-0.168966],[0.133083,-0.186285,0.973441]]
2025-10-26T19:17:08.750Z,1761506228.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217962,-0.963840,-0.153312],[0.965587,-0.190129,-0.177464],[0.141898,-0.186717,0.972112]]
2025-10-26T19:17:09.154Z,1761506229.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216861,-0.964156,-0.152886],[0.964622,-0.187593,-0.185240],[0.149920,-0.187649,0.970727]]
2025-10-26T19:17:09.558Z,1761506229.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215289,-0.964322,-0.154055],[0.964019,-0.184673,-0.191217],[0.155945,-0.189679,0.969383]]
2025-10-26T19:17:09.962Z,1761506229.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212891,-0.964749,-0.154716],[0.963950,-0.181514,-0.194556],[0.159615,-0.190558,0.968613]]
2025-10-26T19:17:10.368Z,1761506230.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210184,-0.965041,-0.156584],[0.964406,-0.178373,-0.195200],[0.160445,-0.192039,0.968183]]
2025-10-26T19:17:10.777Z,1761506230.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207448,-0.965270,-0.158808],[0.965309,-0.175675,-0.193174],[0.158566,-0.193372,0.968227]]
2025-10-26T19:17:11.174Z,1761506231.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205739,-0.965352,-0.160523],[0.966303,-0.174472,-0.189255],[0.154691,-0.194052,0.968718]]
2025-10-26T19:17:11.273Z,1761506231.273 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:17:10.4116

2025-10-26T19:17:11.274Z,1761506231.274 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:17:11.578Z,1761506231.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206945,-0.964861,-0.161917],[0.966748,-0.176255,-0.185292],[0.150242,-0.194878,0.969252]]
2025-10-26T19:17:11.990Z,1761506231.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212101,-0.963779,-0.161685],[0.966223,-0.182037,-0.182414],[0.146374,-0.194914,0.969837]]
2025-10-26T19:17:12.386Z,1761506232.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219959,-0.962413,-0.159309],[0.964941,-0.190682,-0.180358],[0.143202,-0.193396,0.970614]]
2025-10-26T19:17:12.824Z,1761506232.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229325,-0.960561,-0.157263],[0.963073,-0.200506,-0.179689],[0.141070,-0.192662,0.971072]]
2025-10-26T19:17:13.194Z,1761506233.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239541,-0.958572,-0.154143],[0.960743,-0.211143,-0.179976],[0.139973,-0.191203,0.971519]]
2025-10-26T19:17:13.625Z,1761506233.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250975,-0.956273,-0.150179],[0.957776,-0.222836,-0.181686],[0.140276,-0.189437,0.971821]]
2025-10-26T19:17:14.009Z,1761506234.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263219,-0.953639,-0.145908],[0.954202,-0.235061,-0.185054],[0.142178,-0.187935,0.971836]]
2025-10-26T19:17:14.406Z,1761506234.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275983,-0.951014,-0.139307],[0.949983,-0.247852,-0.190002],[0.146166,-0.184777,0.971850]]
2025-10-26T19:17:14.852Z,1761506234.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288181,-0.948468,-0.131757],[0.945513,-0.260074,-0.195874],[0.151514,-0.181025,0.971737]]
2025-10-26T19:17:15.215Z,1761506235.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297624,-0.946661,-0.123501],[0.941760,-0.269914,-0.200586],[0.156552,-0.176007,0.971860]]
2025-10-26T19:17:15.545Z,1761506235.545 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:17:15.618Z,1761506235.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302939,-0.945679,-0.117982],[0.939425,-0.275494,-0.203922],[0.160342,-0.172611,0.971852]]
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateRudder:A] Stopped
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:17:15.653Z,1761506235.653 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:17:15.654Z,1761506235.654 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:17:15.654Z,1761506235.654 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:17:15.654Z,1761506235.654 [marl:UpdateCommandMode] Stopped
2025-10-26T19:17:15.654Z,1761506235.654 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:17:16.022Z,1761506236.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305893,-0.945205,-0.114095],[0.937898,-0.278572,-0.206749],[0.163637,-0.170252,0.971719]]
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateRudder:B] Stopped
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateRudder] Stopped
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:17:16.060Z,1761506236.060 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:17:16.061Z,1761506236.061 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:17:16.061Z,1761506236.061 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:17:16.061Z,1761506236.061 [marl:UpdateSpeed] Stopped
2025-10-26T19:17:16.061Z,1761506236.061 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:17:16.426Z,1761506236.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306896,-0.945186,-0.111531],[0.937079,-0.279594,-0.209069],[0.166426,-0.168676,0.971520]]
2025-10-26T19:17:16.548Z,1761506236.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:17:16.868Z,1761506236.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306422,-0.945317,-0.111716],[0.936776,-0.278637,-0.211688],[0.168984,-0.169519,0.970931]]
2025-10-26T19:17:17.234Z,1761506237.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304761,-0.945437,-0.115193],[0.936906,-0.275847,-0.214744],[0.171251,-0.173370,0.969853]]
2025-10-26T19:17:17.638Z,1761506237.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302196,-0.945615,-0.120369],[0.937356,-0.271821,-0.217893],[0.173324,-0.178675,0.968522]]
2025-10-26T19:17:18.046Z,1761506238.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298967,-0.945701,-0.127548],[0.938069,-0.266736,-0.221084],[0.175058,-0.185746,0.966878]]
2025-10-26T19:17:18.446Z,1761506238.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295736,-0.945619,-0.135446],[0.938812,-0.261499,-0.224164],[0.176555,-0.193452,0.965093]]
2025-10-26T19:17:18.862Z,1761506238.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293478,-0.945622,-0.140249],[0.939251,-0.257912,-0.226471],[0.177984,-0.198194,0.963868]]
2025-10-26T19:17:19.255Z,1761506239.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293142,-0.945615,-0.140995],[0.939123,-0.257155,-0.227856],[0.179206,-0.199206,0.963432]]
2025-10-26T19:17:19.660Z,1761506239.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295054,-0.945056,-0.140754],[0.938394,-0.258881,-0.228902],[0.179887,-0.199621,0.963220]]
2025-10-26T19:17:20.062Z,1761506240.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298449,-0.944478,-0.137441],[0.937369,-0.262957,-0.228460],[0.179635,-0.197017,0.963803]]
2025-10-26T19:17:20.472Z,1761506240.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303394,-0.943424,-0.133802],[0.935985,-0.268752,-0.227387],[0.178563,-0.194225,0.964568]]
2025-10-26T19:17:20.871Z,1761506240.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309893,-0.941901,-0.129572],[0.934119,-0.276230,-0.226092],[0.177165,-0.191100,0.965450]]
2025-10-26T19:17:21.275Z,1761506241.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317529,-0.939956,-0.125130],[0.931835,-0.284858,-0.224810],[0.175667,-0.187985,0.966335]]
2025-10-26T19:17:21.361Z,1761506241.361 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:17:21.612Z,1761506241.612 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:17:21.678Z,1761506241.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326181,-0.937728,-0.119466],[0.929053,-0.294667,-0.223678],[0.174546,-0.183949,0.967314]]
2025-10-26T19:17:21.864Z,1761506241.864 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:17:22.082Z,1761506242.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335298,-0.935236,-0.113617],[0.925939,-0.304887,-0.222891],[0.173816,-0.179938,0.968200]]
2025-10-26T19:17:22.490Z,1761506242.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344030,-0.932542,-0.109581],[0.922784,-0.314224,-0.223010],[0.173533,-0.177842,0.968638]]
2025-10-26T19:17:22.892Z,1761506242.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351892,-0.930053,-0.105707],[0.919675,-0.322503,-0.224032],[0.174271,-0.176051,0.968832]]
2025-10-26T19:17:23.295Z,1761506243.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358620,-0.927646,-0.104233],[0.916709,-0.328901,-0.226866],[0.176169,-0.176910,0.968332]]
2025-10-26T19:17:23.701Z,1761506243.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364272,-0.925440,-0.104244],[0.913748,-0.333539,-0.231982],[0.179916,-0.179757,0.967118]]
2025-10-26T19:17:24.102Z,1761506244.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367682,-0.924029,-0.104784],[0.911413,-0.335671,-0.238017],[0.184761,-0.183016,0.965592]]
2025-10-26T19:17:24.507Z,1761506244.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367927,-0.923881,-0.105228],[0.910289,-0.334779,-0.243508],[0.189745,-0.185382,0.964174]]
2025-10-26T19:17:24.910Z,1761506244.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365947,-0.924192,-0.109325],[0.910068,-0.330820,-0.249667],[0.194573,-0.190858,0.962141]]
2025-10-26T19:17:25.141Z,1761506245.141 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:17:24.2615

2025-10-26T19:17:25.141Z,1761506245.141 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:17:25.320Z,1761506245.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361573,-0.925275,-0.114596],[0.909864,-0.323351,-0.259983],[0.203501,-0.198270,0.958789]]
2025-10-26T19:17:25.728Z,1761506245.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359746,-0.925637,-0.117386],[0.910014,-0.320293,-0.263224],[0.206052,-0.201517,0.957566]]
2025-10-26T19:17:26.128Z,1761506246.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358035,-0.926024,-0.119541],[0.910660,-0.318053,-0.263706],[0.206177,-0.203277,0.957167]]
2025-10-26T19:17:26.533Z,1761506246.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356649,-0.926484,-0.120121],[0.911630,-0.317015,-0.261595],[0.204283,-0.202804,0.957674]]
2025-10-26T19:17:26.933Z,1761506246.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355763,-0.926849,-0.119933],[0.912792,-0.317052,-0.257466],[0.200607,-0.201071,0.958816]]
2025-10-26T19:17:27.020Z,1761506247.020 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:17:27.157Z,1761506247.157 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:17:27.208Z,1761506247.208 [DAT](INFO): entering command mode
2025-10-26T19:17:27.334Z,1761506247.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356175,-0.926817,-0.118952],[0.913618,-0.318702,-0.252450],[0.196064,-0.198593,0.960271]]
2025-10-26T19:17:27.408Z,1761506247.408 [DAT](INFO): DAT read: 

2025-10-26T19:17:27.409Z,1761506247.409 [DAT](INFO): DAT read: user:129>

2025-10-26T19:17:27.410Z,1761506247.410 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:17:27.410Z,1761506247.410 [DAT](INFO): setting remote address to 0
2025-10-26T19:17:27.661Z,1761506247.661 [DAT](INFO): DAT read: user:129>

2025-10-26T19:17:27.662Z,1761506247.662 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:17:27.662Z,1761506247.662 [DAT](INFO): set remote address to 0
2025-10-26T19:17:27.662Z,1761506247.662 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:17:27.663Z,1761506247.663 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:17:27.741Z,1761506247.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359759,-0.925824,-0.115862],[0.913049,-0.323754,-0.248042],[0.192133,-0.195023,0.961796]]
2025-10-26T19:17:27.912Z,1761506247.912 [DAT](INFO): DAT read: user:130>

2025-10-26T19:17:27.913Z,1761506247.913 [DAT](INFO): DAT read: Tx time:19:17:27.0125

2025-10-26T19:17:27.913Z,1761506247.913 [DAT](INFO): Ping request sent.
2025-10-26T19:17:27.914Z,1761506247.914 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:17:27.914Z,1761506247.914 [DAT](INFO): publishing transmit ping time
2025-10-26T19:17:27.915Z,1761506247.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000996
2025-10-26T19:17:28.142Z,1761506248.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366476,-0.923586,-0.112621],[0.911048,-0.331629,-0.244975],[0.188907,-0.192381,0.962966]]
2025-10-26T19:17:28.164Z,1761506248.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250792
2025-10-26T19:17:28.416Z,1761506248.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502754
2025-10-26T19:17:28.546Z,1761506248.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374694,-0.920692,-0.109232],[0.908266,-0.340850,-0.242640],[0.186165,-0.190127,0.963947]]
2025-10-26T19:17:28.669Z,1761506248.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755141
2025-10-26T19:17:28.922Z,1761506248.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008138
2025-10-26T19:17:28.974Z,1761506248.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383073,-0.917737,-0.104947],[0.905227,-0.350355,-0.240451],[0.183902,-0.187111,0.964971]]
2025-10-26T19:17:29.024Z,1761506249.024 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:17:29.025Z,1761506249.025 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:17:29.025Z,1761506249.025 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:17:29.025Z,1761506249.025 [marl:UpdateRudder:A] Stopped
2025-10-26T19:17:29.025Z,1761506249.025 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:17:29.025Z,1761506249.025 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:17:29.026Z,1761506249.026 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:17:29.026Z,1761506249.026 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:17:29.026Z,1761506249.026 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:17:29.026Z,1761506249.026 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:17:29.026Z,1761506249.026 [marl:UpdateCommandMode] Stopped
2025-10-26T19:17:29.026Z,1761506249.026 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:17:29.172Z,1761506249.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258801
2025-10-26T19:17:29.354Z,1761506249.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391110,-0.914686,-0.101893],[0.902128,-0.359095,-0.239199],[0.182203,-0.185474,0.965609]]
2025-10-26T19:17:29.405Z,1761506249.405 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:17:29.405Z,1761506249.405 [marl:UpdateRudder:B] Stopped
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateRudder] Stopped
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:17:29.406Z,1761506249.406 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:17:29.407Z,1761506249.407 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:17:29.407Z,1761506249.407 [marl:UpdateSpeed] Stopped
2025-10-26T19:17:29.407Z,1761506249.407 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:17:29.424Z,1761506249.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510838
2025-10-26T19:17:29.676Z,1761506249.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762799
2025-10-26T19:17:29.759Z,1761506249.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398739,-0.911679,-0.099245],[0.898935,-0.367149,-0.238994],[0.181448,-0.184511,0.965936]]
2025-10-26T19:17:29.928Z,1761506249.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014793
2025-10-26T19:17:30.162Z,1761506250.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405702,-0.908814,-0.097280],[0.895858,-0.374285,-0.239478],[0.181231,-0.184306,0.966016]]
2025-10-26T19:17:30.181Z,1761506250.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267164
2025-10-26T19:17:30.433Z,1761506250.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519900
2025-10-26T19:17:30.567Z,1761506250.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411214,-0.906587,-0.094883],[0.893291,-0.380070,-0.239953],[0.181477,-0.183430,0.966136]]
2025-10-26T19:17:30.684Z,1761506250.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770794
2025-10-26T19:17:30.937Z,1761506250.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023542
2025-10-26T19:17:30.973Z,1761506250.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414480,-0.905152,-0.094372],[0.891801,-0.383308,-0.240346],[0.181377,-0.183779,0.966089]]
2025-10-26T19:17:31.188Z,1761506251.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274825
2025-10-26T19:17:31.374Z,1761506251.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415695,-0.904657,-0.093774],[0.891427,-0.384807,-0.239334],[0.180430,-0.183082,0.966398]]
2025-10-26T19:17:31.442Z,1761506251.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528060
2025-10-26T19:17:31.693Z,1761506251.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779173
2025-10-26T19:17:31.778Z,1761506251.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417371,-0.903939,-0.093251],[0.891009,-0.386899,-0.237514],[0.178620,-0.182219,0.966898]]
2025-10-26T19:17:31.946Z,1761506251.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032370
2025-10-26T19:17:32.184Z,1761506252.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422876,-0.902081,-0.086168],[0.888929,-0.394473,-0.232800],[0.176014,-0.175043,0.968700]]
2025-10-26T19:17:32.196Z,1761506252.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282917
2025-10-26T19:17:32.449Z,1761506252.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535508
2025-10-26T19:17:32.586Z,1761506252.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432930,-0.898845,-0.068194],[0.884700,-0.409171,-0.223350],[0.172854,-0.157026,0.972350]]
2025-10-26T19:17:32.701Z,1761506252.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787381
2025-10-26T19:17:32.953Z,1761506252.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039619
2025-10-26T19:17:32.991Z,1761506252.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444507,-0.894697,-0.043952],[0.879614,-0.426683,-0.210287],[0.169389,-0.132135,0.976651]]
2025-10-26T19:17:33.204Z,1761506253.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290827
2025-10-26T19:17:33.394Z,1761506253.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458224,-0.888678,-0.016825],[0.873157,-0.446520,-0.195489],[0.166214,-0.104269,0.980561]]
2025-10-26T19:17:33.457Z,1761506253.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542969
2025-10-26T19:17:33.710Z,1761506253.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795947
2025-10-26T19:17:33.799Z,1761506253.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471609,-0.881764,0.008802],[0.866558,-0.465279,-0.180537],[0.163287,-0.077515,0.983529]]
2025-10-26T19:17:33.960Z,1761506253.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046858
2025-10-26T19:17:34.202Z,1761506254.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485056,-0.873955,0.030394],[0.859543,-0.482878,-0.167376],[0.160956,-0.055062,0.985425]]
2025-10-26T19:17:34.212Z,1761506254.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298817
2025-10-26T19:17:34.464Z,1761506254.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550815
2025-10-26T19:17:34.606Z,1761506254.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497837,-0.865907,0.048612],[0.852589,-0.498910,-0.155500],[0.158902,-0.035968,0.986639]]
2025-10-26T19:17:34.717Z,1761506254.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803859
2025-10-26T19:17:34.968Z,1761506254.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054739
2025-10-26T19:17:35.010Z,1761506255.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509753,-0.858082,0.062025],[0.845880,-0.513046,-0.145843],[0.156967,-0.021878,0.987361]]
2025-10-26T19:17:35.220Z,1761506255.220 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:17:35.220Z,1761506255.220 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:17:35.221Z,1761506255.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307039
2025-10-26T19:17:35.418Z,1761506255.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521161,-0.850413,0.072034],[0.839224,-0.525991,-0.137973],[0.155223,-0.011453,0.987813]]
2025-10-26T19:17:35.472Z,1761506255.472 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:17:35.473Z,1761506255.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559115
2025-10-26T19:17:35.727Z,1761506255.727 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:17:35.729Z,1761506255.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815136
2025-10-26T19:17:35.818Z,1761506255.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531797,-0.843040,0.080475],[0.832817,-0.537845,-0.130914],[0.153649,-0.002598,0.988122]]
2025-10-26T19:17:35.976Z,1761506255.976 [DAT](INFO): setting remote address to 6
2025-10-26T19:17:35.977Z,1761506255.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063178
2025-10-26T19:17:36.222Z,1761506256.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542660,-0.835614,0.085266],[0.826107,-0.549313,-0.125704],[0.151877,0.002224,0.988397]]
2025-10-26T19:17:36.228Z,1761506256.228 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:36.228Z,1761506256.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314900
2025-10-26T19:17:36.480Z,1761506256.480 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:36.480Z,1761506256.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566881
2025-10-26T19:17:36.626Z,1761506256.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554129,-0.827783,0.087840],[0.818839,-0.561029,-0.121446],[0.149811,0.004630,0.988704]]
2025-10-26T19:17:36.733Z,1761506256.733 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:36.734Z,1761506256.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820142
2025-10-26T19:17:36.984Z,1761506256.984 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:36.985Z,1761506256.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071006
2025-10-26T19:17:37.034Z,1761506257.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566145,-0.819347,0.090276],[0.810972,-0.573255,-0.117058],[0.147662,0.006940,0.989013]]
2025-10-26T19:17:37.236Z,1761506257.236 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:37.236Z,1761506257.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322905
2025-10-26T19:17:37.442Z,1761506257.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579593,-0.809903,0.090162],[0.801891,-0.586529,-0.113814],[0.145061,0.006334,0.989403]]
2025-10-26T19:17:37.501Z,1761506257.501 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:37.501Z,1761506257.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587483
2025-10-26T19:17:37.752Z,1761506257.752 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:37.752Z,1761506257.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838926
2025-10-26T19:17:37.838Z,1761506257.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594389,-0.799216,0.089191],[0.791450,-0.601027,-0.111235],[0.142508,0.004473,0.989784]]
2025-10-26T19:17:38.004Z,1761506258.004 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:38.004Z,1761506258.004 [DAT](INFO): Reached modem response timeout
2025-10-26T19:17:38.242Z,1761506258.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609789,-0.787526,0.089220],[0.780106,-0.616270,-0.107917],[0.139971,0.003795,0.990148]]
2025-10-26T19:17:38.257Z,1761506258.257 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:38.508Z,1761506258.508 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:38.653Z,1761506258.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625601,-0.775009,0.089355],[0.767942,-0.631942,-0.104469],[0.137432,0.003263,0.990506]]
2025-10-26T19:17:38.761Z,1761506258.761 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:39.012Z,1761506259.012 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:39.053Z,1761506259.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641334,-0.761951,0.090118],[0.755280,-0.647626,-0.100667],[0.135066,0.003503,0.990830]]
2025-10-26T19:17:39.264Z,1761506259.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:39.454Z,1761506259.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657034,-0.748208,0.092150],[0.742031,-0.663444,-0.096090],[0.133032,0.005244,0.991098]]
2025-10-26T19:17:39.524Z,1761506259.524 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:39.777Z,1761506259.777 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:39.858Z,1761506259.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671988,-0.734477,0.094738],[0.728751,-0.678594,-0.091827],[0.131733,0.007334,0.991258]]
2025-10-26T19:17:40.029Z,1761506260.029 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:17:40.262Z,1761506260.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686135,-0.720836,0.098048],[0.715541,-0.693034,-0.087779],[0.131225,0.009930,0.991303]]
2025-10-26T19:17:40.280Z,1761506260.280 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:17:40.281Z,1761506260.281 [DAT](INFO): response not received
2025-10-26T19:17:40.281Z,1761506260.281 [DAT](INFO): DAT read: user:131>

2025-10-26T19:17:40.282Z,1761506260.282 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:17:40.282Z,1761506260.282 [DAT](INFO): set remote address to 6
2025-10-26T19:17:40.283Z,1761506260.283 [DAT](INFO): entering online mode
2025-10-26T19:17:40.446Z,1761506260.446 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:17:40.446Z,1761506260.446 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:17:40.535Z,1761506260.535 [DAT](INFO): DAT read: user:132>

2025-10-26T19:17:40.536Z,1761506260.536 [DAT](INFO): DAT read: 

2025-10-26T19:17:40.537Z,1761506260.537 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:17:40.537Z,1761506260.537 [DAT](INFO): commRate: 600
2025-10-26T19:17:40.537Z,1761506260.537 [DAT](INFO): online mode acknowledged
2025-10-26T19:17:40.538Z,1761506260.538 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:17:40.674Z,1761506260.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699780,-0.707064,0.101822],[0.702091,-0.707043,-0.084610],[0.131818,0.012280,0.991198]]
2025-10-26T19:17:41.070Z,1761506261.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712418,-0.693738,0.105778],[0.688954,-0.720090,-0.082541],[0.133432,0.014072,0.990958]]
2025-10-26T19:17:41.474Z,1761506261.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723938,-0.681085,0.109712],[0.676478,-0.732033,-0.080654],[0.135245,0.015829,0.990686]]
2025-10-26T19:17:41.878Z,1761506261.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734080,-0.669674,0.112531],[0.665113,-0.742475,-0.079716],[0.136935,0.016328,0.990445]]
2025-10-26T19:17:42.283Z,1761506262.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742960,-0.659372,0.115061],[0.654913,-0.751623,-0.078440],[0.138204,0.017077,0.990257]]
2025-10-26T19:17:42.326Z,1761506262.326 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:17:42.326Z,1761506262.326 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:17:42.326Z,1761506262.326 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:17:42.327Z,1761506262.327 [marl:UpdateRudder:A] Stopped
2025-10-26T19:17:42.327Z,1761506262.327 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:17:42.327Z,1761506262.327 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:17:42.327Z,1761506262.327 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:17:42.327Z,1761506262.327 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:17:42.327Z,1761506262.327 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:17:42.328Z,1761506262.328 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:17:42.328Z,1761506262.328 [marl:UpdateCommandMode] Stopped
2025-10-26T19:17:42.328Z,1761506262.328 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:17:42.689Z,1761506262.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750958,-0.649858,0.117247],[0.645459,-0.759854,-0.077489],[0.139447,0.017487,0.990075]]
2025-10-26T19:17:42.737Z,1761506262.737 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:17:42.737Z,1761506262.737 [marl:UpdateRudder:B] Stopped
2025-10-26T19:17:42.737Z,1761506262.737 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateRudder] Stopped
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:17:42.738Z,1761506262.738 [marl:UpdateSpeed] Stopped
2025-10-26T19:17:42.739Z,1761506262.739 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:17:43.090Z,1761506263.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758507,-0.641061,0.117083],[0.636488,-0.767336,-0.077967],[0.139824,0.015383,0.990057]]
2025-10-26T19:17:43.495Z,1761506263.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765703,-0.632597,0.116276],[0.627782,-0.774379,-0.078912],[0.139961,0.012573,0.990077]]
2025-10-26T19:17:43.809Z,1761506263.809 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:17:42.9613

2025-10-26T19:17:43.809Z,1761506263.809 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:17:43.965Z,1761506263.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772925,-0.623828,0.115866],[0.618842,-0.781493,-0.079392],[0.140075,0.010339,0.990087]]
2025-10-26T19:17:44.302Z,1761506264.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780098,-0.614759,0.116268],[0.609768,-0.788658,-0.078751],[0.140109,0.009463,0.990091]]
2025-10-26T19:17:44.714Z,1761506264.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787004,-0.605744,0.117040],[0.600897,-0.795601,-0.077086],[0.139811,0.009662,0.990131]]
2025-10-26T19:17:45.112Z,1761506265.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793457,-0.597048,0.118150],[0.592391,-0.802139,-0.075139],[0.139634,0.010372,0.990149]]
2025-10-26T19:17:45.514Z,1761506265.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799907,-0.588413,0.117979],[0.583845,-0.808501,-0.073837],[0.138833,0.009819,0.990267]]
2025-10-26T19:17:45.922Z,1761506265.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806619,-0.579006,0.118819],[0.574780,-0.815246,-0.070728],[0.137818,0.011245,0.990394]]
2025-10-26T19:17:46.322Z,1761506266.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813858,-0.568719,0.119137],[0.564792,-0.822443,-0.067809],[0.136548,0.012101,0.990560]]
2025-10-26T19:17:46.668Z,1761506266.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:17:46.735Z,1761506266.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821248,-0.558164,0.118341],[0.554223,-0.829664,-0.067043],[0.135605,0.010528,0.990707]]
2025-10-26T19:17:47.130Z,1761506267.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829577,-0.545939,0.117268],[0.542059,-0.837775,-0.065616],[0.134067,0.009133,0.990930]]
2025-10-26T19:17:47.534Z,1761506267.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838630,-0.532043,0.116745],[0.528319,-0.846674,-0.063412],[0.132583,0.008499,0.991135]]
2025-10-26T19:17:47.672Z,1761506267.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:17:47.939Z,1761506267.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848108,-0.516888,0.116359],[0.513269,-0.856020,-0.061521],[0.131405,0.007547,0.991300]]
2025-10-26T19:17:48.345Z,1761506268.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857848,-0.500741,0.115562],[0.497149,-0.865577,-0.060156],[0.130150,0.005847,0.991477]]
2025-10-26T19:17:48.842Z,1761506268.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867578,-0.483754,0.115289],[0.480319,-0.875189,-0.057784],[0.128853,0.005243,0.991650]]
2025-10-26T19:17:49.150Z,1761506269.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877097,-0.466033,0.116250],[0.462990,-0.884741,-0.053606],[0.127834,0.006805,0.991772]]
2025-10-26T19:17:49.554Z,1761506269.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886108,-0.448380,0.117333],[0.445608,-0.893810,-0.050368],[0.127458,0.007653,0.991814]]
2025-10-26T19:17:49.959Z,1761506269.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894278,-0.431381,0.119065],[0.428947,-0.902122,-0.046702],[0.127558,0.009308,0.991787]]
2025-10-26T19:17:50.362Z,1761506270.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901508,-0.415463,0.121139],[0.413288,-0.909548,-0.043761],[0.128362,0.010614,0.991671]]
2025-10-26T19:17:50.773Z,1761506270.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907915,-0.400590,0.123363],[0.398536,-0.916191,-0.041990],[0.129845,0.011041,0.991473]]
2025-10-26T19:17:51.170Z,1761506271.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913096,-0.387700,0.126272],[0.385982,-0.921690,-0.038804],[0.131428,0.013307,0.991236]]
2025-10-26T19:17:51.576Z,1761506271.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917479,-0.376519,0.128317],[0.374958,-0.926301,-0.037047],[0.132809,0.014123,0.991041]]
2025-10-26T19:17:51.978Z,1761506271.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921521,-0.365753,0.130476],[0.364376,-0.930589,-0.035143],[0.134273,0.015157,0.990828]]
2025-10-26T19:17:52.393Z,1761506272.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925543,-0.354820,0.132183],[0.353632,-0.934797,-0.033158],[0.135329,0.016055,0.990671]]
2025-10-26T19:17:52.811Z,1761506272.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929699,-0.343454,0.133038],[0.342263,-0.939044,-0.032449],[0.136073,0.015366,0.990580]]
2025-10-26T19:17:53.191Z,1761506273.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934209,-0.330977,0.133071],[0.329809,-0.943526,-0.031372],[0.135939,0.014580,0.990610]]
2025-10-26T19:17:53.594Z,1761506273.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938985,-0.317555,0.132162],[0.316262,-0.948158,-0.031230],[0.135227,0.012473,0.990736]]
2025-10-26T19:17:53.892Z,1761506273.892 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:17:53.998Z,1761506273.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944114,-0.302414,0.131127],[0.300971,-0.953124,-0.031170],[0.134406,0.010038,0.990875]]
2025-10-26T19:17:54.147Z,1761506274.147 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:17:54.396Z,1761506274.396 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:17:54.414Z,1761506274.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949355,-0.286000,0.130109],[0.284530,-0.958193,-0.030154],[0.133294,0.008393,0.991041]]
2025-10-26T19:17:54.866Z,1761506274.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954729,-0.267924,0.129267],[0.266415,-0.963417,-0.029152],[0.132349,0.006606,0.991181]]
2025-10-26T19:17:55.210Z,1761506275.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959903,-0.249272,0.128255],[0.247520,-0.968428,-0.029684],[0.131605,0.003252,0.991297]]
2025-10-26T19:17:55.614Z,1761506275.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964781,-0.230096,0.127492],[0.228379,-0.973166,-0.028131],[0.130543,0.001977,0.991441]]
2025-10-26T19:17:55.660Z,1761506275.660 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:17:55.660Z,1761506275.660 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:17:55.661Z,1761506275.661 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:17:55.661Z,1761506275.661 [marl:UpdateRudder:A] Stopped
2025-10-26T19:17:55.661Z,1761506275.661 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:17:55.661Z,1761506275.661 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:17:55.661Z,1761506275.661 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:17:55.661Z,1761506275.661 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateCommandMode] Stopped
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:17:55.662Z,1761506275.662 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:17:55.663Z,1761506275.663 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:17:55.663Z,1761506275.663 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:17:55.663Z,1761506275.663 [marl:UpdateSpeed] Stopped
2025-10-26T19:17:55.663Z,1761506275.663 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:17:56.018Z,1761506276.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969241,-0.211192,0.126369],[0.209591,-0.977444,-0.025990],[0.129007,0.001295,0.991643]]
2025-10-26T19:17:56.044Z,1761506276.044 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:17:56.044Z,1761506276.044 [marl:UpdateRudder:B] Stopped
2025-10-26T19:17:56.044Z,1761506276.044 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:17:56.044Z,1761506276.044 [marl:UpdateRudder] Stopped
2025-10-26T19:17:56.044Z,1761506276.044 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:17:56.424Z,1761506276.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973234,-0.192811,0.125059],[0.191419,-0.981235,-0.023168],[0.127179,0.001391,0.991879]]
2025-10-26T19:17:56.872Z,1761506276.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976711,-0.175265,0.123767],[0.174114,-0.984519,-0.020142],[0.125381,0.001876,0.992107]]
2025-10-26T19:17:57.230Z,1761506277.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979725,-0.158461,0.122592],[0.157375,-0.987365,-0.018552],[0.123983,0.001117,0.992284]]
2025-10-26T19:17:57.283Z,1761506277.283 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:17:57.425Z,1761506277.425 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:17:57.475Z,1761506277.475 [DAT](INFO): entering command mode
2025-10-26T19:17:57.634Z,1761506277.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982362,-0.141765,0.121929],[0.140828,-0.989900,-0.016315],[0.123010,0.001144,0.992405]]
2025-10-26T19:17:57.676Z,1761506277.676 [DAT](INFO): DAT read: 

2025-10-26T19:17:57.677Z,1761506277.677 [DAT](INFO): DAT read: user:133>

2025-10-26T19:17:57.677Z,1761506277.677 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:17:57.677Z,1761506277.677 [DAT](INFO): setting remote address to 0
2025-10-26T19:17:57.928Z,1761506277.928 [DAT](INFO): DAT read: user:133>

2025-10-26T19:17:57.929Z,1761506277.929 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:17:57.929Z,1761506277.929 [DAT](INFO): set remote address to 0
2025-10-26T19:17:57.930Z,1761506277.930 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:17:57.930Z,1761506277.930 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:17:58.038Z,1761506278.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984455,-0.126878,0.121452],[0.126300,-0.991914,-0.012472],[0.122052,0.003061,0.992519]]
2025-10-26T19:17:58.180Z,1761506278.180 [DAT](INFO): DAT read: user:134>

2025-10-26T19:17:58.181Z,1761506278.181 [DAT](INFO): DAT read: Tx time:19:17:57.2624

2025-10-26T19:17:58.181Z,1761506278.181 [DAT](INFO): Ping request sent.
2025-10-26T19:17:58.181Z,1761506278.181 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:17:58.182Z,1761506278.182 [DAT](INFO): publishing transmit ping time
2025-10-26T19:17:58.182Z,1761506278.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000962
2025-10-26T19:17:58.432Z,1761506278.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935
2025-10-26T19:17:58.444Z,1761506278.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986076,-0.114274,0.120814],[0.113913,-0.993441,-0.009909],[0.121154,0.003991,0.992626]]
2025-10-26T19:17:58.684Z,1761506278.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502833
2025-10-26T19:17:58.869Z,1761506278.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987132,-0.105979,0.119748],[0.105419,-0.994367,-0.011021],[0.120242,0.001744,0.992743]]
2025-10-26T19:17:58.936Z,1761506278.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754970
2025-10-26T19:17:59.192Z,1761506279.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010865
2025-10-26T19:17:59.250Z,1761506279.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987666,-0.103693,0.117318],[0.101781,-0.994559,-0.022192],[0.118981,-0.009978,0.992846]]
2025-10-26T19:17:59.444Z,1761506279.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262859
2025-10-26T19:17:59.654Z,1761506279.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987821,-0.106523,0.113416],[0.102411,-0.993876,-0.041506],[0.117143,-0.029386,0.992680]]
2025-10-26T19:17:59.697Z,1761506279.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515472
2025-10-26T19:17:59.948Z,1761506279.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766851
2025-10-26T19:18:00.058Z,1761506280.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987686,-0.112418,0.108810],[0.105517,-0.992141,-0.067243],[0.115514,-0.054934,0.991786]]
2025-10-26T19:18:00.200Z,1761506280.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018864
2025-10-26T19:18:00.456Z,1761506280.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274898
2025-10-26T19:18:00.464Z,1761506280.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987422,-0.119871,0.103092],[0.109933,-0.989172,-0.097226],[0.113631,-0.084670,0.989909]]
2025-10-26T19:18:00.709Z,1761506280.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527041
2025-10-26T19:18:00.876Z,1761506280.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987157,-0.127157,0.096708],[0.114587,-0.985392,-0.125988],[0.111316,-0.113289,0.987307]]
2025-10-26T19:18:00.960Z,1761506280.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778973
2025-10-26T19:18:01.212Z,1761506281.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030892
2025-10-26T19:18:01.270Z,1761506281.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986998,-0.133325,0.089778],[0.118789,-0.981314,-0.151365],[0.108281,-0.138733,0.984392]]
2025-10-26T19:18:01.465Z,1761506281.465 [DAT](INFO): DAT read: Rx Time:19:18:00.0407

2025-10-26T19:18:01.465Z,1761506281.465 [DAT](INFO): Rx dataTimestamp_ set to:1761506281.464705
2025-10-26T19:18:01.466Z,1761506281.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284061
2025-10-26T19:18:01.674Z,1761506281.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987074,-0.136771,0.083536],[0.120859,-0.977573,-0.172465],[0.105251,-0.160140,0.981467]]
2025-10-26T19:18:01.717Z,1761506281.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535984
2025-10-26T19:18:01.974Z,1761506281.974 [DAT](INFO): DAT read: 19:18:00.0407 LVL= 32752, 25665, 31714, 32755, AGC= 64, IDX= 356,-0.22,-0.996, 1.055, 0.225, 0.340, PHS=-1.234, 0.761,-0.158, RAW= 297.4,   7.4, CAL= 295.0,   6.8, ROT= 215.0,  -6.8

2025-10-26T19:18:01.975Z,1761506281.975 [DAT](INFO): got valid direction response:
 19:18:00.0407 LVL= 32752, 25665, 31714, 32755, AGC= 64, IDX= 356,-0.22,-0.996, 1.055, 0.225, 0.340, PHS=-1.234, 0.761,-0.158, RAW= 297.4,   7.4, CAL= 295.0,   6.8, ROT= 215.0,  -6.8

2025-10-26T19:18:01.976Z,1761506281.976 [DAT](INFO): DAT read: Bearing 144.5, -41.9 (Local)

2025-10-26T19:18:01.976Z,1761506281.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -41.9 (Local)

2025-10-26T19:18:01.977Z,1761506281.977 [DAT](INFO): DAT read: Range 11 to 20 : 280.6 m  (Round-trip  374.2 ms) speed -0.8 m/s

2025-10-26T19:18:01.978Z,1761506281.978 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:18:01.979Z,1761506281.979 [DAT](INFO): direction in FSK: [-0.813390,-0.569542,0.118404]
2025-10-26T19:18:01.980Z,1761506281.980 [DAT](INFO): publishing direction and range info
2025-10-26T19:18:02.078Z,1761506282.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987375,-0.137618,0.078433],[0.120852,-0.974584,-0.188630],[0.102398,-0.176769,0.978911]]
2025-10-26T19:18:02.140Z,1761506282.140 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506304.00. Resetting abort timer.
2025-10-26T19:18:02.484Z,1761506282.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987843,-0.136561,0.074278],[0.119445,-0.972576,-0.199570],[0.099495,-0.188272,0.977064]]
2025-10-26T19:18:02.895Z,1761506282.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988487,-0.133663,0.070908],[0.116483,-0.971343,-0.207180],[0.096569,-0.196536,0.975730]]
2025-10-26T19:18:03.290Z,1761506283.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989108,-0.130096,0.068854],[0.112976,-0.970841,-0.211433],[0.094353,-0.201351,0.974964]]
2025-10-26T19:18:03.696Z,1761506283.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989750,-0.125764,0.067662],[0.108784,-0.970903,-0.213338],[0.092524,-0.203791,0.974633]]
2025-10-26T19:18:04.102Z,1761506284.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990409,-0.120913,0.066865],[0.103976,-0.970923,-0.215631],[0.090994,-0.206611,0.974183]]
2025-10-26T19:18:04.489Z,1761506284.489 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:18:04.489Z,1761506284.489 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:18:04.504Z,1761506284.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990993,-0.116202,0.066561],[0.099316,-0.971157,-0.216771],[0.089831,-0.208208,0.973951]]
2025-10-26T19:18:04.740Z,1761506284.740 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:18:04.992Z,1761506284.992 [DAT](INFO): setting remote address to 6
2025-10-26T19:18:05.244Z,1761506285.244 [DAT](INFO): DAT read: user:135>

2025-10-26T19:18:05.245Z,1761506285.245 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:18:05.245Z,1761506285.245 [DAT](INFO): set remote address to 6
2025-10-26T19:18:05.246Z,1761506285.246 [DAT](INFO): entering online mode
2025-10-26T19:18:05.311Z,1761506285.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991827,-0.109589,0.065337],[0.093294,-0.972253,-0.214524],[0.087034,-0.206675,0.974531]]
2025-10-26T19:18:05.497Z,1761506285.497 [DAT](INFO): DAT read: user:136>

2025-10-26T19:18:05.497Z,1761506285.497 [DAT](INFO): DAT read: 

2025-10-26T19:18:05.498Z,1761506285.498 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:18:05.499Z,1761506285.499 [DAT](INFO): commRate: 600
2025-10-26T19:18:05.499Z,1761506285.499 [DAT](INFO): online mode acknowledged
2025-10-26T19:18:05.499Z,1761506285.499 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:18:05.719Z,1761506285.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992116,-0.107614,0.064231],[0.091688,-0.972655,-0.213392],[0.085439,-0.205820,0.974853]]
2025-10-26T19:18:06.123Z,1761506286.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992350,-0.106307,0.062776],[0.090915,-0.973255,-0.210972],[0.083525,-0.203651,0.975474]]
2025-10-26T19:18:06.522Z,1761506286.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992491,-0.105676,0.061595],[0.090851,-0.974060,-0.207253],[0.081899,-0.200101,0.976346]]
2025-10-26T19:18:06.926Z,1761506286.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992611,-0.105349,0.060200],[0.091037,-0.974624,-0.204500],[0.080216,-0.197509,0.977014]]
2025-10-26T19:18:07.337Z,1761506287.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992730,-0.105148,0.058580],[0.091386,-0.975173,-0.201708],[0.078335,-0.194889,0.977692]]
2025-10-26T19:18:07.737Z,1761506287.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992883,-0.104634,0.056884],[0.091377,-0.975606,-0.199608],[0.076382,-0.192990,0.978223]]
2025-10-26T19:18:08.138Z,1761506288.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993041,-0.103878,0.055483],[0.091125,-0.976211,-0.196745],[0.074601,-0.190320,0.978884]]
2025-10-26T19:18:08.542Z,1761506288.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993314,-0.101837,0.054373],[0.089459,-0.976710,-0.195023],[0.072967,-0.188855,0.979290]]
2025-10-26T19:18:08.775Z,1761506288.775 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:18:07.9111

2025-10-26T19:18:08.775Z,1761506288.775 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:18:08.946Z,1761506288.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993607,-0.099315,0.053676],[0.087260,-0.977310,-0.193007],[0.071626,-0.187090,0.979728]]
2025-10-26T19:18:09.022Z,1761506289.022 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:18:09.023Z,1761506289.023 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:18:09.023Z,1761506289.023 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:18:09.023Z,1761506289.023 [marl:UpdateRudder:A] Stopped
2025-10-26T19:18:09.023Z,1761506289.023 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:18:09.040Z,1761506289.040 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:18:09.040Z,1761506289.040 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:18:09.040Z,1761506289.040 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateCommandMode] Stopped
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:18:09.041Z,1761506289.041 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:18:09.042Z,1761506289.042 [marl:UpdateSpeed] Stopped
2025-10-26T19:18:09.042Z,1761506289.042 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:18:09.352Z,1761506289.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993994,-0.095600,0.053253],[0.083794,-0.977910,-0.191495],[0.070384,-0.185882,0.980048]]
2025-10-26T19:18:09.414Z,1761506289.414 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:18:09.414Z,1761506289.414 [marl:UpdateRudder:B] Stopped
2025-10-26T19:18:09.414Z,1761506289.414 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:18:09.414Z,1761506289.414 [marl:UpdateRudder] Stopped
2025-10-26T19:18:09.414Z,1761506289.414 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:18:09.754Z,1761506289.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994392,-0.091652,0.052770],[0.080169,-0.978680,-0.189097],[0.068976,-0.183806,0.980540]]
2025-10-26T19:18:10.158Z,1761506290.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994784,-0.087436,0.052533],[0.076223,-0.979437,-0.186797],[0.067786,-0.181818,0.980993]]
2025-10-26T19:18:10.567Z,1761506290.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995135,-0.084042,0.051410],[0.073234,-0.980084,-0.184587],[0.065900,-0.179924,0.981471]]
2025-10-26T19:18:10.978Z,1761506290.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995797,-0.078728,0.046801],[0.069031,-0.980982,-0.181406],[0.060192,-0.177413,0.982294]]
2025-10-26T19:18:11.380Z,1761506291.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996058,-0.077347,0.043429],[0.068327,-0.981211,-0.180435],[0.056569,-0.176757,0.982628]]
2025-10-26T19:18:11.782Z,1761506291.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996306,-0.076184,0.039638],[0.067811,-0.981100,-0.181228],[0.052696,-0.177871,0.982642]]
2025-10-26T19:18:12.182Z,1761506292.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996494,-0.075721,0.035582],[0.068015,-0.980846,-0.182526],[0.048722,-0.179466,0.982557]]
2025-10-26T19:18:12.586Z,1761506292.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996649,-0.075489,0.031504],[0.068487,-0.980678,-0.183248],[0.044728,-0.180476,0.982562]]
2025-10-26T19:18:12.990Z,1761506292.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996812,-0.074987,0.027254],[0.068643,-0.980129,-0.186104],[0.040667,-0.183640,0.982152]]
2025-10-26T19:18:13.394Z,1761506293.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996946,-0.074606,0.023078],[0.068995,-0.979886,-0.187253],[0.036584,-0.185089,0.982041]]
2025-10-26T19:18:13.803Z,1761506293.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997116,-0.073576,0.018627],[0.068738,-0.979496,-0.189372],[0.032178,-0.187546,0.981729]]
2025-10-26T19:18:14.203Z,1761506294.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997288,-0.072196,0.014326],[0.068119,-0.979045,-0.191911],[0.027881,-0.190415,0.981308]]
2025-10-26T19:18:14.606Z,1761506294.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997486,-0.070092,0.010430],[0.066749,-0.978760,-0.193837],[0.023795,-0.192653,0.980978]]
2025-10-26T19:18:15.010Z,1761506295.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997689,-0.067631,0.006599],[0.065038,-0.978518,-0.195633],[0.019688,-0.194752,0.980655]]
2025-10-26T19:18:15.415Z,1761506295.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997943,-0.064022,0.003361],[0.062103,-0.978395,-0.197195],[0.015914,-0.196581,0.980358]]
2025-10-26T19:18:15.826Z,1761506295.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998142,-0.060934,0.000544],[0.059637,-0.978658,-0.196653],[0.012515,-0.196255,0.980473]]
2025-10-26T19:18:16.222Z,1761506296.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998322,-0.057867,-0.002350],[0.057207,-0.978985,-0.195744],[0.009026,-0.195550,0.980652]]
2025-10-26T19:18:16.626Z,1761506296.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998475,-0.054971,-0.005110],[0.054905,-0.979044,-0.196107],[0.005777,-0.196089,0.980569]]
2025-10-26T19:18:17.032Z,1761506297.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998529,-0.053627,-0.007989],[0.054156,-0.979401,-0.194528],[0.002608,-0.194675,0.980864]]
2025-10-26T19:18:17.436Z,1761506297.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998565,-0.052418,-0.010991],[0.053555,-0.979315,-0.195123],[-0.000535,-0.195432,0.980717]]
2025-10-26T19:18:17.820Z,1761506297.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:18:17.838Z,1761506297.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998549,-0.051991,-0.014058],[0.053732,-0.979558,-0.193856],[-0.003692,-0.194330,0.980929]]
2025-10-26T19:18:18.242Z,1761506298.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998483,-0.052323,-0.017159],[0.054647,-0.979887,-0.191923],[-0.006772,-0.192569,0.981260]]
2025-10-26T19:18:18.665Z,1761506298.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998385,-0.053201,-0.019944],[0.056026,-0.980194,-0.189948],[-0.009443,-0.190758,0.981592]]
2025-10-26T19:18:18.826Z,1761506298.826 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:18:18.860Z,1761506298.860 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:18:19.057Z,1761506299.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998271,-0.054216,-0.022725],[0.057525,-0.980556,-0.187619],[-0.012111,-0.188601,0.981979]]
2025-10-26T19:18:19.112Z,1761506299.112 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:18:19.364Z,1761506299.364 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:18:19.454Z,1761506299.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998148,-0.055367,-0.025188],[0.059074,-0.981057,-0.184492],[-0.014496,-0.185638,0.982511]]
2025-10-26T19:18:19.858Z,1761506299.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998010,-0.056601,-0.027805],[0.060705,-0.981697,-0.180515],[-0.017079,-0.181844,0.983179]]
2025-10-26T19:18:20.262Z,1761506300.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997841,-0.058030,-0.030762],[0.062584,-0.982173,-0.177254],[-0.019928,-0.178797,0.983684]]
2025-10-26T19:18:20.668Z,1761506300.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997644,-0.059530,-0.034106],[0.064568,-0.982734,-0.173392],[-0.023195,-0.175186,0.984262]]
2025-10-26T19:18:21.070Z,1761506301.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997457,-0.060349,-0.037925],[0.066028,-0.982746,-0.172771],[-0.026844,-0.174835,0.984232]]
2025-10-26T19:18:21.474Z,1761506301.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997363,-0.059765,-0.041172],[0.066016,-0.982777,-0.172599],[-0.030147,-0.174862,0.984131]]
2025-10-26T19:18:21.518Z,1761506301.518 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:18:21.518Z,1761506301.518 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:18:21.519Z,1761506301.519 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:18:21.519Z,1761506301.519 [marl:UpdateRudder:A] Stopped
2025-10-26T19:18:21.519Z,1761506301.519 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:18:21.519Z,1761506301.519 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:18:21.519Z,1761506301.519 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateCommandMode] Stopped
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:18:21.520Z,1761506301.520 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:18:21.521Z,1761506301.521 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:18:21.521Z,1761506301.521 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:18:21.521Z,1761506301.521 [marl:UpdateSpeed] Stopped
2025-10-26T19:18:21.521Z,1761506301.521 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:18:21.878Z,1761506301.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997332,-0.058166,-0.044116],[0.064942,-0.982922,-0.172180],[-0.033348,-0.174586,0.984077]]
2025-10-26T19:18:21.977Z,1761506301.977 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:18:21.977Z,1761506301.977 [marl:UpdateRudder:B] Stopped
2025-10-26T19:18:21.977Z,1761506301.977 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:18:21.978Z,1761506301.978 [marl:UpdateRudder] Stopped
2025-10-26T19:18:21.978Z,1761506301.978 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:18:22.296Z,1761506302.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997370,-0.055294,-0.046868],[0.062640,-0.982847,-0.173459],[-0.036473,-0.175939,0.983725]]
2025-10-26T19:18:22.641Z,1761506302.641 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:18:21.7610

2025-10-26T19:18:22.641Z,1761506302.641 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:18:22.686Z,1761506302.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997485,-0.051039,-0.049172],[0.058995,-0.982440,-0.177005],[-0.039274,-0.179460,0.982981]]
2025-10-26T19:18:23.090Z,1761506303.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997652,-0.046026,-0.050720],[0.054463,-0.982155,-0.180014],[-0.041529,-0.182354,0.982356]]
2025-10-26T19:18:23.521Z,1761506303.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997846,-0.040727,-0.051432],[0.049471,-0.982024,-0.182159],[-0.043089,-0.184311,0.981923]]
2025-10-26T19:18:23.966Z,1761506303.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998053,-0.035294,-0.051431],[0.044207,-0.981927,-0.184025],[-0.044007,-0.185941,0.981575]]
2025-10-26T19:18:24.326Z,1761506304.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998310,-0.029999,-0.049764],[0.038852,-0.981447,-0.187755],[-0.043208,-0.189371,0.980954]]
2025-10-26T19:18:24.736Z,1761506304.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998540,-0.026545,-0.047039],[0.035328,-0.979758,-0.197044],[-0.040856,-0.198418,0.979266]]
2025-10-26T19:18:25.134Z,1761506305.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998681,-0.026741,-0.043837],[0.035628,-0.975626,-0.216528],[-0.036979,-0.217804,0.975292]]
2025-10-26T19:18:25.538Z,1761506305.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998668,-0.031176,-0.041109],[0.040277,-0.969048,-0.243565],[-0.032243,-0.244896,0.969013]]
2025-10-26T19:18:25.942Z,1761506305.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998433,-0.039954,-0.039191],[0.049146,-0.960916,-0.272443],[-0.026774,-0.273942,0.961374]]
2025-10-26T19:18:26.349Z,1761506306.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997801,-0.053369,-0.039300],[0.062720,-0.951985,-0.299650],[-0.021421,-0.301456,0.953239]]
2025-10-26T19:18:26.754Z,1761506306.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996627,-0.070928,-0.041277],[0.080480,-0.943108,-0.322599],[-0.016047,-0.324833,0.945635]]
2025-10-26T19:18:27.154Z,1761506307.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994893,-0.090490,-0.044704],[0.100351,-0.934248,-0.342214],[-0.010798,-0.344952,0.938558]]
2025-10-26T19:18:27.559Z,1761506307.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992669,-0.110419,-0.049152],[0.120722,-0.925567,-0.358821],[-0.005873,-0.362124,0.932111]]
2025-10-26T19:18:27.584Z,1761506307.584 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:18:27.680Z,1761506307.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:18:27.732Z,1761506307.732 [DAT](INFO): entering command mode
2025-10-26T19:18:27.932Z,1761506307.932 [DAT](INFO): DAT read: 

2025-10-26T19:18:27.933Z,1761506307.933 [DAT](INFO): DAT read: user:137>

2025-10-26T19:18:27.933Z,1761506307.933 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:18:27.933Z,1761506307.933 [DAT](INFO): setting remote address to 0
2025-10-26T19:18:27.979Z,1761506307.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990007,-0.130270,-0.054004],[0.141015,-0.917771,-0.371229],[-0.001204,-0.375134,0.926970]]
2025-10-26T19:18:28.186Z,1761506308.186 [DAT](INFO): DAT read: user:137>

2025-10-26T19:18:28.187Z,1761506308.187 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:18:28.188Z,1761506308.188 [DAT](INFO): set remote address to 0
2025-10-26T19:18:28.188Z,1761506308.188 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:18:28.188Z,1761506308.188 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:18:28.366Z,1761506308.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986861,-0.150235,-0.059450],[0.161543,-0.910790,-0.379954],[0.002936,-0.384565,0.923093]]
2025-10-26T19:18:28.436Z,1761506308.436 [DAT](INFO): DAT read: user:138>

2025-10-26T19:18:28.437Z,1761506308.437 [DAT](INFO): DAT read: Tx time:19:18:27.5122

2025-10-26T19:18:28.438Z,1761506308.438 [DAT](INFO): Ping request sent.
2025-10-26T19:18:28.438Z,1761506308.438 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:18:28.438Z,1761506308.438 [DAT](INFO): publishing transmit ping time
2025-10-26T19:18:28.439Z,1761506308.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000979
2025-10-26T19:18:28.688Z,1761506308.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250668
2025-10-26T19:18:28.779Z,1761506308.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983210,-0.170345,-0.065432],[0.182367,-0.904673,-0.385108],[0.006407,-0.390575,0.920549]]
2025-10-26T19:18:28.940Z,1761506308.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502637
2025-10-26T19:18:29.181Z,1761506309.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979069,-0.190516,-0.071611],[0.203328,-0.899878,-0.385846],[0.009069,-0.392331,0.919780]]
2025-10-26T19:18:29.192Z,1761506309.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759
2025-10-26T19:18:29.445Z,1761506309.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007000
2025-10-26T19:18:29.579Z,1761506309.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974462,-0.210451,-0.078323],[0.224286,-0.895156,-0.385216],[0.010957,-0.392945,0.919497]]
2025-10-26T19:18:29.697Z,1761506309.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259167
2025-10-26T19:18:29.948Z,1761506309.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510708
2025-10-26T19:18:29.982Z,1761506309.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969358,-0.230394,-0.085229],[0.245345,-0.890622,-0.382882],[0.012307,-0.392060,0.919857]]
2025-10-26T19:18:30.203Z,1761506310.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765166
2025-10-26T19:18:30.386Z,1761506310.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963884,-0.250044,-0.091678],[0.265969,-0.886083,-0.379628],[0.013690,-0.390301,0.920586]]
2025-10-26T19:18:30.456Z,1761506310.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018693
2025-10-26T19:18:30.710Z,1761506310.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271765
2025-10-26T19:18:30.860Z,1761506310.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958696,-0.267600,-0.096394],[0.284010,-0.882158,-0.375680],[0.015497,-0.387540,0.921723]]
2025-10-26T19:18:30.960Z,1761506310.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522763
2025-10-26T19:18:31.212Z,1761506311.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774716
2025-10-26T19:18:31.349Z,1761506311.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954472,-0.281188,-0.099586],[0.297763,-0.878032,-0.374696],[0.017921,-0.387290,0.921784]]
2025-10-26T19:18:31.465Z,1761506311.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026784
2025-10-26T19:18:31.717Z,1761506311.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279133
2025-10-26T19:18:31.765Z,1761506311.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950822,-0.292829,-0.100938],[0.309020,-0.874658,-0.373469],[0.021076,-0.386295,0.922135]]
2025-10-26T19:18:31.968Z,1761506311.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530674
2025-10-26T19:18:32.220Z,1761506312.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782692
2025-10-26T19:18:32.226Z,1761506312.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943504,-0.315185,-0.102267],[0.330165,-0.868001,-0.370899],[0.028134,-0.383709,0.923025]]
2025-10-26T19:18:32.472Z,1761506312.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034682
2025-10-26T19:18:32.615Z,1761506312.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939589,-0.326374,-0.103216],[0.340821,-0.863916,-0.370796],[0.031849,-0.383574,0.922961]]
2025-10-26T19:18:32.726Z,1761506312.726 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:18:32.727Z,1761506312.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288540
2025-10-26T19:18:32.976Z,1761506312.976 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:18:32.977Z,1761506312.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538832
2025-10-26T19:18:33.018Z,1761506313.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935494,-0.337633,-0.104189],[0.351532,-0.859506,-0.371046],[0.035727,-0.383737,0.922751]]
2025-10-26T19:18:33.229Z,1761506313.229 [DAT](INFO): setting remote address to 6
2025-10-26T19:18:33.234Z,1761506313.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792856
2025-10-26T19:18:33.422Z,1761506313.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931105,-0.349282,-0.105099],[0.362598,-0.855092,-0.370593],[0.039572,-0.383170,0.922830]]
2025-10-26T19:18:33.480Z,1761506313.480 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:33.481Z,1761506313.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042874
2025-10-26T19:18:33.733Z,1761506313.733 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:33.734Z,1761506313.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296158
2025-10-26T19:18:33.826Z,1761506313.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926191,-0.361730,-0.106403],[0.374556,-0.850226,-0.369898],[0.043336,-0.382450,0.922959]]
2025-10-26T19:18:33.984Z,1761506313.984 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:33.985Z,1761506313.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546824
2025-10-26T19:18:34.236Z,1761506314.236 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:34.237Z,1761506314.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799221
2025-10-26T19:18:34.245Z,1761506314.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920792,-0.374746,-0.108203],[0.387265,-0.845204,-0.368315],[0.046571,-0.381044,0.923383]]
2025-10-26T19:18:34.488Z,1761506314.488 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:34.489Z,1761506314.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050855
2025-10-26T19:18:34.634Z,1761506314.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914804,-0.388464,-0.110588],[0.400824,-0.839427,-0.367018],[0.049742,-0.380076,0.923617]]
2025-10-26T19:18:34.741Z,1761506314.741 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:34.742Z,1761506314.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303991
2025-10-26T19:18:34.994Z,1761506314.994 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:34.994Z,1761506314.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556429
2025-10-26T19:18:35.039Z,1761506315.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908315,-0.402679,-0.113195],[0.414974,-0.833510,-0.364770],[0.052536,-0.378299,0.924191]]
2025-10-26T19:18:35.124Z,1761506315.124 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:18:35.124Z,1761506315.124 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:18:35.125Z,1761506315.125 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:18:35.125Z,1761506315.125 [marl:UpdateRudder:A] Stopped
2025-10-26T19:18:35.125Z,1761506315.125 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:18:35.125Z,1761506315.125 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:18:35.125Z,1761506315.125 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:18:35.125Z,1761506315.125 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateCommandMode] Stopped
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:18:35.126Z,1761506315.126 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:18:35.127Z,1761506315.127 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:18:35.127Z,1761506315.127 [marl:UpdateSpeed] Stopped
2025-10-26T19:18:35.127Z,1761506315.127 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:18:35.244Z,1761506315.244 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:35.246Z,1761506315.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807547
2025-10-26T19:18:35.465Z,1761506315.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901030,-0.417792,-0.116596],[0.430275,-0.826909,-0.362055],[0.054849,-0.376391,0.924836]]
2025-10-26T19:18:35.496Z,1761506315.496 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:35.496Z,1761506315.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058779
2025-10-26T19:18:35.558Z,1761506315.558 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:18:35.558Z,1761506315.558 [marl:UpdateRudder:B] Stopped
2025-10-26T19:18:35.558Z,1761506315.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:18:35.558Z,1761506315.558 [marl:UpdateRudder] Stopped
2025-10-26T19:18:35.558Z,1761506315.558 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:18:35.750Z,1761506315.750 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:35.751Z,1761506315.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312862
2025-10-26T19:18:35.854Z,1761506315.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893440,-0.432811,-0.120168],[0.445576,-0.820125,-0.358967],[0.056812,-0.374259,0.925582]]
2025-10-26T19:18:36.000Z,1761506316.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:36.001Z,1761506316.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562827
2025-10-26T19:18:36.252Z,1761506316.252 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:36.253Z,1761506316.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814837
2025-10-26T19:18:36.263Z,1761506316.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885319,-0.448090,-0.124202],[0.461337,-0.813063,-0.355103],[0.058134,-0.371678,0.926540]]
2025-10-26T19:18:36.504Z,1761506316.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:36.504Z,1761506316.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066751
2025-10-26T19:18:36.665Z,1761506316.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877407,-0.461899,-0.129636],[0.476183,-0.805621,-0.352454],[0.058361,-0.370976,0.926807]]
2025-10-26T19:18:36.758Z,1761506316.758 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:36.758Z,1761506316.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320413
2025-10-26T19:18:37.008Z,1761506317.008 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:37.008Z,1761506317.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570672
2025-10-26T19:18:37.068Z,1761506317.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870438,-0.473806,-0.133590],[0.488965,-0.800699,-0.346113],[0.057025,-0.366590,0.928633]]
2025-10-26T19:18:37.261Z,1761506317.261 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:37.261Z,1761506317.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823384
2025-10-26T19:18:37.470Z,1761506317.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865408,-0.482892,-0.133734],[0.498175,-0.800559,-0.333057],[0.053768,-0.354853,0.933375]]
2025-10-26T19:18:37.512Z,1761506317.512 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:37.513Z,1761506317.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074936
2025-10-26T19:18:37.764Z,1761506317.764 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:37.764Z,1761506317.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326734
2025-10-26T19:18:37.874Z,1761506317.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861821,-0.490352,-0.129688],[0.504789,-0.804235,-0.313677],[0.049513,-0.335799,0.940632]]
2025-10-26T19:18:38.017Z,1761506318.017 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:38.017Z,1761506318.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579469
2025-10-26T19:18:38.268Z,1761506318.268 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:38.269Z,1761506318.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830881
2025-10-26T19:18:38.280Z,1761506318.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859121,-0.496380,-0.124570],[0.509798,-0.808709,-0.293423],[0.044908,-0.315591,0.947832]]
2025-10-26T19:18:38.520Z,1761506318.520 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:38.520Z,1761506318.520 [DAT](INFO): Reached modem response timeout
2025-10-26T19:18:38.691Z,1761506318.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856972,-0.501322,-0.119478],[0.513797,-0.813033,-0.273842],[0.040144,-0.296062,0.954325]]
2025-10-26T19:18:38.773Z,1761506318.773 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:39.024Z,1761506319.024 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:39.086Z,1761506319.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855280,-0.505314,-0.114687],[0.516939,-0.816871,-0.255923],[0.035637,-0.278172,0.959870]]
2025-10-26T19:18:39.276Z,1761506319.276 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:39.490Z,1761506319.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853571,-0.509217,-0.110066],[0.520034,-0.820093,-0.238773],[0.031323,-0.261048,0.964817]]
2025-10-26T19:18:39.528Z,1761506319.528 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:39.780Z,1761506319.780 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:39.896Z,1761506319.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851876,-0.512760,-0.106701],[0.523047,-0.822398,-0.223792],[0.027001,-0.246452,0.968779]]
2025-10-26T19:18:40.032Z,1761506320.032 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:40.285Z,1761506320.285 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:40.301Z,1761506320.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850050,-0.516263,-0.104339],[0.526222,-0.823994,-0.210059],[0.022471,-0.233467,0.972105]]
2025-10-26T19:18:40.536Z,1761506320.536 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:18:40.710Z,1761506320.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848267,-0.519508,-0.102735],[0.529259,-0.825037,-0.197987],[0.018096,-0.222319,0.974806]]
2025-10-26T19:18:40.792Z,1761506320.792 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:18:40.793Z,1761506320.793 [DAT](INFO): response not received
2025-10-26T19:18:40.794Z,1761506320.794 [DAT](INFO): DAT read: user:139>

2025-10-26T19:18:40.806Z,1761506320.806 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:18:40.812Z,1761506320.812 [DAT](INFO): set remote address to 6
2025-10-26T19:18:40.813Z,1761506320.813 [DAT](INFO): entering online mode
2025-10-26T19:18:40.924Z,1761506320.924 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:18:40.924Z,1761506320.924 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:18:41.040Z,1761506321.040 [DAT](INFO): DAT read: user:140>

2025-10-26T19:18:41.041Z,1761506321.041 [DAT](INFO): DAT read: 

2025-10-26T19:18:41.042Z,1761506321.042 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:18:41.042Z,1761506321.042 [DAT](INFO): commRate: 600
2025-10-26T19:18:41.043Z,1761506321.043 [DAT](INFO): online mode acknowledged
2025-10-26T19:18:41.043Z,1761506321.043 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:18:41.107Z,1761506321.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846569,-0.522277,-0.102707],[0.532098,-0.825334,-0.188932],[0.013907,-0.214594,0.976604]]
2025-10-26T19:18:41.510Z,1761506321.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845120,-0.524257,-0.104531],[0.534491,-0.825184,-0.182733],[0.009542,-0.210302,0.977590]]
2025-10-26T19:18:41.914Z,1761506321.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844074,-0.525416,-0.107130],[0.536204,-0.825195,-0.177592],[0.004906,-0.207344,0.978256]]
2025-10-26T19:18:42.320Z,1761506322.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843337,-0.526160,-0.109263],[0.537384,-0.825517,-0.172450],[0.000538,-0.204150,0.978940]]
2025-10-26T19:18:42.743Z,1761506322.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842766,-0.526699,-0.111059],[0.538270,-0.825916,-0.167715],[-0.003390,-0.201124,0.979560]]
2025-10-26T19:18:43.126Z,1761506323.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842249,-0.526920,-0.113893],[0.539038,-0.826052,-0.164547],[-0.007378,-0.199982,0.979772]]
2025-10-26T19:18:43.531Z,1761506323.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842015,-0.526772,-0.116285],[0.539344,-0.826417,-0.161687],[-0.010928,-0.198860,0.979967]]
2025-10-26T19:18:43.935Z,1761506323.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841774,-0.526544,-0.119033],[0.539638,-0.826657,-0.159466],[-0.014434,-0.198469,0.980001]]
2025-10-26T19:18:44.317Z,1761506324.317 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:18:43.4609

2025-10-26T19:18:44.317Z,1761506324.317 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:18:44.338Z,1761506324.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841486,-0.526326,-0.121991],[0.539984,-0.826770,-0.157697],[-0.017859,-0.198573,0.979923]]
2025-10-26T19:18:44.746Z,1761506324.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841367,-0.525981,-0.124278],[0.540051,-0.827181,-0.155297],[-0.021117,-0.197778,0.980019]]
2025-10-26T19:18:45.147Z,1761506325.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841476,-0.524817,-0.128394],[0.539720,-0.827459,-0.154967],[-0.024911,-0.199698,0.979541]]
2025-10-26T19:18:45.552Z,1761506325.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842334,-0.522511,-0.132120],[0.538206,-0.828418,-0.155104],[-0.028407,-0.201757,0.979023]]
2025-10-26T19:18:45.955Z,1761506325.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843485,-0.519530,-0.136463],[0.536190,-0.829555,-0.156008],[-0.032153,-0.204760,0.978284]]
2025-10-26T19:18:46.362Z,1761506326.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845006,-0.516141,-0.139869],[0.533496,-0.831619,-0.154246],[-0.036705,-0.204958,0.978082]]
2025-10-26T19:18:46.766Z,1761506326.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846657,-0.512265,-0.144072],[0.530492,-0.833800,-0.152828],[-0.041839,-0.205822,0.977695]]
2025-10-26T19:18:47.168Z,1761506327.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848411,-0.508096,-0.148452],[0.527234,-0.836107,-0.151488],[-0.047151,-0.206793,0.977248]]
2025-10-26T19:18:47.570Z,1761506327.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849958,-0.504261,-0.152614],[0.524240,-0.838283,-0.149845],[-0.052373,-0.207368,0.976860]]
2025-10-26T19:18:47.974Z,1761506327.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851023,-0.501039,-0.157228],[0.521965,-0.839908,-0.148684],[-0.057560,-0.208601,0.976306]]
2025-10-26T19:18:48.026Z,1761506328.026 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:18:48.026Z,1761506328.026 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:18:48.026Z,1761506328.026 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:18:48.026Z,1761506328.026 [marl:UpdateRudder:A] Stopped
2025-10-26T19:18:48.026Z,1761506328.026 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:18:48.026Z,1761506328.026 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:18:48.027Z,1761506328.027 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:18:48.027Z,1761506328.027 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:18:48.027Z,1761506328.027 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:18:48.028Z,1761506328.028 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:18:48.028Z,1761506328.028 [marl:UpdateCommandMode] Stopped
2025-10-26T19:18:48.028Z,1761506328.028 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:18:48.028Z,1761506328.028 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:18:48.028Z,1761506328.028 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:18:48.028Z,1761506328.028 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:18:48.029Z,1761506328.029 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:18:48.029Z,1761506328.029 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:18:48.029Z,1761506328.029 [marl:UpdateSpeed] Stopped
2025-10-26T19:18:48.029Z,1761506328.029 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:18:48.378Z,1761506328.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851680,-0.498724,-0.160983],[0.520394,-0.841111,-0.147384],[-0.061900,-0.209299,0.975891]]
2025-10-26T19:18:48.437Z,1761506328.437 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:18:48.437Z,1761506328.437 [marl:UpdateRudder:B] Stopped
2025-10-26T19:18:48.438Z,1761506328.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:18:48.438Z,1761506328.438 [marl:UpdateRudder] Stopped
2025-10-26T19:18:48.438Z,1761506328.438 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:18:48.836Z,1761506328.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852024,-0.497164,-0.163958],[0.519458,-0.841763,-0.146963],[-0.064949,-0.210385,0.975459]]
2025-10-26T19:18:48.944Z,1761506328.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:18:49.198Z,1761506329.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852316,-0.496136,-0.165551],[0.518806,-0.842101,-0.147328],[-0.066316,-0.211459,0.975134]]
2025-10-26T19:18:49.590Z,1761506329.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852459,-0.495547,-0.166574],[0.518629,-0.841731,-0.150041],[-0.065858,-0.214294,0.974546]]
2025-10-26T19:18:49.948Z,1761506329.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:18:49.994Z,1761506329.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852431,-0.495719,-0.166203],[0.518924,-0.840993,-0.153133],[-0.063865,-0.216782,0.974129]]
2025-10-26T19:18:50.399Z,1761506330.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852070,-0.496422,-0.165959],[0.519918,-0.839349,-0.158680],[-0.060525,-0.221491,0.973282]]
2025-10-26T19:18:50.862Z,1761506330.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850993,-0.498608,-0.164931],[0.522113,-0.837103,-0.163269],[-0.056657,-0.225053,0.972698]]
2025-10-26T19:18:51.218Z,1761506331.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849278,-0.501771,-0.164173],[0.525281,-0.834305,-0.167378],[-0.052985,-0.228387,0.972127]]
2025-10-26T19:18:51.622Z,1761506331.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846891,-0.506000,-0.163519],[0.529423,-0.831139,-0.170055],[-0.049859,-0.230589,0.971773]]
2025-10-26T19:18:52.026Z,1761506332.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844197,-0.510535,-0.163356],[0.533941,-0.827802,-0.172195],[-0.047315,-0.232588,0.971424]]
2025-10-26T19:18:52.433Z,1761506332.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841745,-0.514800,-0.162625],[0.537987,-0.825017,-0.172966],[-0.045125,-0.233083,0.971409]]
2025-10-26T19:18:52.862Z,1761506332.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839633,-0.518318,-0.162367],[0.541417,-0.822565,-0.173937],[-0.043402,-0.233952,0.971279]]
2025-10-26T19:18:53.239Z,1761506333.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837597,-0.521858,-0.161540],[0.544653,-0.820604,-0.173094],[-0.042230,-0.232966,0.971567]]
2025-10-26T19:18:53.642Z,1761506333.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835711,-0.524975,-0.161205],[0.547550,-0.819063,-0.171246],[-0.042137,-0.231380,0.971950]]
2025-10-26T19:18:54.048Z,1761506334.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833943,-0.527957,-0.160626],[0.550160,-0.818154,-0.167175],[-0.043156,-0.227784,0.972755]]
2025-10-26T19:18:54.408Z,1761506334.408 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:18:54.408Z,1761506334.408 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:18:54.450Z,1761506334.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832257,-0.530720,-0.160266],[0.552551,-0.817609,-0.161875],[-0.045124,-0.223277,0.973710]]
2025-10-26T19:18:54.661Z,1761506334.661 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:18:54.866Z,1761506334.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830458,-0.533668,-0.159805],[0.554978,-0.817452,-0.154179],[-0.048353,-0.216728,0.975034]]
2025-10-26T19:18:54.912Z,1761506334.912 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:18:55.165Z,1761506335.165 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:18:55.260Z,1761506335.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828413,-0.536394,-0.161285],[0.557590,-0.817072,-0.146587],[-0.053153,-0.211365,0.975961]]
2025-10-26T19:18:55.669Z,1761506335.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826113,-0.539410,-0.163014],[0.560367,-0.816872,-0.136781],[-0.059381,-0.204344,0.977096]]
2025-10-26T19:18:56.066Z,1761506336.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823712,-0.542094,-0.166228],[0.563057,-0.816580,-0.127135],[-0.066819,-0.198319,0.977857]]
2025-10-26T19:18:56.471Z,1761506336.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822091,-0.543422,-0.169880],[0.564427,-0.817028,-0.117843],[-0.074759,-0.192762,0.978393]]
2025-10-26T19:18:56.880Z,1761506336.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821964,-0.542708,-0.172749],[0.563631,-0.818693,-0.109830],[-0.081823,-0.187643,0.978823]]
2025-10-26T19:18:57.278Z,1761506337.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823697,-0.539163,-0.175575],[0.560261,-0.821568,-0.105518],[-0.087355,-0.185283,0.978795]]
2025-10-26T19:18:57.686Z,1761506337.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826063,-0.534588,-0.178428],[0.556016,-0.824747,-0.103144],[-0.092019,-0.184413,0.978532]]
2025-10-26T19:18:57.754Z,1761506337.754 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:18:57.940Z,1761506337.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:18:57.992Z,1761506337.992 [DAT](INFO): entering command mode
2025-10-26T19:18:58.086Z,1761506338.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827551,-0.531391,-0.181060],[0.553128,-0.826929,-0.101181],[-0.095957,-0.183882,0.978253]]
2025-10-26T19:18:58.192Z,1761506338.192 [DAT](INFO): DAT read: 

2025-10-26T19:18:58.193Z,1761506338.193 [DAT](INFO): DAT read: user:141>

2025-10-26T19:18:58.193Z,1761506338.193 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:18:58.193Z,1761506338.193 [DAT](INFO): setting remote address to 0
2025-10-26T19:18:58.445Z,1761506338.445 [DAT](INFO): DAT read: user:141>

2025-10-26T19:18:58.446Z,1761506338.446 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:18:58.446Z,1761506338.446 [DAT](INFO): set remote address to 0
2025-10-26T19:18:58.446Z,1761506338.446 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:18:58.447Z,1761506338.447 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:18:58.495Z,1761506338.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828479,-0.528982,-0.183850],[0.551166,-0.828335,-0.100384],[-0.099188,-0.184498,0.977815]]
2025-10-26T19:18:58.697Z,1761506338.697 [DAT](INFO): DAT read: user:142>

2025-10-26T19:18:58.698Z,1761506338.698 [DAT](INFO): DAT read: Tx time:19:18:57.7620

2025-10-26T19:18:58.699Z,1761506338.699 [DAT](INFO): Ping request sent.
2025-10-26T19:18:58.699Z,1761506338.699 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:18:58.699Z,1761506338.699 [DAT](INFO): publishing transmit ping time
2025-10-26T19:18:58.700Z,1761506338.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001381
2025-10-26T19:18:58.914Z,1761506338.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829164,-0.526904,-0.186707],[0.549779,-0.829082,-0.101816],[-0.101148,-0.187069,0.977125]]
2025-10-26T19:18:58.948Z,1761506338.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249702
2025-10-26T19:18:59.200Z,1761506339.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501645
2025-10-26T19:18:59.337Z,1761506339.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829717,-0.525342,-0.188642],[0.548904,-0.829284,-0.104842],[-0.101359,-0.190536,0.976434]]
2025-10-26T19:18:59.453Z,1761506339.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754052
2025-10-26T19:18:59.705Z,1761506339.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006286
2025-10-26T19:18:59.734Z,1761506339.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830448,-0.524180,-0.188658],[0.548166,-0.829247,-0.108918],[-0.099351,-0.193866,0.975984]]
2025-10-26T19:18:59.957Z,1761506339.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258642
2025-10-26T19:19:00.134Z,1761506340.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831506,-0.522275,-0.189278],[0.547306,-0.828558,-0.118100],[-0.095147,-0.201794,0.974796]]
2025-10-26T19:19:00.221Z,1761506340.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521946
2025-10-26T19:19:00.468Z,1761506340.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769637
2025-10-26T19:19:00.538Z,1761506340.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832657,-0.521188,-0.187201],[0.546615,-0.827723,-0.126834],[-0.088847,-0.207936,0.974099]]
2025-10-26T19:19:00.721Z,1761506340.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022028
2025-10-26T19:19:00.944Z,1761506340.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834339,-0.519580,-0.184158],[0.545244,-0.827021,-0.136917],[-0.081163,-0.214646,0.973314]]
2025-10-26T19:19:00.973Z,1761506340.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274441
2025-10-26T19:19:01.224Z,1761506341.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525754
2025-10-26T19:19:01.350Z,1761506341.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835990,-0.518209,-0.180503],[0.543925,-0.826037,-0.147675],[-0.072576,-0.221635,0.972425]]
2025-10-26T19:19:01.389Z,1761506341.389 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:19:01.390Z,1761506341.390 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:19:01.390Z,1761506341.390 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:19:01.390Z,1761506341.390 [marl:UpdateRudder:A] Stopped
2025-10-26T19:19:01.390Z,1761506341.390 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:19:01.391Z,1761506341.391 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:19:01.391Z,1761506341.391 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:19:01.391Z,1761506341.391 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:19:01.391Z,1761506341.391 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:19:01.391Z,1761506341.391 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateCommandMode] Stopped
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:19:01.392Z,1761506341.392 [marl:UpdateSpeed] Stopped
2025-10-26T19:19:01.393Z,1761506341.393 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:19:01.476Z,1761506341.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777848
2025-10-26T19:19:01.729Z,1761506341.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030235
2025-10-26T19:19:01.750Z,1761506341.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836952,-0.518140,-0.176189],[0.543535,-0.824557,-0.157087],[-0.063884,-0.227239,0.971741]]
2025-10-26T19:19:01.799Z,1761506341.799 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T19:19:01.799Z,1761506341.799 [marl:UpdateRudder:B] Stopped
2025-10-26T19:19:01.799Z,1761506341.799 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:19:01.799Z,1761506341.799 [marl:UpdateRudder] Stopped
2025-10-26T19:19:01.799Z,1761506341.799 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:19:01.980Z,1761506341.980 [DAT](INFO): DAT read: Rx Time:19:19:00.6157

2025-10-26T19:19:01.981Z,1761506341.981 [DAT](INFO): Rx dataTimestamp_ set to:1761506341.980627
2025-10-26T19:19:01.982Z,1761506341.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282841
2025-10-26T19:19:02.162Z,1761506342.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836989,-0.519443,-0.172130],[0.544342,-0.822544,-0.164662],[-0.056052,-0.231518,0.971214]]
2025-10-26T19:19:02.232Z,1761506342.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533802
2025-10-26T19:19:02.490Z,1761506342.490 [DAT](INFO): DAT read: 19:19:00.6157 LVL= 30688, 29473, 26466, 28243, AGC= 66, IDX=  40, 0.20,-0.993, 0.468, 1.151,-0.010, PHS=-0.881, 0.524, 1.118, RAW= 253.2,  -8.6, CAL= 251.7, -13.6, ROT= 258.3,  13.6

2025-10-26T19:19:02.491Z,1761506342.491 [DAT](INFO): got valid direction response:
 19:19:00.6157 LVL= 30688, 29473, 26466, 28243, AGC= 66, IDX=  40, 0.20,-0.993, 0.468, 1.151,-0.010, PHS=-0.881, 0.524, 1.118, RAW= 253.2,  -8.6, CAL= 251.7, -13.6, ROT= 258.3,  13.6

2025-10-26T19:19:02.492Z,1761506342.492 [DAT](INFO): DAT read: Bearing 175.6, -58.7 (Local)

2025-10-26T19:19:02.492Z,1761506342.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.6, -58.7 (Local)

2025-10-26T19:19:02.494Z,1761506342.494 [DAT](INFO): DAT read: Range 11 to 20 : 337.2 m  (Round-trip  449.6 ms) speed -0.7 m/s

2025-10-26T19:19:02.494Z,1761506342.494 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:19:02.495Z,1761506342.495 [DAT](INFO): direction in FSK: [-0.197101,-0.951766,-0.235142]
2025-10-26T19:19:02.496Z,1761506342.496 [DAT](INFO): publishing direction and range info
2025-10-26T19:19:02.558Z,1761506342.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835593,-0.522851,-0.168560],[0.547101,-0.819762,-0.169321],[-0.049649,-0.233702,0.971040]]
2025-10-26T19:19:02.664Z,1761506342.664 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506304.00. Resetting abort timer.
2025-10-26T19:19:02.962Z,1761506342.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833541,-0.526956,-0.165910],[0.550679,-0.816580,-0.173059],[-0.044284,-0.235615,0.970837]]
2025-10-26T19:19:03.372Z,1761506343.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831100,-0.531761,-0.162798],[0.554705,-0.813563,-0.174410],[-0.039702,-0.235257,0.971122]]
2025-10-26T19:19:03.770Z,1761506343.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828526,-0.536376,-0.160763],[0.558784,-0.810513,-0.175581],[-0.036123,-0.235305,0.971250]]
2025-10-26T19:19:04.175Z,1761506344.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826046,-0.540920,-0.158283],[0.562613,-0.808048,-0.174716],[-0.033392,-0.233375,0.971813]]
2025-10-26T19:19:04.578Z,1761506344.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824758,-0.544119,-0.153978],[0.564565,-0.807840,-0.169295],[-0.032273,-0.226558,0.973463]]
2025-10-26T19:19:04.983Z,1761506344.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825942,-0.545180,-0.143523],[0.562798,-0.812200,-0.153587],[-0.032837,-0.207628,0.977657]]
2025-10-26T19:19:05.256Z,1761506345.256 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:19:05.256Z,1761506345.256 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:19:05.390Z,1761506345.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830559,-0.542670,-0.125226],[0.555823,-0.821857,-0.124944],[-0.035114,-0.173377,0.984229]]
2025-10-26T19:19:05.513Z,1761506345.513 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:19:05.760Z,1761506345.760 [DAT](INFO): setting remote address to 6
2025-10-26T19:19:05.790Z,1761506345.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839754,-0.533602,-0.100406],[0.541622,-0.836234,-0.085784],[-0.038189,-0.126420,0.991242]]
2025-10-26T19:19:06.012Z,1761506346.012 [DAT](INFO): DAT read: user:143>

2025-10-26T19:19:06.013Z,1761506346.013 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:19:06.013Z,1761506346.013 [DAT](INFO): set remote address to 6
2025-10-26T19:19:06.014Z,1761506346.014 [DAT](INFO): entering online mode
2025-10-26T19:19:06.194Z,1761506346.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853721,-0.516166,-0.068797],[0.519131,-0.853986,-0.034806],[-0.040786,-0.065429,0.997023]]
2025-10-26T19:19:06.264Z,1761506346.264 [DAT](INFO): DAT read: user:144>

2025-10-26T19:19:06.265Z,1761506346.265 [DAT](INFO): DAT read: 

2025-10-26T19:19:06.266Z,1761506346.266 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:19:06.266Z,1761506346.266 [DAT](INFO): commRate: 600
2025-10-26T19:19:06.266Z,1761506346.266 [DAT](INFO): online mode acknowledged
2025-10-26T19:19:06.267Z,1761506346.267 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:19:06.599Z,1761506346.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870492,-0.491008,-0.033984],[0.490356,-0.871135,0.025976],[-0.042359,0.005948,0.999085]]
2025-10-26T19:19:07.004Z,1761506347.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887875,-0.460066,-0.004162],[0.458085,-0.884823,0.085119],[-0.042843,0.073669,0.996362]]
2025-10-26T19:19:07.407Z,1761506347.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904828,-0.425478,0.015971],[0.423703,-0.896087,0.132300],[-0.041979,0.126475,0.991081]]
2025-10-26T19:19:07.810Z,1761506347.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920709,-0.389286,0.027419],[0.388210,-0.906459,0.166206],[-0.039847,0.163672,0.985710]]
2025-10-26T19:19:08.214Z,1761506348.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935108,-0.352817,0.033066],[0.352484,-0.916498,0.189175],[-0.036439,0.188554,0.981387]]
2025-10-26T19:19:08.630Z,1761506348.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947819,-0.316876,0.035043],[0.317231,-0.926501,0.202386],[-0.031664,0.202942,0.978679]]
2025-10-26T19:19:09.022Z,1761506349.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959121,-0.280826,0.034985],[0.281813,-0.936491,0.208725],[-0.025852,0.210052,0.977348]]
2025-10-26T19:19:09.449Z,1761506349.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977107,-0.210317,0.032082],[0.212426,-0.956149,0.201630],[-0.011731,0.203829,0.978936]]
2025-10-26T19:19:09.541Z,1761506349.541 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:19:08.7107

2025-10-26T19:19:09.541Z,1761506349.541 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:19:09.836Z,1761506349.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983938,-0.175721,0.031420],[0.178468,-0.964631,0.194000],[-0.003781,0.196491,0.980498]]
2025-10-26T19:19:10.240Z,1761506350.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989156,-0.143352,0.031960],[0.146814,-0.971145,0.187942],[0.004096,0.190596,0.981660]]
2025-10-26T19:19:10.646Z,1761506350.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993152,-0.112103,0.032885],[0.116273,-0.975862,0.184864],[0.011367,0.187422,0.982214]]
2025-10-26T19:19:11.048Z,1761506351.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996004,-0.082516,0.034172],[0.087384,-0.979420,0.181935],[0.018456,0.184194,0.982717]]
2025-10-26T19:19:11.451Z,1761506351.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997949,-0.053100,0.035740],[0.058684,-0.981978,0.179651],[0.025556,0.181380,0.983081]]
2025-10-26T19:19:11.855Z,1761506351.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999003,-0.024723,0.037159],[0.030860,-0.984102,0.174903],[0.032245,0.175875,0.983884]]
2025-10-26T19:19:12.258Z,1761506352.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999287,0.004189,0.037511],[0.002222,-0.985569,0.169258],[0.037679,0.169221,0.984858]]
2025-10-26T19:19:12.662Z,1761506352.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998740,0.033267,0.037575],[-0.026601,-0.985812,0.165730],[0.042555,0.164522,0.985455]]
2025-10-26T19:19:13.066Z,1761506353.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997385,0.061937,0.037235],[-0.054990,-0.984749,0.165061],[0.046891,0.162581,0.985580]]
2025-10-26T19:19:13.471Z,1761506353.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995254,0.090349,0.036147],[-0.083190,-0.982670,0.165648],[0.050486,0.161855,0.985522]]
2025-10-26T19:19:13.875Z,1761506353.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992456,0.117602,0.034662],[-0.110338,-0.979989,0.165671],[0.053451,0.160597,0.985572]]
2025-10-26T19:19:14.278Z,1761506354.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989055,0.143803,0.033021],[-0.136475,-0.976693,0.165666],[0.056075,0.159346,0.985629]]
2025-10-26T19:19:14.682Z,1761506354.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985090,0.169312,0.030528],[-0.162050,-0.972744,0.165859],[0.057778,0.158439,0.985677]]
2025-10-26T19:19:14.747Z,1761506354.747 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:19:14.747Z,1761506354.747 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:19:14.747Z,1761506354.747 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:19:14.747Z,1761506354.747 [marl:UpdateRudder:A] Stopped
2025-10-26T19:19:14.747Z,1761506354.747 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode] Stopped
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:19:14.748Z,1761506354.748 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:19:14.749Z,1761506354.749 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:19:14.749Z,1761506354.749 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:19:14.749Z,1761506354.749 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:19:14.749Z,1761506354.749 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:19:14.749Z,1761506354.749 [marl:UpdateSpeed] Stopped
2025-10-26T19:19:14.749Z,1761506354.749 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:19:15.087Z,1761506355.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980523,0.194427,0.027780],[-0.187348,-0.968370,0.164804],[0.058943,0.156390,0.985935]]
2025-10-26T19:19:15.213Z,1761506355.213 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:19:15.214Z,1761506355.214 [marl:UpdateRudder:B] Stopped
2025-10-26T19:19:15.214Z,1761506355.214 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:19:15.214Z,1761506355.214 [marl:UpdateRudder] Stopped
2025-10-26T19:19:15.214Z,1761506355.214 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:19:15.506Z,1761506355.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975373,0.219132,0.025063],[-0.212371,-0.963752,0.161498],[0.059543,0.152198,0.986555]]
2025-10-26T19:19:15.894Z,1761506355.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969338,0.244772,0.021709],[-0.238330,-0.957982,0.159593],[0.059861,0.149525,0.986944]]
2025-10-26T19:19:16.298Z,1761506356.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962248,0.271603,0.017621],[-0.265474,-0.950870,0.159280],[0.060016,0.148589,0.987076]]
2025-10-26T19:19:16.708Z,1761506356.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953870,0.299937,0.013046],[-0.294173,-0.942450,0.158901],[0.059955,0.147733,0.987208]]
2025-10-26T19:19:17.121Z,1761506357.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944096,0.329586,0.007437],[-0.324231,-0.932365,0.159903],[0.059636,0.148552,0.987105]]
2025-10-26T19:19:17.513Z,1761506357.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933788,0.357815,0.002869],[-0.352869,-0.922151,0.158497],[0.059359,0.146991,0.987355]]
2025-10-26T19:19:17.915Z,1761506357.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924251,0.381778,0.002305],[-0.377220,-0.914114,0.148664],[0.058864,0.136533,0.988885]]
2025-10-26T19:19:18.319Z,1761506358.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915548,0.402160,0.006195],[-0.398034,-0.908153,0.129720],[0.057794,0.116300,0.991531]]
2025-10-26T19:19:18.748Z,1761506358.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907592,0.419667,0.012477],[-0.416086,-0.903025,0.106859],[0.056112,0.091793,0.994196]]
2025-10-26T19:19:19.148Z,1761506359.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900495,0.434491,0.018038],[-0.431493,-0.897899,0.087122],[0.054050,0.070669,0.996034]]
2025-10-26T19:19:19.550Z,1761506359.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894137,0.447252,0.022020],[-0.444794,-0.892755,0.071742],[0.051745,0.054353,0.997180]]
2025-10-26T19:19:19.634Z,1761506359.634 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:19:19.884Z,1761506359.884 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:19:19.954Z,1761506359.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887665,0.459836,0.024535],[-0.457854,-0.887022,0.059671],[0.049202,0.041735,0.997917]]
2025-10-26T19:19:20.068Z,1761506360.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:19:20.136Z,1761506360.136 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:19:20.360Z,1761506360.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880970,0.472470,0.025748],[-0.470888,-0.880760,0.050270],[0.046429,0.032162,0.998404]]
2025-10-26T19:19:20.762Z,1761506360.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873221,0.486662,0.025393],[-0.485389,-0.873211,0.043581],[0.043382,0.025730,0.998727]]
2025-10-26T19:19:21.072Z,1761506361.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:19:21.166Z,1761506361.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864031,0.502834,0.024649],[-0.501836,-0.864151,0.037458],[0.040136,0.019995,0.998994]]
2025-10-26T19:19:21.577Z,1761506361.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853540,0.520541,0.022516],[-0.519755,-0.853678,0.032997],[0.036397,0.016462,0.999202]]
2025-10-26T19:19:21.976Z,1761506361.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841813,0.539400,0.019975],[-0.538806,-0.841945,0.028590],[0.032239,0.013305,0.999392]]
2025-10-26T19:19:22.378Z,1761506362.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829128,0.558806,0.016822],[-0.558365,-0.829222,0.024880],[0.027852,0.011236,0.999549]]
2025-10-26T19:19:22.794Z,1761506362.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816686,0.576948,0.012439],[-0.576606,-0.816698,0.023016],[0.023438,0.011624,0.999658]]
2025-10-26T19:19:23.187Z,1761506363.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805098,0.593085,0.008210],[-0.592842,-0.805053,0.020691],[0.018881,0.011791,0.999752]]
2025-10-26T19:19:23.425Z,1761506363.425 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:19:22.5606

2025-10-26T19:19:23.425Z,1761506363.425 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:19:23.600Z,1761506363.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794055,0.607837,0.003380],[-0.607682,-0.793957,0.018845],[0.014138,0.012910,0.999817]]
2025-10-26T19:19:23.994Z,1761506363.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784218,0.620484,-0.001302],[-0.620410,-0.784088,0.017229],[0.009670,0.014319,0.999851]]
2025-10-26T19:19:24.398Z,1761506364.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774980,0.631971,-0.004352],[-0.631959,-0.774864,0.014610],[0.005861,0.014072,0.999884]]
2025-10-26T19:19:24.838Z,1761506364.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766073,0.642708,-0.007620],[-0.642747,-0.765956,0.013708],[0.002974,0.015399,0.999877]]
2025-10-26T19:19:25.212Z,1761506365.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757106,0.653228,-0.009132],[-0.653292,-0.757019,0.011493],[0.000595,0.014667,0.999892]]
2025-10-26T19:19:25.610Z,1761506365.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746509,0.665303,-0.009819],[-0.665373,-0.746463,0.008456],[-0.001704,0.012846,0.999916]]
2025-10-26T19:19:26.014Z,1761506366.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734897,0.678103,-0.010125],[-0.678167,-0.734889,0.005202],[-0.003913,0.010689,0.999935]]
2025-10-26T19:19:26.419Z,1761506366.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721637,0.692203,-0.009722],[-0.692241,-0.721666,0.000808],[-0.006457,0.007313,0.999952]]
2025-10-26T19:19:26.854Z,1761506366.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707486,0.706650,-0.010420],[-0.706668,-0.707541,-0.002540],[-0.009168,0.005567,0.999942]]
2025-10-26T19:19:27.226Z,1761506367.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692642,0.721193,-0.011303],[-0.721179,-0.692723,-0.006023],[-0.012174,0.003980,0.999918]]
2025-10-26T19:19:27.630Z,1761506367.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678218,0.734730,-0.013878],[-0.734708,-0.678341,-0.007620],[-0.015013,0.005029,0.999875]]
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateRudder:A] Stopped
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:19:27.685Z,1761506367.685 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateCommandMode] Stopped
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:19:27.686Z,1761506367.686 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:19:27.687Z,1761506367.687 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:19:27.687Z,1761506367.687 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:19:27.687Z,1761506367.687 [marl:UpdateSpeed] Stopped
2025-10-26T19:19:27.687Z,1761506367.687 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:19:28.036Z,1761506368.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664425,0.747153,-0.017380],[-0.747135,-0.664614,-0.008810],[-0.018133,0.007132,0.999810]]
2025-10-26T19:19:28.157Z,1761506368.157 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:19:28.157Z,1761506368.157 [marl:UpdateRudder:B] Stopped
2025-10-26T19:19:28.157Z,1761506368.157 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:19:28.157Z,1761506368.157 [marl:UpdateRudder] Stopped
2025-10-26T19:19:28.157Z,1761506368.157 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:19:28.158Z,1761506368.158 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:19:28.216Z,1761506368.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:19:28.268Z,1761506368.268 [DAT](INFO): entering command mode
2025-10-26T19:19:28.440Z,1761506368.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651526,0.758312,-0.021841],[-0.758322,-0.651810,-0.009559],[-0.021485,0.010334,0.999716]]
2025-10-26T19:19:28.468Z,1761506368.468 [DAT](INFO): DAT read: 

2025-10-26T19:19:28.469Z,1761506368.469 [DAT](INFO): DAT read: user:145>

2025-10-26T19:19:28.469Z,1761506368.469 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:19:28.469Z,1761506368.469 [DAT](INFO): setting remote address to 0
2025-10-26T19:19:28.721Z,1761506368.721 [DAT](INFO): DAT read: user:145>

2025-10-26T19:19:28.722Z,1761506368.722 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:19:28.722Z,1761506368.722 [DAT](INFO): set remote address to 0
2025-10-26T19:19:28.723Z,1761506368.723 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:19:28.723Z,1761506368.723 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:19:28.858Z,1761506368.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639958,0.767971,-0.025978],[-0.768017,-0.640346,-0.010327],[-0.024565,0.013343,0.999609]]
2025-10-26T19:19:28.973Z,1761506368.973 [DAT](INFO): DAT read: user:146>

2025-10-26T19:19:28.974Z,1761506368.974 [DAT](INFO): DAT read: Tx time:19:19:28.0618

2025-10-26T19:19:28.974Z,1761506368.974 [DAT](INFO): Ping request sent.
2025-10-26T19:19:28.974Z,1761506368.974 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:19:28.974Z,1761506368.974 [DAT](INFO): publishing transmit ping time
2025-10-26T19:19:28.975Z,1761506368.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000973
2025-10-26T19:19:29.224Z,1761506369.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250342
2025-10-26T19:19:29.246Z,1761506369.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628737,0.777079,-0.028943],[-0.777119,-0.629232,-0.012417],[-0.027861,0.014685,0.999504]]
2025-10-26T19:19:29.476Z,1761506369.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502248
2025-10-26T19:19:29.657Z,1761506369.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617619,0.785883,-0.030567],[-0.785861,-0.618207,-0.015582],[-0.031142,0.014398,0.999411]]
2025-10-26T19:19:29.730Z,1761506369.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756187
2025-10-26T19:19:29.980Z,1761506369.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006313
2025-10-26T19:19:30.066Z,1761506370.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605892,0.794950,-0.030817],[-0.794817,-0.606541,-0.019344],[-0.034069,0.012773,0.999338]]
2025-10-26T19:19:30.232Z,1761506370.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258267
2025-10-26T19:19:30.462Z,1761506370.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592148,0.805319,-0.028670],[-0.804999,-0.592778,-0.024308],[-0.036571,0.008686,0.999293]]
2025-10-26T19:19:30.484Z,1761506370.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510380
2025-10-26T19:19:30.736Z,1761506370.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762346
2025-10-26T19:19:30.865Z,1761506370.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576855,0.816437,-0.025843],[-0.815933,-0.577417,-0.029014],[-0.038610,0.004349,0.999245]]
2025-10-26T19:19:30.988Z,1761506370.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014297
2025-10-26T19:19:31.241Z,1761506371.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-10-26T19:19:31.273Z,1761506371.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560155,0.828064,-0.023155],[-0.827410,-0.560633,-0.032925],[-0.040245,0.000715,0.999190]]
2025-10-26T19:19:31.492Z,1761506371.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518365
2025-10-26T19:19:31.677Z,1761506371.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541751,0.840314,-0.019467],[-0.839511,-0.542088,-0.036897],[-0.041558,-0.003646,0.999129]]
2025-10-26T19:19:31.745Z,1761506371.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770705
2025-10-26T19:19:31.996Z,1761506371.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022272
2025-10-26T19:19:32.077Z,1761506372.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522497,0.852483,-0.016431],[-0.851558,-0.522707,-0.040335],[-0.042973,-0.007082,0.999051]]
2025-10-26T19:19:32.249Z,1761506372.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274322
2025-10-26T19:19:32.479Z,1761506372.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503146,0.864070,-0.015059],[-0.863036,-0.503296,-0.043160],[-0.044872,-0.008719,0.998955]]
2025-10-26T19:19:32.500Z,1761506372.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526225
2025-10-26T19:19:32.753Z,1761506372.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778909
2025-10-26T19:19:32.883Z,1761506372.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484474,0.874674,-0.015147],[-0.873557,-0.484635,-0.045021],[-0.046719,-0.008580,0.998871]]
2025-10-26T19:19:33.004Z,1761506373.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030271
2025-10-26T19:19:33.256Z,1761506373.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282241
2025-10-26T19:19:33.292Z,1761506373.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466828,0.884179,-0.017275],[-0.883012,-0.467108,-0.045837],[-0.048597,-0.006144,0.998800]]
2025-10-26T19:19:33.508Z,1761506373.508 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:19:33.509Z,1761506373.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534417
2025-10-26T19:19:33.760Z,1761506373.760 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:19:33.761Z,1761506373.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786515
2025-10-26T19:19:34.012Z,1761506374.012 [DAT](INFO): setting remote address to 6
2025-10-26T19:19:34.013Z,1761506374.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038490
2025-10-26T19:19:34.094Z,1761506374.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436341,0.899569,-0.019552],[-0.898281,-0.436765,-0.048253],[-0.051947,-0.003492,0.998644]]
2025-10-26T19:19:34.264Z,1761506374.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:34.265Z,1761506374.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290534
2025-10-26T19:19:34.504Z,1761506374.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422263,0.906187,-0.022804],[-0.904901,-0.422878,-0.048259],[-0.053375,0.000257,0.998574]]
2025-10-26T19:19:34.516Z,1761506374.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:34.517Z,1761506374.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542529
2025-10-26T19:19:34.770Z,1761506374.770 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:34.773Z,1761506374.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798150
2025-10-26T19:19:34.902Z,1761506374.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408216,0.912593,-0.023122],[-0.911272,-0.408869,-0.049092],[-0.054255,0.001030,0.998527]]
2025-10-26T19:19:35.020Z,1761506375.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:35.021Z,1761506375.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046454
2025-10-26T19:19:35.272Z,1761506375.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:35.273Z,1761506375.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298604
2025-10-26T19:19:35.306Z,1761506375.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394255,0.918702,-0.023442],[-0.917384,-0.394946,-0.049232],[-0.054488,0.002096,0.998512]]
2025-10-26T19:19:35.524Z,1761506375.524 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:35.525Z,1761506375.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550398
2025-10-26T19:19:35.714Z,1761506375.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380542,0.924476,-0.023067],[-0.923176,-0.381232,-0.049081],[-0.054168,0.002618,0.998528]]
2025-10-26T19:19:35.776Z,1761506375.776 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:35.777Z,1761506375.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802419
2025-10-26T19:19:36.030Z,1761506376.030 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:36.031Z,1761506376.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056529
2025-10-26T19:19:36.114Z,1761506376.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367092,0.929910,-0.022595],[-0.928625,-0.367775,-0.048956],[-0.053835,0.003011,0.998545]]
2025-10-26T19:19:36.280Z,1761506376.280 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:36.280Z,1761506376.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306385
2025-10-26T19:19:36.525Z,1761506376.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354219,0.934915,-0.021502],[-0.933624,-0.354861,-0.049194],[-0.053623,0.002649,0.998558]]
2025-10-26T19:19:36.533Z,1761506376.533 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:36.534Z,1761506376.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559798
2025-10-26T19:19:36.786Z,1761506376.786 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:36.788Z,1761506376.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813380
2025-10-26T19:19:36.924Z,1761506376.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342223,0.939387,-0.020888],[-0.938098,-0.342849,-0.049263],[-0.053438,0.002736,0.998567]]
2025-10-26T19:19:37.037Z,1761506377.037 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:37.037Z,1761506377.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063157
2025-10-26T19:19:37.288Z,1761506377.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:37.288Z,1761506377.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314369
2025-10-26T19:19:37.333Z,1761506377.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331373,0.943286,-0.020101],[-0.941980,-0.331973,-0.049677],[-0.053533,0.002473,0.998563]]
2025-10-26T19:19:37.541Z,1761506377.541 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:37.542Z,1761506377.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567584
2025-10-26T19:19:37.734Z,1761506377.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321678,0.946666,-0.018608],[-0.945323,-0.322213,-0.050438],[-0.053744,0.001366,0.998554]]
2025-10-26T19:19:37.792Z,1761506377.792 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:37.792Z,1761506377.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818371
2025-10-26T19:19:38.044Z,1761506378.044 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:38.045Z,1761506378.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070959
2025-10-26T19:19:38.134Z,1761506378.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312983,0.949585,-0.018166],[-0.948242,-0.313506,-0.050513],[-0.053662,0.001415,0.998558]]
2025-10-26T19:19:38.296Z,1761506378.296 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:38.297Z,1761506378.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322453
2025-10-26T19:19:38.549Z,1761506378.549 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:38.549Z,1761506378.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575032
2025-10-26T19:19:38.554Z,1761506378.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304527,0.952371,-0.015926],[-0.951022,-0.304943,-0.050663],[-0.053106,-0.000283,0.998589]]
2025-10-26T19:19:38.802Z,1761506378.802 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:38.803Z,1761506378.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828581
2025-10-26T19:19:38.943Z,1761506378.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294287,0.955656,-0.010850],[-0.954292,-0.294449,-0.051257],[-0.052179,-0.004730,0.998627]]
2025-10-26T19:19:39.052Z,1761506379.052 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:39.052Z,1761506379.052 [DAT](INFO): Reached modem response timeout
2025-10-26T19:19:39.304Z,1761506379.304 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:39.346Z,1761506379.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281635,0.959499,-0.006574],[-0.958166,-0.281595,-0.051216],[-0.050993,-0.008126,0.998666]]
2025-10-26T19:19:39.557Z,1761506379.557 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:39.750Z,1761506379.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265556,0.964095,-0.001078],[-0.962830,-0.265265,-0.050924],[-0.049381,-0.012485,0.998702]]
2025-10-26T19:19:39.808Z,1761506379.808 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:40.060Z,1761506380.060 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:40.155Z,1761506380.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247263,0.968947,0.001720],[-0.967818,-0.246888,-0.048732],[-0.046794,-0.013714,0.998810]]
2025-10-26T19:19:40.312Z,1761506380.312 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:40.558Z,1761506380.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227279,0.973817,0.005053],[-0.972860,-0.226818,-0.045791],[-0.043446,-0.015323,0.998938]]
2025-10-26T19:19:40.564Z,1761506380.564 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:40.616Z,1761506380.616 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:19:40.616Z,1761506380.616 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:19:40.617Z,1761506380.617 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:19:40.617Z,1761506380.617 [marl:UpdateRudder:A] Stopped
2025-10-26T19:19:40.617Z,1761506380.617 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:19:40.617Z,1761506380.617 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:19:40.617Z,1761506380.617 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:19:40.617Z,1761506380.617 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateCommandMode] Stopped
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:19:40.618Z,1761506380.618 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:19:40.619Z,1761506380.619 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:19:40.619Z,1761506380.619 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:19:40.619Z,1761506380.619 [marl:UpdateSpeed] Stopped
2025-10-26T19:19:40.619Z,1761506380.619 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:19:40.818Z,1761506380.818 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:40.962Z,1761506380.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205182,0.978702,0.006482],[-0.977902,-0.204734,-0.042330],[-0.040102,-0.015024,0.999083]]
2025-10-26T19:19:41.069Z,1761506381.069 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:19:41.072Z,1761506381.072 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:19:41.072Z,1761506381.072 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:19:41.113Z,1761506381.113 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:19:41.113Z,1761506381.113 [marl:UpdateRudder:B] Stopped
2025-10-26T19:19:41.113Z,1761506381.113 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:19:41.114Z,1761506381.114 [marl:UpdateRudder] Stopped
2025-10-26T19:19:41.114Z,1761506381.114 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:19:41.321Z,1761506381.321 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:19:41.321Z,1761506381.321 [DAT](INFO): response not received
2025-10-26T19:19:41.321Z,1761506381.321 [DAT](INFO): DAT read: user:147>

2025-10-26T19:19:41.322Z,1761506381.322 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:19:41.322Z,1761506381.322 [DAT](INFO): set remote address to 6
2025-10-26T19:19:41.323Z,1761506381.323 [DAT](INFO): entering online mode
2025-10-26T19:19:41.398Z,1761506381.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181570,0.983365,0.004976],[-0.982678,-0.181247,-0.038637],[-0.037093,-0.011905,0.999241]]
2025-10-26T19:19:41.572Z,1761506381.572 [DAT](INFO): DAT read: user:148>

2025-10-26T19:19:41.573Z,1761506381.573 [DAT](INFO): DAT read: 

2025-10-26T19:19:41.574Z,1761506381.574 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:19:41.574Z,1761506381.574 [DAT](INFO): commRate: 600
2025-10-26T19:19:41.574Z,1761506381.574 [DAT](INFO): online mode acknowledged
2025-10-26T19:19:41.575Z,1761506381.575 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:19:41.774Z,1761506381.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156921,0.987606,0.003106],[-0.986989,-0.156709,-0.035980],[-0.035047,-0.008711,0.999348]]
2025-10-26T19:19:42.174Z,1761506382.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131343,0.991337,0.000877],[-0.990734,-0.131232,-0.034993],[-0.034575,-0.005465,0.999387]]
2025-10-26T19:19:42.578Z,1761506382.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105261,0.994443,-0.001721],[-0.993799,-0.105255,-0.035836],[-0.035818,-0.002062,0.999356]]
2025-10-26T19:19:43.389Z,1761506383.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059961,0.998179,-0.006552],[-0.997384,-0.060176,-0.040048],[-0.040369,0.004134,0.999176]]
2025-10-26T19:19:43.790Z,1761506383.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045895,0.998929,-0.005923],[-0.998105,-0.046099,-0.040768],[-0.040997,0.004041,0.999151]]
2025-10-26T19:19:44.194Z,1761506384.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038706,0.999239,0.004825],[-0.998430,-0.038478,-0.040711],[-0.040494,-0.006393,0.999159]]
2025-10-26T19:19:44.600Z,1761506384.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037298,0.999025,0.023637],[-0.998536,-0.036331,-0.040066],[-0.039168,-0.025097,0.998917]]
2025-10-26T19:19:44.852Z,1761506384.852 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:19:44.0105

2025-10-26T19:19:44.852Z,1761506384.852 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:19:45.011Z,1761506385.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039391,0.997934,0.050747],[-0.998529,-0.037419,-0.039227],[-0.037247,-0.052217,0.997941]]
2025-10-26T19:19:45.406Z,1761506385.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042390,0.995689,0.082505],[-0.998470,-0.039282,-0.038929],[-0.035520,-0.084029,0.995830]]
2025-10-26T19:19:46.214Z,1761506386.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047529,0.988199,0.145613],[-0.998341,-0.042252,-0.039117],[-0.032503,-0.147231,0.988568]]
2025-10-26T19:19:46.621Z,1761506386.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049714,0.984388,0.168845],[-0.998286,-0.043748,-0.038874],[-0.030880,-0.170488,0.984876]]
2025-10-26T19:19:47.027Z,1761506387.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051734,0.980842,0.187809],[-0.998235,-0.045298,-0.038403],[-0.029160,-0.189464,0.981455]]
2025-10-26T19:19:47.426Z,1761506387.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053627,0.978121,0.201006],[-0.998191,-0.047030,-0.037456],[-0.027183,-0.202651,0.978874]]
2025-10-26T19:19:47.838Z,1761506387.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055093,0.976541,0.208165],[-0.998159,-0.048570,-0.036321],[-0.025359,-0.209783,0.977419]]
2025-10-26T19:19:48.236Z,1761506388.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056649,0.975305,0.213476],[-0.998119,-0.050304,-0.035044],[-0.023439,-0.215059,0.976320]]
2025-10-26T19:19:48.639Z,1761506388.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058270,0.974899,0.214886],[-0.998064,-0.052205,-0.033800],[-0.021733,-0.216440,0.976054]]
2025-10-26T19:19:49.043Z,1761506389.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058779,0.975121,0.213738],[-0.998064,-0.053041,-0.032486],[-0.020341,-0.215234,0.976351]]
2025-10-26T19:19:49.446Z,1761506389.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058944,0.975721,0.210937],[-0.998079,-0.053568,-0.031115],[-0.019060,-0.212366,0.977004]]
2025-10-26T19:19:49.852Z,1761506389.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058475,0.976244,0.208636],[-0.998125,-0.053384,-0.029958],[-0.018108,-0.209996,0.977534]]
2025-10-26T19:19:50.254Z,1761506390.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057728,0.976766,0.206386],[-0.998184,-0.052908,-0.028804],[-0.017216,-0.207674,0.978047]]
2025-10-26T19:19:50.659Z,1761506390.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056114,0.977280,0.204390],[-0.998291,-0.051570,-0.027494],[-0.016329,-0.205584,0.978503]]
2025-10-26T19:19:51.062Z,1761506391.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054421,0.978307,0.199885],[-0.998400,-0.050240,-0.025934],[-0.015329,-0.200976,0.979476]]
2025-10-26T19:19:51.192Z,1761506391.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:19:51.467Z,1761506391.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051584,0.979104,0.196711],[-0.998564,-0.047710,-0.024384],[-0.014489,-0.197686,0.980158]]
2025-10-26T19:19:51.872Z,1761506391.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048169,0.979635,0.194925],[-0.998752,-0.044664,-0.022340],[-0.013179,-0.195758,0.980564]]
2025-10-26T19:19:52.196Z,1761506392.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:19:52.280Z,1761506392.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039619,0.980253,0.193740],[-0.999175,-0.037144,-0.016396],[-0.008876,-0.194230,0.980916]]
2025-10-26T19:19:52.684Z,1761506392.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034663,0.980067,0.195617],[-0.999384,-0.032902,-0.012246],[-0.005566,-0.195921,0.980604]]
2025-10-26T19:19:53.088Z,1761506393.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029385,0.979693,0.198339],[-0.999566,-0.028433,-0.007646],[-0.001852,-0.198478,0.980104]]
2025-10-26T19:19:53.502Z,1761506393.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023693,0.978927,0.202830],[-0.999717,-0.023611,-0.002825],[0.002023,-0.202839,0.979210]]
2025-10-26T19:19:53.567Z,1761506393.567 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:19:53.567Z,1761506393.567 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:19:53.567Z,1761506393.567 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:19:53.571Z,1761506393.571 [marl:UpdateRudder:A] Stopped
2025-10-26T19:19:53.571Z,1761506393.571 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:19:53.571Z,1761506393.571 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateCommandMode] Stopped
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:19:53.572Z,1761506393.572 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:19:53.573Z,1761506393.573 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:19:53.573Z,1761506393.573 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:19:53.573Z,1761506393.573 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:19:53.573Z,1761506393.573 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:19:53.573Z,1761506393.573 [marl:UpdateSpeed] Stopped
2025-10-26T19:19:53.573Z,1761506393.573 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:19:53.899Z,1761506393.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017346,0.977633,0.209604],[-0.999836,-0.018048,0.001440],[0.005191,-0.209544,0.977785]]
2025-10-26T19:19:54.022Z,1761506394.022 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T19:19:54.022Z,1761506394.022 [marl:UpdateRudder:B] Stopped
2025-10-26T19:19:54.023Z,1761506394.023 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:19:54.023Z,1761506394.023 [marl:UpdateRudder] Stopped
2025-10-26T19:19:54.023Z,1761506394.023 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:19:54.296Z,1761506394.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010367,0.976038,0.217355],[-0.999920,-0.011684,0.004775],[0.007200,-0.217288,0.976081]]
2025-10-26T19:19:54.702Z,1761506394.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002910,0.974498,0.224379],[-0.999967,-0.004525,0.006682],[0.007527,-0.224352,0.974479]]
2025-10-26T19:19:54.936Z,1761506394.936 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:19:55.102Z,1761506395.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004524,0.973342,0.229313],[-0.999965,0.002788,0.007893],[0.007043,-0.229341,0.973321]]
2025-10-26T19:19:55.188Z,1761506395.188 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:19:55.441Z,1761506395.441 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:19:55.509Z,1761506395.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010717,0.972676,0.231919],[-0.999925,0.009036,0.008309],[0.005986,-0.231991,0.972700]]
2025-10-26T19:19:55.912Z,1761506395.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015219,0.972857,0.230905],[-0.999872,0.013664,0.008332],[0.004951,-0.231002,0.972941]]
2025-10-26T19:19:56.314Z,1761506396.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019393,0.974453,0.223753],[-0.999804,0.018027,0.008150],[0.003908,-0.223867,0.974612]]
2025-10-26T19:19:56.724Z,1761506396.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026293,0.978137,0.206291],[-0.999651,0.025220,0.007828],[0.002454,-0.206425,0.978459]]
2025-10-26T19:19:57.122Z,1761506397.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037890,0.984308,0.172345],[-0.999282,0.037245,0.006978],[0.000450,-0.172485,0.985012]]
2025-10-26T19:19:57.528Z,1761506397.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055206,0.990586,0.125265],[-0.998474,0.054960,0.005427],[-0.001509,-0.125374,0.992108]]
2025-10-26T19:19:57.930Z,1761506397.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078244,0.994803,0.065146],[-0.996930,0.078258,0.002336],[-0.002774,-0.065129,0.997873]]
2025-10-26T19:19:58.334Z,1761506398.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104495,0.994522,-0.002741],[-0.994524,0.104489,-0.002185],[-0.001887,0.002954,0.999994]]
2025-10-26T19:19:58.384Z,1761506398.384 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:19:58.465Z,1761506398.465 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:19:58.520Z,1761506398.520 [DAT](INFO): entering command mode
2025-10-26T19:19:58.716Z,1761506398.716 [DAT](INFO): DAT read: 

2025-10-26T19:19:58.717Z,1761506398.717 [DAT](INFO): DAT read: user:149>

2025-10-26T19:19:58.718Z,1761506398.718 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:19:58.718Z,1761506398.718 [DAT](INFO): setting remote address to 0
2025-10-26T19:19:58.816Z,1761506398.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131668,0.989135,-0.065390],[-0.991293,0.131458,-0.007515],[0.001162,0.065810,0.997831]]
2025-10-26T19:19:58.972Z,1761506398.972 [DAT](INFO): DAT read: user:149>

2025-10-26T19:19:58.974Z,1761506398.974 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:19:58.974Z,1761506398.974 [DAT](INFO): set remote address to 0
2025-10-26T19:19:58.975Z,1761506398.975 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:19:58.976Z,1761506398.976 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:19:59.142Z,1761506399.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160349,0.980112,-0.116915],[-0.987047,0.159830,-0.013865],[0.005097,0.117624,0.993045]]
2025-10-26T19:19:59.221Z,1761506399.221 [DAT](INFO): DAT read: user:150>

2025-10-26T19:19:59.222Z,1761506399.222 [DAT](INFO): DAT read: Tx time:19:19:58.3116

2025-10-26T19:19:59.222Z,1761506399.222 [DAT](INFO): Ping request sent.
2025-10-26T19:19:59.222Z,1761506399.222 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:19:59.222Z,1761506399.222 [DAT](INFO): publishing transmit ping time
2025-10-26T19:19:59.224Z,1761506399.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000926
2025-10-26T19:19:59.473Z,1761506399.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250573
2025-10-26T19:19:59.546Z,1761506399.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191262,0.969228,-0.154970],[-0.981499,0.190288,-0.021236],[0.008907,0.156165,0.987691]]
2025-10-26T19:19:59.725Z,1761506399.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502522
2025-10-26T19:19:59.954Z,1761506399.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223576,0.957976,-0.179711],[-0.974606,0.222095,-0.028584],[0.012530,0.181539,0.983304]]
2025-10-26T19:19:59.977Z,1761506399.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754711
2025-10-26T19:20:00.228Z,1761506400.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006022
2025-10-26T19:20:00.357Z,1761506400.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255271,0.947062,-0.194707],[-0.966722,0.253526,-0.034262],[0.016915,0.196974,0.980263]]
2025-10-26T19:20:00.481Z,1761506400.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258413
2025-10-26T19:20:00.733Z,1761506400.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510726
2025-10-26T19:20:00.758Z,1761506400.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286251,0.936425,-0.202902],[-0.957917,0.284401,-0.038860],[0.021316,0.205487,0.978428]]
2025-10-26T19:20:00.984Z,1761506400.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762113
2025-10-26T19:20:01.162Z,1761506401.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315862,0.926861,-0.202881],[-0.948459,0.314223,-0.041112],[0.025644,0.205410,0.978340]]
2025-10-26T19:20:01.248Z,1761506401.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016888
2025-10-26T19:20:01.489Z,1761506401.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266625
2025-10-26T19:20:01.566Z,1761506401.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343731,0.917198,-0.201488],[-0.938574,0.342512,-0.042015],[0.030476,0.203553,0.978589]]
2025-10-26T19:20:01.740Z,1761506401.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518104
2025-10-26T19:20:01.977Z,1761506401.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370989,0.907574,-0.196662],[-0.927959,0.370402,-0.041164],[0.035485,0.197766,0.979607]]
2025-10-26T19:20:01.992Z,1761506401.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770128
2025-10-26T19:20:02.244Z,1761506402.244 [DAT](INFO): DAT read: Rx Time:19:20:00.9075

2025-10-26T19:20:02.245Z,1761506402.245 [DAT](INFO): Rx dataTimestamp_ set to:1761506402.244614
2025-10-26T19:20:02.245Z,1761506402.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023152
2025-10-26T19:20:02.374Z,1761506402.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397644,0.897640,-0.190056],[-0.916648,0.397771,-0.039173],[0.040435,0.189791,0.980991]]
2025-10-26T19:20:02.496Z,1761506402.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274132
2025-10-26T19:20:02.762Z,1761506402.762 [DAT](INFO): DAT read: 19:20:00.9075 LVL= 26848, 32753, 32754, 32755, AGC= 68, IDX= 217,-0.09, 2.578, 1.650, 0.561, 2.072, PHS= 0.608,-0.377,-1.555, RAW=  57.0,  14.0, CAL=  53.1,  17.6, ROT=  96.9, -17.6

2025-10-26T19:20:02.763Z,1761506402.763 [DAT](INFO): got valid direction response:
 19:20:00.9075 LVL= 26848, 32753, 32754, 32755, AGC= 68, IDX= 217,-0.09, 2.578, 1.650, 0.561, 2.072, PHS= 0.608,-0.377,-1.555, RAW=  57.0,  14.0, CAL=  53.1,  17.6, ROT=  96.9, -17.6

2025-10-26T19:20:02.794Z,1761506402.794 [DAT](INFO): DAT read: Bearing  30, -22 (Remote)

2025-10-26T19:20:02.812Z,1761506402.812 [DAT](INFO): Remote Bearing received:Bearing  30, -22 (Remote)

2025-10-26T19:20:02.814Z,1761506402.814 [DAT](INFO): DAT read: Bearing 222.5,  79.3 (Local)

2025-10-26T19:20:02.829Z,1761506402.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.5,  79.3 (Local)

2025-10-26T19:20:02.835Z,1761506402.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423804,0.887151,-0.182628],[-0.904621,0.424663,-0.036366],[0.045294,0.180621,0.982509]]
2025-10-26T19:20:02.852Z,1761506402.852 [DAT](INFO): DAT read: Range 11 to 20 : 425.1 m  (Round-trip  566.8 ms) speed -0.1 m/s

2025-10-26T19:20:02.856Z,1761506402.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:20:02.857Z,1761506402.857 [DAT](INFO): direction in FSK: [-0.114513,0.946287,0.302370]
2025-10-26T19:20:02.857Z,1761506402.857 [DAT](INFO): publishing direction and range info
2025-10-26T19:20:03.033Z,1761506403.033 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506432.00. Resetting abort timer.
2025-10-26T19:20:03.184Z,1761506403.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449992,0.875531,-0.175936],[-0.891631,0.451516,-0.033597],[0.050022,0.171988,0.983828]]
2025-10-26T19:20:03.590Z,1761506403.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476217,0.862557,-0.170918],[-0.877641,0.478272,-0.031657],[0.054439,0.165080,0.984777]]
2025-10-26T19:20:03.991Z,1761506403.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502357,0.848288,-0.167464],[-0.862664,0.504860,-0.030449],[0.058716,0.159762,0.985408]]
2025-10-26T19:20:04.394Z,1761506404.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528563,0.832589,-0.165579],[-0.846582,0.531386,-0.030472],[0.062616,0.156283,0.985726]]
2025-10-26T19:20:04.838Z,1761506404.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554895,0.815515,-0.164400],[-0.829285,0.557947,-0.031333],[0.066174,0.153720,0.985896]]
2025-10-26T19:20:05.202Z,1761506405.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581423,0.796819,-0.164398],[-0.810653,0.584553,-0.033756],[0.069202,0.152896,0.985816]]
2025-10-26T19:20:05.520Z,1761506405.520 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:20:05.520Z,1761506405.520 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:20:05.610Z,1761506405.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607920,0.776577,-0.165410],[-0.790755,0.610963,-0.037825],[0.071685,0.153794,0.985499]]
2025-10-26T19:20:05.772Z,1761506405.772 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:20:06.010Z,1761506406.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633615,0.755484,-0.166663],[-0.770111,0.636486,-0.042597],[0.073898,0.155339,0.985093]]
2025-10-26T19:20:06.024Z,1761506406.024 [DAT](INFO): setting remote address to 6
2025-10-26T19:20:06.276Z,1761506406.276 [DAT](INFO): DAT read: user:151>

2025-10-26T19:20:06.277Z,1761506406.277 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:20:06.277Z,1761506406.277 [DAT](INFO): set remote address to 6
2025-10-26T19:20:06.278Z,1761506406.278 [DAT](INFO): entering online mode
2025-10-26T19:20:06.416Z,1761506406.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658708,0.733467,-0.167717],[-0.748575,0.661315,-0.047933],[0.075757,0.157123,0.984669]]
2025-10-26T19:20:06.491Z,1761506406.491 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateRudder:A] Stopped
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:20:06.492Z,1761506406.492 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateCommandMode] Stopped
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:20:06.493Z,1761506406.493 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:20:06.494Z,1761506406.494 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:20:06.494Z,1761506406.494 [marl:UpdateSpeed] Stopped
2025-10-26T19:20:06.494Z,1761506406.494 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:20:06.528Z,1761506406.528 [DAT](INFO): DAT read: user:152>

2025-10-26T19:20:06.529Z,1761506406.529 [DAT](INFO): DAT read: 

2025-10-26T19:20:06.530Z,1761506406.530 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:20:06.530Z,1761506406.530 [DAT](INFO): commRate: 600
2025-10-26T19:20:06.531Z,1761506406.531 [DAT](INFO): online mode acknowledged
2025-10-26T19:20:06.531Z,1761506406.531 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:20:06.852Z,1761506406.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682756,0.711009,-0.168257],[-0.726525,0.685083,-0.053125],[0.077498,0.158514,0.984311]]
2025-10-26T19:20:07.021Z,1761506407.021 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T19:20:07.021Z,1761506407.021 [marl:UpdateRudder:B] Stopped
2025-10-26T19:20:07.021Z,1761506407.021 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:20:07.021Z,1761506407.021 [marl:UpdateRudder] Stopped
2025-10-26T19:20:07.021Z,1761506407.021 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:20:07.222Z,1761506407.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705726,0.688182,-0.168392],[-0.704079,0.707705,-0.058534],[0.078890,0.159870,0.983981]]
2025-10-26T19:20:07.634Z,1761506407.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727658,0.665029,-0.168078],[-0.681253,0.729250,-0.063938],[0.080050,0.161029,0.983698]]
2025-10-26T19:20:08.030Z,1761506408.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748375,0.642156,-0.166041],[-0.658322,0.749672,-0.067848],[0.080908,0.160084,0.983782]]
2025-10-26T19:20:08.443Z,1761506408.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767303,0.620410,-0.162289],[-0.636049,0.768538,-0.069223],[0.081779,0.156338,0.984312]]
2025-10-26T19:20:08.856Z,1761506408.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785374,0.598314,-0.158772],[-0.613463,0.786580,-0.070389],[0.082772,0.152682,0.984803]]
2025-10-26T19:20:09.244Z,1761506409.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802829,0.575500,-0.155774],[-0.590297,0.803962,-0.072074],[0.083758,0.149816,0.985160]]
2025-10-26T19:20:09.646Z,1761506409.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820205,0.551186,-0.153161],[-0.565770,0.821183,-0.074581],[0.084665,0.147826,0.985383]]
2025-10-26T19:20:09.809Z,1761506409.809 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:20:08.9603

2025-10-26T19:20:09.809Z,1761506409.809 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:20:10.050Z,1761506410.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837131,0.525624,-0.151430],[-0.540279,0.837798,-0.078698],[0.085502,0.147695,0.985330]]
2025-10-26T19:20:10.457Z,1761506410.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854199,0.497886,-0.149846],[-0.512787,0.854355,-0.084423],[0.085988,0.148953,0.985098]]
2025-10-26T19:20:10.863Z,1761506410.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871242,0.468070,-0.147812],[-0.483253,0.870725,-0.091127],[0.086050,0.150824,0.984808]]
2025-10-26T19:20:11.264Z,1761506411.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887172,0.437631,-0.146302],[-0.453314,0.885820,-0.099144],[0.086209,0.154278,0.984259]]
2025-10-26T19:20:11.666Z,1761506411.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902158,0.406590,-0.144205],[-0.422746,0.899835,-0.107626],[0.086001,0.158057,0.983678]]
2025-10-26T19:20:12.070Z,1761506412.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915935,0.376270,-0.139584],[-0.392182,0.913006,-0.112306],[0.085184,0.157608,0.983821]]
2025-10-26T19:20:12.474Z,1761506412.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928009,0.347603,-0.134060],[-0.362943,0.924724,-0.114706],[0.084096,0.155105,0.984312]]
2025-10-26T19:20:12.879Z,1761506412.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938445,0.320580,-0.128641],[-0.335219,0.935070,-0.115203],[0.083356,0.151235,0.984977]]
2025-10-26T19:20:13.284Z,1761506413.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947518,0.295210,-0.122727],[-0.308910,0.944291,-0.113535],[0.082373,0.145488,0.985925]]
2025-10-26T19:20:13.686Z,1761506413.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955597,0.270536,-0.116808],[-0.283361,0.952417,-0.112288],[0.080872,0.140401,0.986786]]
2025-10-26T19:20:14.090Z,1761506414.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962925,0.245493,-0.111842],[-0.257835,0.959455,-0.113873],[0.079353,0.138488,0.987180]]
2025-10-26T19:20:14.497Z,1761506414.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969682,0.219961,-0.106459],[-0.231785,0.965880,-0.115552],[0.077409,0.136724,0.987580]]
2025-10-26T19:20:14.900Z,1761506414.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975810,0.193808,-0.101162],[-0.205263,0.971468,-0.118817],[0.075248,0.136708,0.987749]]
2025-10-26T19:20:15.302Z,1761506415.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981258,0.167168,-0.095852],[-0.178474,0.975979,-0.124946],[0.072662,0.139711,0.987523]]
2025-10-26T19:20:15.711Z,1761506415.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986018,0.140124,-0.090188],[-0.151217,0.979788,-0.130954],[0.070015,0.142761,0.987278]]
2025-10-26T19:20:16.111Z,1761506416.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990132,0.112151,-0.084034],[-0.123033,0.982753,-0.138056],[0.067102,0.147032,0.986853]]
2025-10-26T19:20:16.525Z,1761506416.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993577,0.082694,-0.077248],[-0.093374,0.984747,-0.146817],[0.063929,0.153087,0.986143]]
2025-10-26T19:20:16.925Z,1761506416.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996206,0.052067,-0.069735],[-0.062389,0.985921,-0.155135],[0.060676,0.158897,0.985429]]
2025-10-26T19:20:17.323Z,1761506417.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997897,0.020015,-0.061646],[-0.029717,0.986552,-0.160726],[0.057600,0.162220,0.985072]]
2025-10-26T19:20:17.730Z,1761506417.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998485,-0.013450,-0.053354],[0.004406,0.986096,-0.166118],[0.054847,0.165631,0.984662]]
2025-10-26T19:20:17.732Z,1761506417.732 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-10-26T19:20:18.132Z,1761506418.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997852,-0.047698,-0.044903],[0.039400,0.984599,-0.170328],[0.052336,0.168193,0.984364]]
2025-10-26T19:20:18.537Z,1761506418.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995951,-0.082018,-0.036799],[0.074539,0.982282,-0.171951],[0.050250,0.168512,0.984418]]
2025-10-26T19:20:18.938Z,1761506418.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992823,-0.116038,-0.028938],[0.109448,0.979137,-0.171209],[0.048201,0.166813,0.984810]]
2025-10-26T19:20:18.992Z,1761506418.992 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:20:18.992Z,1761506418.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:20:18.992Z,1761506418.992 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:20:18.992Z,1761506418.992 [marl:UpdateRudder:A] Stopped
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode] Stopped
2025-10-26T19:20:18.993Z,1761506418.993 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed] Stopped
2025-10-26T19:20:18.994Z,1761506418.994 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:20:19.342Z,1761506419.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988485,-0.149743,-0.021769],[0.144003,0.975108,-0.168604],[0.046474,0.163528,0.985443]]
2025-10-26T19:20:19.408Z,1761506419.408 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:20:19.408Z,1761506419.408 [marl:UpdateRudder:B] Stopped
2025-10-26T19:20:19.408Z,1761506419.408 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:20:19.409Z,1761506419.409 [marl:UpdateRudder] Stopped
2025-10-26T19:20:19.409Z,1761506419.409 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:20:19.748Z,1761506419.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982992,-0.183015,-0.015235],[0.178006,0.969914,-0.166074],[0.045171,0.160538,0.985996]]
2025-10-26T19:20:19.890Z,1761506419.890 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:20:19.890Z,1761506419.890 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:20:20.144Z,1761506420.144 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:20:20.151Z,1761506420.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976406,-0.215734,-0.009462],[0.211389,0.963853,-0.162177],[0.044107,0.156350,0.986716]]
2025-10-26T19:20:20.397Z,1761506420.397 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:20:20.557Z,1761506420.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968876,-0.247518,-0.003766],[0.243783,0.956678,-0.159177],[0.043003,0.153305,0.987243]]
2025-10-26T19:20:20.648Z,1761506420.648 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:20:20.959Z,1761506420.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960534,-0.278155,0.002036],[0.275018,0.948554,-0.156879],[0.041705,0.151248,0.987616]]
2025-10-26T19:20:21.362Z,1761506421.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951527,-0.307464,0.007840],[0.304926,0.939731,-0.154680],[0.040191,0.149572,0.987934]]
2025-10-26T19:20:21.766Z,1761506421.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942112,-0.335041,0.013120],[0.333045,0.930540,-0.152238],[0.038798,0.147795,0.988257]]
2025-10-26T19:20:22.171Z,1761506422.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932834,-0.359927,0.016521],[0.358445,0.922386,-0.143951],[0.036573,0.140204,0.989447]]
2025-10-26T19:20:22.320Z,1761506422.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:20:22.578Z,1761506422.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924914,-0.379885,0.014879],[0.378629,0.916916,-0.126117],[0.034268,0.122281,0.991904]]
2025-10-26T19:20:22.980Z,1761506422.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919017,-0.394083,0.010340],[0.392952,0.913647,-0.104109],[0.031580,0.099741,0.994512]]
2025-10-26T19:20:23.324Z,1761506423.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:20:23.389Z,1761506423.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914208,-0.405216,0.004946],[0.404217,0.910948,-0.082353],[0.028865,0.077287,0.996591]]
2025-10-26T19:20:23.800Z,1761506423.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910033,-0.414535,0.000755],[0.413711,0.908106,-0.064710],[0.026139,0.059200,0.997904]]
2025-10-26T19:20:23.925Z,1761506423.925 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:20:23.0601

2025-10-26T19:20:23.925Z,1761506423.925 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:20:24.192Z,1761506424.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906145,-0.422964,-0.001449],[0.422335,0.904975,-0.051514],[0.023100,0.046067,0.998671]]
2025-10-26T19:20:24.603Z,1761506424.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902603,-0.430467,-0.002371],[0.430001,0.901856,-0.041889],[0.020171,0.036790,0.999119]]
2025-10-26T19:20:24.998Z,1761506424.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899171,-0.437592,-0.002388],[0.437256,0.898669,-0.034646],[0.017307,0.030108,0.999397]]
2025-10-26T19:20:25.406Z,1761506425.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895652,-0.444751,-0.001688],[0.444531,0.895317,-0.028276],[0.014087,0.024575,0.999599]]
2025-10-26T19:20:25.806Z,1761506425.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891758,-0.452512,0.000391],[0.452388,0.891491,-0.024267],[0.010633,0.021817,0.999705]]
2025-10-26T19:20:26.212Z,1761506426.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887082,-0.461593,0.004165],[0.461564,0.886825,-0.022352],[0.006624,0.021750,0.999741]]
2025-10-26T19:20:26.617Z,1761506426.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881117,-0.472813,0.009034],[0.472892,0.880836,-0.022388],[0.002627,0.023998,0.999709]]
2025-10-26T19:20:27.018Z,1761506427.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873696,-0.486268,0.014094],[0.486470,0.873406,-0.022567],[-0.001337,0.026573,0.999646]]
2025-10-26T19:20:27.422Z,1761506427.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864987,-0.501449,0.018604],[0.501770,0.864710,-0.022414],[-0.004847,0.028723,0.999576]]
2025-10-26T19:20:27.828Z,1761506427.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854841,-0.518349,0.023672],[0.518827,0.854558,-0.023428],[-0.008085,0.032309,0.999445]]
2025-10-26T19:20:28.230Z,1761506428.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843579,-0.536243,0.028583],[0.536898,0.843277,-0.024988],[-0.010704,0.036425,0.999279]]
2025-10-26T19:20:28.637Z,1761506428.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831283,-0.554862,0.033102],[0.555703,0.830956,-0.026590],[-0.012753,0.040499,0.999098]]
2025-10-26T19:20:28.703Z,1761506428.703 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:20:28.716Z,1761506428.716 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:28.768Z,1761506428.768 [DAT](INFO): entering command mode
2025-10-26T19:20:28.964Z,1761506428.964 [DAT](INFO): DAT read: 

2025-10-26T19:20:28.965Z,1761506428.965 [DAT](INFO): DAT read: user:153>

2025-10-26T19:20:28.965Z,1761506428.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:28.965Z,1761506428.965 [DAT](INFO): setting remote address to 0
2025-10-26T19:20:29.039Z,1761506429.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818176,-0.573698,0.038191],[0.574793,0.817760,-0.029711],[-0.014186,0.046260,0.998829]]
2025-10-26T19:20:29.216Z,1761506429.216 [DAT](INFO): DAT read: user:153>

2025-10-26T19:20:29.217Z,1761506429.217 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:20:29.218Z,1761506429.218 [DAT](INFO): set remote address to 0
2025-10-26T19:20:29.218Z,1761506429.218 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:29.218Z,1761506429.218 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:20:29.444Z,1761506429.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804544,-0.592423,0.041762],[0.593699,0.804087,-0.031064],[-0.015178,0.049786,0.998645]]
2025-10-26T19:20:29.469Z,1761506429.469 [DAT](INFO): DAT read: user:154>

2025-10-26T19:20:29.469Z,1761506429.469 [DAT](INFO): DAT read: Tx time:19:20:28.5613

2025-10-26T19:20:29.470Z,1761506429.470 [DAT](INFO): Ping request sent.
2025-10-26T19:20:29.470Z,1761506429.470 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:20:29.470Z,1761506429.470 [DAT](INFO): publishing transmit ping time
2025-10-26T19:20:29.471Z,1761506429.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000956
2025-10-26T19:20:29.722Z,1761506429.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251624
2025-10-26T19:20:29.846Z,1761506429.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790634,-0.610758,0.043268],[0.612098,0.790175,-0.030979],[-0.015269,0.050977,0.998583]]
2025-10-26T19:20:29.973Z,1761506429.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502594
2025-10-26T19:20:30.225Z,1761506430.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755043
2025-10-26T19:20:30.250Z,1761506430.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777248,-0.627538,0.045637],[0.629019,0.776698,-0.032797],[-0.014865,0.054198,0.998420]]
2025-10-26T19:20:30.476Z,1761506430.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006454
2025-10-26T19:20:30.657Z,1761506430.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764715,-0.642663,0.046858],[0.644199,0.764159,-0.032700],[-0.014791,0.055192,0.998366]]
2025-10-26T19:20:30.729Z,1761506430.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259057
2025-10-26T19:20:30.981Z,1761506430.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510604
2025-10-26T19:20:31.232Z,1761506431.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762517
2025-10-26T19:20:31.462Z,1761506431.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743208,-0.667320,0.048220],[0.668897,0.742685,-0.031545],[-0.014761,0.055699,0.998338]]
2025-10-26T19:20:31.484Z,1761506431.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014549
2025-10-26T19:20:31.737Z,1761506431.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267102
2025-10-26T19:20:31.874Z,1761506431.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733603,-0.677871,0.048134],[0.679412,0.733146,-0.029941],[-0.014993,0.054668,0.998392]]
2025-10-26T19:20:31.989Z,1761506431.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518592
2025-10-26T19:20:32.240Z,1761506432.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770422
2025-10-26T19:20:32.272Z,1761506432.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724639,-0.687479,0.047646],[0.688949,0.724295,-0.027310],[-0.015735,0.052615,0.998491]]
2025-10-26T19:20:32.296Z,1761506432.296 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:20:32.296Z,1761506432.296 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:20:32.296Z,1761506432.296 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateRudder:A] Stopped
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:20:32.297Z,1761506432.297 [marl:UpdateCommandMode] Stopped
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed] Stopped
2025-10-26T19:20:32.298Z,1761506432.298 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:20:32.492Z,1761506432.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022450
2025-10-26T19:20:32.682Z,1761506432.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715722,-0.696781,0.047316],[0.698181,0.715508,-0.024316],[-0.016912,0.050438,0.998584]]
2025-10-26T19:20:32.744Z,1761506432.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274530
2025-10-26T19:20:32.875Z,1761506432.875 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:20:32.875Z,1761506432.875 [marl:UpdateRudder:B] Stopped
2025-10-26T19:20:32.875Z,1761506432.875 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:20:32.875Z,1761506432.875 [marl:UpdateRudder] Stopped
2025-10-26T19:20:32.875Z,1761506432.875 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:20:32.997Z,1761506432.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527042
2025-10-26T19:20:33.078Z,1761506433.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706942,-0.705773,0.046012],[0.707028,0.706909,-0.019784],[-0.018564,0.046518,0.998745]]
2025-10-26T19:20:33.249Z,1761506433.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779039
2025-10-26T19:20:33.482Z,1761506433.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697874,-0.714790,0.045248],[0.715930,0.697997,-0.015633],[-0.020408,0.043304,0.998853]]
2025-10-26T19:20:33.500Z,1761506433.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030378
2025-10-26T19:20:33.752Z,1761506433.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282428
2025-10-26T19:20:33.887Z,1761506433.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688746,-0.723541,0.046015],[0.724648,0.689005,-0.012501],[-0.022660,0.041955,0.998863]]
2025-10-26T19:20:34.004Z,1761506434.004 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:20:34.005Z,1761506434.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534919
2025-10-26T19:20:34.256Z,1761506434.256 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:20:34.257Z,1761506434.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786605
2025-10-26T19:20:34.298Z,1761506434.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678665,-0.732964,0.046660],[0.734030,0.679052,-0.009423],[-0.024778,0.040645,0.998866]]
2025-10-26T19:20:34.508Z,1761506434.508 [DAT](INFO): setting remote address to 6
2025-10-26T19:20:34.509Z,1761506434.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038735
2025-10-26T19:20:34.708Z,1761506434.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668290,-0.742372,0.047660],[0.743417,0.668794,-0.006809],[-0.026820,0.039982,0.998840]]
2025-10-26T19:20:34.760Z,1761506434.760 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:34.760Z,1761506434.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290568
2025-10-26T19:20:35.012Z,1761506435.012 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:35.013Z,1761506435.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542604
2025-10-26T19:20:35.098Z,1761506435.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656905,-0.752321,0.049884],[0.753419,0.657521,-0.005161],[-0.028917,0.040974,0.998742]]
2025-10-26T19:20:35.264Z,1761506435.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:35.264Z,1761506435.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794541
2025-10-26T19:20:35.503Z,1761506435.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644564,-0.762766,0.052205],[0.763947,0.645265,-0.004350],[-0.030368,0.042686,0.998627]]
2025-10-26T19:20:35.516Z,1761506435.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:35.516Z,1761506435.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046547
2025-10-26T19:20:35.768Z,1761506435.768 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:35.769Z,1761506435.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298612
2025-10-26T19:20:35.906Z,1761506435.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631841,-0.773198,0.054239],[0.774451,0.632625,-0.003424],[-0.031665,0.044169,0.998522]]
2025-10-26T19:20:36.020Z,1761506436.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:36.020Z,1761506436.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550563
2025-10-26T19:20:36.272Z,1761506436.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:36.272Z,1761506436.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802573
2025-10-26T19:20:36.310Z,1761506436.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618831,-0.783532,0.055912],[0.784840,0.619693,-0.002389],[-0.032777,0.045360,0.998433]]
2025-10-26T19:20:36.524Z,1761506436.524 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:36.525Z,1761506436.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054678
2025-10-26T19:20:36.733Z,1761506436.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592401,-0.803410,0.059947],[0.804874,0.593445,-0.000486],[-0.035185,0.048538,0.998201]]
2025-10-26T19:20:36.776Z,1761506436.776 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:36.777Z,1761506436.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306673
2025-10-26T19:20:37.029Z,1761506437.029 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:37.029Z,1761506437.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559075
2025-10-26T19:20:37.280Z,1761506437.280 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:37.280Z,1761506437.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810589
2025-10-26T19:20:37.529Z,1761506437.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565562,-0.822124,0.065199],[0.823842,0.566819,0.000951],[-0.037738,0.053176,0.997872]]
2025-10-26T19:20:37.532Z,1761506437.532 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:37.533Z,1761506437.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062597
2025-10-26T19:20:37.784Z,1761506437.784 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:37.784Z,1761506437.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314561
2025-10-26T19:20:37.931Z,1761506437.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551877,-0.831109,0.068475],[0.832994,0.553279,0.001829],[-0.039406,0.056030,0.997651]]
2025-10-26T19:20:38.036Z,1761506438.036 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:38.037Z,1761506438.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566645
2025-10-26T19:20:38.288Z,1761506438.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:38.288Z,1761506438.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818546
2025-10-26T19:20:38.353Z,1761506438.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537682,-0.840275,0.069549],[0.842135,0.539247,0.004529],[-0.041310,0.056135,0.997568]]
2025-10-26T19:20:38.540Z,1761506438.540 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:38.540Z,1761506438.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070568
2025-10-26T19:20:38.756Z,1761506438.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522032,-0.849998,0.070606],[0.851821,0.523778,0.007547],[-0.043397,0.056204,0.997476]]
2025-10-26T19:20:38.802Z,1761506438.802 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:38.804Z,1761506438.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333884
2025-10-26T19:20:39.052Z,1761506439.052 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:39.052Z,1761506439.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582498
2025-10-26T19:20:39.141Z,1761506439.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504781,-0.860336,0.070835],[0.862068,0.506679,0.010705],[-0.045100,0.055661,0.997431]]
2025-10-26T19:20:39.166Z,1761506439.166 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050223085691,35.0, +13.61502.2,  0
2025-10-26T19:20:39.304Z,1761506439.304 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:39.304Z,1761506439.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834548
2025-10-26T19:20:39.542Z,1761506439.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486096,-0.870921,0.072167],[0.872665,0.488147,0.013002],[-0.046551,0.056657,0.997308]]
2025-10-26T19:20:39.556Z,1761506439.556 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:39.556Z,1761506439.556 [DAT](INFO): Reached modem response timeout
2025-10-26T19:20:39.808Z,1761506439.808 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:39.948Z,1761506439.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466305,-0.881522,0.074015],[0.883341,0.468501,0.014693],[-0.047628,0.058529,0.997149]]
2025-10-26T19:20:40.060Z,1761506440.060 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:40.312Z,1761506440.312 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:40.359Z,1761506440.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445513,-0.892085,0.075518],[0.893992,0.447804,0.015815],[-0.047926,0.060467,0.997019]]
2025-10-26T19:20:40.564Z,1761506440.564 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:40.762Z,1761506440.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424385,-0.902279,0.076088],[0.904238,0.426706,0.016596],[-0.047442,0.061758,0.996963]]
2025-10-26T19:20:40.823Z,1761506440.823 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:41.068Z,1761506441.068 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:41.079Z,1761506441.079 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:20:41.080Z,1761506441.080 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:20:41.158Z,1761506441.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403383,-0.911840,0.076354],[0.913885,0.405648,0.016253],[-0.045792,0.063222,0.996948]]
2025-10-26T19:20:41.321Z,1761506441.321 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:41.562Z,1761506441.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384286,-0.920141,0.075260],[0.922189,0.386422,0.015656],[-0.043488,0.063387,0.997041]]
2025-10-26T19:20:41.572Z,1761506441.572 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:20:41.825Z,1761506441.825 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:20:41.826Z,1761506441.826 [DAT](INFO): response not received
2025-10-26T19:20:41.826Z,1761506441.826 [DAT](INFO): DAT read: user:155>

2025-10-26T19:20:41.828Z,1761506441.828 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:20:41.829Z,1761506441.829 [DAT](INFO): set remote address to 6
2025-10-26T19:20:41.829Z,1761506441.829 [DAT](INFO): entering online mode
2025-10-26T19:20:41.966Z,1761506441.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367332,-0.927215,0.073070],[0.929194,0.369291,0.014905],[-0.040804,0.062421,0.997215]]
2025-10-26T19:20:42.077Z,1761506442.077 [DAT](INFO): DAT read: user:156>

2025-10-26T19:20:42.078Z,1761506442.078 [DAT](INFO): DAT read: 

2025-10-26T19:20:42.080Z,1761506442.080 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:20:42.080Z,1761506442.080 [DAT](INFO): commRate: 600
2025-10-26T19:20:42.080Z,1761506442.080 [DAT](INFO): online mode acknowledged
2025-10-26T19:20:42.081Z,1761506442.081 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:20:42.370Z,1761506442.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352601,-0.933157,0.069930],[0.934990,0.354378,0.014470],[-0.038284,0.060282,0.997447]]
2025-10-26T19:20:42.818Z,1761506442.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340186,-0.938090,0.065273],[0.939668,0.341776,0.014616],[-0.036020,0.056363,0.997760]]
2025-10-26T19:20:43.178Z,1761506443.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329281,-0.942183,0.062172],[0.943608,0.330742,0.014586],[-0.034306,0.053863,0.997959]]
2025-10-26T19:20:43.582Z,1761506443.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319407,-0.945797,0.058718],[0.947034,0.320771,0.015253],[-0.033261,0.050736,0.998158]]
2025-10-26T19:20:43.987Z,1761506443.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310026,-0.949107,0.055492],[0.950140,0.311358,0.017005],[-0.033417,0.047453,0.998314]]
2025-10-26T19:20:44.391Z,1761506444.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300734,-0.952241,0.052885],[0.953064,0.302106,0.020031],[-0.035051,0.044379,0.998400]]
2025-10-26T19:20:44.861Z,1761506444.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291590,-0.955104,0.052464],[0.955791,0.293097,0.023604],[-0.037921,0.043262,0.998344]]
2025-10-26T19:20:45.201Z,1761506445.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281302,-0.958193,0.052303],[0.958708,0.282992,0.028191],[-0.041813,0.042213,0.998233]]
2025-10-26T19:20:45.253Z,1761506445.253 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:20:45.253Z,1761506445.253 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:20:45.253Z,1761506445.253 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateRudder:A] Stopped
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode] Stopped
2025-10-26T19:20:45.254Z,1761506445.254 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:20:45.255Z,1761506445.255 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:20:45.255Z,1761506445.255 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:20:45.255Z,1761506445.255 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:20:45.255Z,1761506445.255 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:20:45.255Z,1761506445.255 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:20:45.255Z,1761506445.255 [marl:UpdateSpeed] Stopped
2025-10-26T19:20:45.256Z,1761506445.256 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:20:45.353Z,1761506445.353 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:20:44.5100

2025-10-26T19:20:45.353Z,1761506445.353 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:20:45.602Z,1761506445.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269204,-0.961716,0.051292],[0.961984,0.271059,0.033373],[-0.045998,0.040358,0.998126]]
2025-10-26T19:20:45.686Z,1761506445.686 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:20:45.686Z,1761506445.686 [marl:UpdateRudder:B] Stopped
2025-10-26T19:20:45.686Z,1761506445.686 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:20:45.686Z,1761506445.686 [marl:UpdateRudder] Stopped
2025-10-26T19:20:45.686Z,1761506445.686 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:20:46.008Z,1761506446.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253009,-0.966068,0.051959],[0.966195,0.255063,0.037564],[-0.049543,0.040698,0.997942]]
2025-10-26T19:20:46.410Z,1761506446.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233966,-0.970849,0.052076],[0.970833,0.236177,0.041272],[-0.052369,0.040901,0.997790]]
2025-10-26T19:20:46.867Z,1761506446.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213263,-0.975630,0.051620],[0.975484,0.215573,0.044255],[-0.054304,0.040917,0.997686]]
2025-10-26T19:20:47.219Z,1761506447.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191266,-0.980140,0.052364],[0.979977,0.193698,0.046118],[-0.055344,0.042495,0.997563]]
2025-10-26T19:20:47.629Z,1761506447.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169093,-0.984068,0.054933],[0.984023,0.171712,0.047047],[-0.055730,0.046100,0.997381]]
2025-10-26T19:20:48.026Z,1761506448.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146665,-0.987493,0.057850],[0.987661,0.149435,0.046859],[-0.054917,0.050264,0.997225]]
2025-10-26T19:20:48.431Z,1761506448.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125314,-0.990326,0.059580],[0.990687,0.128131,0.046063],[-0.053252,0.053253,0.997160]]
2025-10-26T19:20:48.874Z,1761506448.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105252,-0.992666,0.059465],[0.993123,0.108007,0.045182],[-0.051273,0.054301,0.997207]]
2025-10-26T19:20:49.252Z,1761506449.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087118,-0.994516,0.057871],[0.994967,0.089750,0.044550],[-0.049500,0.053699,0.997330]]
2025-10-26T19:20:49.654Z,1761506449.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070527,-0.995920,0.056296],[0.996341,0.073063,0.044347],[-0.048279,0.052963,0.997429]]
2025-10-26T19:20:50.058Z,1761506450.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055143,-0.996950,0.055218],[0.997336,0.057640,0.044698],[-0.047744,0.052606,0.997473]]
2025-10-26T19:20:50.463Z,1761506450.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039395,-0.997771,0.053859],[0.998098,0.041851,0.045275],[-0.047428,0.051973,0.997522]]
2025-10-26T19:20:50.874Z,1761506450.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024021,-0.998344,0.052276],[0.998560,0.026469,0.046654],[-0.047960,0.051080,0.997542]]
2025-10-26T19:20:51.270Z,1761506451.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008572,-0.998653,0.051177],[0.998775,0.011045,0.048227],[-0.048728,0.050701,0.997524]]
2025-10-26T19:20:51.674Z,1761506451.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008024,-0.998742,0.049489],[0.998737,-0.005549,0.049933],[-0.049596,0.049827,0.997526]]
2025-10-26T19:20:52.078Z,1761506452.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024705,-0.998593,0.046919],[0.998413,-0.022271,0.051717],[-0.050599,0.048122,0.997559]]
2025-10-26T19:20:52.484Z,1761506452.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041254,-0.998160,0.044429],[0.997822,-0.038869,0.053287],[-0.051462,0.046531,0.997590]]
2025-10-26T19:20:52.886Z,1761506452.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057216,-0.997479,0.041984],[0.997011,-0.054901,0.054362],[-0.051920,0.044969,0.997638]]
2025-10-26T19:20:53.299Z,1761506453.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072888,-0.996567,0.039253],[0.995955,-0.070656,0.055513],[-0.052549,0.043140,0.997686]]
2025-10-26T19:20:53.444Z,1761506453.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:20:53.696Z,1761506453.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088002,-0.995347,0.039252],[0.994715,-0.085718,0.056524],[-0.052896,0.044018,0.997629]]
2025-10-26T19:20:54.099Z,1761506454.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102822,-0.993918,0.039426],[0.993304,-0.100498,0.056984],[-0.052676,0.045021,0.997596]]
2025-10-26T19:20:54.448Z,1761506454.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:20:54.502Z,1761506454.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117160,-0.992365,0.038548],[0.991728,-0.114859,0.057297],[-0.052432,0.044942,0.997613]]
2025-10-26T19:20:54.906Z,1761506454.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130928,-0.990702,0.036976],[0.990006,-0.128683,0.057692],[-0.052397,0.044160,0.997649]]
2025-10-26T19:20:55.312Z,1761506455.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145026,-0.988823,0.034580],[0.988037,-0.142881,0.058043],[-0.052453,0.042584,0.997715]]
2025-10-26T19:20:55.432Z,1761506455.432 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:20:55.684Z,1761506455.684 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:20:55.724Z,1761506455.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159680,-0.986609,0.033227],[0.985772,-0.157574,0.058515],[-0.052496,0.042098,0.997733]]
2025-10-26T19:20:55.936Z,1761506455.936 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:20:56.118Z,1761506456.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175622,-0.983941,0.031904],[0.983049,-0.173545,0.059134],[-0.052648,0.041749,0.997740]]
2025-10-26T19:20:56.522Z,1761506456.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192971,-0.980792,0.028455],[0.979773,-0.191043,0.059557],[-0.052977,0.039372,0.997819]]
2025-10-26T19:20:56.928Z,1761506456.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211452,-0.977045,0.025920],[0.975922,-0.209608,0.060340],[-0.053522,0.038055,0.997841]]
2025-10-26T19:20:57.332Z,1761506457.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231631,-0.972415,0.027502],[0.971310,-0.229617,0.061903],[-0.053881,0.041052,0.997703]]
2025-10-26T19:20:57.740Z,1761506457.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252685,-0.967108,0.029210],[0.966031,-0.250483,0.063579],[-0.054172,0.044283,0.997549]]
2025-10-26T19:20:58.139Z,1761506458.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274107,-0.961246,0.029535],[0.960188,-0.271826,0.064423],[-0.053898,0.046018,0.997486]]
2025-10-26T19:20:58.542Z,1761506458.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295649,-0.954836,0.029676],[0.953860,-0.293359,0.063967],[-0.052372,0.047219,0.997511]]
2025-10-26T19:20:58.642Z,1761506458.642 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:20:58.642Z,1761506458.642 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:20:58.642Z,1761506458.642 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:20:58.643Z,1761506458.643 [marl:UpdateRudder:A] Stopped
2025-10-26T19:20:58.643Z,1761506458.643 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:20:58.643Z,1761506458.643 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:20:58.643Z,1761506458.643 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:20:58.643Z,1761506458.643 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateCommandMode] Stopped
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:20:58.644Z,1761506458.644 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:20:58.645Z,1761506458.645 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:20:58.645Z,1761506458.645 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:20:58.645Z,1761506458.645 [marl:UpdateSpeed] Stopped
2025-10-26T19:20:58.645Z,1761506458.645 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:20:58.953Z,1761506458.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316740,-0.948060,0.029296],[0.947226,-0.314552,0.061808],[-0.049382,0.047326,0.997658]]
2025-10-26T19:20:58.969Z,1761506458.969 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050223091691,35.0, +13.5,   0.0, 0
2025-10-26T19:20:59.006Z,1761506459.006 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:20:59.006Z,1761506459.006 [marl:UpdateRudder:B] Stopped
2025-10-26T19:20:59.006Z,1761506459.006 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:20:59.006Z,1761506459.006 [marl:UpdateRudder] Stopped
2025-10-26T19:20:59.006Z,1761506459.006 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:20:59.012Z,1761506459.012 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:20:59.229Z,1761506459.229 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:20:58.3599

2025-10-26T19:20:59.229Z,1761506459.229 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:20:59.229Z,1761506459.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:59.284Z,1761506459.284 [DAT](INFO): entering command mode
2025-10-26T19:20:59.350Z,1761506459.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336640,-0.941213,0.028141],[0.940551,-0.334670,0.057968],[-0.045142,0.045983,0.997922]]
2025-10-26T19:20:59.484Z,1761506459.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:59.484Z,1761506459.484 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:20:59.732Z,1761506459.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:59.732Z,1761506459.732 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:20:59.754Z,1761506459.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355211,-0.934412,0.026448],[0.933929,-0.353532,0.052844],[-0.040028,0.043472,0.998252]]
2025-10-26T19:20:59.984Z,1761506459.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:20:59.984Z,1761506459.984 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:00.160Z,1761506460.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371460,-0.928092,0.025720],[0.927798,-0.370021,0.047705],[-0.034757,0.041584,0.998530]]
2025-10-26T19:21:00.237Z,1761506460.237 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:00.237Z,1761506460.237 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:00.488Z,1761506460.488 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:00.488Z,1761506460.488 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:00.563Z,1761506460.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385699,-0.922319,0.023748],[0.922155,-0.384553,0.041824],[-0.029443,0.038030,0.998843]]
2025-10-26T19:21:00.740Z,1761506460.740 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:00.740Z,1761506460.740 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:00.966Z,1761506460.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398421,-0.916939,0.021989],[0.916879,-0.397529,0.036120],[-0.024379,0.034552,0.999106]]
2025-10-26T19:21:00.992Z,1761506460.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:00.992Z,1761506460.992 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:01.244Z,1761506461.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:01.244Z,1761506461.244 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:01.370Z,1761506461.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408766,-0.912416,0.020158],[0.912425,-0.408091,0.030705],[-0.019789,0.030944,0.999325]]
2025-10-26T19:21:01.496Z,1761506461.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:01.496Z,1761506461.496 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:01.749Z,1761506461.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:01.749Z,1761506461.749 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:01.786Z,1761506461.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415640,-0.909457,0.011470],[0.909396,-0.415331,0.022348],[-0.015560,0.019720,0.999684]]
2025-10-26T19:21:02.001Z,1761506462.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:02.001Z,1761506462.001 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:02.178Z,1761506462.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418173,-0.908361,-0.003377],[0.908283,-0.418182,0.012091],[-0.012396,0.001989,0.999921]]
2025-10-26T19:21:02.253Z,1761506462.253 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:02.254Z,1761506462.254 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:21:02.505Z,1761506462.505 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:21:01.7098

2025-10-26T19:21:02.505Z,1761506462.505 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T19:21:02.505Z,1761506462.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:02.559Z,1761506462.559 [DAT](INFO): entering command mode
2025-10-26T19:21:02.582Z,1761506462.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417048,-0.908532,-0.025322],[0.908824,-0.417180,-0.000102],[-0.010471,-0.023056,0.999679]]
2025-10-26T19:21:02.757Z,1761506462.757 [DAT](INFO): DAT read: 

2025-10-26T19:21:02.758Z,1761506462.758 [DAT](INFO): DAT read: user:157>

2025-10-26T19:21:02.759Z,1761506462.759 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:02.759Z,1761506462.759 [DAT](INFO): setting remote address to 0
2025-10-26T19:21:02.986Z,1761506462.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413891,-0.908748,-0.053578],[0.910271,-0.413797,-0.013365],[-0.010025,-0.054303,0.998474]]
2025-10-26T19:21:03.008Z,1761506463.008 [DAT](INFO): DAT read: user:157>

2025-10-26T19:21:03.009Z,1761506463.009 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:21:03.010Z,1761506463.010 [DAT](INFO): set remote address to 0
2025-10-26T19:21:03.010Z,1761506463.010 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:03.010Z,1761506463.010 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:21:03.260Z,1761506463.260 [DAT](INFO): DAT read: user:158>

2025-10-26T19:21:03.262Z,1761506463.262 [DAT](INFO): DAT read: Tx time:19:21:02.3610

2025-10-26T19:21:03.262Z,1761506463.262 [DAT](INFO): Ping request sent.
2025-10-26T19:21:03.263Z,1761506463.263 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:21:03.263Z,1761506463.263 [DAT](INFO): publishing transmit ping time
2025-10-26T19:21:03.264Z,1761506463.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001381
2025-10-26T19:21:03.390Z,1761506463.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410068,-0.908278,-0.082915],[0.911991,-0.409416,-0.025506],[-0.010781,-0.086077,0.996230]]
2025-10-26T19:21:03.513Z,1761506463.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250368
2025-10-26T19:21:03.765Z,1761506463.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502420
2025-10-26T19:21:03.817Z,1761506463.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407733,-0.906389,-0.110511],[0.913025,-0.406262,-0.036549],[-0.011768,-0.115801,0.993203]]
2025-10-26T19:21:04.016Z,1761506464.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753787
2025-10-26T19:21:04.198Z,1761506464.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407837,-0.903258,-0.133395],[0.912972,-0.405395,-0.046231],[-0.012319,-0.140641,0.989984]]
2025-10-26T19:21:04.269Z,1761506464.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895
2025-10-26T19:21:04.520Z,1761506464.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257885
2025-10-26T19:21:04.603Z,1761506464.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410337,-0.899049,-0.152754],[0.911845,-0.406842,-0.054942],[-0.012751,-0.161833,0.986736]]
2025-10-26T19:21:04.772Z,1761506464.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509909
2025-10-26T19:21:05.006Z,1761506465.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414210,-0.894883,-0.166178],[0.910091,-0.409786,-0.061727],[-0.012859,-0.176805,0.984162]]
2025-10-26T19:21:05.025Z,1761506465.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762524
2025-10-26T19:21:05.276Z,1761506465.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013818
2025-10-26T19:21:05.410Z,1761506465.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418843,-0.891048,-0.174941],[0.907974,-0.413584,-0.067314],[-0.012373,-0.187036,0.982275]]
2025-10-26T19:21:05.528Z,1761506465.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265875
2025-10-26T19:21:05.781Z,1761506465.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518429
2025-10-26T19:21:05.817Z,1761506465.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423853,-0.887762,-0.179520],[0.905664,-0.417822,-0.072094],[-0.011005,-0.193142,0.981109]]
2025-10-26T19:21:06.033Z,1761506466.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770055
2025-10-26T19:21:06.220Z,1761506466.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429148,-0.884904,-0.181047],[0.903197,-0.422242,-0.077116],[-0.008205,-0.196615,0.980446]]
2025-10-26T19:21:06.284Z,1761506466.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021908
2025-10-26T19:21:06.536Z,1761506466.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273797
2025-10-26T19:21:06.622Z,1761506466.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434571,-0.882176,-0.181420],[0.900629,-0.426523,-0.083337],[-0.003862,-0.199608,0.979868]]
2025-10-26T19:21:06.792Z,1761506466.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528129
2025-10-26T19:21:07.027Z,1761506467.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439797,-0.879867,-0.180037],[0.898095,-0.430433,-0.090291],[0.001950,-0.201400,0.979507]]
2025-10-26T19:21:07.040Z,1761506467.040 [DAT](INFO): DAT read: Rx Time:19:21:05.7048

2025-10-26T19:21:07.041Z,1761506467.041 [DAT](INFO): Rx dataTimestamp_ set to:1761506467.040433
2025-10-26T19:21:07.041Z,1761506467.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778752
2025-10-26T19:21:07.293Z,1761506467.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030457
2025-10-26T19:21:07.430Z,1761506467.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443990,-0.878248,-0.177631],[0.895991,-0.433275,-0.097327],[0.008514,-0.202368,0.979273]]
2025-10-26T19:21:07.562Z,1761506467.562 [DAT](INFO): DAT read: 19:21:05.7048 LVL= 29088, 22385, 13618, 28515, AGC= 57, IDX=   3, 0.31, 0.086, 0.735, 2.165, 0.795, PHS=-0.607,-0.015, 1.326, RAW= 227.4,  -8.2, CAL= 226.0, -12.4, ROT= 284.0,  12.4

2025-10-26T19:21:07.563Z,1761506467.563 [DAT](INFO): got valid direction response:
 19:21:05.7048 LVL= 29088, 22385, 13618, 28515, AGC= 57, IDX=   3, 0.31, 0.086, 0.735, 2.165, 0.795, PHS=-0.607,-0.015, 1.326, RAW= 227.4,  -8.2, CAL= 226.0, -12.4, ROT= 284.0,  12.4

2025-10-26T19:21:07.564Z,1761506467.564 [DAT](INFO): DAT read: Bearing  26, -12 (Remote)

2025-10-26T19:21:07.565Z,1761506467.565 [DAT](INFO): Remote Bearing received:Bearing  26, -12 (Remote)

2025-10-26T19:21:07.565Z,1761506467.565 [DAT](INFO): DAT read: Bearing 205.8, -62.1 (Local)

2025-10-26T19:21:07.566Z,1761506467.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.8, -62.1 (Local)

2025-10-26T19:21:07.567Z,1761506467.567 [DAT](INFO): DAT read: Range 11 to 20 : 986.0 m  (Round-trip  1314.7 ms) speed  0.0 m/s

2025-10-26T19:21:07.589Z,1761506467.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:21:07.590Z,1761506467.590 [DAT](INFO): direction in FSK: [0.236278,-0.947661,-0.214735]
2025-10-26T19:21:07.590Z,1761506467.590 [DAT](INFO): publishing direction and range info
2025-10-26T19:21:07.834Z,1761506467.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445658,-0.878103,-0.174136],[0.895086,-0.433941,-0.102550],[0.014485,-0.201569,0.979367]]
2025-10-26T19:21:07.916Z,1761506467.916 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506432.00. Resetting abort timer.
2025-10-26T19:21:08.245Z,1761506468.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445275,-0.878886,-0.171142],[0.895175,-0.432734,-0.106784],[0.019792,-0.200751,0.979442]]
2025-10-26T19:21:08.642Z,1761506468.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443865,-0.879704,-0.170603],[0.895763,-0.430409,-0.111162],[0.024360,-0.202161,0.979049]]
2025-10-26T19:21:09.046Z,1761506469.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442232,-0.880858,-0.168880],[0.896452,-0.428152,-0.114274],[0.028352,-0.201929,0.978990]]
2025-10-26T19:21:09.070Z,1761506469.070 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050223092691,35.0, +13.5,   0.0,1502.0, ,  0.00, 609.39, 696.91, 677.46
2025-10-26T19:21:09.308Z,1761506469.308 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:21:09.451Z,1761506469.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440377,-0.881849,-0.168556],[0.897259,-0.425689,-0.117110],[0.031521,-0.202811,0.978710]]
2025-10-26T19:21:09.561Z,1761506469.561 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:21:09.812Z,1761506469.812 [DAT](INFO): setting remote address to 6
2025-10-26T19:21:09.865Z,1761506469.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438647,-0.883149,-0.166240],[0.898026,-0.423831,-0.117965],[0.033723,-0.201033,0.979004]]
2025-10-26T19:21:10.064Z,1761506470.064 [DAT](INFO): DAT read: user:159>

2025-10-26T19:21:10.065Z,1761506470.065 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:21:10.065Z,1761506470.065 [DAT](INFO): set remote address to 6
2025-10-26T19:21:10.066Z,1761506470.066 [DAT](INFO): entering online mode
2025-10-26T19:21:10.262Z,1761506470.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437030,-0.884111,-0.165388],[0.898777,-0.422160,-0.118240],[0.034717,-0.200322,0.979115]]
2025-10-26T19:21:10.317Z,1761506470.317 [DAT](INFO): DAT read: user:160>

2025-10-26T19:21:10.317Z,1761506470.317 [DAT](INFO): DAT read: 

2025-10-26T19:21:10.319Z,1761506470.319 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:21:10.319Z,1761506470.319 [DAT](INFO): commRate: 600
2025-10-26T19:21:10.319Z,1761506470.319 [DAT](INFO): online mode acknowledged
2025-10-26T19:21:10.320Z,1761506470.320 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:21:10.662Z,1761506470.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435655,-0.885120,-0.163609],[0.899452,-0.421114,-0.116826],[0.034507,-0.198055,0.979583]]
2025-10-26T19:21:11.066Z,1761506471.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434300,-0.886346,-0.160544],[0.900147,-0.420435,-0.113882],[0.033440,-0.193972,0.980437]]
2025-10-26T19:21:11.470Z,1761506471.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433849,-0.887119,-0.157461],[0.900419,-0.420709,-0.110678],[0.031940,-0.189799,0.981303]]
2025-10-26T19:21:11.535Z,1761506471.535 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:21:11.535Z,1761506471.535 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:21:11.535Z,1761506471.535 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateRudder:A] Stopped
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:21:11.536Z,1761506471.536 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateCommandMode] Stopped
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:21:11.537Z,1761506471.537 [marl:UpdateSpeed] Stopped
2025-10-26T19:21:11.538Z,1761506471.538 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:21:11.883Z,1761506471.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435081,-0.887114,-0.154054],[0.899862,-0.422546,-0.108186],[0.030879,-0.185697,0.982122]]
2025-10-26T19:21:11.942Z,1761506471.942 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:21:11.942Z,1761506471.942 [marl:UpdateRudder:B] Stopped
2025-10-26T19:21:11.943Z,1761506471.943 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:21:11.943Z,1761506471.943 [marl:UpdateRudder] Stopped
2025-10-26T19:21:11.943Z,1761506471.943 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:21:12.278Z,1761506472.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437899,-0.886255,-0.150986],[0.898492,-0.425645,-0.107419],[0.030934,-0.182698,0.982682]]
2025-10-26T19:21:12.683Z,1761506472.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441553,-0.884633,-0.149854],[0.896668,-0.429137,-0.108756],[0.031901,-0.182391,0.982708]]
2025-10-26T19:21:13.087Z,1761506473.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445527,-0.882750,-0.149194],[0.894627,-0.432675,-0.111511],[0.033883,-0.183154,0.982500]]
2025-10-26T19:21:13.490Z,1761506473.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450061,-0.880462,-0.149106],[0.892283,-0.436706,-0.114539],[0.035731,-0.184594,0.982165]]
2025-10-26T19:21:13.593Z,1761506473.593 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:21:12.7598

2025-10-26T19:21:13.594Z,1761506473.594 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:21:13.895Z,1761506473.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455145,-0.877636,-0.150324],[0.889629,-0.441110,-0.118251],[0.037472,-0.187554,0.981539]]
2025-10-26T19:21:14.298Z,1761506474.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460164,-0.874902,-0.150985],[0.886963,-0.445487,-0.121806],[0.039307,-0.189969,0.981003]]
2025-10-26T19:21:14.708Z,1761506474.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464924,-0.872387,-0.150953],[0.884393,-0.449690,-0.125015],[0.041180,-0.191624,0.980604]]
2025-10-26T19:21:15.109Z,1761506475.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469155,-0.870116,-0.150971],[0.882063,-0.453352,-0.128208],[0.043112,-0.193316,0.980189]]
2025-10-26T19:21:15.510Z,1761506475.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472709,-0.868202,-0.150902],[0.880091,-0.456472,-0.130664],[0.044560,-0.194574,0.979875]]
2025-10-26T19:21:15.915Z,1761506475.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475656,-0.866605,-0.150822],[0.878441,-0.459062,-0.132675],[0.045740,-0.195596,0.979617]]
2025-10-26T19:21:16.319Z,1761506476.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477389,-0.865809,-0.149916],[0.877439,-0.460609,-0.133941],[0.046914,-0.195484,0.979584]]
2025-10-26T19:21:16.732Z,1761506476.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478927,-0.865179,-0.148640],[0.876540,-0.462039,-0.134900],[0.048036,-0.194896,0.979647]]
2025-10-26T19:21:17.129Z,1761506477.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479884,-0.865078,-0.146119],[0.875962,-0.463139,-0.134882],[0.049010,-0.192722,0.980029]]
2025-10-26T19:21:17.531Z,1761506477.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480632,-0.865123,-0.143368],[0.875495,-0.464071,-0.134707],[0.050005,-0.190263,0.980459]]
2025-10-26T19:21:17.941Z,1761506477.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481131,-0.865187,-0.141293],[0.875126,-0.464520,-0.135556],[0.051648,-0.188870,0.980643]]
2025-10-26T19:21:18.338Z,1761506478.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481166,-0.865701,-0.137987],[0.874988,-0.464652,-0.135992],[0.053612,-0.186172,0.981053]]
2025-10-26T19:21:18.743Z,1761506478.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480657,-0.866349,-0.135677],[0.875152,-0.464128,-0.136728],[0.055483,-0.184457,0.981273]]
2025-10-26T19:21:19.148Z,1761506479.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479737,-0.867200,-0.133479],[0.875516,-0.463133,-0.137765],[0.057651,-0.182954,0.981430]]
2025-10-26T19:21:19.199Z,1761506479.199 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  538,    -4,A
2025-10-26T19:21:19.954Z,1761506479.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476291,-0.869337,-0.131906],[0.877099,-0.459151,-0.140989],[0.062003,-0.182846,0.981184]]
2025-10-26T19:21:20.358Z,1761506480.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474359,-0.870362,-0.132112],[0.878005,-0.456845,-0.142828],[0.063958,-0.183747,0.980891]]
2025-10-26T19:21:20.763Z,1761506480.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472000,-0.871230,-0.134809],[0.879167,-0.453814,-0.145319],[0.065428,-0.187111,0.980158]]
2025-10-26T19:21:21.173Z,1761506481.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469838,-0.872234,-0.135869],[0.880241,-0.451317,-0.146589],[0.066540,-0.188471,0.979822]]
2025-10-26T19:21:21.577Z,1761506481.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466903,-0.873792,-0.135973],[0.881764,-0.448368,-0.146485],[0.067031,-0.188290,0.979823]]
2025-10-26T19:21:21.978Z,1761506481.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466273,-0.874080,-0.136286],[0.882146,-0.447844,-0.145791],[0.066398,-0.188203,0.979883]]
2025-10-26T19:21:22.384Z,1761506482.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466559,-0.873764,-0.137327],[0.882052,-0.448111,-0.145535],[0.065625,-0.189030,0.979776]]
2025-10-26T19:21:22.810Z,1761506482.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467730,-0.873069,-0.137766],[0.881485,-0.449321,-0.145240],[0.064903,-0.189372,0.979758]]
2025-10-26T19:21:23.201Z,1761506483.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470333,-0.871994,-0.135700],[0.880126,-0.452249,-0.144389],[0.064537,-0.187344,0.980172]]
2025-10-26T19:21:23.590Z,1761506483.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473339,-0.870418,-0.135359],[0.878555,-0.455323,-0.144300],[0.063969,-0.187223,0.980232]]
2025-10-26T19:21:23.681Z,1761506483.681 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:21:23.681Z,1761506483.681 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:21:23.933Z,1761506483.933 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:21:23.994Z,1761506483.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476732,-0.868522,-0.135634],[0.876742,-0.458617,-0.144891],[0.063637,-0.187990,0.980107]]
2025-10-26T19:21:24.189Z,1761506484.189 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:21:24.400Z,1761506484.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480074,-0.866697,-0.135521],[0.874926,-0.461882,-0.145497],[0.063507,-0.188420,0.980033]]
2025-10-26T19:21:24.440Z,1761506484.440 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:21:24.572Z,1761506484.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:21:24.842Z,1761506484.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482823,-0.865367,-0.134246],[0.873415,-0.464751,-0.145441],[0.063469,-0.187475,0.980217]]
2025-10-26T19:21:24.896Z,1761506484.896 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:21:24.896Z,1761506484.896 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:21:24.896Z,1761506484.896 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateRudder:A] Stopped
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode] Stopped
2025-10-26T19:21:24.897Z,1761506484.897 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed] Stopped
2025-10-26T19:21:24.898Z,1761506484.898 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:21:25.213Z,1761506485.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485235,-0.864126,-0.133544],[0.872073,-0.467178,-0.145718],[0.063530,-0.187167,0.980272]]
2025-10-26T19:21:25.253Z,1761506485.253 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:21:25.253Z,1761506485.253 [marl:UpdateRudder:B] Stopped
2025-10-26T19:21:25.253Z,1761506485.253 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:21:25.253Z,1761506485.253 [marl:UpdateRudder] Stopped
2025-10-26T19:21:25.254Z,1761506485.254 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:21:25.577Z,1761506485.577 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:21:25.611Z,1761506485.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487101,-0.863080,-0.133511],[0.871017,-0.468937,-0.146379],[0.063728,-0.187592,0.980178]]
2025-10-26T19:21:26.015Z,1761506486.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488280,-0.862488,-0.133028],[0.870326,-0.470064,-0.146876],[0.064147,-0.187495,0.980169]]
2025-10-26T19:21:26.418Z,1761506486.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488422,-0.862459,-0.132692],[0.870259,-0.470293,-0.146540],[0.063980,-0.187050,0.980265]]
2025-10-26T19:21:26.852Z,1761506486.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488219,-0.862630,-0.132331],[0.870391,-0.470213,-0.146007],[0.063726,-0.186464,0.980393]]
2025-10-26T19:21:27.227Z,1761506487.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487756,-0.862801,-0.132923],[0.870686,-0.469770,-0.145679],[0.063249,-0.186790,0.980362]]
2025-10-26T19:21:27.633Z,1761506487.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487451,-0.862957,-0.133027],[0.870900,-0.469589,-0.144978],[0.062642,-0.186523,0.980452]]
2025-10-26T19:21:27.721Z,1761506487.721 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:21:26.8596

2025-10-26T19:21:27.722Z,1761506487.722 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:21:28.034Z,1761506488.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487055,-0.863066,-0.133770],[0.871200,-0.469316,-0.144060],[0.061553,-0.186705,0.980486]]
2025-10-26T19:21:28.440Z,1761506488.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487602,-0.862521,-0.135283],[0.871003,-0.469929,-0.143249],[0.059982,-0.187681,0.980397]]
2025-10-26T19:21:28.868Z,1761506488.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488839,-0.861705,-0.136018],[0.870453,-0.471456,-0.141565],[0.057861,-0.187599,0.980540]]
2025-10-26T19:21:29.251Z,1761506489.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490708,-0.860613,-0.136202],[0.869530,-0.473653,-0.139897],[0.055884,-0.187080,0.980754]]
2025-10-26T19:21:29.290Z,1761506489.290 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:21:29.484Z,1761506489.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:29.535Z,1761506489.535 [DAT](INFO): entering command mode
2025-10-26T19:21:29.653Z,1761506489.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492811,-0.859347,-0.136605],[0.868458,-0.476015,-0.138530],[0.054019,-0.186905,0.980892]]
2025-10-26T19:21:29.736Z,1761506489.736 [DAT](INFO): DAT read: 

2025-10-26T19:21:29.737Z,1761506489.737 [DAT](INFO): DAT read: user:161>

2025-10-26T19:21:29.737Z,1761506489.737 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:29.737Z,1761506489.737 [DAT](INFO): setting remote address to 0
2025-10-26T19:21:29.988Z,1761506489.988 [DAT](INFO): DAT read: user:161>

2025-10-26T19:21:29.989Z,1761506489.989 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:21:29.989Z,1761506489.989 [DAT](INFO): set remote address to 0
2025-10-26T19:21:29.990Z,1761506489.990 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:29.990Z,1761506489.990 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:21:30.059Z,1761506490.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494727,-0.858248,-0.136588],[0.867479,-0.478255,-0.136939],[0.052204,-0.186235,0.981117]]
2025-10-26T19:21:30.240Z,1761506490.240 [DAT](INFO): DAT read: user:162>

2025-10-26T19:21:30.241Z,1761506490.241 [DAT](INFO): DAT read: Tx time:19:21:29.3108

2025-10-26T19:21:30.241Z,1761506490.241 [DAT](INFO): Ping request sent.
2025-10-26T19:21:30.241Z,1761506490.241 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:21:30.242Z,1761506490.242 [DAT](INFO): publishing transmit ping time
2025-10-26T19:21:30.242Z,1761506490.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000977
2025-10-26T19:21:30.458Z,1761506490.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496157,-0.857335,-0.137133],[0.866741,-0.479833,-0.136091],[0.050875,-0.186381,0.981159]]
2025-10-26T19:21:30.492Z,1761506490.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815
2025-10-26T19:21:30.744Z,1761506490.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502901
2025-10-26T19:21:30.864Z,1761506490.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497352,-0.856625,-0.137242],[0.866094,-0.481106,-0.135715],[0.050229,-0.186363,0.981196]]
2025-10-26T19:21:31.008Z,1761506491.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765745
2025-10-26T19:21:31.264Z,1761506491.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022987
2025-10-26T19:21:31.268Z,1761506491.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497649,-0.856254,-0.138474],[0.865961,-0.481338,-0.135743],[0.049578,-0.187465,0.981019]]
2025-10-26T19:21:31.517Z,1761506491.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.275532
2025-10-26T19:21:31.682Z,1761506491.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496849,-0.856649,-0.138901],[0.866449,-0.480608,-0.135214],[0.049074,-0.187532,0.981032]]
2025-10-26T19:21:31.769Z,1761506491.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527420
2025-10-26T19:21:32.020Z,1761506492.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778864
2025-10-26T19:21:32.074Z,1761506492.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495703,-0.857114,-0.140120],[0.867158,-0.479520,-0.134527],[0.048115,-0.188192,0.980953]]
2025-10-26T19:21:32.272Z,1761506492.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030869
2025-10-26T19:21:32.478Z,1761506492.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494245,-0.857846,-0.140788],[0.868025,-0.478147,-0.133825],[0.047485,-0.188350,0.980953]]
2025-10-26T19:21:32.525Z,1761506492.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283128
2025-10-26T19:21:32.776Z,1761506492.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534829
2025-10-26T19:21:32.882Z,1761506492.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492108,-0.858895,-0.141876],[0.869305,-0.476182,-0.132515],[0.046257,-0.188545,0.980974]]
2025-10-26T19:21:33.029Z,1761506493.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787210
2025-10-26T19:21:33.280Z,1761506493.280 [DAT](INFO): DAT read: Rx Time:19:21:31.8226

2025-10-26T19:21:33.281Z,1761506493.281 [DAT](INFO): Rx dataTimestamp_ set to:1761506493.280543
2025-10-26T19:21:33.281Z,1761506493.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039934
2025-10-26T19:21:33.290Z,1761506493.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489678,-0.859933,-0.143980],[0.870759,-0.473863,-0.131273],[0.044659,-0.189654,0.980835]]
2025-10-26T19:21:33.532Z,1761506493.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290825
2025-10-26T19:21:33.696Z,1761506493.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487314,-0.861052,-0.145308],[0.872174,-0.471770,-0.129405],[0.042873,-0.189794,0.980887]]
2025-10-26T19:21:33.790Z,1761506493.790 [DAT](INFO): DAT read: 19:21:31.8226 LVL= 25120, 24913, 17394, 25795, AGC= 65, IDX=  27,-0.18,-2.698,-1.875,-0.697,-1.871, PHS=-0.724, 0.041, 1.130, RAW= 234.2,  -5.6, CAL= 232.0,  -8.3, ROT= 278.0,   8.3

2025-10-26T19:21:33.791Z,1761506493.791 [DAT](INFO): got valid direction response:
 19:21:31.8226 LVL= 25120, 24913, 17394, 25795, AGC= 65, IDX=  27,-0.18,-2.698,-1.875,-0.697,-1.871, PHS=-0.724, 0.041, 1.130, RAW= 234.2,  -5.6, CAL= 232.0,  -8.3, ROT= 278.0,   8.3

2025-10-26T19:21:33.792Z,1761506493.792 [DAT](INFO): DAT read: Bearing  24, -12 (Remote)

2025-10-26T19:21:33.793Z,1761506493.793 [DAT](INFO): Remote Bearing received:Bearing  24, -12 (Remote)

2025-10-26T19:21:33.793Z,1761506493.793 [DAT](INFO): DAT read: Bearing 210.2, -67.3 (Local)

2025-10-26T19:21:33.794Z,1761506493.794 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.2, -67.3 (Local)

2025-10-26T19:21:33.795Z,1761506493.795 [DAT](INFO): DAT read: Range 11 to 20 : 362.0 m  (Round-trip  482.7 ms) speed  0.1 m/s

2025-10-26T19:21:33.796Z,1761506493.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:21:33.797Z,1761506493.797 [DAT](INFO): direction in FSK: [0.137716,-0.979896,-0.144356]
2025-10-26T19:21:33.797Z,1761506493.797 [DAT](INFO): publishing direction and range info
2025-10-26T19:21:34.094Z,1761506494.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485762,-0.861934,-0.145272],[0.873142,-0.470746,-0.126574],[0.040713,-0.188328,0.981262]]
2025-10-26T19:21:34.150Z,1761506494.150 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506432.00. Resetting abort timer.
2025-10-26T19:21:34.498Z,1761506494.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485397,-0.862150,-0.145215],[0.873481,-0.471048,-0.123068],[0.037700,-0.186579,0.981716]]
2025-10-26T19:21:34.904Z,1761506494.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486247,-0.861746,-0.144765],[0.873143,-0.472632,-0.119330],[0.034412,-0.184424,0.982244]]
2025-10-26T19:21:35.308Z,1761506495.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488272,-0.860703,-0.144156],[0.872135,-0.475363,-0.115801],[0.031144,-0.182266,0.982756]]
2025-10-26T19:21:35.716Z,1761506495.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491178,-0.859159,-0.143491],[0.870602,-0.478877,-0.112822],[0.028217,-0.180340,0.983200]]
2025-10-26T19:21:36.114Z,1761506496.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494462,-0.857416,-0.142632],[0.868827,-0.482749,-0.109971],[0.025435,-0.178299,0.983648]]
2025-10-26T19:21:36.519Z,1761506496.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497796,-0.855509,-0.142487],[0.866990,-0.486512,-0.107859],[0.022953,-0.177227,0.983902]]
2025-10-26T19:21:36.922Z,1761506496.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500608,-0.854084,-0.141178],[0.865408,-0.489713,-0.106065],[0.021452,-0.175274,0.984286]]
2025-10-26T19:21:37.327Z,1761506497.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502787,-0.852870,-0.140776],[0.864161,-0.492016,-0.105579],[0.020781,-0.174737,0.984396]]
2025-10-26T19:21:37.733Z,1761506497.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504187,-0.852211,-0.139755],[0.863336,-0.493433,-0.105711],[0.021128,-0.173953,0.984527]]
2025-10-26T19:21:37.816Z,1761506497.816 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:21:38.068Z,1761506498.068 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:21:38.140Z,1761506498.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504510,-0.852073,-0.139431],[0.863119,-0.493556,-0.106905],[0.022274,-0.174280,0.984444]]
2025-10-26T19:21:38.173Z,1761506498.173 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:21:38.173Z,1761506498.173 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:21:38.173Z,1761506498.173 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:21:38.174Z,1761506498.174 [marl:UpdateRudder:A] Stopped
2025-10-26T19:21:38.174Z,1761506498.174 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:21:38.174Z,1761506498.174 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:21:38.174Z,1761506498.174 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:21:38.174Z,1761506498.174 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:21:38.174Z,1761506498.174 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:21:38.175Z,1761506498.175 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:21:38.175Z,1761506498.175 [marl:UpdateCommandMode] Stopped
2025-10-26T19:21:38.175Z,1761506498.175 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:21:38.175Z,1761506498.175 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:21:38.175Z,1761506498.175 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:21:38.175Z,1761506498.175 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:21:38.192Z,1761506498.192 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:21:38.192Z,1761506498.192 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:21:38.192Z,1761506498.192 [marl:UpdateSpeed] Stopped
2025-10-26T19:21:38.192Z,1761506498.192 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:21:38.321Z,1761506498.321 [DAT](INFO): setting remote address to 6
2025-10-26T19:21:38.538Z,1761506498.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503107,-0.852873,-0.139609],[0.863909,-0.491956,-0.107893],[0.023338,-0.174891,0.984311]]
2025-10-26T19:21:38.572Z,1761506498.572 [DAT](INFO): DAT read: user:163>

2025-10-26T19:21:38.573Z,1761506498.573 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:21:38.574Z,1761506498.574 [DAT](INFO): set remote address to 6
2025-10-26T19:21:38.574Z,1761506498.574 [DAT](INFO): entering online mode
2025-10-26T19:21:38.590Z,1761506498.590 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:21:38.590Z,1761506498.590 [marl:UpdateRudder:B] Stopped
2025-10-26T19:21:38.590Z,1761506498.590 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:21:38.590Z,1761506498.590 [marl:UpdateRudder] Stopped
2025-10-26T19:21:38.590Z,1761506498.590 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:21:38.828Z,1761506498.828 [DAT](INFO): DAT read: user:164>

2025-10-26T19:21:38.830Z,1761506498.830 [DAT](INFO): DAT read: 

2025-10-26T19:21:38.834Z,1761506498.834 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:21:38.837Z,1761506498.837 [DAT](INFO): commRate: 600
2025-10-26T19:21:38.837Z,1761506498.837 [DAT](INFO): online mode acknowledged
2025-10-26T19:21:38.838Z,1761506498.838 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:21:38.942Z,1761506498.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500182,-0.854563,-0.139789],[0.865582,-0.488917,-0.108294],[0.024199,-0.175166,0.984241]]
2025-10-26T19:21:39.347Z,1761506499.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496096,-0.856868,-0.140234],[0.867928,-0.484878,-0.107672],[0.024264,-0.175129,0.984246]]
2025-10-26T19:21:39.750Z,1761506499.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491707,-0.859383,-0.140300],[0.870436,-0.480702,-0.106150],[0.023781,-0.174316,0.984402]]
2025-10-26T19:21:40.160Z,1761506500.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487428,-0.861910,-0.139731],[0.872864,-0.476790,-0.103826],[0.022866,-0.172574,0.984731]]
2025-10-26T19:21:40.558Z,1761506500.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483616,-0.863822,-0.141162],[0.875039,-0.473363,-0.101170],[0.020572,-0.172450,0.984803]]
2025-10-26T19:21:40.963Z,1761506500.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479930,-0.865604,-0.142816],[0.877120,-0.470071,-0.098452],[0.018087,-0.172516,0.984841]]
2025-10-26T19:21:41.200Z,1761506501.200 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:21:41.200Z,1761506501.200 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:21:41.366Z,1761506501.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476497,-0.867338,-0.143791],[0.879046,-0.467203,-0.094861],[0.015097,-0.171600,0.985051]]
2025-10-26T19:21:41.770Z,1761506501.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474041,-0.868402,-0.145478],[0.880426,-0.465306,-0.091325],[0.011615,-0.171375,0.985137]]
2025-10-26T19:21:42.105Z,1761506502.105 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:21:41.2595

2025-10-26T19:21:42.105Z,1761506502.105 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:21:42.174Z,1761506502.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472532,-0.868900,-0.147399],[0.881276,-0.464314,-0.088121],[0.008129,-0.171539,0.985144]]
2025-10-26T19:21:42.579Z,1761506502.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472379,-0.868686,-0.149139],[0.881380,-0.464571,-0.085690],[0.005152,-0.171926,0.985096]]
2025-10-26T19:21:42.982Z,1761506502.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473460,-0.867844,-0.150608],[0.880810,-0.465893,-0.084368],[0.003051,-0.172602,0.984987]]
2025-10-26T19:21:43.386Z,1761506503.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474809,-0.867069,-0.150822],[0.880087,-0.467436,-0.083369],[0.001787,-0.172321,0.985039]]
2025-10-26T19:21:43.790Z,1761506503.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476109,-0.866502,-0.149982],[0.879386,-0.468931,-0.082371],[0.001044,-0.171110,0.985251]]
2025-10-26T19:21:44.195Z,1761506504.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477550,-0.865591,-0.150661],[0.878604,-0.470295,-0.082929],[0.000928,-0.171974,0.985101]]
2025-10-26T19:21:44.599Z,1761506504.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478862,-0.864702,-0.151599],[0.877889,-0.471418,-0.084113],[0.001266,-0.173365,0.984857]]
2025-10-26T19:21:45.006Z,1761506505.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479730,-0.864252,-0.151421],[0.877414,-0.472165,-0.084880],[0.001862,-0.173578,0.984818]]
2025-10-26T19:21:45.407Z,1761506505.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480635,-0.863913,-0.150483],[0.876917,-0.472992,-0.085411],[0.002610,-0.173013,0.984916]]
2025-10-26T19:21:45.811Z,1761506505.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480520,-0.864046,-0.150087],[0.876980,-0.472883,-0.085375],[0.002794,-0.172648,0.984980]]
2025-10-26T19:21:46.215Z,1761506506.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480608,-0.863987,-0.150142],[0.876931,-0.472939,-0.085562],[0.002916,-0.172786,0.984955]]
2025-10-26T19:21:46.626Z,1761506506.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479681,-0.864486,-0.150232],[0.877440,-0.472174,-0.084560],[0.002165,-0.172381,0.985028]]
2025-10-26T19:21:47.025Z,1761506507.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478391,-0.865085,-0.150896],[0.878146,-0.471073,-0.083365],[0.001035,-0.172390,0.985028]]
2025-10-26T19:21:47.426Z,1761506507.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477318,-0.865618,-0.151235],[0.878730,-0.470275,-0.081694],[-0.000407,-0.171889,0.985116]]
2025-10-26T19:21:47.836Z,1761506507.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476886,-0.865663,-0.152336],[0.878964,-0.469980,-0.080885],[-0.001576,-0.172471,0.985013]]
2025-10-26T19:21:48.234Z,1761506508.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476575,-0.866064,-0.151029],[0.879128,-0.470077,-0.078494],[-0.003015,-0.170182,0.985408]]
2025-10-26T19:21:48.641Z,1761506508.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476266,-0.865972,-0.152521],[0.879287,-0.470011,-0.077095],[-0.004925,-0.170827,0.985289]]
2025-10-26T19:21:49.042Z,1761506509.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476178,-0.865637,-0.154686],[0.879324,-0.470065,-0.076344],[-0.006626,-0.172372,0.985010]]
2025-10-26T19:21:49.064Z,1761506509.064 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,    -5,  +25,A
2025-10-26T19:21:49.448Z,1761506509.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475814,-0.865822,-0.154771],[0.879510,-0.469968,-0.074787],[-0.007985,-0.171707,0.985116]]
2025-10-26T19:21:49.850Z,1761506509.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474952,-0.866162,-0.155515],[0.879964,-0.469294,-0.073664],[-0.009177,-0.171835,0.985083]]
2025-10-26T19:21:50.254Z,1761506510.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473909,-0.866705,-0.155667],[0.880517,-0.468424,-0.072588],[-0.010005,-0.171467,0.985139]]
2025-10-26T19:21:50.658Z,1761506510.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473536,-0.866915,-0.155638],[0.880713,-0.468144,-0.072016],[-0.010429,-0.171174,0.985186]]
2025-10-26T19:21:51.468Z,1761506511.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472190,-0.867520,-0.156354],[0.881421,-0.466991,-0.070826],[-0.011573,-0.171257,0.985158]]
2025-10-26T19:21:51.510Z,1761506511.510 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:21:51.510Z,1761506511.510 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:21:51.510Z,1761506511.510 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:21:51.511Z,1761506511.511 [marl:UpdateRudder:A] Stopped
2025-10-26T19:21:51.511Z,1761506511.511 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:21:51.511Z,1761506511.511 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:21:51.511Z,1761506511.511 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:21:51.511Z,1761506511.511 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:21:51.511Z,1761506511.511 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateCommandMode] Stopped
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:21:51.512Z,1761506511.512 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:21:51.513Z,1761506511.513 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:21:51.513Z,1761506511.513 [marl:UpdateSpeed] Stopped
2025-10-26T19:21:51.513Z,1761506511.513 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:21:51.870Z,1761506511.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471748,-0.867375,-0.158476],[0.881640,-0.466632,-0.070469],[-0.012827,-0.172962,0.984845]]
2025-10-26T19:21:51.909Z,1761506511.909 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:21:51.909Z,1761506511.909 [marl:UpdateRudder:B] Stopped
2025-10-26T19:21:51.909Z,1761506511.909 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:21:51.909Z,1761506511.909 [marl:UpdateRudder] Stopped
2025-10-26T19:21:51.909Z,1761506511.909 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:21:52.184Z,1761506512.184 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:21:52.274Z,1761506512.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471920,-0.867309,-0.158324],[0.881527,-0.467080,-0.068894],[-0.014198,-0.172079,0.984981]]
2025-10-26T19:21:52.436Z,1761506512.436 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:21:52.679Z,1761506512.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472481,-0.867447,-0.155877],[0.881201,-0.468110,-0.066015],[-0.015703,-0.168550,0.985568]]
2025-10-26T19:21:52.688Z,1761506512.688 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:21:53.082Z,1761506513.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473305,-0.867047,-0.155602],[0.880731,-0.469224,-0.064364],[-0.017206,-0.167507,0.985721]]
2025-10-26T19:21:53.486Z,1761506513.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474546,-0.866423,-0.155295],[0.880033,-0.470735,-0.062851],[-0.018648,-0.166491,0.985867]]
2025-10-26T19:21:53.890Z,1761506513.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475714,-0.865972,-0.154234],[0.879384,-0.472110,-0.061606],[-0.019466,-0.164937,0.986112]]
2025-10-26T19:21:54.295Z,1761506514.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476819,-0.865343,-0.154357],[0.878779,-0.473243,-0.061552],[-0.019784,-0.164995,0.986096]]
2025-10-26T19:21:55.110Z,1761506515.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477634,-0.864485,-0.156625],[0.878337,-0.473872,-0.063004],[-0.019755,-0.167662,0.985646]]
2025-10-26T19:21:55.506Z,1761506515.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476550,-0.864968,-0.157259],[0.878929,-0.472739,-0.063263],[-0.019622,-0.168368,0.985529]]
2025-10-26T19:21:55.748Z,1761506515.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:21:55.914Z,1761506515.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475153,-0.865882,-0.156456],[0.879695,-0.471337,-0.063070],[-0.019132,-0.167601,0.985669]]
2025-10-26T19:21:55.965Z,1761506515.965 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:21:55.1094

2025-10-26T19:21:55.965Z,1761506515.965 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:21:56.314Z,1761506516.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472716,-0.867197,-0.156553],[0.881012,-0.468903,-0.062839],[-0.018914,-0.167630,0.985669]]
2025-10-26T19:21:56.725Z,1761506516.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469637,-0.868752,-0.157197],[0.882665,-0.465772,-0.062922],[-0.018555,-0.168303,0.985561]]
2025-10-26T19:21:56.752Z,1761506516.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:21:57.122Z,1761506517.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466029,-0.870689,-0.157220],[0.884575,-0.462241,-0.062134],[-0.018574,-0.168029,0.985607]]
2025-10-26T19:21:57.529Z,1761506517.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462392,-0.872601,-0.157358],[0.886477,-0.458705,-0.061220],[-0.018761,-0.167802,0.985642]]
2025-10-26T19:21:57.930Z,1761506517.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458888,-0.874440,-0.157404],[0.888290,-0.455321,-0.060196],[-0.019032,-0.167444,0.985698]]
2025-10-26T19:21:58.334Z,1761506518.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455657,-0.876203,-0.156988],[0.889940,-0.452289,-0.058672],[-0.019595,-0.166444,0.985856]]
2025-10-26T19:21:58.741Z,1761506518.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452987,-0.877720,-0.156239],[0.891278,-0.449913,-0.056580],[-0.020632,-0.164882,0.986097]]
2025-10-26T19:21:59.142Z,1761506519.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451369,-0.878885,-0.154359],[0.892081,-0.448583,-0.054450],[-0.021388,-0.162277,0.986513]]
2025-10-26T19:21:59.546Z,1761506519.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450714,-0.879608,-0.152137],[0.892399,-0.448174,-0.052576],[-0.021938,-0.159464,0.986960]]
2025-10-26T19:21:59.605Z,1761506519.605 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:21:59.749Z,1761506519.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:21:59.803Z,1761506519.803 [DAT](INFO): entering command mode
2025-10-26T19:21:59.950Z,1761506519.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451006,-0.879979,-0.149098],[0.892245,-0.448682,-0.050822],[-0.022176,-0.155953,0.987516]]
2025-10-26T19:22:00.000Z,1761506520.000 [DAT](INFO): DAT read: 

2025-10-26T19:22:00.001Z,1761506520.001 [DAT](INFO): DAT read: user:165>

2025-10-26T19:22:00.001Z,1761506520.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:22:00.002Z,1761506520.002 [DAT](INFO): setting remote address to 0
2025-10-26T19:22:00.252Z,1761506520.252 [DAT](INFO): DAT read: user:165>

2025-10-26T19:22:00.253Z,1761506520.253 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:22:00.253Z,1761506520.253 [DAT](INFO): set remote address to 0
2025-10-26T19:22:00.254Z,1761506520.254 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:22:00.254Z,1761506520.254 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:22:00.354Z,1761506520.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451927,-0.880044,-0.145894],[0.891772,-0.449819,-0.049045],[-0.022464,-0.152269,0.988084]]
2025-10-26T19:22:00.504Z,1761506520.504 [DAT](INFO): DAT read: user:166>

2025-10-26T19:22:00.505Z,1761506520.505 [DAT](INFO): DAT read: Tx time:19:21:59.5606

2025-10-26T19:22:00.505Z,1761506520.505 [DAT](INFO): Ping request sent.
2025-10-26T19:22:00.505Z,1761506520.505 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:22:00.506Z,1761506520.506 [DAT](INFO): publishing transmit ping time
2025-10-26T19:22:00.506Z,1761506520.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000976
2025-10-26T19:22:00.756Z,1761506520.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250853
2025-10-26T19:22:00.761Z,1761506520.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453679,-0.879518,-0.143606],[0.890879,-0.451691,-0.048065],[-0.022592,-0.149741,0.988467]]
2025-10-26T19:22:01.008Z,1761506521.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502864
2025-10-26T19:22:01.162Z,1761506521.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455880,-0.878615,-0.142157],[0.889749,-0.453973,-0.047493],[-0.022807,-0.148135,0.988704]]
2025-10-26T19:22:01.262Z,1761506521.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756341
2025-10-26T19:22:01.512Z,1761506521.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926
2025-10-26T19:22:01.573Z,1761506521.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458446,-0.877453,-0.141078],[0.888421,-0.456614,-0.047037],[-0.023145,-0.146901,0.988880]]
2025-10-26T19:22:01.764Z,1761506521.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258896
2025-10-26T19:22:01.973Z,1761506521.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461390,-0.875875,-0.141287],[0.886883,-0.459581,-0.047164],[-0.023623,-0.147066,0.988845]]
2025-10-26T19:22:02.017Z,1761506522.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511898
2025-10-26T19:22:02.268Z,1761506522.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762913
2025-10-26T19:22:02.376Z,1761506522.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464325,-0.874173,-0.142211],[0.885339,-0.462491,-0.047730],[-0.024047,-0.148067,0.988685]]
2025-10-26T19:22:02.520Z,1761506522.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014874
2025-10-26T19:22:02.773Z,1761506522.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267383
2025-10-26T19:22:02.844Z,1761506522.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469755,-0.870928,-0.144275],[0.882465,-0.467746,-0.049694],[-0.024205,-0.150662,0.988289]]
2025-10-26T19:22:03.024Z,1761506523.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518933
2025-10-26T19:22:03.276Z,1761506523.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770970
2025-10-26T19:22:03.528Z,1761506523.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022927
2025-10-26T19:22:03.589Z,1761506523.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471935,-0.869446,-0.146085],[0.881305,-0.469759,-0.051266],[-0.024052,-0.152939,0.987943]]
2025-10-26T19:22:03.780Z,1761506523.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274887
2025-10-26T19:22:03.992Z,1761506523.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473913,-0.868100,-0.147681],[0.880256,-0.471526,-0.053042],[-0.023589,-0.155134,0.987612]]
2025-10-26T19:22:04.049Z,1761506524.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542881
2025-10-26T19:22:04.300Z,1761506524.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794937
2025-10-26T19:22:04.394Z,1761506524.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475267,-0.867009,-0.149719],[0.879540,-0.472629,-0.055055],[-0.023028,-0.157850,0.987195]]
2025-10-26T19:22:04.440Z,1761506524.440 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:22:04.440Z,1761506524.440 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:22:04.440Z,1761506524.440 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateRudder:A] Stopped
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode] Stopped
2025-10-26T19:22:04.441Z,1761506524.441 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed] Stopped
2025-10-26T19:22:04.442Z,1761506524.442 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:22:04.554Z,1761506524.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047960
2025-10-26T19:22:04.807Z,1761506524.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.301149
2025-10-26T19:22:04.854Z,1761506524.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476648,-0.865793,-0.152342],[0.878797,-0.473786,-0.056951],[-0.022870,-0.161023,0.986686]]
2025-10-26T19:22:04.911Z,1761506524.911 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:22:04.911Z,1761506524.911 [marl:UpdateRudder:B] Stopped
2025-10-26T19:22:04.911Z,1761506524.911 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:22:04.911Z,1761506524.911 [marl:UpdateRudder] Stopped
2025-10-26T19:22:04.911Z,1761506524.911 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:22:05.058Z,1761506525.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.552416
2025-10-26T19:22:05.308Z,1761506525.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.802902
2025-10-26T19:22:05.561Z,1761506525.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.055616
2025-10-26T19:22:05.613Z,1761506525.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476979,-0.865559,-0.152636],[0.878638,-0.473936,-0.058128],[-0.022026,-0.161838,0.986572]]
2025-10-26T19:22:05.812Z,1761506525.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306924
2025-10-26T19:22:06.010Z,1761506526.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477252,-0.865530,-0.151949],[0.878511,-0.474097,-0.058742],[-0.021196,-0.161524,0.986641]]
2025-10-26T19:22:06.064Z,1761506526.064 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:22:06.065Z,1761506526.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559475
2025-10-26T19:22:06.316Z,1761506526.316 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:22:06.316Z,1761506526.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810966
2025-10-26T19:22:06.414Z,1761506526.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477297,-0.865827,-0.150106],[0.878497,-0.474181,-0.058264],[-0.020731,-0.159677,0.986952]]
2025-10-26T19:22:06.568Z,1761506526.568 [DAT](INFO): setting remote address to 6
2025-10-26T19:22:06.570Z,1761506526.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.063541
2025-10-26T19:22:06.823Z,1761506526.823 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:06.824Z,1761506526.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.318496
2025-10-26T19:22:06.859Z,1761506526.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476541,-0.866463,-0.148832],[0.878900,-0.473579,-0.057071],[-0.021034,-0.158005,0.987214]]
2025-10-26T19:22:07.072Z,1761506527.072 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:07.073Z,1761506527.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.567200
2025-10-26T19:22:07.228Z,1761506527.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476099,-0.866633,-0.149253],[0.879132,-0.473176,-0.056842],[-0.021361,-0.158275,0.987164]]
2025-10-26T19:22:07.324Z,1761506527.324 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:07.325Z,1761506527.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819384
2025-10-26T19:22:07.576Z,1761506527.576 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:07.577Z,1761506527.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071065
2025-10-26T19:22:07.631Z,1761506527.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475670,-0.866865,-0.149276],[0.879353,-0.472833,-0.056273],[-0.021802,-0.158034,0.987193]]
2025-10-26T19:22:07.828Z,1761506527.828 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:07.828Z,1761506527.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.322969
2025-10-26T19:22:08.037Z,1761506528.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476416,-0.866107,-0.151286],[0.878941,-0.473499,-0.057114],[-0.022167,-0.160181,0.986839]]
2025-10-26T19:22:08.080Z,1761506528.080 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:08.081Z,1761506528.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575143
2025-10-26T19:22:08.332Z,1761506528.332 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:08.333Z,1761506528.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827052
2025-10-26T19:22:08.438Z,1761506528.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476721,-0.865839,-0.151853],[0.878770,-0.473797,-0.057266],[-0.022365,-0.160744,0.986743]]
2025-10-26T19:22:08.584Z,1761506528.584 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:08.585Z,1761506528.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079062
2025-10-26T19:22:08.840Z,1761506528.840 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:08.842Z,1761506528.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.335873
2025-10-26T19:22:08.895Z,1761506528.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477183,-0.865250,-0.153753],[0.878512,-0.474179,-0.058060],[-0.022670,-0.162779,0.986402]]
2025-10-26T19:22:09.088Z,1761506529.088 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:09.089Z,1761506529.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583057
2025-10-26T19:22:09.242Z,1761506529.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477813,-0.864504,-0.155973],[0.878159,-0.474716,-0.059001],[-0.023036,-0.165161,0.985998]]
2025-10-26T19:22:09.340Z,1761506529.340 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:09.341Z,1761506529.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835459
2025-10-26T19:22:09.593Z,1761506529.593 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:09.593Z,1761506529.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087613
2025-10-26T19:22:09.647Z,1761506529.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478334,-0.863930,-0.157549],[0.877873,-0.475138,-0.059857],[-0.023145,-0.166939,0.985695]]
2025-10-26T19:22:09.844Z,1761506529.844 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:09.845Z,1761506529.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339036
2025-10-26T19:22:10.057Z,1761506530.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478777,-0.863583,-0.158107],[0.877633,-0.475524,-0.060311],[-0.023100,-0.167635,0.985578]]
2025-10-26T19:22:10.096Z,1761506530.096 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:10.097Z,1761506530.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591069
2025-10-26T19:22:10.348Z,1761506530.348 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:10.348Z,1761506530.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842946
2025-10-26T19:22:10.456Z,1761506530.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479173,-0.863370,-0.158069],[0.877418,-0.475902,-0.060456],[-0.023030,-0.167662,0.985576]]
2025-10-26T19:22:10.600Z,1761506530.600 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:10.600Z,1761506530.600 [DAT](INFO): Reached modem response timeout
2025-10-26T19:22:10.856Z,1761506530.856 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:10.862Z,1761506530.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479444,-0.863379,-0.157193],[0.877277,-0.476178,-0.060332],[-0.022763,-0.166827,0.985723]]
2025-10-26T19:22:11.108Z,1761506531.108 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:11.262Z,1761506531.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479565,-0.863249,-0.157538],[0.877222,-0.476193,-0.061012],[-0.022350,-0.167455,0.985626]]
2025-10-26T19:22:11.360Z,1761506531.360 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:11.612Z,1761506531.612 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:11.666Z,1761506531.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479415,-0.863249,-0.157998],[0.877312,-0.475952,-0.061589],[-0.022032,-0.168140,0.985517]]
2025-10-26T19:22:11.865Z,1761506531.865 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:12.072Z,1761506532.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479377,-0.863111,-0.158863],[0.877357,-0.475661,-0.063178],[-0.021035,-0.169666,0.985277]]
2025-10-26T19:22:12.124Z,1761506532.124 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:12.376Z,1761506532.376 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:12.474Z,1761506532.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478757,-0.863390,-0.159217],[0.877715,-0.474869,-0.064155],[-0.020217,-0.170462,0.985157]]
2025-10-26T19:22:12.629Z,1761506532.629 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:22:12.878Z,1761506532.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477778,-0.864123,-0.158175],[0.878267,-0.473826,-0.064317],[-0.019370,-0.169649,0.985314]]
2025-10-26T19:22:12.881Z,1761506532.881 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:22:12.881Z,1761506532.881 [DAT](INFO): response not received
2025-10-26T19:22:12.881Z,1761506532.881 [DAT](INFO): DAT read: user:167>

2025-10-26T19:22:12.882Z,1761506532.882 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:22:12.882Z,1761506532.882 [DAT](INFO): set remote address to 6
2025-10-26T19:22:12.883Z,1761506532.883 [DAT](INFO): entering online mode
2025-10-26T19:22:13.132Z,1761506533.132 [DAT](INFO): DAT read: user:168>

2025-10-26T19:22:13.133Z,1761506533.133 [DAT](INFO): DAT read: 

2025-10-26T19:22:13.134Z,1761506533.134 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:22:13.134Z,1761506533.134 [DAT](INFO): commRate: 600
2025-10-26T19:22:13.134Z,1761506533.134 [DAT](INFO): online mode acknowledged
2025-10-26T19:22:13.135Z,1761506533.135 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:22:13.282Z,1761506533.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476723,-0.864779,-0.157771],[0.878858,-0.472665,-0.064784],[-0.018549,-0.169542,0.985348]]
2025-10-26T19:22:13.686Z,1761506533.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475660,-0.865465,-0.157220],[0.879452,-0.471495,-0.065249],[-0.017657,-0.169304,0.985406]]
2025-10-26T19:22:14.090Z,1761506534.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474032,-0.866358,-0.157219],[0.880338,-0.469833,-0.065286],[-0.017305,-0.169353,0.985403]]
2025-10-26T19:22:14.495Z,1761506534.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472500,-0.867290,-0.156692],[0.881167,-0.468313,-0.065022],[-0.016988,-0.168795,0.985505]]
2025-10-26T19:22:14.905Z,1761506534.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471128,-0.867894,-0.157473],[0.881888,-0.467047,-0.064355],[-0.017694,-0.169193,0.985424]]
2025-10-26T19:22:15.302Z,1761506535.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469853,-0.868561,-0.157609],[0.882557,-0.465890,-0.063561],[-0.018222,-0.168963,0.985454]]
2025-10-26T19:22:15.710Z,1761506535.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469190,-0.868771,-0.158422],[0.882900,-0.465268,-0.063351],[-0.018672,-0.169594,0.985337]]
2025-10-26T19:22:16.116Z,1761506536.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468920,-0.868627,-0.160006],[0.883029,-0.465019,-0.063380],[-0.019352,-0.171011,0.985079]]
2025-10-26T19:22:16.409Z,1761506536.409 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:22:15.5593

2025-10-26T19:22:16.409Z,1761506536.409 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:22:16.522Z,1761506536.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469381,-0.868110,-0.161448],[0.882751,-0.465640,-0.062684],[-0.020760,-0.171941,0.984888]]
2025-10-26T19:22:16.949Z,1761506536.949 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +46, +1009, 
2025-10-26T19:22:17.322Z,1761506537.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474155,-0.865005,-0.164147],[0.880131,-0.470630,-0.062264],[-0.023394,-0.173994,0.984469]]
2025-10-26T19:22:17.732Z,1761506537.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477849,-0.863191,-0.162978],[0.878094,-0.474592,-0.060942],[-0.024744,-0.172231,0.984746]]
2025-10-26T19:22:17.790Z,1761506537.790 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:22:17.790Z,1761506537.790 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:22:17.790Z,1761506537.790 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:22:17.791Z,1761506537.791 [marl:UpdateRudder:A] Stopped
2025-10-26T19:22:17.791Z,1761506537.791 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:22:17.791Z,1761506537.791 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:22:17.791Z,1761506537.791 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:22:17.791Z,1761506537.791 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:22:17.791Z,1761506537.792 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateCommandMode] Stopped
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:22:17.792Z,1761506537.792 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:22:17.793Z,1761506537.793 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:22:17.793Z,1761506537.793 [marl:UpdateSpeed] Stopped
2025-10-26T19:22:17.793Z,1761506537.793 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:22:18.131Z,1761506538.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482019,-0.860867,-0.162993],[0.875770,-0.478949,-0.060286],[-0.026167,-0.171803,0.984784]]
2025-10-26T19:22:18.167Z,1761506538.167 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:22:18.167Z,1761506538.167 [marl:UpdateRudder:B] Stopped
2025-10-26T19:22:18.168Z,1761506538.168 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:22:18.168Z,1761506538.168 [marl:UpdateRudder] Stopped
2025-10-26T19:22:18.168Z,1761506538.168 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:22:18.539Z,1761506538.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486449,-0.858339,-0.163161],[0.873275,-0.483540,-0.059834],[-0.027537,-0.171590,0.984783]]
2025-10-26T19:22:19.342Z,1761506539.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495405,-0.853157,-0.163392],[0.868178,-0.492571,-0.060341],[-0.029002,-0.171746,0.984714]]
2025-10-26T19:22:19.749Z,1761506539.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499990,-0.850529,-0.163129],[0.865578,-0.496874,-0.062372],[-0.028006,-0.172386,0.984631]]
2025-10-26T19:22:20.154Z,1761506540.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504893,-0.847756,-0.162462],[0.862817,-0.501135,-0.066414],[-0.025113,-0.173707,0.984477]]
2025-10-26T19:22:20.554Z,1761506540.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509511,-0.845339,-0.160625],[0.860179,-0.505192,-0.069802],[-0.022140,-0.173731,0.984544]]
2025-10-26T19:22:20.962Z,1761506540.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515204,-0.843105,-0.154072],[0.856848,-0.510751,-0.070321],[-0.019404,-0.168246,0.985554]]
2025-10-26T19:22:21.364Z,1761506541.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523522,-0.841181,-0.135425],[0.851840,-0.519962,-0.063314],[-0.017157,-0.148507,0.988762]]
2025-10-26T19:22:21.766Z,1761506541.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533465,-0.838709,-0.109468],[0.845676,-0.531293,-0.050592],[-0.015728,-0.119564,0.992702]]
2025-10-26T19:22:22.174Z,1761506542.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544268,-0.834828,-0.082667],[0.838787,-0.543237,-0.036477],[-0.014456,-0.089193,0.995909]]
2025-10-26T19:22:22.578Z,1761506542.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555553,-0.829452,-0.058053],[0.831377,-0.555231,-0.023032],[-0.013129,-0.061060,0.998048]]
2025-10-26T19:22:22.980Z,1761506542.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566742,-0.823129,-0.035541],[0.823808,-0.566781,-0.009919],[-0.011979,-0.034901,0.999319]]
2025-10-26T19:22:23.382Z,1761506543.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577217,-0.816409,-0.017260],[0.816516,-0.577322,0.001391],[-0.011100,-0.013290,0.999850]]
2025-10-26T19:22:23.786Z,1761506543.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587097,-0.809512,-0.002849],[0.809446,-0.587088,0.011182],[-0.010725,0.004259,0.999933]]
2025-10-26T19:22:24.190Z,1761506544.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596532,-0.802547,0.008181],[0.802517,-0.596311,0.019502],[-0.010773,0.018199,0.999776]]
2025-10-26T19:22:24.599Z,1761506544.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604906,-0.796149,0.015352],[0.796217,-0.604460,0.025798],[-0.011260,0.027829,0.999549]]
2025-10-26T19:22:25.009Z,1761506545.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614596,-0.788583,0.020214],[0.788755,-0.613946,0.030593],[-0.011715,0.034747,0.999328]]
2025-10-26T19:22:25.402Z,1761506545.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625289,-0.780081,0.022071],[0.780303,-0.624539,0.032825],[-0.011822,0.037747,0.999217]]
2025-10-26T19:22:25.806Z,1761506545.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637275,-0.770334,0.021577],[0.770553,-0.636544,0.032565],[-0.011351,0.037379,0.999237]]
2025-10-26T19:22:26.214Z,1761506546.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649297,-0.760254,0.020643],[0.760457,-0.648603,0.031924],[-0.010881,0.036427,0.999277]]
2025-10-26T19:22:26.489Z,1761506546.489 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:22:26.489Z,1761506546.489 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:22:26.625Z,1761506546.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661657,-0.749531,0.020328],[0.749737,-0.660985,0.031511],[-0.010182,0.036090,0.999297]]
2025-10-26T19:22:26.741Z,1761506546.741 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:22:26.888Z,1761506546.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:22:27.019Z,1761506547.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674163,-0.738332,0.019272],[0.738527,-0.673559,0.029957],[-0.009137,0.034429,0.999365]]
2025-10-26T19:22:27.422Z,1761506547.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686452,-0.726938,0.018551],[0.727129,-0.685897,0.028789],[-0.008204,0.033251,0.999413]]
2025-10-26T19:22:27.828Z,1761506547.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698664,-0.715196,0.019044],[0.715416,-0.698124,0.028334],[-0.006969,0.033421,0.999417]]
2025-10-26T19:22:27.892Z,1761506547.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:22:28.231Z,1761506548.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710744,-0.703191,0.019111],[0.703427,-0.710235,0.027517],[-0.005777,0.033001,0.999439]]
2025-10-26T19:22:28.637Z,1761506548.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722316,-0.691284,0.019658],[0.691548,-0.721821,0.027107],[-0.004549,0.033174,0.999439]]
2025-10-26T19:22:29.038Z,1761506549.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733874,-0.678983,0.020266],[0.679278,-0.733403,0.026475],[-0.003113,0.033195,0.999444]]
2025-10-26T19:22:29.443Z,1761506549.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745106,-0.666612,0.021126],[0.666944,-0.744643,0.026315],[-0.001811,0.033697,0.999430]]
2025-10-26T19:22:29.846Z,1761506549.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755952,-0.654253,0.022136],[0.654627,-0.755491,0.026398],[-0.000547,0.034447,0.999406]]
2025-10-26T19:22:29.920Z,1761506549.920 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:22:30.016Z,1761506550.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:22:30.068Z,1761506550.068 [DAT](INFO): entering command mode
2025-10-26T19:22:30.250Z,1761506550.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766599,-0.641712,0.023077],[0.642126,-0.766147,0.026335],[0.000780,0.035006,0.999387]]
2025-10-26T19:22:30.268Z,1761506550.268 [DAT](INFO): DAT read: 

2025-10-26T19:22:30.269Z,1761506550.269 [DAT](INFO): DAT read: user:169>

2025-10-26T19:22:30.269Z,1761506550.269 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:22:30.269Z,1761506550.269 [DAT](INFO): setting remote address to 0
2025-10-26T19:22:30.520Z,1761506550.520 [DAT](INFO): DAT read: user:169>

2025-10-26T19:22:30.521Z,1761506550.521 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:22:30.522Z,1761506550.522 [DAT](INFO): set remote address to 0
2025-10-26T19:22:30.522Z,1761506550.522 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:22:30.522Z,1761506550.522 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:22:30.658Z,1761506550.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777247,-0.628741,0.023920],[0.629192,-0.776805,0.026294],[0.002049,0.035487,0.999368]]
2025-10-26T19:22:30.773Z,1761506550.773 [DAT](INFO): DAT read: user:170>

2025-10-26T19:22:30.774Z,1761506550.774 [DAT](INFO): DAT read: Tx time:19:22:29.8604

2025-10-26T19:22:30.774Z,1761506550.774 [DAT](INFO): Ping request sent.
2025-10-26T19:22:30.775Z,1761506550.775 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:22:30.775Z,1761506550.775 [DAT](INFO): publishing transmit ping time
2025-10-26T19:22:30.776Z,1761506550.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001318
2025-10-26T19:22:31.024Z,1761506551.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249787
2025-10-26T19:22:31.058Z,1761506551.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787521,-0.615776,0.025121],[0.616280,-0.787060,0.027098],[0.003086,0.036822,0.999317]]
2025-10-26T19:22:31.111Z,1761506551.111 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateRudder:A] Stopped
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:22:31.112Z,1761506551.112 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateCommandMode] Stopped
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:22:31.113Z,1761506551.113 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:22:31.114Z,1761506551.114 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:22:31.114Z,1761506551.114 [marl:UpdateSpeed] Stopped
2025-10-26T19:22:31.114Z,1761506551.114 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:22:31.277Z,1761506551.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502627
2025-10-26T19:22:31.466Z,1761506551.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797914,-0.602231,0.025512],[0.602756,-0.797475,0.026815],[0.004196,0.036773,0.999315]]
2025-10-26T19:22:31.512Z,1761506551.512 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:22:31.512Z,1761506551.512 [marl:UpdateRudder:B] Stopped
2025-10-26T19:22:31.512Z,1761506551.512 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:22:31.512Z,1761506551.512 [marl:UpdateRudder] Stopped
2025-10-26T19:22:31.512Z,1761506551.512 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:22:31.528Z,1761506551.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753779
2025-10-26T19:22:31.781Z,1761506551.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006400
2025-10-26T19:22:31.866Z,1761506551.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808154,-0.588421,0.025443],[0.588950,-0.807738,0.026418],[0.005006,0.036334,0.999327]]
2025-10-26T19:22:32.032Z,1761506552.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257814
2025-10-26T19:22:32.271Z,1761506552.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818232,-0.574314,0.025684],[0.574861,-0.817810,0.026873],[0.005571,0.036753,0.999309]]
2025-10-26T19:22:32.284Z,1761506552.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509850
2025-10-26T19:22:32.536Z,1761506552.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761792
2025-10-26T19:22:32.678Z,1761506552.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828272,-0.559742,0.025564],[0.560286,-0.827897,0.025825],[0.006710,0.035713,0.999340]]
2025-10-26T19:22:32.791Z,1761506552.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016167
2025-10-26T19:22:33.040Z,1761506553.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265848
2025-10-26T19:22:33.122Z,1761506553.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837941,-0.545179,0.025206],[0.545707,-0.837613,0.024651],[0.007673,0.034411,0.999378]]
2025-10-26T19:22:33.293Z,1761506553.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518157
2025-10-26T19:22:33.523Z,1761506553.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847129,-0.530767,0.025679],[0.531312,-0.846835,0.024042],[0.008985,0.034010,0.999381]]
2025-10-26T19:22:33.544Z,1761506553.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769783
2025-10-26T19:22:33.796Z,1761506553.796 [DAT](INFO): DAT read: Rx Time:19:22:32.3326

2025-10-26T19:22:33.797Z,1761506553.797 [DAT](INFO): Rx dataTimestamp_ set to:1761506553.796568
2025-10-26T19:22:33.797Z,1761506553.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022811
2025-10-26T19:22:33.926Z,1761506553.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855464,-0.517204,0.026096],[0.517755,-0.855225,0.022809],[0.010521,0.033024,0.999399]]
2025-10-26T19:22:34.052Z,1761506554.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277154
2025-10-26T19:22:34.306Z,1761506554.306 [DAT](INFO): DAT read: 19:22:32.3326 LVL= 24112, 16369, 16882, 23251, AGC= 58, IDX= 422, 0.18, 2.503,-2.177,-1.624,-2.323, PHS=-1.355, 0.191, 0.655, RAW= 257.3,   5.6, CAL= 254.5,   4.1, ROT= 255.5,  -4.1

2025-10-26T19:22:34.307Z,1761506554.307 [DAT](INFO): got valid direction response:
 19:22:32.3326 LVL= 24112, 16369, 16882, 23251, AGC= 58, IDX= 422, 0.18, 2.503,-2.177,-1.624,-2.323, PHS=-1.355, 0.191, 0.655, RAW= 257.3,   5.6, CAL= 254.5,   4.1, ROT= 255.5,  -4.1

2025-10-26T19:22:34.308Z,1761506554.308 [DAT](INFO): DAT read: Bearing   7, -14 (Remote)

2025-10-26T19:22:34.309Z,1761506554.309 [DAT](INFO): Remote Bearing received:Bearing   7, -14 (Remote)

2025-10-26T19:22:34.309Z,1761506554.309 [DAT](INFO): DAT read: Bearing  99.4, -74.5 (Local)

2025-10-26T19:22:34.310Z,1761506554.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing  99.4, -74.5 (Local)

2025-10-26T19:22:34.311Z,1761506554.311 [DAT](INFO): DAT read: Range 11 to 20 : 332.3 m  (Round-trip  443.1 ms) speed  0.4 m/s

2025-10-26T19:22:34.324Z,1761506554.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:22:34.325Z,1761506554.325 [DAT](INFO): direction in FSK: [-0.249739,-0.965670,0.071497]
2025-10-26T19:22:34.325Z,1761506554.325 [DAT](INFO): publishing direction and range info
2025-10-26T19:22:34.338Z,1761506554.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861803,-0.506648,0.024556],[0.507099,-0.861702,0.017900],[0.012091,0.027878,0.999538]]
2025-10-26T19:22:34.441Z,1761506554.441 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506560.00. Resetting abort timer.
2025-10-26T19:22:34.745Z,1761506554.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865240,-0.501016,0.018508],[0.501168,-0.865339,0.004432],[0.013795,0.013111,0.999819]]
2025-10-26T19:22:35.138Z,1761506555.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866180,-0.499670,0.007838],[0.499485,-0.866139,-0.017804],[0.015685,-0.011507,0.999811]]
2025-10-26T19:22:35.542Z,1761506555.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865378,-0.501077,-0.006518],[0.500804,-0.864298,-0.046732],[0.017782,-0.043705,0.998886]]
2025-10-26T19:22:35.951Z,1761506555.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863438,-0.503939,-0.022816],[0.504064,-0.860103,-0.078375],[0.019871,-0.079172,0.996663]]
2025-10-26T19:22:36.352Z,1761506556.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860939,-0.507309,-0.037715],[0.508236,-0.854579,-0.106728],[0.021913,-0.111054,0.993573]]
2025-10-26T19:22:36.754Z,1761506556.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858452,-0.510439,-0.050113],[0.512329,-0.848821,-0.130467],[0.024059,-0.137674,0.990185]]
2025-10-26T19:22:37.158Z,1761506557.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855882,-0.513643,-0.060304],[0.516531,-0.843195,-0.149057],[0.025715,-0.158724,0.986988]]
2025-10-26T19:22:37.562Z,1761506557.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853603,-0.516569,-0.067218],[0.520226,-0.838656,-0.161307],[0.026954,-0.172661,0.984613]]
2025-10-26T19:22:37.974Z,1761506557.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851607,-0.519119,-0.072675],[0.523448,-0.834873,-0.170261],[0.027711,-0.183037,0.982715]]
2025-10-26T19:22:38.370Z,1761506558.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849779,-0.521688,-0.075607],[0.526392,-0.832172,-0.174360],[0.028043,-0.187966,0.981775]]
2025-10-26T19:22:38.778Z,1761506558.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848391,-0.523903,-0.075884],[0.528618,-0.830802,-0.174155],[0.028196,-0.187866,0.981790]]
2025-10-26T19:22:39.178Z,1761506559.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847555,-0.525400,-0.074868],[0.529970,-0.830474,-0.171594],[0.027980,-0.185114,0.982319]]
2025-10-26T19:22:39.584Z,1761506559.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847193,-0.526278,-0.072768],[0.530555,-0.830881,-0.167772],[0.027833,-0.180742,0.983137]]
2025-10-26T19:22:39.986Z,1761506559.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847273,-0.526317,-0.071551],[0.530443,-0.831435,-0.165363],[0.027543,-0.178062,0.983634]]
2025-10-26T19:22:40.390Z,1761506560.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848002,-0.525298,-0.070387],[0.529301,-0.832613,-0.163081],[0.027061,-0.175549,0.984099]]
2025-10-26T19:22:40.839Z,1761506560.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848876,-0.523974,-0.069717],[0.527920,-0.833745,-0.161770],[0.026637,-0.174127,0.984363]]
2025-10-26T19:22:41.199Z,1761506561.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849943,-0.522449,-0.068152],[0.526216,-0.835280,-0.159389],[0.026346,-0.171334,0.984861]]
2025-10-26T19:22:41.316Z,1761506561.316 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:22:41.316Z,1761506561.316 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:22:41.603Z,1761506561.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851405,-0.520090,-0.067943],[0.523863,-0.836769,-0.159325],[0.026011,-0.171243,0.984885]]
2025-10-26T19:22:42.006Z,1761506562.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852662,-0.517916,-0.068782],[0.521811,-0.837609,-0.161631],[0.026099,-0.173708,0.984451]]
2025-10-26T19:22:42.410Z,1761506562.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853801,-0.515962,-0.069332],[0.519924,-0.838314,-0.164040],[0.026516,-0.176105,0.984014]]
2025-10-26T19:22:42.864Z,1761506562.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854778,-0.514262,-0.069925],[0.518265,-0.838652,-0.167525],[0.027509,-0.179436,0.983385]]
2025-10-26T19:22:43.218Z,1761506563.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855609,-0.512847,-0.070150],[0.516807,-0.838776,-0.171364],[0.029044,-0.182875,0.982707]]
2025-10-26T19:22:43.622Z,1761506563.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856237,-0.511674,-0.071050],[0.515660,-0.838361,-0.176763],[0.030879,-0.187989,0.981686]]
2025-10-26T19:22:44.026Z,1761506564.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856666,-0.510875,-0.071629],[0.514818,-0.837764,-0.181974],[0.032958,-0.192766,0.980691]]
2025-10-26T19:22:44.445Z,1761506564.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856873,-0.510574,-0.071290],[0.514348,-0.837351,-0.185173],[0.034850,-0.195337,0.980117]]
2025-10-26T19:22:44.500Z,1761506564.500 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateRudder:A] Stopped
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:22:44.501Z,1761506564.501 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateCommandMode] Stopped
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:22:44.502Z,1761506564.502 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:22:44.503Z,1761506564.503 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:22:44.503Z,1761506564.503 [marl:UpdateSpeed] Stopped
2025-10-26T19:22:44.503Z,1761506564.503 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:22:44.855Z,1761506564.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856730,-0.510884,-0.070792],[0.514483,-0.836840,-0.187100],[0.036345,-0.196716,0.979787]]
2025-10-26T19:22:44.942Z,1761506564.942 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:22:44.942Z,1761506564.942 [marl:UpdateRudder:B] Stopped
2025-10-26T19:22:44.943Z,1761506564.943 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:22:44.943Z,1761506564.943 [marl:UpdateRudder] Stopped
2025-10-26T19:22:44.943Z,1761506564.943 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:22:45.238Z,1761506565.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856155,-0.512016,-0.069552],[0.515373,-0.836443,-0.186422],[0.037275,-0.195452,0.980005]]
2025-10-26T19:22:45.645Z,1761506565.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855154,-0.513809,-0.068648],[0.517015,-0.835817,-0.184676],[0.037511,-0.193418,0.980399]]
2025-10-26T19:22:46.047Z,1761506566.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853913,-0.516097,-0.066900],[0.519084,-0.835472,-0.180383],[0.037203,-0.188758,0.981319]]
2025-10-26T19:22:46.868Z,1761506566.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851165,-0.520382,-0.068711],[0.523913,-0.834242,-0.171916],[0.032140,-0.182328,0.982712]]
2025-10-26T19:22:47.670Z,1761506567.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851586,-0.519322,-0.071458],[0.523508,-0.835423,-0.167355],[0.027213,-0.179926,0.983304]]
2025-10-26T19:22:48.071Z,1761506568.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852790,-0.517069,-0.073412],[0.521650,-0.836584,-0.167356],[0.025119,-0.181015,0.983159]]
2025-10-26T19:22:48.475Z,1761506568.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854209,-0.514512,-0.074860],[0.519407,-0.838008,-0.167210],[0.023299,-0.181715,0.983075]]
2025-10-26T19:22:49.012Z,1761506569.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856220,-0.511000,-0.075935],[0.516154,-0.839986,-0.167359],[0.021736,-0.182490,0.982967]]
2025-10-26T19:22:49.288Z,1761506569.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858292,-0.507294,-0.077376],[0.512754,-0.841802,-0.168680],[0.020435,-0.184451,0.982629]]
2025-10-26T19:22:49.685Z,1761506569.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860134,-0.504049,-0.078131],[0.509700,-0.843547,-0.169218],[0.019387,-0.185374,0.982477]]
2025-10-26T19:22:50.086Z,1761506570.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861950,-0.500819,-0.078881],[0.506645,-0.845106,-0.170605],[0.018779,-0.187017,0.982177]]
2025-10-26T19:22:50.490Z,1761506570.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863614,-0.497888,-0.079232],[0.503790,-0.846303,-0.173109],[0.019135,-0.189415,0.981711]]
2025-10-26T19:22:50.903Z,1761506570.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864908,-0.495491,-0.080140],[0.501565,-0.847103,-0.175640],[0.019141,-0.192108,0.981187]]
2025-10-26T19:22:51.302Z,1761506571.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865536,-0.494298,-0.080727],[0.500487,-0.847505,-0.176769],[0.018960,-0.193403,0.980936]]
2025-10-26T19:22:51.707Z,1761506571.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865761,-0.493822,-0.081226],[0.500107,-0.847611,-0.177337],[0.018725,-0.194153,0.980792]]
2025-10-26T19:22:52.106Z,1761506572.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865426,-0.494198,-0.082496],[0.500698,-0.846988,-0.178641],[0.018411,-0.195906,0.980450]]
2025-10-26T19:22:52.512Z,1761506572.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864794,-0.495139,-0.083479],[0.501820,-0.846426,-0.178157],[0.017553,-0.195961,0.980455]]
2025-10-26T19:22:52.925Z,1761506572.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863873,-0.496524,-0.084774],[0.503433,-0.845513,-0.177940],[0.016674,-0.196396,0.980383]]
2025-10-26T19:22:53.318Z,1761506573.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862902,-0.498175,-0.084983],[0.505127,-0.844967,-0.175722],[0.015732,-0.194558,0.980765]]
2025-10-26T19:22:53.729Z,1761506573.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862011,-0.499706,-0.085038],[0.506678,-0.844592,-0.173034],[0.014643,-0.192245,0.981238]]
2025-10-26T19:22:54.127Z,1761506574.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861373,-0.500866,-0.084676],[0.507801,-0.844700,-0.169176],[0.013209,-0.188722,0.981942]]
2025-10-26T19:22:54.530Z,1761506574.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861109,-0.501336,-0.084580],[0.508286,-0.845050,-0.165941],[0.011718,-0.185884,0.982502]]
2025-10-26T19:22:54.936Z,1761506574.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861243,-0.501190,-0.084073],[0.508096,-0.845986,-0.161698],[0.009917,-0.181978,0.983253]]
2025-10-26T19:22:55.343Z,1761506575.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861734,-0.500403,-0.083734],[0.507294,-0.847133,-0.158174],[0.008216,-0.178782,0.983854]]
2025-10-26T19:22:55.744Z,1761506575.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862145,-0.499698,-0.083709],[0.506618,-0.848079,-0.155244],[0.006584,-0.176251,0.984323]]
2025-10-26T19:22:56.147Z,1761506576.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862844,-0.498319,-0.084724],[0.505447,-0.848998,-0.154031],[0.004827,-0.175728,0.984427]]
2025-10-26T19:22:56.551Z,1761506576.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863850,-0.496422,-0.085601],[0.503739,-0.850207,-0.152957],[0.003153,-0.175253,0.984518]]
2025-10-26T19:22:56.959Z,1761506576.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865048,-0.494105,-0.086904],[0.501686,-0.851336,-0.153423],[0.001823,-0.176317,0.984332]]
2025-10-26T19:22:57.358Z,1761506577.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866162,-0.492033,-0.087557],[0.499762,-0.852475,-0.153376],[0.000826,-0.176606,0.984281]]
2025-10-26T19:22:57.763Z,1761506577.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867527,-0.489486,-0.088321],[0.497390,-0.853521,-0.155258],[0.000613,-0.178620,0.983918]]
2025-10-26T19:22:57.807Z,1761506577.807 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:22:57.808Z,1761506577.808 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:22:57.808Z,1761506577.808 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:22:57.808Z,1761506577.808 [marl:UpdateRudder:A] Stopped
2025-10-26T19:22:57.808Z,1761506577.808 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:22:57.808Z,1761506577.808 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:22:57.808Z,1761506577.808 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateCommandMode] Stopped
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:22:57.809Z,1761506577.809 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:22:57.810Z,1761506577.810 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:22:57.810Z,1761506577.810 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:22:57.810Z,1761506577.810 [marl:UpdateSpeed] Stopped
2025-10-26T19:22:57.810Z,1761506577.810 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:22:58.040Z,1761506578.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:22:58.167Z,1761506578.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869196,-0.486305,-0.089474],[0.494467,-0.854862,-0.157202],[-0.000040,-0.180881,0.983505]]
2025-10-26T19:22:58.190Z,1761506578.190 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:22:58.191Z,1761506578.191 [marl:UpdateRudder:B] Stopped
2025-10-26T19:22:58.191Z,1761506578.191 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:22:58.191Z,1761506578.191 [marl:UpdateRudder] Stopped
2025-10-26T19:22:58.191Z,1761506578.191 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:22:58.571Z,1761506578.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870979,-0.482990,-0.090090],[0.491320,-0.856223,-0.159644],[-0.000030,-0.183309,0.983055]]
2025-10-26T19:22:58.974Z,1761506578.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873055,-0.479172,-0.090389],[0.487623,-0.857839,-0.162283],[0.000222,-0.185758,0.982596]]
2025-10-26T19:22:59.044Z,1761506579.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:22:59.385Z,1761506579.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875360,-0.474875,-0.090763],[0.483471,-0.859800,-0.164313],[-0.000010,-0.187715,0.982224]]
2025-10-26T19:22:59.782Z,1761506579.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878218,-0.469607,-0.090564],[0.478260,-0.862462,-0.165609],[-0.000337,-0.188754,0.982024]]
2025-10-26T19:23:00.187Z,1761506580.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880993,-0.464492,-0.089996],[0.473129,-0.865177,-0.166183],[-0.000671,-0.188986,0.981980]]
2025-10-26T19:23:00.231Z,1761506580.231 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:23:00.269Z,1761506580.269 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:23:00.269Z,1761506580.269 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:23:00.520Z,1761506580.520 [DAT](INFO): DAT read: user:171>

2025-10-26T19:23:00.521Z,1761506580.521 [DAT](INFO): DAT read: Tx time:19:22:59.6101

2025-10-26T19:23:00.521Z,1761506580.521 [DAT](INFO): Ping request sent.
2025-10-26T19:23:00.521Z,1761506580.521 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:23:00.522Z,1761506580.522 [DAT](INFO): publishing transmit ping time
2025-10-26T19:23:00.522Z,1761506580.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945
2025-10-26T19:23:00.596Z,1761506580.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883781,-0.459207,-0.089776],[0.467899,-0.867794,-0.167346],[-0.001060,-0.189903,0.981802]]
2025-10-26T19:23:00.772Z,1761506580.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250906
2025-10-26T19:23:00.994Z,1761506580.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886060,-0.454909,-0.089194],[0.463568,-0.870201,-0.166900],[-0.001693,-0.189231,0.981931]]
2025-10-26T19:23:01.024Z,1761506581.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991
2025-10-26T19:23:01.281Z,1761506581.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758601
2025-10-26T19:23:01.403Z,1761506581.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887527,-0.452272,-0.088009],[0.460750,-0.872163,-0.164445],[-0.002384,-0.186499,0.982452]]
2025-10-26T19:23:01.528Z,1761506581.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844
2025-10-26T19:23:01.780Z,1761506581.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258846
2025-10-26T19:23:01.802Z,1761506581.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888178,-0.451186,-0.087010],[0.459490,-0.873236,-0.162256],[-0.002773,-0.184092,0.982905]]
2025-10-26T19:23:02.033Z,1761506582.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025
2025-10-26T19:23:02.206Z,1761506582.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888083,-0.451459,-0.086565],[0.459668,-0.873699,-0.159237],[-0.003743,-0.181207,0.983438]]
2025-10-26T19:23:02.285Z,1761506582.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763182
2025-10-26T19:23:02.536Z,1761506582.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861
2025-10-26T19:23:02.610Z,1761506582.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887269,-0.453044,-0.086624],[0.461232,-0.873182,-0.157540],[-0.004266,-0.179734,0.983706]]
2025-10-26T19:23:02.791Z,1761506582.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269343
2025-10-26T19:23:03.016Z,1761506583.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886489,-0.454566,-0.086641],[0.462724,-0.872713,-0.155752],[-0.004813,-0.178163,0.983989]]
2025-10-26T19:23:03.040Z,1761506583.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518843
2025-10-26T19:23:03.292Z,1761506583.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871
2025-10-26T19:23:03.418Z,1761506583.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885689,-0.455910,-0.087754],[0.464245,-0.871927,-0.155628],[-0.005563,-0.178577,0.983910]]
2025-10-26T19:23:03.545Z,1761506583.545 [DAT](INFO): DAT read: Rx Time:19:23:02.0755

2025-10-26T19:23:03.546Z,1761506583.546 [DAT](INFO): Rx dataTimestamp_ set to:1761506583.545396
2025-10-26T19:23:03.546Z,1761506583.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024770
2025-10-26T19:23:03.796Z,1761506583.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274872
2025-10-26T19:23:03.822Z,1761506583.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885280,-0.456509,-0.088765],[0.465017,-0.871499,-0.155722],[-0.006270,-0.179135,0.983804]]
2025-10-26T19:23:04.054Z,1761506584.054 [DAT](INFO): DAT read: 19:23:02.0755 LVL= 25056, 21713, 23538, 26227, AGC= 65, IDX= 368, 0.04, 1.578,-3.079,-2.980, 2.773, PHS=-1.093, 0.477, 0.486, RAW= 269.7,   1.7, CAL= 267.5,  -3.7, ROT= 242.5,   3.7

2025-10-26T19:23:04.055Z,1761506584.055 [DAT](INFO): got valid direction response:
 19:23:02.0755 LVL= 25056, 21713, 23538, 26227, AGC= 65, IDX= 368, 0.04, 1.578,-3.079,-2.980, 2.773, PHS=-1.093, 0.477, 0.486, RAW= 269.7,   1.7, CAL= 267.5,  -3.7, ROT= 242.5,   3.7

2025-10-26T19:23:04.056Z,1761506584.056 [DAT](INFO): DAT read: Bearing   4, -17 (Remote)

2025-10-26T19:23:04.057Z,1761506584.057 [DAT](INFO): Remote Bearing received:Bearing   4, -17 (Remote)

2025-10-26T19:23:04.058Z,1761506584.058 [DAT](INFO): DAT read: Bearing 152.1, -58.2 (Local)

2025-10-26T19:23:04.058Z,1761506584.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.1, -58.2 (Local)

2025-10-26T19:23:04.060Z,1761506584.060 [DAT](INFO): DAT read: Range 11 to 20 : 327.2 m  (Round-trip  436.3 ms) speed  0.0 m/s

2025-10-26T19:23:04.060Z,1761506584.060 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:23:04.061Z,1761506584.061 [DAT](INFO): direction in FSK: [-0.460786,-0.885162,-0.064532]
2025-10-26T19:23:04.062Z,1761506584.062 [DAT](INFO): publishing direction and range info
2025-10-26T19:23:04.226Z,1761506584.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885320,-0.456043,-0.090741],[0.464931,-0.871117,-0.158097],[-0.006946,-0.182155,0.983245]]
2025-10-26T19:23:04.266Z,1761506584.266 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506560.00. Resetting abort timer.
2025-10-26T19:23:04.630Z,1761506584.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885162,-0.456002,-0.092467],[0.465224,-0.870559,-0.160294],[-0.007404,-0.184904,0.982729]]
2025-10-26T19:23:05.034Z,1761506585.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885355,-0.455361,-0.093768],[0.464856,-0.870256,-0.162982],[-0.007387,-0.187886,0.982163]]
2025-10-26T19:23:05.439Z,1761506585.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885540,-0.454612,-0.095635],[0.464504,-0.869724,-0.166780],[-0.007356,-0.192114,0.981345]]
2025-10-26T19:23:05.843Z,1761506585.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886028,-0.453350,-0.097099],[0.463573,-0.869605,-0.169963],[-0.007385,-0.195605,0.980655]]
2025-10-26T19:23:06.247Z,1761506586.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886563,-0.452131,-0.097893],[0.462550,-0.869711,-0.172192],[-0.007285,-0.197940,0.980187]]
2025-10-26T19:23:06.650Z,1761506586.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887058,-0.451235,-0.097546],[0.461603,-0.870194,-0.172294],[-0.007139,-0.197862,0.980204]]
2025-10-26T19:23:07.056Z,1761506587.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887717,-0.450149,-0.096565],[0.460338,-0.871022,-0.171491],[-0.006914,-0.196687,0.980442]]
2025-10-26T19:23:07.458Z,1761506587.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888047,-0.449664,-0.095788],[0.459701,-0.871598,-0.170272],[-0.006923,-0.195244,0.980730]]
2025-10-26T19:23:07.870Z,1761506587.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888247,-0.449558,-0.094413],[0.459315,-0.872235,-0.168038],[-0.006808,-0.192625,0.981249]]
2025-10-26T19:23:08.266Z,1761506588.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888252,-0.450013,-0.092179],[0.459309,-0.873002,-0.164024],[-0.006659,-0.188033,0.982140]]
2025-10-26T19:23:08.670Z,1761506588.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888270,-0.450311,-0.090532],[0.459276,-0.873523,-0.161314],[-0.006440,-0.184870,0.982742]]
2025-10-26T19:23:09.074Z,1761506589.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888022,-0.451243,-0.088297],[0.459758,-0.874018,-0.157213],[-0.006232,-0.180204,0.983610]]
2025-10-26T19:23:09.479Z,1761506589.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887660,-0.452246,-0.086796],[0.460458,-0.874200,-0.154121],[-0.006177,-0.176773,0.984232]]
2025-10-26T19:23:09.884Z,1761506589.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887657,-0.452470,-0.085647],[0.460461,-0.874632,-0.151640],[-0.006297,-0.174042,0.984718]]
2025-10-26T19:23:10.288Z,1761506590.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887908,-0.452100,-0.085003],[0.459970,-0.875269,-0.149434],[-0.006841,-0.171783,0.985111]]
2025-10-26T19:23:10.690Z,1761506590.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888509,-0.450807,-0.085580],[0.458793,-0.875945,-0.149096],[-0.007750,-0.171737,0.985112]]
2025-10-26T19:23:11.094Z,1761506591.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889669,-0.448433,-0.086003],[0.456514,-0.877356,-0.147791],[-0.009181,-0.170747,0.985272]]
2025-10-26T19:23:11.149Z,1761506591.149 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:23:11.149Z,1761506591.149 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:23:11.149Z,1761506591.149 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:23:11.149Z,1761506591.149 [marl:UpdateRudder:A] Stopped
2025-10-26T19:23:11.149Z,1761506591.149 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:23:11.149Z,1761506591.149 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateCommandMode] Stopped
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:23:11.150Z,1761506591.150 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:23:11.151Z,1761506591.151 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:23:11.151Z,1761506591.151 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:23:11.151Z,1761506591.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:23:11.151Z,1761506591.151 [marl:UpdateSpeed] Stopped
2025-10-26T19:23:11.151Z,1761506591.151 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:23:11.504Z,1761506591.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891009,-0.445598,-0.086868],[0.453852,-0.878945,-0.146540],[-0.011054,-0.169994,0.985383]]
2025-10-26T19:23:11.546Z,1761506591.546 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:23:11.546Z,1761506591.546 [marl:UpdateRudder:B] Stopped
2025-10-26T19:23:11.546Z,1761506591.546 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:23:11.546Z,1761506591.546 [marl:UpdateRudder] Stopped
2025-10-26T19:23:11.546Z,1761506591.546 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:23:11.902Z,1761506591.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892904,-0.441529,-0.088173],[0.450067,-0.880799,-0.147080],[-0.012723,-0.171012,0.985187]]
2025-10-26T19:23:12.306Z,1761506592.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895359,-0.436531,-0.088162],[0.445120,-0.883482,-0.146041],[-0.014138,-0.170002,0.985342]]
2025-10-26T19:23:12.716Z,1761506592.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898007,-0.430981,-0.088534],[0.439724,-0.886005,-0.147102],[-0.015043,-0.171029,0.985151]]
2025-10-26T19:23:13.117Z,1761506593.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900700,-0.425385,-0.088244],[0.434163,-0.888623,-0.147824],[-0.015534,-0.171458,0.985069]]
2025-10-26T19:23:13.522Z,1761506593.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903251,-0.420129,-0.087342],[0.428823,-0.891217,-0.147796],[-0.015748,-0.170951,0.985154]]
2025-10-26T19:23:13.959Z,1761506593.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905421,-0.415591,-0.086587],[0.424238,-0.893176,-0.149196],[-0.015333,-0.171818,0.985009]]
2025-10-26T19:23:14.331Z,1761506594.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907288,-0.411623,-0.085989],[0.420269,-0.894515,-0.152368],[-0.014200,-0.174380,0.984576]]
2025-10-26T19:23:14.734Z,1761506594.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908850,-0.408469,-0.084522],[0.416951,-0.895430,-0.156069],[-0.011934,-0.177085,0.984123]]
2025-10-26T19:23:15.134Z,1761506595.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910296,-0.405822,-0.081667],[0.413871,-0.896260,-0.159466],[-0.008480,-0.178960,0.983820]]
2025-10-26T19:23:15.541Z,1761506595.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911590,-0.403601,-0.078163],[0.411080,-0.896781,-0.163696],[-0.004028,-0.181355,0.983409]]
2025-10-26T19:23:15.942Z,1761506595.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912870,-0.401464,-0.074129],[0.408249,-0.897205,-0.168390],[0.001094,-0.183981,0.982929]]
2025-10-26T19:23:16.353Z,1761506596.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913584,-0.400497,-0.070475],[0.406608,-0.897165,-0.172524],[0.005868,-0.186271,0.982481]]
2025-10-26T19:23:16.750Z,1761506596.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913287,-0.401551,-0.068295],[0.407202,-0.896123,-0.176493],[0.009670,-0.188998,0.981930]]
2025-10-26T19:23:17.155Z,1761506597.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912315,-0.404089,-0.066291],[0.409295,-0.894848,-0.178117],[0.012654,-0.189632,0.981774]]
2025-10-26T19:23:17.562Z,1761506597.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910972,-0.407416,-0.064362],[0.412190,-0.893478,-0.178315],[0.015142,-0.188970,0.981866]]
2025-10-26T19:23:17.964Z,1761506597.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909503,-0.410878,-0.063112],[0.415360,-0.892122,-0.177748],[0.016729,-0.187876,0.982050]]
2025-10-26T19:23:18.366Z,1761506598.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908015,-0.414277,-0.062315],[0.418555,-0.890745,-0.177156],[0.017885,-0.186943,0.982208]]
2025-10-26T19:23:18.774Z,1761506598.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906481,-0.417648,-0.062146],[0.421855,-0.889449,-0.175835],[0.018162,-0.185608,0.982456]]
2025-10-26T19:23:19.177Z,1761506599.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904819,-0.421305,-0.061675],[0.425403,-0.888233,-0.173419],[0.018280,-0.183150,0.982915]]
2025-10-26T19:23:19.589Z,1761506599.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903010,-0.425117,-0.062035],[0.429254,-0.886830,-0.171097],[0.017721,-0.181131,0.983299]]
2025-10-26T19:23:19.982Z,1761506599.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901123,-0.428883,-0.063536],[0.433239,-0.885057,-0.170231],[0.016776,-0.180926,0.983354]]
2025-10-26T19:23:20.386Z,1761506600.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899246,-0.432667,-0.064466],[0.437160,-0.883548,-0.168029],[0.015741,-0.179281,0.983672]]
2025-10-26T19:23:20.818Z,1761506600.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897942,-0.435143,-0.065962],[0.439879,-0.882424,-0.166837],[0.014392,-0.178826,0.983775]]
2025-10-26T19:23:21.196Z,1761506601.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897872,-0.435130,-0.066999],[0.440028,-0.882043,-0.168448],[0.014201,-0.180726,0.983431]]
2025-10-26T19:23:21.602Z,1761506601.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898532,-0.433696,-0.067440],[0.438680,-0.882449,-0.169835],[0.014145,-0.182187,0.983162]]
2025-10-26T19:23:22.002Z,1761506602.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899696,-0.431333,-0.067070],[0.436271,-0.883361,-0.171290],[0.014636,-0.183369,0.982935]]
2025-10-26T19:23:22.412Z,1761506602.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901303,-0.428215,-0.065465],[0.432898,-0.884797,-0.172434],[0.015916,-0.183755,0.982843]]
2025-10-26T19:23:22.849Z,1761506602.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903255,-0.424493,-0.062742],[0.428738,-0.886742,-0.172837],[0.017732,-0.183016,0.982950]]
2025-10-26T19:23:23.214Z,1761506603.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905169,-0.420819,-0.059841],[0.424615,-0.888854,-0.172162],[0.019259,-0.181245,0.983249]]
2025-10-26T19:23:23.622Z,1761506603.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906542,-0.418229,-0.057156],[0.421614,-0.890520,-0.170928],[0.020589,-0.179051,0.983624]]
2025-10-26T19:23:24.024Z,1761506604.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907690,-0.416181,-0.053785],[0.419061,-0.892212,-0.168360],[0.022080,-0.175357,0.984257]]
2025-10-26T19:23:24.086Z,1761506604.086 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:23:24.086Z,1761506604.086 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:23:24.086Z,1761506604.086 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:23:24.087Z,1761506604.087 [marl:UpdateRudder:A] Stopped
2025-10-26T19:23:24.087Z,1761506604.087 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:23:24.087Z,1761506604.087 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:23:24.087Z,1761506604.087 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:23:24.087Z,1761506604.087 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:23:24.091Z,1761506604.091 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateCommandMode] Stopped
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:23:24.092Z,1761506604.092 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:23:24.093Z,1761506604.093 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:23:24.093Z,1761506604.093 [marl:UpdateSpeed] Stopped
2025-10-26T19:23:24.093Z,1761506604.093 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:23:24.434Z,1761506604.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908329,-0.415155,-0.050836],[0.417600,-0.893371,-0.165829],[0.023429,-0.171857,0.984843]]
2025-10-26T19:23:24.478Z,1761506604.478 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:23:24.478Z,1761506604.478 [marl:UpdateRudder:B] Stopped
2025-10-26T19:23:24.478Z,1761506604.478 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:23:24.478Z,1761506604.478 [marl:UpdateRudder] Stopped
2025-10-26T19:23:24.478Z,1761506604.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:23:24.855Z,1761506604.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908702,-0.414509,-0.049419],[0.416741,-0.893923,-0.165011],[0.024222,-0.170541,0.985053]]
2025-10-26T19:23:25.234Z,1761506605.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908804,-0.414417,-0.048312],[0.416493,-0.894265,-0.163776],[0.024668,-0.168962,0.985314]]
2025-10-26T19:23:25.646Z,1761506605.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908701,-0.414632,-0.048398],[0.416724,-0.894191,-0.163595],[0.024555,-0.168828,0.985340]]
2025-10-26T19:23:26.046Z,1761506606.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909027,-0.413815,-0.049264],[0.416025,-0.894201,-0.165308],[0.024355,-0.170765,0.985011]]
2025-10-26T19:23:26.446Z,1761506606.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909390,-0.413032,-0.049139],[0.415223,-0.894492,-0.165754],[0.024508,-0.171139,0.984942]]
2025-10-26T19:23:26.858Z,1761506606.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909775,-0.412114,-0.049719],[0.414380,-0.894589,-0.167332],[0.024482,-0.172837,0.984646]]
2025-10-26T19:23:27.254Z,1761506607.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908799,-0.413926,-0.052441],[0.416504,-0.892576,-0.172721],[0.024686,-0.178811,0.983574]]
2025-10-26T19:23:27.665Z,1761506607.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906092,-0.418999,-0.058626],[0.422286,-0.887174,-0.186004],[0.025924,-0.193294,0.980798]]
2025-10-26T19:23:28.062Z,1761506608.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901871,-0.426267,-0.070182],[0.431073,-0.877301,-0.210994],[0.028369,-0.220543,0.974965]]
2025-10-26T19:23:28.466Z,1761506608.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896386,-0.435082,-0.084831],[0.442158,-0.864020,-0.240762],[0.031456,-0.253324,0.966870]]
2025-10-26T19:23:28.871Z,1761506608.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889851,-0.445079,-0.100348],[0.454884,-0.848451,-0.270576],[0.035287,-0.286419,0.957454]]
2025-10-26T19:23:29.172Z,1761506609.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:23:29.281Z,1761506609.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882417,-0.456005,-0.115759],[0.468799,-0.831540,-0.297941],[0.039604,-0.317176,0.947539]]
2025-10-26T19:23:29.678Z,1761506609.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874448,-0.467388,-0.129957],[0.483119,-0.814713,-0.320686],[0.044007,-0.343208,0.938228]]
2025-10-26T19:23:30.082Z,1761506610.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866408,-0.478448,-0.142913],[0.496983,-0.798502,-0.339708],[0.048416,-0.365352,0.929610]]
2025-10-26T19:23:30.176Z,1761506610.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:23:30.486Z,1761506610.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858413,-0.489484,-0.153404],[0.510243,-0.784056,-0.353424],[0.052719,-0.381657,0.922799]]
2025-10-26T19:23:30.539Z,1761506610.539 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:23:30.556Z,1761506610.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:23:30.556Z,1761506610.556 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:23:30.811Z,1761506610.811 [DAT](INFO): DAT read: user:172>

2025-10-26T19:23:30.814Z,1761506610.814 [DAT](INFO): DAT read: Tx time:19:23:29.8599

2025-10-26T19:23:30.815Z,1761506610.815 [DAT](INFO): Ping request sent.
2025-10-26T19:23:30.816Z,1761506610.816 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:23:30.817Z,1761506610.817 [DAT](INFO): publishing transmit ping time
2025-10-26T19:23:30.820Z,1761506610.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004246
2025-10-26T19:23:30.890Z,1761506610.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850379,-0.500656,-0.161861],[0.523114,-0.771329,-0.362496],[0.056638,-0.392931,0.917822]]
2025-10-26T19:23:31.060Z,1761506611.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245580
2025-10-26T19:23:31.304Z,1761506611.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842407,-0.511864,-0.168362],[0.535434,-0.760083,-0.368217],[0.060508,-0.400335,0.914369]]
2025-10-26T19:23:31.315Z,1761506611.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500119
2025-10-26T19:23:31.564Z,1761506611.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749681
2025-10-26T19:23:31.702Z,1761506611.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834529,-0.523151,-0.172841],[0.547180,-0.750259,-0.371087],[0.064459,-0.404258,0.912371]]
2025-10-26T19:23:31.817Z,1761506611.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002085
2025-10-26T19:23:32.068Z,1761506612.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253623
2025-10-26T19:23:32.110Z,1761506612.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826216,-0.535242,-0.175736],[0.559200,-0.741391,-0.370992],[0.068281,-0.404791,0.911856]]
2025-10-26T19:23:32.321Z,1761506612.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505935
2025-10-26T19:23:32.515Z,1761506612.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817418,-0.548016,-0.177500],[0.571466,-0.732689,-0.369586],[0.072487,-0.403541,0.912086]]
2025-10-26T19:23:32.572Z,1761506612.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757701
2025-10-26T19:23:32.831Z,1761506612.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015685
2025-10-26T19:23:32.917Z,1761506612.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807800,-0.561510,-0.179345],[0.584395,-0.723110,-0.368232],[0.077080,-0.402267,0.912272]]
2025-10-26T19:23:33.076Z,1761506613.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261713
2025-10-26T19:23:33.323Z,1761506613.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785872,-0.591196,-0.181364],[0.611902,-0.701064,-0.366177],[0.089334,-0.398745,0.912700]]
2025-10-26T19:23:33.328Z,1761506613.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513615
2025-10-26T19:23:33.583Z,1761506613.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768333
2025-10-26T19:23:33.729Z,1761506613.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773039,-0.607481,-0.182694],[0.626939,-0.687709,-0.366066],[0.096738,-0.397521,0.912479]]
2025-10-26T19:23:33.832Z,1761506613.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017744
2025-10-26T19:23:34.085Z,1761506614.085 [DAT](INFO): DAT read: Rx Time:19:23:32.6989

2025-10-26T19:23:34.086Z,1761506614.086 [DAT](INFO): Rx dataTimestamp_ set to:1761506614.085230
2025-10-26T19:23:34.086Z,1761506614.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271700
2025-10-26T19:23:34.178Z,1761506614.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759461,-0.623994,-0.183987],[0.642049,-0.673353,-0.366563],[0.104845,-0.396519,0.912020]]
2025-10-26T19:23:34.336Z,1761506614.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521667
2025-10-26T19:23:34.580Z,1761506614.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745657,-0.640148,-0.184948],[0.656614,-0.658688,-0.367407],[0.113372,-0.395399,0.911486]]
2025-10-26T19:23:34.594Z,1761506614.594 [DAT](INFO): DAT read: 19:23:32.6989 LVL= 32752, 32753, 28546, 32755, AGC= 64, IDX= 177, 0.03,-0.693, 0.756, 1.274,-0.048, PHS=-0.543, 0.848, 1.278, RAW= 257.0, -18.8, CAL= 256.5, -24.0, ROT= 253.5,  24.0

2025-10-26T19:23:34.595Z,1761506614.595 [DAT](INFO): got valid direction response:
 19:23:32.6989 LVL= 32752, 32753, 28546, 32755, AGC= 64, IDX= 177, 0.03,-0.693, 0.756, 1.274,-0.048, PHS=-0.543, 0.848, 1.278, RAW= 257.0, -18.8, CAL= 256.5, -24.0, ROT= 253.5,  24.0

2025-10-26T19:23:34.596Z,1761506614.596 [DAT](INFO): DAT read: Bearing 186.8, -41.7 (Local)

2025-10-26T19:23:34.596Z,1761506614.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.8, -41.7 (Local)

2025-10-26T19:23:34.597Z,1761506614.597 [DAT](INFO): DAT read: Range 11 to 20 : 326.1 m  (Round-trip  434.8 ms) speed  0.1 m/s

2025-10-26T19:23:34.598Z,1761506614.598 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:23:34.599Z,1761506614.599 [DAT](INFO): direction in FSK: [-0.259461,-0.875925,-0.406737]
2025-10-26T19:23:34.599Z,1761506614.599 [DAT](INFO): publishing direction and range info
2025-10-26T19:23:34.742Z,1761506614.742 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506560.00. Resetting abort timer.
2025-10-26T19:23:35.121Z,1761506615.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731972,-0.655209,-0.186864],[0.670518,-0.644053,-0.368241],[0.120925,-0.394838,0.910758]]
2025-10-26T19:23:35.560Z,1761506615.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718647,-0.669033,-0.189581],[0.683640,-0.629879,-0.368631],[0.127213,-0.394520,0.910039]]
2025-10-26T19:23:35.946Z,1761506615.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705772,-0.681823,-0.192362],[0.696070,-0.616878,-0.367353],[0.131805,-0.393165,0.909972]]
2025-10-26T19:23:36.350Z,1761506616.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693387,-0.693481,-0.195698],[0.707929,-0.604984,-0.364459],[0.134352,-0.391252,0.910424]]
2025-10-26T19:23:36.763Z,1761506616.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681210,-0.704310,-0.199753],[0.719657,-0.594162,-0.359257],[0.134342,-0.388483,0.911610]]
2025-10-26T19:23:37.236Z,1761506617.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669122,-0.714628,-0.203918],[0.731388,-0.584621,-0.351127],[0.131711,-0.384090,0.913853]]
2025-10-26T19:23:37.324Z,1761506617.324 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:23:37.325Z,1761506617.325 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:23:37.325Z,1761506617.325 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:23:37.325Z,1761506617.325 [marl:UpdateRudder:A] Stopped
2025-10-26T19:23:37.325Z,1761506617.325 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:23:37.325Z,1761506617.325 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateCommandMode] Stopped
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:23:37.326Z,1761506617.326 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:23:37.327Z,1761506617.327 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:23:37.327Z,1761506617.327 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:23:37.327Z,1761506617.327 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:23:37.327Z,1761506617.327 [marl:UpdateSpeed] Stopped
2025-10-26T19:23:37.331Z,1761506617.331 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:23:37.639Z,1761506617.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656873,-0.724594,-0.208521],[0.743302,-0.575873,-0.340400],[0.126570,-0.378593,0.916868]]
2025-10-26T19:23:37.669Z,1761506617.669 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:23:37.669Z,1761506617.669 [marl:UpdateRudder:B] Stopped
2025-10-26T19:23:37.669Z,1761506617.669 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:23:37.669Z,1761506617.669 [marl:UpdateRudder] Stopped
2025-10-26T19:23:37.669Z,1761506617.669 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:23:38.043Z,1761506618.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644061,-0.734102,-0.215126],[0.755749,-0.567073,-0.327524],[0.118444,-0.373527,0.920027]]
2025-10-26T19:23:38.447Z,1761506618.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630578,-0.743121,-0.223924],[0.768673,-0.558079,-0.312552],[0.107297,-0.369213,0.923130]]
2025-10-26T19:23:38.860Z,1761506618.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616565,-0.751410,-0.235012],[0.781662,-0.548566,-0.296784],[0.094087,-0.366686,0.925575]]
2025-10-26T19:23:39.658Z,1761506619.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593204,-0.765394,-0.249561],[0.802594,-0.538053,-0.257568],[0.062864,-0.353087,0.933476]]
2025-10-26T19:23:40.063Z,1761506620.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587800,-0.770315,-0.247196],[0.807689,-0.541353,-0.233613],[0.046136,-0.336976,0.940382]]
2025-10-26T19:23:40.467Z,1761506620.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585933,-0.774169,-0.239468],[0.809805,-0.548450,-0.208371],[0.029978,-0.316014,0.948281]]
2025-10-26T19:23:40.871Z,1761506620.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586445,-0.776870,-0.229250],[0.809844,-0.557008,-0.184106],[0.015333,-0.293625,0.955798]]
2025-10-26T19:23:41.285Z,1761506621.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588030,-0.779057,-0.217465],[0.808836,-0.565572,-0.160974],[0.002416,-0.270551,0.962703]]
2025-10-26T19:23:41.436Z,1761506621.436 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:23:41.436Z,1761506621.436 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:23:41.678Z,1761506621.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590093,-0.780459,-0.206577],[0.807293,-0.573038,-0.141086],[-0.008265,-0.250022,0.968205]]
2025-10-26T19:23:42.083Z,1761506622.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592187,-0.781293,-0.197220],[0.805631,-0.579073,-0.125033],[-0.016518,-0.232930,0.972353]]
2025-10-26T19:23:42.486Z,1761506622.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593604,-0.781869,-0.190564],[0.804449,-0.583055,-0.113615],[-0.022277,-0.220741,0.975078]]
2025-10-26T19:23:42.892Z,1761506622.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595329,-0.781555,-0.186427],[0.803074,-0.586181,-0.107070],[-0.025599,-0.213457,0.976617]]
2025-10-26T19:23:43.294Z,1761506623.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596899,-0.781086,-0.183347],[0.801870,-0.588404,-0.103853],[-0.026764,-0.209010,0.977547]]
2025-10-26T19:23:43.701Z,1761506623.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597927,-0.780244,-0.183583],[0.801119,-0.589235,-0.104930],[-0.026302,-0.209812,0.977388]]
2025-10-26T19:23:44.103Z,1761506624.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597599,-0.780558,-0.183318],[0.801404,-0.588628,-0.106156],[-0.025045,-0.210350,0.977305]]
2025-10-26T19:23:44.516Z,1761506624.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595340,-0.781552,-0.186405],[0.803105,-0.585861,-0.108581],[-0.024346,-0.214345,0.976454]]
2025-10-26T19:23:44.911Z,1761506624.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590980,-0.783934,-0.190237],[0.806311,-0.581234,-0.109679],[-0.024591,-0.218208,0.975592]]
2025-10-26T19:23:45.315Z,1761506625.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585427,-0.786994,-0.194719],[0.810329,-0.575518,-0.110206],[-0.025333,-0.222304,0.974648]]
2025-10-26T19:23:45.741Z,1761506625.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574901,-0.791951,-0.205677],[0.817733,-0.564812,-0.110908],[-0.028335,-0.231950,0.972315]]
2025-10-26T19:23:46.533Z,1761506626.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566357,-0.796002,-0.213591],[0.823336,-0.558045,-0.103458],[-0.036841,-0.234451,0.971430]]
2025-10-26T19:23:46.937Z,1761506626.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562669,-0.797600,-0.217341],[0.825507,-0.556114,-0.096303],[-0.044055,-0.233604,0.971333]]
2025-10-26T19:23:47.345Z,1761506627.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559162,-0.799518,-0.219338],[0.827335,-0.555169,-0.085470],[-0.053435,-0.229258,0.971898]]
2025-10-26T19:23:47.751Z,1761506627.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555078,-0.801218,-0.223468],[0.829232,-0.554108,-0.073063],[-0.065286,-0.225862,0.971969]]
2025-10-26T19:23:48.146Z,1761506628.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550620,-0.802696,-0.229122],[0.830973,-0.553174,-0.059010],[-0.079377,-0.222887,0.971607]]
2025-10-26T19:23:48.554Z,1761506628.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545607,-0.804869,-0.233451],[0.832646,-0.552196,-0.042200],[-0.094945,-0.217407,0.971452]]
2025-10-26T19:23:49.355Z,1761506629.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536024,-0.808331,-0.243473],[0.834763,-0.550517,-0.010075],[-0.125892,-0.208643,0.969855]]
2025-10-26T19:23:49.759Z,1761506629.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533559,-0.808434,-0.248493],[0.834444,-0.551091,0.001191],[-0.137905,-0.206718,0.968633]]
2025-10-26T19:23:50.164Z,1761506630.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533825,-0.807190,-0.251942],[0.832854,-0.553429,0.008431],[-0.146238,-0.205330,0.967705]]
2025-10-26T19:23:50.189Z,1761506630.189 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:23:50.189Z,1761506630.189 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:23:50.189Z,1761506630.189 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateRudder:A] Stopped
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode] Stopped
2025-10-26T19:23:50.190Z,1761506630.190 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:23:50.191Z,1761506630.191 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:23:50.191Z,1761506630.191 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:23:50.191Z,1761506630.191 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:23:50.191Z,1761506630.191 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:23:50.191Z,1761506630.191 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:23:50.191Z,1761506630.191 [marl:UpdateSpeed] Stopped
2025-10-26T19:23:50.192Z,1761506630.192 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:23:50.571Z,1761506630.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536129,-0.804460,-0.255752],[0.830532,-0.556870,0.010586],[-0.150936,-0.206735,0.966684]]
2025-10-26T19:23:50.615Z,1761506630.615 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:23:50.615Z,1761506630.615 [marl:UpdateRudder:B] Stopped
2025-10-26T19:23:50.615Z,1761506630.615 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:23:50.615Z,1761506630.615 [marl:UpdateRudder] Stopped
2025-10-26T19:23:50.615Z,1761506630.615 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:23:50.972Z,1761506630.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539242,-0.801130,-0.259634],[0.828225,-0.560326,0.008782],[-0.152515,-0.210299,0.965667]]
2025-10-26T19:23:51.374Z,1761506631.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542130,-0.798342,-0.262193],[0.826383,-0.563078,0.005803],[-0.152268,-0.213526,0.964998]]
2025-10-26T19:23:51.778Z,1761506631.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544864,-0.795661,-0.264663],[0.825007,-0.565122,0.000487],[-0.149955,-0.218084,0.964341]]
2025-10-26T19:23:52.184Z,1761506632.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547534,-0.793757,-0.264869],[0.824150,-0.566335,-0.006484],[-0.144858,-0.221842,0.964262]]
2025-10-26T19:23:52.587Z,1761506632.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550344,-0.791848,-0.264760],[0.823521,-0.567065,-0.015828],[-0.137603,-0.226746,0.964184]]
2025-10-26T19:23:52.990Z,1761506632.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552784,-0.790359,-0.264125],[0.823269,-0.567047,-0.026194],[-0.129069,-0.231925,0.964133]]
2025-10-26T19:23:53.395Z,1761506633.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554457,-0.789526,-0.263109],[0.823462,-0.566213,-0.036237],[-0.120365,-0.236752,0.964085]]
2025-10-26T19:23:53.800Z,1761506633.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554713,-0.789474,-0.262726],[0.824446,-0.564096,-0.045645],[-0.112167,-0.241923,0.963790]]
2025-10-26T19:23:54.213Z,1761506634.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553347,-0.790687,-0.261957],[0.826284,-0.560776,-0.052771],[-0.105174,-0.245652,0.963636]]
2025-10-26T19:23:54.607Z,1761506634.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550337,-0.793741,-0.259044],[0.828959,-0.556507,-0.055918],[-0.099775,-0.245511,0.964245]]
2025-10-26T19:23:55.012Z,1761506635.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546961,-0.796662,-0.257222],[0.831699,-0.552139,-0.058465],[-0.095445,-0.245909,0.964582]]
2025-10-26T19:23:55.421Z,1761506635.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543449,-0.799675,-0.255309],[0.834386,-0.547917,-0.059893],[-0.091993,-0.245575,0.965003]]
2025-10-26T19:23:55.819Z,1761506635.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539914,-0.802589,-0.253660],[0.836918,-0.544022,-0.060071],[-0.089784,-0.244726,0.965426]]
2025-10-26T19:23:56.226Z,1761506636.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536638,-0.805390,-0.251726],[0.839150,-0.540691,-0.059004],[-0.088585,-0.242899,0.965998]]
2025-10-26T19:23:56.627Z,1761506636.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534116,-0.807312,-0.250934],[0.840823,-0.538159,-0.058323],[-0.087957,-0.242143,0.966246]]
2025-10-26T19:23:57.033Z,1761506637.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532826,-0.808554,-0.249672],[0.841704,-0.536843,-0.057737],[-0.087351,-0.240913,0.966608]]
2025-10-26T19:23:57.438Z,1761506637.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532996,-0.809255,-0.247024],[0.841736,-0.536808,-0.057594],[-0.085996,-0.238627,0.967296]]
2025-10-26T19:23:57.838Z,1761506637.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533978,-0.809951,-0.242583],[0.841325,-0.537474,-0.057387],[-0.083901,-0.234735,0.968432]]
2025-10-26T19:23:58.242Z,1761506638.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535188,-0.810379,-0.238454],[0.840834,-0.538144,-0.058306],[-0.081073,-0.231705,0.969402]]
2025-10-26T19:23:58.646Z,1761506638.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536280,-0.810715,-0.234831],[0.840485,-0.538447,-0.060504],[-0.077393,-0.229819,0.970151]]
2025-10-26T19:23:59.455Z,1761506639.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536336,-0.812577,-0.228175],[0.841186,-0.536717,-0.065889],[-0.068925,-0.227276,0.971388]]
2025-10-26T19:23:59.858Z,1761506639.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534905,-0.814349,-0.225195],[0.842458,-0.534359,-0.068744],[-0.064353,-0.226489,0.971886]]
2025-10-26T19:24:00.264Z,1761506640.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532607,-0.816038,-0.224525],[0.844251,-0.530973,-0.072861],[-0.059760,-0.228362,0.971741]]
2025-10-26T19:24:00.296Z,1761506640.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:24:00.667Z,1761506640.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530285,-0.818109,-0.222478],[0.846029,-0.527665,-0.076181],[-0.055069,-0.228620,0.971957]]
2025-10-26T19:24:00.739Z,1761506640.739 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:24:00.810Z,1761506640.810 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:24:00.812Z,1761506640.812 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:24:01.060Z,1761506641.060 [DAT](INFO): DAT read: user:173>

2025-10-26T19:24:01.061Z,1761506641.061 [DAT](INFO): DAT read: Tx time:19:24:00.1613

2025-10-26T19:24:01.061Z,1761506641.061 [DAT](INFO): Ping request sent.
2025-10-26T19:24:01.062Z,1761506641.062 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:24:01.062Z,1761506641.062 [DAT](INFO): publishing transmit ping time
2025-10-26T19:24:01.063Z,1761506641.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946
2025-10-26T19:24:01.076Z,1761506641.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528599,-0.819586,-0.221046],[0.847342,-0.525068,-0.079466],[-0.050935,-0.229307,0.972021]]
2025-10-26T19:24:01.302Z,1761506641.302 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:24:01.312Z,1761506641.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250736
2025-10-26T19:24:01.477Z,1761506641.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526556,-0.820908,-0.221015],[0.848819,-0.522150,-0.082862],[-0.047381,-0.231233,0.971744]]
2025-10-26T19:24:01.564Z,1761506641.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502763
2025-10-26T19:24:01.816Z,1761506641.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754782
2025-10-26T19:24:01.880Z,1761506641.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524221,-0.822696,-0.219918],[0.850413,-0.519273,-0.084581],[-0.044613,-0.231360,0.971845]]
2025-10-26T19:24:02.068Z,1761506642.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006723
2025-10-26T19:24:02.282Z,1761506642.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521973,-0.824235,-0.219501],[0.851898,-0.516615,-0.085902],[-0.042594,-0.231831,0.971823]]
2025-10-26T19:24:02.320Z,1761506642.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258851
2025-10-26T19:24:02.572Z,1761506642.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745
2025-10-26T19:24:02.694Z,1761506642.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520803,-0.825096,-0.219044],[0.852673,-0.515216,-0.086611],[-0.041393,-0.231880,0.971863]]
2025-10-26T19:24:02.827Z,1761506642.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764896
2025-10-26T19:24:03.076Z,1761506643.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014649
2025-10-26T19:24:03.097Z,1761506643.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521278,-0.825043,-0.218111],[0.852406,-0.515635,-0.086743],[-0.040899,-0.231136,0.972061]]
2025-10-26T19:24:03.161Z,1761506643.161 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:24:03.161Z,1761506643.161 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:24:03.161Z,1761506643.161 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:24:03.162Z,1761506643.162 [marl:UpdateRudder:A] Stopped
2025-10-26T19:24:03.162Z,1761506643.162 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:24:03.162Z,1761506643.162 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:24:03.162Z,1761506643.162 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:24:03.162Z,1761506643.162 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:24:03.163Z,1761506643.163 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:24:03.163Z,1761506643.163 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:24:03.164Z,1761506643.164 [marl:UpdateCommandMode] Stopped
2025-10-26T19:24:03.164Z,1761506643.164 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:24:03.164Z,1761506643.164 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:24:03.164Z,1761506643.164 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:24:03.164Z,1761506643.164 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:24:03.165Z,1761506643.165 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:24:03.165Z,1761506643.165 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:24:03.165Z,1761506643.165 [marl:UpdateSpeed] Stopped
2025-10-26T19:24:03.166Z,1761506643.166 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:24:03.328Z,1761506643.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266766
2025-10-26T19:24:03.495Z,1761506643.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523131,-0.823924,-0.217908],[0.851298,-0.517274,-0.087862],[-0.040327,-0.231468,0.972006]]
2025-10-26T19:24:03.550Z,1761506643.550 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:24:03.550Z,1761506643.550 [marl:UpdateRudder:B] Stopped
2025-10-26T19:24:03.550Z,1761506643.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:24:03.550Z,1761506643.550 [marl:UpdateRudder] Stopped
2025-10-26T19:24:03.550Z,1761506643.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:24:03.580Z,1761506643.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518853
2025-10-26T19:24:03.833Z,1761506643.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771356
2025-10-26T19:24:03.899Z,1761506643.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526190,-0.822217,-0.216989],[0.849407,-0.520320,-0.088175],[-0.040405,-0.230709,0.972184]]
2025-10-26T19:24:04.085Z,1761506644.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022934
2025-10-26T19:24:04.304Z,1761506644.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529863,-0.819870,-0.216927],[0.847084,-0.524046,-0.088459],[-0.041154,-0.230627,0.972172]]
2025-10-26T19:24:04.336Z,1761506644.336 [DAT](INFO): DAT read: Rx Time:19:24:02.9965

2025-10-26T19:24:04.337Z,1761506644.337 [DAT](INFO): Rx dataTimestamp_ set to:1761506644.336623
2025-10-26T19:24:04.337Z,1761506644.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275857
2025-10-26T19:24:04.588Z,1761506644.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526613
2025-10-26T19:24:04.711Z,1761506644.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533741,-0.818094,-0.214108],[0.844588,-0.528378,-0.086534],[-0.042337,-0.227020,0.972969]]
2025-10-26T19:24:04.851Z,1761506644.851 [DAT](INFO): DAT read: 19:24:02.9965 LVL= 23408, 18337, 14642, 21411, AGC= 55, IDX= 412,-0.02,-0.235, 1.117, 1.915, 0.667, PHS=-0.800, 0.495, 1.204, RAW= 249.6, -10.2, CAL= 248.5, -15.6, ROT= 261.5,  15.6

2025-10-26T19:24:04.852Z,1761506644.852 [DAT](INFO): got valid direction response:
 19:24:02.9965 LVL= 23408, 18337, 14642, 21411, AGC= 55, IDX= 412,-0.02,-0.235, 1.117, 1.915, 0.667, PHS=-0.800, 0.495, 1.204, RAW= 249.6, -10.2, CAL= 248.5, -15.6, ROT= 261.5,  15.6

2025-10-26T19:24:04.853Z,1761506644.853 [DAT](INFO): DAT read: Bearing 169.8, -58.6 (Local)

2025-10-26T19:24:04.854Z,1761506644.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.8, -58.6 (Local)

2025-10-26T19:24:04.855Z,1761506644.855 [DAT](INFO): DAT read: Range 11 to 20 : 323.4 m  (Round-trip  431.2 ms) speed  0.1 m/s

2025-10-26T19:24:04.856Z,1761506644.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:24:04.857Z,1761506644.857 [DAT](INFO): direction in FSK: [-0.142365,-0.952583,-0.268920]
2025-10-26T19:24:04.857Z,1761506644.857 [DAT](INFO): publishing direction and range info
2025-10-26T19:24:05.118Z,1761506645.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537574,-0.816131,-0.212000],[0.842092,-0.532591,-0.085012],[-0.043529,-0.224224,0.973565]]
2025-10-26T19:24:05.204Z,1761506645.204 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506688.00. Resetting abort timer.
2025-10-26T19:24:05.519Z,1761506645.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541453,-0.814260,-0.209308],[0.839570,-0.536761,-0.083730],[-0.044170,-0.221064,0.974259]]
2025-10-26T19:24:05.920Z,1761506645.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545015,-0.812393,-0.207307],[0.837280,-0.540293,-0.083937],[-0.043816,-0.219322,0.974668]]
2025-10-26T19:24:06.323Z,1761506646.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548444,-0.810775,-0.204580],[0.835144,-0.543327,-0.085611],[-0.041742,-0.217807,0.975099]]
2025-10-26T19:24:06.731Z,1761506646.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552057,-0.808560,-0.203627],[0.832958,-0.545811,-0.090945],[-0.037607,-0.219819,0.974816]]
2025-10-26T19:24:07.130Z,1761506647.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555676,-0.805912,-0.204278],[0.830793,-0.547629,-0.099431],[-0.031736,-0.224964,0.973850]]
2025-10-26T19:24:07.540Z,1761506647.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558725,-0.803980,-0.203575],[0.828991,-0.548649,-0.108436],[-0.024511,-0.229348,0.973036]]
2025-10-26T19:24:07.939Z,1761506647.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560705,-0.802533,-0.203841],[0.827850,-0.548271,-0.118589],[-0.016588,-0.235243,0.971795]]
2025-10-26T19:24:08.344Z,1761506648.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561662,-0.801645,-0.204698],[0.827317,-0.546891,-0.128286],[-0.009107,-0.241403,0.970382]]
2025-10-26T19:24:08.747Z,1761506648.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560979,-0.802081,-0.204864],[0.827827,-0.544236,-0.136052],[-0.002370,-0.245915,0.969289]]
2025-10-26T19:24:09.554Z,1761506649.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556508,-0.805466,-0.203772],[0.830804,-0.537112,-0.145863],[0.008040,-0.250469,0.968091]]
2025-10-26T19:24:09.958Z,1761506649.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552891,-0.807895,-0.204004],[0.833177,-0.532699,-0.148487],[0.011289,-0.252068,0.967644]]
2025-10-26T19:24:10.363Z,1761506650.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548187,-0.811187,-0.203633],[0.836253,-0.527804,-0.148676],[0.013126,-0.251791,0.967693]]
2025-10-26T19:24:10.772Z,1761506650.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543249,-0.814662,-0.202994],[0.839458,-0.523088,-0.147270],[0.013792,-0.250410,0.968042]]
2025-10-26T19:24:11.175Z,1761506651.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539119,-0.817984,-0.200632],[0.842114,-0.519575,-0.144520],[0.013971,-0.246868,0.968948]]
2025-10-26T19:24:11.575Z,1761506651.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535937,-0.820717,-0.197978],[0.844140,-0.517002,-0.141902],[0.014106,-0.243171,0.969881]]
2025-10-26T19:24:11.978Z,1761506651.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533639,-0.822958,-0.194859],[0.845596,-0.515391,-0.139066],[0.014017,-0.238983,0.970923]]
2025-10-26T19:24:12.384Z,1761506652.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532030,-0.824735,-0.191720],[0.846607,-0.514344,-0.136774],[0.014192,-0.235079,0.971873]]
2025-10-26T19:24:12.809Z,1761506652.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531061,-0.825821,-0.189719],[0.847207,-0.513627,-0.135752],[0.014662,-0.232824,0.972408]]
2025-10-26T19:24:13.191Z,1761506653.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530459,-0.826495,-0.188467],[0.847582,-0.513236,-0.134879],[0.014749,-0.231289,0.972773]]
2025-10-26T19:24:13.595Z,1761506653.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530652,-0.826680,-0.187105],[0.847455,-0.513538,-0.134533],[0.015130,-0.229953,0.973084]]
2025-10-26T19:24:14.003Z,1761506654.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531724,-0.826220,-0.186091],[0.846766,-0.514468,-0.135315],[0.016062,-0.229526,0.973170]]
2025-10-26T19:24:14.403Z,1761506654.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533686,-0.825119,-0.185356],[0.845505,-0.516110,-0.136938],[0.017326,-0.229802,0.973083]]
2025-10-26T19:24:14.847Z,1761506654.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536578,-0.823340,-0.184923],[0.843638,-0.518478,-0.139487],[0.018967,-0.230853,0.972804]]
2025-10-26T19:24:15.211Z,1761506655.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539533,-0.821616,-0.183987],[0.841723,-0.521103,-0.141262],[0.020187,-0.231082,0.972725]]
2025-10-26T19:24:15.620Z,1761506655.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542599,-0.819846,-0.182862],[0.839722,-0.523901,-0.142809],[0.021280,-0.231041,0.972711]]
2025-10-26T19:24:16.020Z,1761506656.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545641,-0.818199,-0.181179],[0.837735,-0.526923,-0.143363],[0.021832,-0.230005,0.972945]]
2025-10-26T19:24:16.423Z,1761506656.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548794,-0.816571,-0.178986],[0.835660,-0.530168,-0.143505],[0.022290,-0.228326,0.973330]]
2025-10-26T19:24:16.458Z,1761506656.458 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:24:16.458Z,1761506656.458 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:24:16.459Z,1761506656.459 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:24:16.515Z,1761506656.515 [marl:UpdateRudder:A] Stopped
2025-10-26T19:24:16.515Z,1761506656.515 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:24:16.515Z,1761506656.515 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateCommandMode] Stopped
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:24:16.516Z,1761506656.516 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:24:16.517Z,1761506656.517 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:24:16.517Z,1761506656.517 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:24:16.517Z,1761506656.517 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:24:16.517Z,1761506656.517 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:24:16.517Z,1761506656.517 [marl:UpdateSpeed] Stopped
2025-10-26T19:24:16.517Z,1761506656.517 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:24:16.851Z,1761506656.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552123,-0.814935,-0.176186],[0.833443,-0.533591,-0.143715],[0.023107,-0.226189,0.973809]]
2025-10-26T19:24:16.902Z,1761506656.902 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:24:16.902Z,1761506656.902 [marl:UpdateRudder:B] Stopped
2025-10-26T19:24:16.902Z,1761506656.902 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:24:16.902Z,1761506656.902 [marl:UpdateRudder] Stopped
2025-10-26T19:24:16.903Z,1761506656.903 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:24:17.233Z,1761506657.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555243,-0.813094,-0.174882],[0.831328,-0.536405,-0.145480],[0.024481,-0.226161,0.973782]]
2025-10-26T19:24:17.653Z,1761506657.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558253,-0.811352,-0.173380],[0.829256,-0.539053,-0.147497],[0.026211,-0.226117,0.973747]]
2025-10-26T19:24:18.040Z,1761506658.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561113,-0.809544,-0.172602],[0.827255,-0.541324,-0.150390],[0.028313,-0.227171,0.973443]]
2025-10-26T19:24:18.445Z,1761506658.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563577,-0.807930,-0.172133],[0.825484,-0.543014,-0.153987],[0.030940,-0.228876,0.972964]]
2025-10-26T19:24:18.859Z,1761506658.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564951,-0.807123,-0.171414],[0.824442,-0.543718,-0.157055],[0.033562,-0.230050,0.972600]]
2025-10-26T19:24:19.250Z,1761506659.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564961,-0.807114,-0.171422],[0.824330,-0.543029,-0.160001],[0.036052,-0.231703,0.972118]]
2025-10-26T19:24:19.663Z,1761506659.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563786,-0.807886,-0.171653],[0.825024,-0.541193,-0.162620],[0.038481,-0.233301,0.971643]]
2025-10-26T19:24:20.059Z,1761506660.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561356,-0.809488,-0.172070],[0.826563,-0.538142,-0.164916],[0.040899,-0.234804,0.971182]]
2025-10-26T19:24:20.462Z,1761506660.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558073,-0.811440,-0.173547],[0.828667,-0.534108,-0.167451],[0.043183,-0.237263,0.970485]]
2025-10-26T19:24:20.866Z,1761506660.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554001,-0.813905,-0.175049],[0.831293,-0.529428,-0.169286],[0.045107,-0.239302,0.969897]]
2025-10-26T19:24:21.272Z,1761506661.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549473,-0.816945,-0.175158],[0.834196,-0.524655,-0.169863],[0.046872,-0.239451,0.969776]]
2025-10-26T19:24:21.675Z,1761506661.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544960,-0.819707,-0.176350],[0.837071,-0.519776,-0.170719],[0.048277,-0.240652,0.969410]]
2025-10-26T19:24:22.079Z,1761506662.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540749,-0.822321,-0.177142],[0.839726,-0.515312,-0.171213],[0.049509,-0.241334,0.969178]]
2025-10-26T19:24:22.483Z,1761506662.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537284,-0.824538,-0.177381],[0.841894,-0.511756,-0.171235],[0.050414,-0.241338,0.969131]]
2025-10-26T19:24:22.888Z,1761506662.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534975,-0.826033,-0.177399],[0.843315,-0.509364,-0.171373],[0.051199,-0.241283,0.969103]]
2025-10-26T19:24:23.290Z,1761506663.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533754,-0.827215,-0.175560],[0.844095,-0.508631,-0.169696],[0.051080,-0.238765,0.969733]]
2025-10-26T19:24:23.696Z,1761506663.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533241,-0.827635,-0.175139],[0.844429,-0.508282,-0.169083],[0.050919,-0.238054,0.969916]]
2025-10-26T19:24:24.103Z,1761506664.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534211,-0.827345,-0.173547],[0.843819,-0.509531,-0.168366],[0.050870,-0.236386,0.970327]]
2025-10-26T19:24:24.504Z,1761506664.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535860,-0.826663,-0.171702],[0.842778,-0.511483,-0.167661],[0.050776,-0.234549,0.970777]]
2025-10-26T19:24:24.907Z,1761506664.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538383,-0.825218,-0.170760],[0.841156,-0.513986,-0.168151],[0.050993,-0.234165,0.970859]]
2025-10-26T19:24:25.310Z,1761506665.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541202,-0.823683,-0.169252],[0.839349,-0.516964,-0.168049],[0.050922,-0.233010,0.971140]]
2025-10-26T19:24:25.725Z,1761506665.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544483,-0.821736,-0.168192],[0.837214,-0.520215,-0.168669],[0.051105,-0.232651,0.971217]]
2025-10-26T19:24:26.125Z,1761506666.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547835,-0.819637,-0.167547],[0.835017,-0.523467,-0.169497],[0.051220,-0.232761,0.971184]]
2025-10-26T19:24:26.522Z,1761506666.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551246,-0.817636,-0.166127],[0.832750,-0.526880,-0.170073],[0.051529,-0.232094,0.971327]]
2025-10-26T19:24:26.926Z,1761506666.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554669,-0.815660,-0.164442],[0.830439,-0.530287,-0.170784],[0.052100,-0.231287,0.971489]]
2025-10-26T19:24:27.330Z,1761506667.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557736,-0.813846,-0.163051],[0.828335,-0.533255,-0.171756],[0.052835,-0.230856,0.971552]]
2025-10-26T19:24:27.737Z,1761506667.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560545,-0.812432,-0.160450],[0.826368,-0.536144,-0.172238],[0.053907,-0.229137,0.971900]]
2025-10-26T19:24:28.138Z,1761506668.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562557,-0.811432,-0.158454],[0.824933,-0.538180,-0.172764],[0.054909,-0.227904,0.972134]]
2025-10-26T19:24:28.543Z,1761506668.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564034,-0.810647,-0.157219],[0.823841,-0.539490,-0.173886],[0.056142,-0.227601,0.972135]]
2025-10-26T19:24:28.948Z,1761506668.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564580,-0.810474,-0.156147],[0.823400,-0.539964,-0.174503],[0.057116,-0.227092,0.972197]]
2025-10-26T19:24:29.025Z,1761506669.025 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:24:29.026Z,1761506669.026 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:24:29.026Z,1761506669.026 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:24:29.026Z,1761506669.026 [marl:UpdateRudder:A] Stopped
2025-10-26T19:24:29.026Z,1761506669.026 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:24:29.350Z,1761506669.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563670,-0.811402,-0.154603],[0.823940,-0.539116,-0.174580],[0.058305,-0.225789,0.972430]]
2025-10-26T19:24:29.395Z,1761506669.395 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:24:29.395Z,1761506669.395 [marl:UpdateRudder:B] Stopped
2025-10-26T19:24:29.395Z,1761506669.395 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateRudder] Stopped
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:24:29.396Z,1761506669.396 [marl:UpdateCommandMode] Stopped
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed] Stopped
2025-10-26T19:24:29.397Z,1761506669.397 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:24:29.754Z,1761506669.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561979,-0.812480,-0.155099],[0.824996,-0.537045,-0.175966],[0.059673,-0.226845,0.972101]]
2025-10-26T19:24:30.158Z,1761506670.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559913,-0.813859,-0.155342],[0.826283,-0.534616,-0.177318],[0.061264,-0.227639,0.971817]]
2025-10-26T19:24:30.565Z,1761506670.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557440,-0.815283,-0.156759],[0.827848,-0.531596,-0.179092],[0.062678,-0.229605,0.971264]]
2025-10-26T19:24:30.966Z,1761506670.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554507,-0.817066,-0.157875],[0.829718,-0.528246,-0.180345],[0.063957,-0.230994,0.970851]]
2025-10-26T19:24:31.022Z,1761506671.022 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:24:31.065Z,1761506671.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:24:31.065Z,1761506671.065 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:24:31.316Z,1761506671.316 [DAT](INFO): DAT read: user:174>

2025-10-26T19:24:31.317Z,1761506671.317 [DAT](INFO): DAT read: Tx time:19:24:30.4094

2025-10-26T19:24:31.317Z,1761506671.317 [DAT](INFO): Ping request sent.
2025-10-26T19:24:31.317Z,1761506671.317 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:24:31.318Z,1761506671.318 [DAT](INFO): publishing transmit ping time
2025-10-26T19:24:31.318Z,1761506671.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000962
2025-10-26T19:24:31.371Z,1761506671.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551571,-0.818901,-0.158653],[0.831583,-0.525005,-0.181214],[0.065103,-0.231885,0.970562]]
2025-10-26T19:24:31.420Z,1761506671.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:24:31.569Z,1761506671.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814
2025-10-26T19:24:31.785Z,1761506671.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543748,-0.823614,-0.161238],[0.836536,-0.516458,-0.182973],[0.067426,-0.234372,0.969806]]
2025-10-26T19:24:31.821Z,1761506671.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503485
2025-10-26T19:24:32.074Z,1761506672.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755896
2025-10-26T19:24:32.183Z,1761506672.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535876,-0.827218,-0.168957],[0.841471,-0.506920,-0.186973],[0.069020,-0.242367,0.967727]]
2025-10-26T19:24:32.324Z,1761506672.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006779
2025-10-26T19:24:32.424Z,1761506672.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:24:32.582Z,1761506672.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264284
2025-10-26T19:24:32.608Z,1761506672.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524981,-0.830742,-0.185102],[0.848131,-0.492428,-0.195418],[0.071192,-0.259582,0.963093]]
2025-10-26T19:24:32.836Z,1761506672.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517188
2025-10-26T19:24:32.991Z,1761506672.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511483,-0.834198,-0.206150],[0.856167,-0.474296,-0.204989],[0.073226,-0.281347,0.956808]]
2025-10-26T19:24:33.085Z,1761506673.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767392
2025-10-26T19:24:33.336Z,1761506673.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018793
2025-10-26T19:24:33.396Z,1761506673.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496364,-0.837177,-0.229691],[0.864850,-0.453948,-0.214398],[0.075221,-0.305067,0.949355]]
2025-10-26T19:24:33.592Z,1761506673.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274658
2025-10-26T19:24:33.796Z,1761506673.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480557,-0.839767,-0.252699],[0.873532,-0.432908,-0.222558],[0.077501,-0.327693,0.941600]]
2025-10-26T19:24:33.840Z,1761506673.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522882
2025-10-26T19:24:34.093Z,1761506674.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775931
2025-10-26T19:24:34.198Z,1761506674.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464771,-0.841748,-0.274679],[0.881808,-0.411996,-0.229510],[0.080023,-0.348883,0.933743]]
2025-10-26T19:24:34.344Z,1761506674.344 [DAT](INFO): DAT read: Rx Time:19:24:32.8887

2025-10-26T19:24:34.345Z,1761506674.345 [DAT](INFO): Rx dataTimestamp_ set to:1761506674.344569
2025-10-26T19:24:34.345Z,1761506674.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027933
2025-10-26T19:24:34.596Z,1761506674.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278888
2025-10-26T19:24:34.607Z,1761506674.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449080,-0.843645,-0.294261],[0.889707,-0.391953,-0.234080],[0.082143,-0.366927,0.926616]]
2025-10-26T19:24:34.854Z,1761506674.854 [DAT](INFO): DAT read: 19:24:32.8887 LVL= 32752, 31985, 30018, 32755, AGC= 63, IDX= 382, 0.21, 2.575,-2.348,-1.664,-2.923, PHS=-0.683, 0.620, 1.215, RAW= 252.2, -13.6, CAL= 252.1, -19.8, ROT= 257.9,  19.8

2025-10-26T19:24:34.855Z,1761506674.855 [DAT](INFO): got valid direction response:
 19:24:32.8887 LVL= 32752, 31985, 30018, 32755, AGC= 63, IDX= 382, 0.21, 2.575,-2.348,-1.664,-2.923, PHS=-0.683, 0.620, 1.215, RAW= 252.2, -13.6, CAL= 252.1, -19.8, ROT= 257.9,  19.8

2025-10-26T19:24:34.856Z,1761506674.856 [DAT](INFO): DAT read: Bearing 347, -14 (Remote)

2025-10-26T19:24:34.856Z,1761506674.856 [DAT](INFO): Remote Bearing received:Bearing 347, -14 (Remote)

2025-10-26T19:24:34.857Z,1761506674.857 [DAT](INFO): DAT read: Bearing 173.7, -49.7 (Local)

2025-10-26T19:24:34.858Z,1761506674.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.7, -49.7 (Local)

2025-10-26T19:24:34.859Z,1761506674.859 [DAT](INFO): DAT read: Range 11 to 20 : 337.5 m  (Round-trip  450.1 ms) speed -0.4 m/s

2025-10-26T19:24:34.860Z,1761506674.860 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:24:34.861Z,1761506674.861 [DAT](INFO): direction in FSK: [-0.197226,-0.919977,-0.338738]
2025-10-26T19:24:34.861Z,1761506674.861 [DAT](INFO): publishing direction and range info
2025-10-26T19:24:35.077Z,1761506675.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434682,-0.845318,-0.310628],[0.896604,-0.373811,-0.237417],[0.084577,-0.381711,0.920404]]
2025-10-26T19:24:35.149Z,1761506675.149 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506688.00. Resetting abort timer.
2025-10-26T19:24:35.466Z,1761506675.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421571,-0.847607,-0.322243],[0.902621,-0.358184,-0.238703],[0.086904,-0.391493,0.916068]]
2025-10-26T19:24:35.885Z,1761506675.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409423,-0.850379,-0.330497],[0.908025,-0.344598,-0.238208],[0.088678,-0.397627,0.913252]]
2025-10-26T19:24:36.320Z,1761506676.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398332,-0.853527,-0.335893],[0.912806,-0.332899,-0.236567],[0.090098,-0.400837,0.911708]]
2025-10-26T19:24:37.147Z,1761506677.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376819,-0.861506,-0.340316],[0.921774,-0.312535,-0.229467],[0.091326,-0.400162,0.911883]]
2025-10-26T19:24:37.546Z,1761506677.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366041,-0.865983,-0.340715],[0.926053,-0.302817,-0.225230],[0.091872,-0.397963,0.912790]]
2025-10-26T19:24:37.950Z,1761506677.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355074,-0.870391,-0.341088],[0.930224,-0.292759,-0.221304],[0.092764,-0.395868,0.913610]]
2025-10-26T19:24:38.354Z,1761506678.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344061,-0.874818,-0.341052],[0.934160,-0.282295,-0.218298],[0.094693,-0.393705,0.914347]]
2025-10-26T19:24:38.839Z,1761506678.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333257,-0.879532,-0.339651],[0.937733,-0.271770,-0.216328],[0.097961,-0.390595,0.915336]]
2025-10-26T19:24:39.661Z,1761506679.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310462,-0.887970,-0.339298],[0.944543,-0.247986,-0.215269],[0.107011,-0.387314,0.915716]]
2025-10-26T19:24:40.083Z,1761506680.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297121,-0.892349,-0.339753],[0.948316,-0.234255,-0.214059],[0.111426,-0.385794,0.915831]]
2025-10-26T19:24:40.482Z,1761506680.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281509,-0.896441,-0.342265],[0.952640,-0.218339,-0.211674],[0.115023,-0.385643,0.915450]]
2025-10-26T19:24:40.888Z,1761506680.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263853,-0.900838,-0.344779],[0.957339,-0.200909,-0.207698],[0.117834,-0.384872,0.915417]]
2025-10-26T19:24:41.290Z,1761506681.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244623,-0.905357,-0.347114],[0.962189,-0.182431,-0.202264],[0.119797,-0.383467,0.915752]]
2025-10-26T19:24:41.692Z,1761506681.692 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:24:41.692Z,1761506681.692 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:24:41.721Z,1761506681.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224178,-0.910331,-0.347912],[0.967006,-0.163456,-0.195400],[0.121010,-0.380237,0.916938]]
2025-10-26T19:24:42.118Z,1761506682.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202851,-0.914913,-0.348978],[0.971641,-0.143843,-0.187677],[0.121510,-0.377152,0.918146]]
2025-10-26T19:24:42.561Z,1761506682.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181226,-0.918316,-0.351926],[0.975984,-0.123955,-0.179140],[0.120884,-0.375939,0.918725]]
2025-10-26T19:24:42.619Z,1761506682.619 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:24:42.619Z,1761506682.619 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:24:42.619Z,1761506682.619 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:24:42.619Z,1761506682.619 [marl:UpdateRudder:A] Stopped
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode] Stopped
2025-10-26T19:24:42.620Z,1761506682.620 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed] Stopped
2025-10-26T19:24:42.621Z,1761506682.621 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:24:42.954Z,1761506682.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159050,-0.921076,-0.355419],[0.980107,-0.104021,-0.169026],[0.118715,-0.375233,0.919297]]
2025-10-26T19:24:43.028Z,1761506683.028 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:24:43.028Z,1761506683.028 [marl:UpdateRudder:B] Stopped
2025-10-26T19:24:43.028Z,1761506683.028 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:24:43.028Z,1761506683.028 [marl:UpdateRudder] Stopped
2025-10-26T19:24:43.028Z,1761506683.028 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:24:43.413Z,1761506683.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114786,-0.925261,-0.361546],[0.987407,-0.066383,-0.143600],[0.108867,-0.373476,0.921229]]
2025-10-26T19:24:43.810Z,1761506683.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094017,-0.926877,-0.363401],[0.990280,-0.049484,-0.129986],[0.102499,-0.372090,0.922520]]
2025-10-26T19:24:44.214Z,1761506684.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075416,-0.928280,-0.364156],[0.992602,-0.035037,-0.116250],[0.095154,-0.370229,0.924054]]
2025-10-26T19:24:44.624Z,1761506684.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061449,-0.930369,-0.361439],[0.994321,-0.025536,-0.103314],[0.086891,-0.365735,0.926654]]
2025-10-26T19:24:45.023Z,1761506685.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052750,-0.934917,-0.350924],[0.995618,-0.022066,-0.090872],[0.077214,-0.354180,0.931984]]
2025-10-26T19:24:45.426Z,1761506685.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048843,-0.941282,-0.334069],[0.996583,-0.023622,-0.079148],[0.066609,-0.336793,0.939220]]
2025-10-26T19:24:45.833Z,1761506685.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048221,-0.948169,-0.314088],[0.997284,-0.028179,-0.068044],[0.055667,-0.316516,0.946952]]
2025-10-26T19:24:46.242Z,1761506686.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049957,-0.954138,-0.295168],[0.997756,-0.034486,-0.057393],[0.044581,-0.297373,0.953720]]
2025-10-26T19:24:46.638Z,1761506686.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052807,-0.959791,-0.275706],[0.998038,-0.041422,-0.046960],[0.033651,-0.277644,0.960094]]
2025-10-26T19:24:47.051Z,1761506687.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056438,-0.964287,-0.258776],[0.998144,-0.048560,-0.036740],[0.022862,-0.260369,0.965239]]
2025-10-26T19:24:47.448Z,1761506687.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060471,-0.967795,-0.244370],[0.998087,-0.055472,-0.027297],[0.012863,-0.245553,0.969298]]
2025-10-26T19:24:47.851Z,1761506687.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063838,-0.970575,-0.232184],[0.997954,-0.061248,-0.018352],[0.003591,-0.232881,0.972499]]
2025-10-26T19:24:48.254Z,1761506688.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066739,-0.972324,-0.223901],[0.997759,-0.066132,-0.010220],[-0.004870,-0.224081,0.974558]]
2025-10-26T19:24:48.658Z,1761506688.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068589,-0.973577,-0.217814],[0.997566,-0.069676,-0.002697],[-0.012550,-0.217469,0.975987]]
2025-10-26T19:24:49.467Z,1761506689.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066436,-0.974831,-0.212815],[0.997427,-0.070639,0.012198],[-0.026924,-0.211457,0.977016]]
2025-10-26T19:24:49.870Z,1761506689.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063713,-0.974916,-0.213258],[0.997396,-0.069444,0.019483],[-0.033804,-0.211462,0.976802]]
2025-10-26T19:24:50.274Z,1761506690.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059676,-0.975023,-0.213936],[0.997374,-0.067048,0.027365],[-0.041025,-0.211742,0.976464]]
2025-10-26T19:24:50.680Z,1761506690.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054068,-0.974920,-0.215888],[0.997362,-0.063214,0.035682],[-0.048434,-0.213389,0.975766]]
2025-10-26T19:24:51.082Z,1761506691.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047288,-0.974643,-0.218710],[0.997289,-0.058425,0.044733],[-0.056377,-0.216002,0.974764]]
2025-10-26T19:24:51.488Z,1761506691.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041102,-0.974416,-0.220962],[0.997067,-0.054292,0.053951],[-0.064567,-0.218097,0.973789]]
2025-10-26T19:24:51.893Z,1761506691.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035563,-0.974175,-0.222977],[0.996722,-0.050800,0.062972],[-0.072673,-0.220007,0.972788]]
2025-10-26T19:24:52.295Z,1761506692.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030308,-0.973559,-0.226415],[0.996278,-0.047711,0.071788],[-0.080692,-0.223396,0.971382]]
2025-10-26T19:24:52.701Z,1761506692.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026148,-0.973010,-0.229276],[0.995761,-0.045583,0.079883],[-0.088179,-0.226215,0.970078]]
2025-10-26T19:24:53.102Z,1761506693.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023218,-0.972352,-0.232365],[0.995150,-0.044701,0.087623],[-0.095587,-0.229203,0.968674]]
2025-10-26T19:24:53.515Z,1761506693.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021489,-0.971854,-0.234602],[0.994522,-0.044789,0.094448],[-0.102297,-0.231287,0.967492]]
2025-10-26T19:24:53.913Z,1761506693.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020406,-0.971200,-0.237389],[0.993889,-0.045468,0.100583],[-0.108480,-0.233885,0.966193]]
2025-10-26T19:24:54.314Z,1761506694.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020157,-0.970834,-0.238904],[0.993398,-0.046440,0.104900],[-0.112935,-0.235212,0.965361]]
2025-10-26T19:24:54.725Z,1761506694.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021208,-0.970466,-0.240305],[0.993077,-0.048224,0.107108],[-0.115533,-0.236370,0.964770]]
2025-10-26T19:24:55.127Z,1761506695.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022442,-0.970076,-0.241763],[0.993000,-0.049679,0.107159],[-0.115963,-0.237666,0.964400]]
2025-10-26T19:24:55.542Z,1761506695.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023954,-0.970148,-0.241329],[0.993075,-0.050863,0.105899],[-0.115012,-0.237121,0.964648]]
2025-10-26T19:24:55.587Z,1761506695.587 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:24:55.588Z,1761506695.588 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:24:55.588Z,1761506695.588 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:24:55.591Z,1761506695.591 [marl:UpdateRudder:A] Stopped
2025-10-26T19:24:55.591Z,1761506695.591 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:24:55.591Z,1761506695.591 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:24:55.591Z,1761506695.591 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:24:55.596Z,1761506695.596 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateCommandMode] Stopped
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:24:55.597Z,1761506695.597 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:24:55.598Z,1761506695.598 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:24:55.598Z,1761506695.598 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:24:55.598Z,1761506695.598 [marl:UpdateSpeed] Stopped
2025-10-26T19:24:55.598Z,1761506695.598 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:24:55.930Z,1761506695.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025285,-0.969649,-0.243191],[0.993268,-0.051878,0.103575],[-0.113048,-0.238935,0.964433]]
2025-10-26T19:24:55.969Z,1761506695.969 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:24:55.969Z,1761506695.969 [marl:UpdateRudder:B] Stopped
2025-10-26T19:24:55.969Z,1761506695.969 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:24:55.969Z,1761506695.969 [marl:UpdateRudder] Stopped
2025-10-26T19:24:55.969Z,1761506695.969 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:24:56.334Z,1761506696.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025593,-0.969761,-0.242710],[0.993612,-0.051371,0.100482],[-0.109912,-0.238587,0.964881]]
2025-10-26T19:24:56.740Z,1761506696.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024843,-0.969904,-0.242218],[0.993985,-0.049816,0.097530],[-0.106661,-0.238338,0.965307]]
2025-10-26T19:24:57.144Z,1761506697.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023049,-0.970334,-0.240668],[0.994354,-0.047193,0.095045],[-0.103583,-0.237119,0.965943]]
2025-10-26T19:24:57.547Z,1761506697.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020135,-0.970809,-0.239007],[0.994676,-0.043615,0.093364],[-0.101063,-0.235855,0.966519]]
2025-10-26T19:24:57.950Z,1761506697.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016339,-0.971451,-0.236677],[0.994953,-0.039235,0.092354],[-0.099004,-0.233974,0.967189]]
2025-10-26T19:24:58.354Z,1761506698.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011697,-0.972217,-0.233788],[0.995146,-0.034166,0.092291],[-0.097714,-0.231574,0.967898]]
2025-10-26T19:24:58.763Z,1761506698.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006774,-0.972517,-0.232735],[0.995248,-0.029165,0.092903],[-0.097138,-0.231000,0.968093]]
2025-10-26T19:24:59.566Z,1761506699.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001658,-0.972928,-0.231102],[0.995142,-0.021144,0.096157],[-0.098440,-0.230139,0.968166]]
2025-10-26T19:24:59.972Z,1761506699.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004369,-0.972972,-0.230882],[0.994999,-0.018811,0.098101],[-0.099792,-0.230156,0.968024]]
2025-10-26T19:25:00.383Z,1761506700.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006193,-0.972949,-0.230935],[0.994812,-0.017455,0.100218],[-0.101538,-0.230358,0.967794]]
2025-10-26T19:25:00.851Z,1761506700.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006577,-0.972846,-0.231359],[0.994692,-0.017393,0.101414],[-0.102685,-0.230798,0.967568]]
2025-10-26T19:25:01.182Z,1761506701.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005020,-0.972541,-0.232678],[0.994655,-0.019140,0.101459],[-0.103127,-0.231943,0.967247]]
2025-10-26T19:25:01.207Z,1761506701.207 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:25:01.317Z,1761506701.317 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:25:01.317Z,1761506701.317 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:25:01.568Z,1761506701.568 [DAT](INFO): DAT read: user:175>

2025-10-26T19:25:01.569Z,1761506701.569 [DAT](INFO): DAT read: Tx time:19:25:00.6592

2025-10-26T19:25:01.569Z,1761506701.569 [DAT](INFO): Ping request sent.
2025-10-26T19:25:01.569Z,1761506701.569 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:25:01.570Z,1761506701.570 [DAT](INFO): publishing transmit ping time
2025-10-26T19:25:01.570Z,1761506701.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952
2025-10-26T19:25:01.611Z,1761506701.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001853,-0.972450,-0.233105],[0.994700,-0.022173,0.100405],[-0.102807,-0.232055,0.967254]]
2025-10-26T19:25:01.820Z,1761506701.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851
2025-10-26T19:25:02.006Z,1761506702.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002552,-0.972440,-0.233140],[0.994895,-0.025989,0.097514],[-0.100886,-0.231701,0.967542]]
2025-10-26T19:25:02.072Z,1761506702.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502944
2025-10-26T19:25:02.324Z,1761506702.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889
2025-10-26T19:25:02.394Z,1761506702.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007474,-0.972232,-0.233901],[0.995164,-0.030142,0.093488],[-0.097942,-0.232071,0.967755]]
2025-10-26T19:25:02.544Z,1761506702.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:25:02.576Z,1761506702.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-10-26T19:25:02.847Z,1761506702.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.277459
2025-10-26T19:25:02.852Z,1761506702.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012235,-0.971866,-0.235215],[0.995511,-0.033917,0.088358],[-0.093850,-0.233078,0.967919]]
2025-10-26T19:25:03.080Z,1761506703.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510930
2025-10-26T19:25:03.203Z,1761506703.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016747,-0.971589,-0.236082],[0.995890,-0.037227,0.082561],[-0.089004,-0.233729,0.968219]]
2025-10-26T19:25:03.333Z,1761506703.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763194
2025-10-26T19:25:03.548Z,1761506703.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:25:03.584Z,1761506703.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014865
2025-10-26T19:25:03.612Z,1761506703.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020984,-0.971437,-0.236369],[0.996257,-0.040146,0.076547],[-0.083850,-0.233878,0.968643]]
2025-10-26T19:25:03.836Z,1761506703.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266855
2025-10-26T19:25:04.011Z,1761506704.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024684,-0.971573,-0.235450],[0.996619,-0.042377,0.070386],[-0.078363,-0.232917,0.969334]]
2025-10-26T19:25:04.088Z,1761506704.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518982
2025-10-26T19:25:04.340Z,1761506704.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770888
2025-10-26T19:25:04.415Z,1761506704.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027510,-0.971513,-0.235385],[0.996969,-0.043807,0.064288],[-0.072768,-0.232903,0.969774]]
2025-10-26T19:25:04.592Z,1761506704.592 [DAT](INFO): DAT read: Rx Time:19:25:03.1518

2025-10-26T19:25:04.593Z,1761506704.593 [DAT](INFO): Rx dataTimestamp_ set to:1761506704.592561
2025-10-26T19:25:04.593Z,1761506704.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023939
2025-10-26T19:25:04.848Z,1761506704.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278962
2025-10-26T19:25:04.854Z,1761506704.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028351,-0.972030,-0.233141],[0.997289,-0.043351,0.059467],[-0.067911,-0.230823,0.970623]]
2025-10-26T19:25:05.107Z,1761506705.107 [DAT](INFO): DAT read: 19:25:03.1518 LVL= 30816, 27025, 20722, 29427, AGC= 63, IDX=  70,-0.29,-3.053,-2.185,-1.199,-2.199, PHS=-0.752, 0.059, 0.956, RAW= 238.3,  -3.6, CAL= 235.5,  -5.4, ROT= 274.5,   5.4

2025-10-26T19:25:05.108Z,1761506705.108 [DAT](INFO): got valid direction response:
 19:25:03.1518 LVL= 30816, 27025, 20722, 29427, AGC= 63, IDX=  70,-0.29,-3.053,-2.185,-1.199,-2.199, PHS=-0.752, 0.059, 0.956, RAW= 238.3,  -3.6, CAL= 235.5,  -5.4, ROT= 274.5,   5.4

2025-10-26T19:25:05.109Z,1761506705.109 [DAT](INFO): DAT read: Bearing 345, -13 (Remote)

2025-10-26T19:25:05.109Z,1761506705.109 [DAT](INFO): Remote Bearing received:Bearing 345, -13 (Remote)

2025-10-26T19:25:05.110Z,1761506705.110 [DAT](INFO): DAT read: Bearing 156.2, -70.9 (Local)

2025-10-26T19:25:05.110Z,1761506705.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2, -70.9 (Local)

2025-10-26T19:25:05.112Z,1761506705.112 [DAT](INFO): DAT read: Range 11 to 20 : 347.5 m  (Round-trip  463.4 ms) speed -0.5 m/s

2025-10-26T19:25:05.112Z,1761506705.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:25:05.113Z,1761506705.113 [DAT](INFO): direction in FSK: [0.078111,-0.992493,-0.094108]
2025-10-26T19:25:05.114Z,1761506705.114 [DAT](INFO): publishing direction and range info
2025-10-26T19:25:05.323Z,1761506705.323 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506688.00. Resetting abort timer.
2025-10-26T19:25:05.626Z,1761506705.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026431,-0.972721,-0.230468],[0.997792,-0.039722,0.053220],[-0.060923,-0.228553,0.971623]]
2025-10-26T19:25:06.030Z,1761506706.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025078,-0.972893,-0.229893],[0.997965,-0.037852,0.051323],[-0.058633,-0.228138,0.971862]]
2025-10-26T19:25:06.436Z,1761506706.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024279,-0.973214,-0.228616],[0.998100,-0.036551,0.049602],[-0.056629,-0.226977,0.972252]]
2025-10-26T19:25:06.859Z,1761506706.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023566,-0.973095,-0.229195],[0.998222,-0.035461,0.047919],[-0.054757,-0.227658,0.972200]]
2025-10-26T19:25:07.242Z,1761506707.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023139,-0.972622,-0.231237],[0.998328,-0.034733,0.046197],[-0.052964,-0.229781,0.971800]]
2025-10-26T19:25:07.647Z,1761506707.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022756,-0.972375,-0.232313],[0.998425,-0.034022,0.044605],[-0.051276,-0.230932,0.971618]]
2025-10-26T19:25:08.055Z,1761506708.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022913,-0.971908,-0.234244],[0.998523,-0.033796,0.042551],[-0.049272,-0.232923,0.971246]]
2025-10-26T19:25:08.460Z,1761506708.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023278,-0.971393,-0.236333],[0.998627,-0.033688,0.040105],[-0.046920,-0.235075,0.970844]]
2025-10-26T19:25:08.866Z,1761506708.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024139,-0.971086,-0.237506],[0.998744,-0.033860,0.036935],[-0.043909,-0.236316,0.970684]]
2025-10-26T19:25:08.946Z,1761506708.946 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:25:08.946Z,1761506708.946 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:25:08.947Z,1761506708.947 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:25:08.947Z,1761506708.947 [marl:UpdateRudder:A] Stopped
2025-10-26T19:25:08.948Z,1761506708.948 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:25:08.948Z,1761506708.948 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:25:08.948Z,1761506708.948 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:25:08.948Z,1761506708.948 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:25:08.949Z,1761506708.949 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:25:08.949Z,1761506708.949 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:25:08.949Z,1761506708.949 [marl:UpdateCommandMode] Stopped
2025-10-26T19:25:08.949Z,1761506708.949 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:25:08.949Z,1761506708.949 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:25:08.950Z,1761506708.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:25:08.950Z,1761506708.950 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:25:08.950Z,1761506708.950 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:25:08.950Z,1761506708.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:25:08.951Z,1761506708.951 [marl:UpdateSpeed] Stopped
2025-10-26T19:25:08.951Z,1761506708.951 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:25:09.262Z,1761506709.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024945,-0.970626,-0.239295],[0.998863,-0.033931,0.033502],[-0.040637,-0.238188,0.970369]]
2025-10-26T19:25:09.338Z,1761506709.338 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:25:09.338Z,1761506709.338 [marl:UpdateRudder:B] Stopped
2025-10-26T19:25:09.338Z,1761506709.338 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:25:09.338Z,1761506709.338 [marl:UpdateRudder] Stopped
2025-10-26T19:25:09.338Z,1761506709.338 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:25:09.667Z,1761506709.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025593,-0.970393,-0.240170],[0.998990,-0.033706,0.029730],[-0.036945,-0.239167,0.970275]]
2025-10-26T19:25:10.070Z,1761506710.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025757,-0.970198,-0.240940],[0.999123,-0.032945,0.025850],[-0.033018,-0.240063,0.970196]]
2025-10-26T19:25:10.479Z,1761506710.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025595,-0.969974,-0.241859],[0.999251,-0.031852,0.021995],[-0.029038,-0.241115,0.970062]]
2025-10-26T19:25:10.882Z,1761506710.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025388,-0.969938,-0.242024],[0.999359,-0.030740,0.018362],[-0.025250,-0.241403,0.970096]]
2025-10-26T19:25:11.284Z,1761506711.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024746,-0.969998,-0.241849],[0.999452,-0.029328,0.015363],[-0.021995,-0.241336,0.970192]]
2025-10-26T19:25:11.686Z,1761506711.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024312,-0.970172,-0.241194],[0.999523,-0.028192,0.012647],[-0.019070,-0.240772,0.970394]]
2025-10-26T19:25:12.090Z,1761506712.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024204,-0.970384,-0.240353],[0.999576,-0.027382,0.009891],[-0.016179,-0.240012,0.970635]]
2025-10-26T19:25:12.495Z,1761506712.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023797,-0.970424,-0.240233],[0.999619,-0.026452,0.007836],[-0.013959,-0.239955,0.970684]]
2025-10-26T19:25:12.906Z,1761506712.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024122,-0.970376,-0.240394],[0.999635,-0.026330,0.005980],[-0.012132,-0.240162,0.970657]]
2025-10-26T19:25:13.302Z,1761506713.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025025,-0.970542,-0.239631],[0.999632,-0.026813,0.004205],[-0.010506,-0.239437,0.970855]]
2025-10-26T19:25:13.710Z,1761506713.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026567,-0.970467,-0.239767],[0.999610,-0.027863,0.002018],[-0.008639,-0.239620,0.970828]]
2025-10-26T19:25:14.112Z,1761506714.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028387,-0.970695,-0.238634],[0.999576,-0.029126,-0.000433],[-0.006530,-0.238545,0.971110]]
2025-10-26T19:25:14.514Z,1761506714.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030077,-0.970368,-0.239751],[0.999536,-0.030372,-0.002467],[-0.004888,-0.239714,0.970831]]
2025-10-26T19:25:14.918Z,1761506714.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031530,-0.970091,-0.240687],[0.999498,-0.031307,-0.004751],[-0.002926,-0.240716,0.970591]]
2025-10-26T19:25:15.323Z,1761506715.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032769,-0.970126,-0.240378],[0.999463,-0.031761,-0.008067],[0.000191,-0.240514,0.970646]]
2025-10-26T19:25:15.730Z,1761506715.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033292,-0.970068,-0.240541],[0.999439,-0.031420,-0.011617],[0.003711,-0.240793,0.970569]]
2025-10-26T19:25:16.130Z,1761506716.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033114,-0.970249,-0.239833],[0.999422,-0.030306,-0.015389],[0.007663,-0.240204,0.970692]]
2025-10-26T19:25:16.534Z,1761506716.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031610,-0.969985,-0.241102],[0.999436,-0.027940,-0.018625],[0.011330,-0.241555,0.970321]]
2025-10-26T19:25:16.955Z,1761506716.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029113,-0.970072,-0.241067],[0.999472,-0.024770,-0.021026],[0.014425,-0.241552,0.970281]]
2025-10-26T19:25:17.342Z,1761506717.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026481,-0.970517,-0.239575],[0.999500,-0.021565,-0.023120],[0.017272,-0.240067,0.970603]]
2025-10-26T19:25:17.746Z,1761506717.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024051,-0.970943,-0.238098],[0.999524,-0.018748,-0.024515],[0.019338,-0.238574,0.970932]]
2025-10-26T19:25:18.150Z,1761506718.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022094,-0.971382,-0.236491],[0.999537,-0.016512,-0.025559],[0.020922,-0.236946,0.971298]]
2025-10-26T19:25:18.555Z,1761506718.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021309,-0.971620,-0.235585],[0.999526,-0.015464,-0.026629],[0.022230,-0.236041,0.971489]]
2025-10-26T19:25:18.962Z,1761506718.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021235,-0.971902,-0.234425],[0.999522,-0.015369,-0.026823],[0.022467,-0.234882,0.971764]]
2025-10-26T19:25:19.362Z,1761506719.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022746,-0.971920,-0.234211],[0.999484,-0.016794,-0.027379],[0.022677,-0.234713,0.971800]]
2025-10-26T19:25:19.766Z,1761506719.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025509,-0.972091,-0.233212],[0.999423,-0.019562,-0.027777],[0.022440,-0.233786,0.972029]]
2025-10-26T19:25:20.171Z,1761506720.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029065,-0.971794,-0.234033],[0.999339,-0.023135,-0.028045],[0.021840,-0.234694,0.971824]]
2025-10-26T19:25:20.576Z,1761506720.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033082,-0.971367,-0.235268],[0.999233,-0.027205,-0.028183],[0.020975,-0.236020,0.971522]]
2025-10-26T19:25:20.978Z,1761506720.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037431,-0.971650,-0.233443],[0.999100,-0.031720,-0.028170],[0.019966,-0.234287,0.971962]]
2025-10-26T19:25:21.382Z,1761506721.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041739,-0.971602,-0.232909],[0.998941,-0.036066,-0.028564],[0.019353,-0.233855,0.972079]]
2025-10-26T19:25:21.787Z,1761506721.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046212,-0.971930,-0.230689],[0.998739,-0.040413,-0.029801],[0.019641,-0.231775,0.972571]]
2025-10-26T19:25:22.192Z,1761506722.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050656,-0.972134,-0.228890],[0.998500,-0.044524,-0.031876],[0.020796,-0.230161,0.972930]]
2025-10-26T19:25:22.217Z,1761506722.217 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:25:22.217Z,1761506722.217 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:25:22.218Z,1761506722.218 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:25:22.218Z,1761506722.218 [marl:UpdateRudder:A] Stopped
2025-10-26T19:25:22.218Z,1761506722.218 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:25:22.218Z,1761506722.218 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:25:22.218Z,1761506722.218 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:25:22.218Z,1761506722.218 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:25:22.219Z,1761506722.219 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:25:22.219Z,1761506722.219 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:25:22.219Z,1761506722.219 [marl:UpdateCommandMode] Stopped
2025-10-26T19:25:22.220Z,1761506722.220 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:25:22.220Z,1761506722.220 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:25:22.220Z,1761506722.220 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:25:22.220Z,1761506722.220 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:25:22.221Z,1761506722.221 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:25:22.221Z,1761506722.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:25:22.221Z,1761506722.221 [marl:UpdateSpeed] Stopped
2025-10-26T19:25:22.221Z,1761506722.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:25:22.594Z,1761506722.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055404,-0.972406,-0.226623],[0.998193,-0.048657,-0.035252],[0.023252,-0.228166,0.973345]]
2025-10-26T19:25:22.644Z,1761506722.644 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:25:22.644Z,1761506722.644 [marl:UpdateRudder:B] Stopped
2025-10-26T19:25:22.644Z,1761506722.644 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:25:22.644Z,1761506722.644 [marl:UpdateRudder] Stopped
2025-10-26T19:25:22.644Z,1761506722.644 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:25:22.998Z,1761506722.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060073,-0.972415,-0.225390],[0.997831,-0.052410,-0.039832],[0.026920,-0.227294,0.973454]]
2025-10-26T19:25:23.414Z,1761506723.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064218,-0.972620,-0.223355],[0.997440,-0.055500,-0.045097],[0.031466,-0.225679,0.973693]]
2025-10-26T19:25:23.807Z,1761506723.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067495,-0.972567,-0.222616],[0.997058,-0.057625,-0.050546],[0.036331,-0.225372,0.973595]]
2025-10-26T19:25:24.210Z,1761506724.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068080,-0.972449,-0.222953],[0.996860,-0.057246,-0.054708],[0.040438,-0.225978,0.973293]]
2025-10-26T19:25:24.614Z,1761506724.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066094,-0.972471,-0.223455],[0.996868,-0.054608,-0.057201],[0.043424,-0.226536,0.973034]]
2025-10-26T19:25:25.018Z,1761506725.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062738,-0.972241,-0.225416],[0.996985,-0.050719,-0.058724],[0.045661,-0.228420,0.972491]]
2025-10-26T19:25:25.432Z,1761506725.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060846,-0.972442,-0.225066],[0.997040,-0.048597,-0.059573],[0.046993,-0.228024,0.972521]]
2025-10-26T19:25:25.826Z,1761506725.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063499,-0.974874,-0.213514],[0.996869,-0.051857,-0.059697],[0.047125,-0.216636,0.975114]]
2025-10-26T19:25:26.236Z,1761506726.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071344,-0.979644,-0.187639],[0.996394,-0.061334,-0.058626],[0.045924,-0.191145,0.980487]]
2025-10-26T19:25:26.641Z,1761506726.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098368,-0.987629,-0.122117],[0.994295,-0.092455,-0.053188],[0.041240,-0.126652,0.991090]]
2025-10-26T19:25:27.057Z,1761506727.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115630,-0.989339,-0.088534],[0.992532,-0.111595,-0.049255],[0.038850,-0.093568,0.994855]]
2025-10-26T19:25:27.447Z,1761506727.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134021,-0.989163,-0.059954],[0.990304,-0.131452,-0.044932],[0.036564,-0.065394,0.997189]]
2025-10-26T19:25:27.851Z,1761506727.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152604,-0.987560,-0.037900],[0.987679,-0.151053,-0.040897],[0.034663,-0.043674,0.998444]]
2025-10-26T19:25:28.255Z,1761506728.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171295,-0.985033,-0.019194],[0.984654,-0.170504,-0.037210],[0.033380,-0.025273,0.999123]]
2025-10-26T19:25:28.664Z,1761506728.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189664,-0.981831,-0.005966],[0.981311,-0.189356,-0.034263],[0.032510,-0.012353,0.999395]]
2025-10-26T19:25:29.064Z,1761506729.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206049,-0.978539,0.002257],[0.978012,-0.206012,-0.032425],[0.032194,-0.004474,0.999472]]
2025-10-26T19:25:29.464Z,1761506729.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222712,-0.974860,0.006869],[0.974348,-0.222818,-0.031608],[0.032344,-0.000347,0.999477]]
2025-10-26T19:25:29.866Z,1761506729.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238455,-0.971106,0.009644],[0.970603,-0.238642,-0.031291],[0.032688,0.001898,0.999464]]
2025-10-26T19:25:30.270Z,1761506730.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254020,-0.967124,0.012010],[0.966648,-0.254275,-0.030580],[0.032629,0.003842,0.999460]]
2025-10-26T19:25:30.675Z,1761506730.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269590,-0.962897,0.012254],[0.962437,-0.269842,-0.030006],[0.032200,0.003704,0.999475]]
2025-10-26T19:25:31.079Z,1761506731.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285539,-0.958279,0.012978],[0.957859,-0.285803,-0.028695],[0.031207,0.004238,0.999504]]
2025-10-26T19:25:31.482Z,1761506731.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302591,-0.953025,0.013475],[0.952644,-0.302857,-0.027328],[0.030126,0.004567,0.999536]]
2025-10-26T19:25:31.515Z,1761506731.515 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:25:31.593Z,1761506731.593 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:25:31.593Z,1761506731.593 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:25:31.845Z,1761506731.845 [DAT](INFO): DAT read: user:176>

2025-10-26T19:25:31.846Z,1761506731.846 [DAT](INFO): DAT read: Tx time:19:25:30.9090

2025-10-26T19:25:31.846Z,1761506731.846 [DAT](INFO): Ping request sent.
2025-10-26T19:25:31.846Z,1761506731.846 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:25:31.846Z,1761506731.846 [DAT](INFO): publishing transmit ping time
2025-10-26T19:25:31.847Z,1761506731.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000946
2025-10-26T19:25:31.907Z,1761506731.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320489,-0.947148,0.014019],[0.946809,-0.320757,-0.025841],[0.028972,0.004992,0.999568]]
2025-10-26T19:25:32.096Z,1761506732.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250132
2025-10-26T19:25:32.290Z,1761506732.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339066,-0.940649,0.014618],[0.940350,-0.339337,-0.024351],[0.027866,0.005490,0.999597]]
2025-10-26T19:25:32.348Z,1761506732.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502208
2025-10-26T19:25:32.600Z,1761506732.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754181
2025-10-26T19:25:32.697Z,1761506732.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358060,-0.933572,0.015362],[0.933305,-0.358338,-0.023149],[0.027116,0.006049,0.999614]]
2025-10-26T19:25:32.852Z,1761506732.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006163
2025-10-26T19:25:33.098Z,1761506733.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376996,-0.926065,0.016643],[0.925830,-0.377296,-0.022043],[0.026693,0.007099,0.999618]]
2025-10-26T19:25:33.105Z,1761506733.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258716
2025-10-26T19:25:33.356Z,1761506733.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510178
2025-10-26T19:25:33.502Z,1761506733.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395701,-0.918199,0.018189],[0.917985,-0.396034,-0.021476],[0.026923,0.008199,0.999604]]
2025-10-26T19:25:33.609Z,1761506733.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762445
2025-10-26T19:25:33.676Z,1761506733.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:25:33.860Z,1761506733.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014128
2025-10-26T19:25:33.913Z,1761506733.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414083,-0.910016,0.020133],[0.909799,-0.414469,-0.021925],[0.028296,0.009239,0.999557]]
2025-10-26T19:25:34.113Z,1761506734.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757
2025-10-26T19:25:34.313Z,1761506734.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431767,-0.901725,0.021677],[0.901464,-0.432209,-0.023602],[0.030652,0.009350,0.999486]]
2025-10-26T19:25:34.365Z,1761506734.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518386
2025-10-26T19:25:34.616Z,1761506734.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770080
2025-10-26T19:25:34.680Z,1761506734.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:25:34.727Z,1761506734.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448931,-0.893280,0.022642],[0.892925,-0.449425,-0.026501],[0.033848,0.008321,0.999392]]
2025-10-26T19:25:34.872Z,1761506734.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025201
2025-10-26T19:25:35.118Z,1761506735.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465543,-0.884713,0.023513],[0.884236,-0.466086,-0.029853],[0.037371,0.006893,0.999278]]
2025-10-26T19:25:35.120Z,1761506735.120 [DAT](INFO): DAT read: Rx Time:19:25:33.7987

2025-10-26T19:25:35.121Z,1761506735.121 [DAT](INFO): Rx dataTimestamp_ set to:1761506735.120625
2025-10-26T19:25:35.121Z,1761506735.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275266
2025-10-26T19:25:35.374Z,1761506735.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527330
2025-10-26T19:25:35.522Z,1761506735.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481630,-0.875986,0.026108],[0.875413,-0.482283,-0.032475],[0.041039,0.007214,0.999132]]
2025-10-26T19:25:35.582Z,1761506735.582 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:25:35.582Z,1761506735.582 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:25:35.582Z,1761506735.582 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:25:35.582Z,1761506735.582 [marl:UpdateRudder:A] Stopped
2025-10-26T19:25:35.582Z,1761506735.582 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:25:35.583Z,1761506735.583 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:25:35.583Z,1761506735.583 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:25:35.583Z,1761506735.583 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:25:35.583Z,1761506735.583 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:25:35.583Z,1761506735.583 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:25:35.583Z,1761506735.583 [marl:UpdateCommandMode] Stopped
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed] Stopped
2025-10-26T19:25:35.584Z,1761506735.584 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:25:35.638Z,1761506735.638 [DAT](INFO): DAT read: 19:25:33.7987 LVL= 25200, 16945, 22482, 25459, AGC= 66, IDX= 392,-0.44,-1.798,-0.036, 0.069,-0.323, PHS=-1.373, 0.332, 0.348, RAW= 269.5,   8.1, CAL= 268.0,   6.5, ROT= 242.0,  -6.5

2025-10-26T19:25:35.641Z,1761506735.641 [DAT](INFO): got valid direction response:
 19:25:33.7987 LVL= 25200, 16945, 22482, 25459, AGC= 66, IDX= 392,-0.44,-1.798,-0.036, 0.069,-0.323, PHS=-1.373, 0.332, 0.348, RAW= 269.5,   8.1, CAL= 268.0,   6.5, ROT= 242.0,  -6.5

2025-10-26T19:25:35.643Z,1761506735.643 [DAT](INFO): DAT read: Bearing  73.2, -62.7 (Local)

2025-10-26T19:25:35.644Z,1761506735.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2, -62.7 (Local)

2025-10-26T19:25:35.646Z,1761506735.646 [DAT](INFO): DAT read: Range 11 to 20 : 364.1 m  (Round-trip  485.5 ms) speed -0.8 m/s

2025-10-26T19:25:35.647Z,1761506735.647 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:25:35.649Z,1761506735.649 [DAT](INFO): direction in FSK: [-0.466454,-0.877272,0.113203]
2025-10-26T19:25:35.649Z,1761506735.649 [DAT](INFO): publishing direction and range info
2025-10-26T19:25:35.926Z,1761506735.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495975,-0.867872,0.028405],[0.867240,-0.496727,-0.034011],[0.043626,0.007765,0.999018]]
2025-10-26T19:25:35.985Z,1761506735.985 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:25:35.986Z,1761506735.986 [marl:UpdateRudder:B] Stopped
2025-10-26T19:25:35.986Z,1761506735.986 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:25:35.986Z,1761506735.986 [marl:UpdateRudder] Stopped
2025-10-26T19:25:35.986Z,1761506735.986 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:25:35.992Z,1761506735.992 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506688.00. Resetting abort timer.
2025-10-26T19:25:36.331Z,1761506736.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509053,-0.860259,0.028619],[0.859560,-0.509814,-0.035300],[0.044958,0.006630,0.998967]]
2025-10-26T19:25:36.746Z,1761506736.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521215,-0.852940,0.028777],[0.852203,-0.521976,-0.035924],[0.045662,0.005799,0.998940]]
2025-10-26T19:25:37.140Z,1761506737.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533073,-0.845561,0.029321],[0.844825,-0.533848,-0.035722],[0.045858,0.005729,0.998932]]
2025-10-26T19:25:37.550Z,1761506737.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544389,-0.838311,0.029608],[0.837589,-0.545164,-0.035235],[0.045679,0.005618,0.998940]]
2025-10-26T19:25:37.948Z,1761506737.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555789,-0.830801,0.029451],[0.830086,-0.556546,-0.034849],[0.045344,0.005078,0.998959]]
2025-10-26T19:25:38.350Z,1761506738.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567295,-0.823017,0.028611],[0.822308,-0.568002,-0.034395],[0.044559,0.004015,0.998999]]
2025-10-26T19:25:38.757Z,1761506738.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579529,-0.814491,0.027403],[0.813753,-0.580172,-0.034726],[0.044182,0.002175,0.999021]]
2025-10-26T19:25:38.761Z,1761506738.761 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T19:25:38.761Z,1761506738.761 [NAL9602] Data Fault, FailCount= 1
2025-10-26T19:25:38.761Z,1761506738.761 [NAL9602](ERROR): Data Fault
2025-10-26T19:25:38.866Z,1761506738.866 [marl:NeedComms] Running Loop=1
2025-10-26T19:25:38.866Z,1761506738.866 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T19:25:38.866Z,1761506738.866 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T19:25:38.866Z,1761506738.866 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T19:25:38.867Z,1761506738.867 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T19:25:38.872Z,1761506738.872 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T19:25:38.873Z,1761506738.873 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T19:25:38.874Z,1761506738.874 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T19:25:38.874Z,1761506738.874 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T19:25:38.874Z,1761506738.874 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T19:25:38.875Z,1761506738.875 [marl:NeedComms:A] Running Loop=1
2025-10-26T19:25:38.881Z,1761506738.881 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T19:25:38.881Z,1761506738.881 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T19:25:38.882Z,1761506738.882 [marl:NeedComms:A] Stopped
2025-10-26T19:25:38.971Z,1761506738.971 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T19:25:39.159Z,1761506739.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592184,-0.805372,0.026334],[0.804591,-0.592770,-0.035455],[0.044165,0.000192,0.999024]]
2025-10-26T19:25:39.169Z,1761506739.169 [NAL9602](INFO): Powering down
2025-10-26T19:25:39.562Z,1761506739.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605684,-0.795267,0.026397],[0.794447,-0.606258,-0.036123],[0.044731,-0.000908,0.998999]]
2025-10-26T19:25:39.966Z,1761506739.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619678,-0.784422,0.026096],[0.783555,-0.620223,-0.036946],[0.045167,-0.002447,0.998976]]
2025-10-26T19:25:40.331Z,1761506740.331 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T19:25:40.331Z,1761506740.331 [NAL9602] No Fault, FailCount= 1
2025-10-26T19:25:40.392Z,1761506740.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633938,-0.772924,0.026665],[0.772021,-0.634491,-0.037484],[0.045891,-0.003176,0.998941]]
2025-10-26T19:25:40.811Z,1761506740.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648001,-0.761167,0.026808],[0.760225,-0.648541,-0.038116],[0.046398,-0.004319,0.998914]]
2025-10-26T19:25:41.187Z,1761506741.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661385,-0.749570,0.026733],[0.748708,-0.661914,-0.036152],[0.044793,-0.003895,0.998989]]
2025-10-26T19:25:41.582Z,1761506741.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674748,-0.737746,0.021135],[0.737053,-0.675048,-0.032589],[0.038309,-0.006412,0.999245]]
2025-10-26T19:25:41.815Z,1761506741.815 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:25:41.815Z,1761506741.815 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:25:41.987Z,1761506741.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687204,-0.726333,0.013797],[0.725978,-0.687315,-0.023553],[0.026590,-0.006169,0.999627]]
2025-10-26T19:25:42.393Z,1761506742.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699299,-0.714819,0.003852],[0.714743,-0.699288,-0.011762],[0.011102,-0.005472,0.999923]]
2025-10-26T19:25:42.873Z,1761506742.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709983,-0.704162,-0.008927],[0.704179,-0.710021,0.001622],[-0.007480,-0.005135,0.999959]]
2025-10-26T19:25:43.199Z,1761506743.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719550,-0.694054,-0.023192],[0.693879,-0.719910,0.016184],[-0.027928,-0.004448,0.999600]]
2025-10-26T19:25:43.604Z,1761506743.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727445,-0.685001,-0.039964],[0.684333,-0.728524,0.030677],[-0.050129,-0.005033,0.998730]]
2025-10-26T19:25:44.011Z,1761506744.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734485,-0.676212,-0.057180],[0.674621,-0.736694,0.046555],[-0.073605,-0.004381,0.997278]]
2025-10-26T19:25:44.410Z,1761506744.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740811,-0.667551,-0.074666],[0.664523,-0.744560,0.063557],[-0.098021,-0.002534,0.995181]]
2025-10-26T19:25:44.865Z,1761506744.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746806,-0.658520,-0.092913],[0.653614,-0.752563,0.080236],[-0.122760,-0.000808,0.992436]]
2025-10-26T19:25:45.222Z,1761506745.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752233,-0.649314,-0.111966],[0.642015,-0.760520,0.097092],[-0.148195,0.001152,0.988957]]
2025-10-26T19:25:45.622Z,1761506745.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757064,-0.639977,-0.131467],[0.629714,-0.768385,0.114216],[-0.174113,0.003682,0.984719]]
2025-10-26T19:25:46.026Z,1761506746.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761925,-0.629878,-0.150748],[0.616132,-0.776663,0.131054],[-0.199628,0.006973,0.979847]]
2025-10-26T19:25:46.430Z,1761506746.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766831,-0.619010,-0.169700],[0.601462,-0.785314,0.146716],[-0.224087,0.010439,0.974513]]
2025-10-26T19:25:46.863Z,1761506746.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772573,-0.606651,-0.187366],[0.585089,-0.794832,0.160979],[-0.246583,0.014742,0.969010]]
2025-10-26T19:25:47.238Z,1761506747.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778105,-0.593776,-0.204895],[0.568266,-0.804422,0.173145],[-0.267632,0.018290,0.963348]]
2025-10-26T19:25:47.642Z,1761506747.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784239,-0.580020,-0.220330],[0.550580,-0.814280,0.183873],[-0.286060,0.022891,0.957938]]
2025-10-26T19:25:48.046Z,1761506748.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790537,-0.565566,-0.234917],[0.532706,-0.824277,0.191809],[-0.302117,0.026490,0.952903]]
2025-10-26T19:25:48.451Z,1761506748.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796992,-0.551421,-0.246454],[0.515050,-0.833609,0.199546],[-0.315480,0.032100,0.948389]]
2025-10-26T19:25:48.866Z,1761506748.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803712,-0.536401,-0.257530],[0.497412,-0.843204,0.203933],[-0.326540,0.035805,0.944505]]
2025-10-26T19:25:49.258Z,1761506749.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810723,-0.521097,-0.266808],[0.480171,-0.852605,0.206155],[-0.334909,0.039021,0.941442]]
2025-10-26T19:25:49.300Z,1761506749.300 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateRudder:A] Stopped
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:25:49.301Z,1761506749.301 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateCommandMode] Stopped
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:25:49.302Z,1761506749.302 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:25:49.303Z,1761506749.303 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:25:49.303Z,1761506749.303 [marl:UpdateSpeed] Stopped
2025-10-26T19:25:49.303Z,1761506749.303 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:25:49.662Z,1761506749.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818186,-0.505172,-0.274541],[0.462774,-0.861983,0.206943],[-0.341191,0.042268,0.939043]]
2025-10-26T19:25:49.720Z,1761506749.720 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:25:49.720Z,1761506749.720 [marl:UpdateRudder:B] Stopped
2025-10-26T19:25:49.720Z,1761506749.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:25:49.721Z,1761506749.721 [marl:UpdateRudder] Stopped
2025-10-26T19:25:49.721Z,1761506749.721 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:25:50.066Z,1761506750.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825881,-0.487766,-0.282849],[0.445283,-0.871958,0.203501],[-0.345894,0.042120,0.937328]]
2025-10-26T19:25:50.471Z,1761506750.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833404,-0.470415,-0.290082],[0.427852,-0.881413,0.200137],[-0.349829,0.042683,0.935841]]
2025-10-26T19:25:50.874Z,1761506750.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840580,-0.452547,-0.297700],[0.410447,-0.890758,0.195150],[-0.353494,0.041849,0.934500]]
2025-10-26T19:25:51.279Z,1761506751.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846911,-0.435074,-0.305700],[0.393413,-0.899468,0.190218],[-0.357726,0.040831,0.932933]]
2025-10-26T19:25:51.344Z,1761506751.344 [marl:SendObservationData] Running Loop=1
2025-10-26T19:25:51.344Z,1761506751.344 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T19:25:51.344Z,1761506751.344 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T19:25:51.345Z,1761506751.345 [marl:SendObservationData:A] Running Loop=1
2025-10-26T19:25:51.346Z,1761506751.346 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9d600000004051400000000000404262c3f8af66a7c05e7775cfec3bdf402cf327e00000004074366660000000 n/a str  and temp var is  nan n/a str 
2025-10-26T19:25:51.346Z,1761506751.346 [marl:SendObservationData:A] Stopped
2025-10-26T19:25:51.346Z,1761506751.346 [marl:SendObservationData:B] Running Loop=1
2025-10-26T19:25:51.521Z,1761506751.521 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:25:51.521Z,1761506751.521 [DAT](INFO): #Outgoing data=1
2025-10-26T19:25:51.521Z,1761506751.521 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:25:51.744Z,1761506751.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851792,-0.420018,-0.313105],[0.378282,-0.906594,0.187056],[-0.362426,0.040891,0.931115]]
2025-10-26T19:25:51.772Z,1761506751.772 [DAT](INFO): setting remote address to 6
2025-10-26T19:25:51.791Z,1761506751.791 [marl:SendObservationData:B] Stopped
2025-10-26T19:25:51.791Z,1761506751.791 [marl:SendObservationData:C] Running Loop=1
2025-10-26T19:25:52.025Z,1761506752.025 [DAT](INFO): DAT read: user:177>

2025-10-26T19:25:52.026Z,1761506752.026 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:25:52.026Z,1761506752.026 [DAT](INFO): set remote address to 6
2025-10-26T19:25:52.026Z,1761506752.026 [DAT](INFO): entering online mode
2025-10-26T19:25:52.148Z,1761506752.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855776,-0.405928,-0.320733],[0.364107,-0.912999,0.184008],[-0.367523,0.040689,0.929124]]
2025-10-26T19:25:52.179Z,1761506752.179 [marl:SendObservationData:C] Stopped
2025-10-26T19:25:52.180Z,1761506752.180 [marl:SendObservationData:E] Running Loop=1
2025-10-26T19:25:52.276Z,1761506752.276 [DAT](INFO): DAT read: user:178>

2025-10-26T19:25:52.277Z,1761506752.277 [DAT](INFO): DAT read: 

2025-10-26T19:25:52.278Z,1761506752.278 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:25:52.278Z,1761506752.278 [DAT](INFO): commRate: 600
2025-10-26T19:25:52.278Z,1761506752.278 [DAT](INFO): online mode acknowledged
2025-10-26T19:25:52.279Z,1761506752.279 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:25:52.550Z,1761506752.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858986,-0.393072,-0.328081],[0.350934,-0.918594,0.181741],[-0.372811,0.040978,0.927002]]
2025-10-26T19:25:52.584Z,1761506752.584 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.009054 min 
2025-10-26T19:25:52.584Z,1761506752.584 [marl:SendObservationData:E] Stopped
2025-10-26T19:25:52.585Z,1761506752.585 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T19:25:52.585Z,1761506752.585 [marl:SendObservationData] Stopped
2025-10-26T19:25:52.585Z,1761506752.585 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T19:25:52.585Z,1761506752.585 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T19:25:52.954Z,1761506752.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861968,-0.379679,-0.335939],[0.337702,-0.924250,0.178099],[-0.378112,0.040069,0.924892]]
2025-10-26T19:25:53.358Z,1761506753.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864947,-0.365583,-0.343827],[0.324058,-0.929972,0.173602],[-0.383215,0.038736,0.922846]]
2025-10-26T19:25:53.765Z,1761506753.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868028,-0.351286,-0.350893],[0.310028,-0.935480,0.169590],[-0.387828,0.038422,0.920931]]
2025-10-26T19:25:54.167Z,1761506754.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871489,-0.337175,-0.356118],[0.295325,-0.940546,0.167797],[-0.391522,0.041063,0.919252]]
2025-10-26T19:25:54.570Z,1761506754.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875341,-0.322816,-0.359956],[0.280320,-0.945412,0.166185],[-0.393954,0.044565,0.918049]]
2025-10-26T19:25:54.974Z,1761506754.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879583,-0.308728,-0.361968],[0.264990,-0.949822,0.166190],[-0.395112,0.050260,0.917257]]
2025-10-26T19:25:55.379Z,1761506755.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883810,-0.295004,-0.363114],[0.249781,-0.953804,0.166935],[-0.395586,0.056840,0.916668]]
2025-10-26T19:25:55.553Z,1761506755.553 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:25:54.7077

2025-10-26T19:25:55.554Z,1761506755.554 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:25:55.782Z,1761506755.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887924,-0.281314,-0.363942],[0.234417,-0.957478,0.168179],[-0.395778,0.064016,0.916112]]
2025-10-26T19:25:56.186Z,1761506756.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891707,-0.267512,-0.365098],[0.218797,-0.960904,0.169680],[-0.396215,0.071423,0.915376]]
2025-10-26T19:25:56.590Z,1761506756.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894919,-0.253445,-0.367269],[0.203433,-0.964267,0.169719],[-0.397160,0.077170,0.914499]]
2025-10-26T19:25:56.995Z,1761506756.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897755,-0.238689,-0.370221],[0.188418,-0.967778,0.167048],[-0.398164,0.080212,0.913800]]
2025-10-26T19:25:57.398Z,1761506757.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900228,-0.223324,-0.373785],[0.173397,-0.971317,0.162718],[-0.399403,0.081670,0.913131]]
2025-10-26T19:25:57.811Z,1761506757.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902784,-0.206868,-0.377076],[0.157995,-0.974944,0.156597],[-0.400023,0.081797,0.912848]]
2025-10-26T19:25:58.206Z,1761506758.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905310,-0.189163,-0.380305],[0.142233,-0.978675,0.148209],[-0.400230,0.080083,0.912909]]
2025-10-26T19:25:58.611Z,1761506758.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907960,-0.170675,-0.382725],[0.126402,-0.982307,0.138187],[-0.399539,0.077091,0.913469]]
2025-10-26T19:25:59.014Z,1761506759.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910744,-0.152522,-0.383775],[0.110859,-0.985484,0.128573],[-0.397814,0.074552,0.914432]]
2025-10-26T19:25:59.418Z,1761506759.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913657,-0.134836,-0.383470],[0.096495,-0.988360,0.117618],[-0.394866,0.070460,0.916033]]
2025-10-26T19:25:59.826Z,1761506759.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916757,-0.117848,-0.381666],[0.083172,-0.990863,0.106172],[-0.390690,0.065590,0.918182]]
2025-10-26T19:26:00.227Z,1761506760.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920051,-0.101345,-0.378465],[0.070561,-0.993033,0.094379],[-0.385393,0.060128,0.920791]]
2025-10-26T19:26:00.632Z,1761506760.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923584,-0.085148,-0.373822],[0.057810,-0.994807,0.083765],[-0.379013,0.055753,0.923710]]
2025-10-26T19:26:01.034Z,1761506761.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927269,-0.068086,-0.368152],[0.044184,-0.996354,0.072978],[-0.371778,0.051404,0.926897]]
2025-10-26T19:26:01.438Z,1761506761.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930906,-0.050521,-0.361749],[0.028971,-0.997481,0.064755],[-0.364109,0.049801,0.930024]]
2025-10-26T19:26:01.842Z,1761506761.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934189,-0.031940,-0.355347],[0.011748,-0.998199,0.058835],[-0.356586,0.050788,0.932881]]
2025-10-26T19:26:01.870Z,1761506761.870 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:26:02.104Z,1761506762.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:26:02.155Z,1761506762.155 [DAT](INFO): entering command mode
2025-10-26T19:26:02.248Z,1761506762.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936865,-0.011703,-0.349496],[-0.007942,-0.998470,0.054724],[-0.349602,0.054045,0.935338]]
2025-10-26T19:26:02.356Z,1761506762.356 [DAT](INFO): DAT read: 

2025-10-26T19:26:02.357Z,1761506762.357 [DAT](INFO): DAT read: user:179>

2025-10-26T19:26:02.357Z,1761506762.357 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:26:02.357Z,1761506762.357 [DAT](INFO): setting remote address to 0
2025-10-26T19:26:02.609Z,1761506762.609 [DAT](INFO): DAT read: user:179>

2025-10-26T19:26:02.610Z,1761506762.610 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:26:02.610Z,1761506762.610 [DAT](INFO): set remote address to 0
2025-10-26T19:26:02.611Z,1761506762.611 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:26:02.611Z,1761506762.611 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:26:02.650Z,1761506762.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938785,0.009776,-0.344364],[-0.030137,-0.998096,0.053824],[-0.343182,0.060907,0.937292]]
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateRudder:A] Stopped
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:26:02.849Z,1761506762.849 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateCommandMode] Stopped
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:26:02.850Z,1761506762.850 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:26:02.851Z,1761506762.851 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:26:02.851Z,1761506762.851 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:26:02.851Z,1761506762.851 [marl:UpdateSpeed] Stopped
2025-10-26T19:26:02.851Z,1761506762.851 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:26:02.860Z,1761506762.860 [DAT](INFO): DAT read: user:180>

2025-10-26T19:26:02.861Z,1761506762.861 [DAT](INFO): DAT read: Tx time:19:26:01.9588

2025-10-26T19:26:02.861Z,1761506762.861 [DAT](INFO): Ping request sent.
2025-10-26T19:26:02.862Z,1761506762.862 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:26:02.862Z,1761506762.862 [DAT](INFO): publishing transmit ping time
2025-10-26T19:26:02.863Z,1761506762.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000986
2025-10-26T19:26:03.054Z,1761506763.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939996,0.032678,-0.339617],[-0.053949,-0.997116,0.053376],[-0.336894,0.068496,0.939048]]
2025-10-26T19:26:03.112Z,1761506763.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250842
2025-10-26T19:26:03.157Z,1761506763.157 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:26:03.157Z,1761506763.157 [marl:UpdateRudder:B] Stopped
2025-10-26T19:26:03.157Z,1761506763.157 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:26:03.157Z,1761506763.157 [marl:UpdateRudder] Stopped
2025-10-26T19:26:03.157Z,1761506763.157 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:26:03.365Z,1761506763.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503343
2025-10-26T19:26:03.463Z,1761506763.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940806,0.054846,-0.334478],[-0.077049,-0.995593,0.053468],[-0.330071,0.076074,0.940886]]
2025-10-26T19:26:03.616Z,1761506763.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754812
2025-10-26T19:26:03.862Z,1761506763.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941795,0.069399,-0.328947],[-0.093540,-0.993918,0.058121],[-0.322912,0.085507,0.942558]]
2025-10-26T19:26:03.881Z,1761506763.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019608
2025-10-26T19:26:04.133Z,1761506764.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271286
2025-10-26T19:26:04.266Z,1761506764.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942315,0.081487,-0.324657],[-0.106723,-0.992436,0.060667],[-0.317257,0.091816,0.943884]]
2025-10-26T19:26:04.384Z,1761506764.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522837
2025-10-26T19:26:04.636Z,1761506764.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774783
2025-10-26T19:26:04.717Z,1761506764.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942492,0.108032,-0.316288],[-0.130828,-0.990057,0.051679],[-0.307561,0.090087,0.947254]]
2025-10-26T19:26:04.805Z,1761506764.805 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:26:04.889Z,1761506764.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027359
2025-10-26T19:26:05.130Z,1761506765.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941977,0.123954,-0.311952],[-0.143893,-0.988717,0.041639],[-0.303271,0.084111,0.949185]]
2025-10-26T19:26:05.141Z,1761506765.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278884
2025-10-26T19:26:05.392Z,1761506765.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530767
2025-10-26T19:26:05.526Z,1761506765.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940911,0.143101,-0.306934],[-0.159130,-0.986869,0.027711],[-0.298938,0.074916,0.951327]]
2025-10-26T19:26:05.645Z,1761506765.645 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:26:05.646Z,1761506765.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783922
2025-10-26T19:26:05.808Z,1761506765.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:26:05.897Z,1761506765.897 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:26:05.897Z,1761506765.897 [DAT](INFO): #Outgoing data=1
2025-10-26T19:26:05.897Z,1761506765.897 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:26:05.897Z,1761506765.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035816
2025-10-26T19:26:05.931Z,1761506765.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939358,0.163928,-0.301222],[-0.175953,-0.984312,0.013035],[-0.294360,0.065245,0.953465]]
2025-10-26T19:26:06.148Z,1761506766.148 [DAT](INFO): setting remote address to 6
2025-10-26T19:26:06.149Z,1761506766.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287015
2025-10-26T19:26:06.334Z,1761506766.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937371,0.185166,-0.295042],[-0.193725,-0.981056,-0.000223],[-0.289494,0.056948,0.955484]]
2025-10-26T19:26:06.401Z,1761506766.401 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:06.401Z,1761506766.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539558
2025-10-26T19:26:06.652Z,1761506766.652 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:06.652Z,1761506766.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790866
2025-10-26T19:26:06.741Z,1761506766.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934999,0.205494,-0.289050],[-0.211957,-0.977236,-0.009120],[-0.284344,0.052739,0.957271]]
2025-10-26T19:26:06.904Z,1761506766.904 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:06.905Z,1761506766.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042901
2025-10-26T19:26:07.142Z,1761506767.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931833,0.226599,-0.283445],[-0.231789,-0.972642,-0.015560],[-0.279216,0.051200,0.958862]]
2025-10-26T19:26:07.156Z,1761506767.156 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:07.157Z,1761506767.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294935
2025-10-26T19:26:07.409Z,1761506767.409 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:07.409Z,1761506767.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.547632
2025-10-26T19:26:07.546Z,1761506767.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928033,0.247025,-0.278807],[-0.251583,-0.967631,-0.019912],[-0.274701,0.051664,0.960141]]
2025-10-26T19:26:07.660Z,1761506767.660 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:07.660Z,1761506767.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798828
2025-10-26T19:26:07.913Z,1761506767.913 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:07.913Z,1761506767.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051479
2025-10-26T19:26:07.958Z,1761506767.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923683,0.266701,-0.275102],[-0.270934,-0.962317,-0.023243],[-0.270934,0.053065,0.961134]]
2025-10-26T19:26:08.164Z,1761506768.164 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:08.165Z,1761506768.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302913
2025-10-26T19:26:08.356Z,1761506768.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919189,0.284247,-0.272572],[-0.288659,-0.957114,-0.024671],[-0.267895,0.056004,0.961819]]
2025-10-26T19:26:08.416Z,1761506768.416 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:08.416Z,1761506768.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554750
2025-10-26T19:26:08.668Z,1761506768.668 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:08.668Z,1761506768.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806881
2025-10-26T19:26:08.758Z,1761506768.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914770,0.299981,-0.270567],[-0.304693,-0.952110,-0.025466],[-0.265249,0.059144,0.962364]]
2025-10-26T19:26:08.921Z,1761506768.921 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:08.921Z,1761506768.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059530
2025-10-26T19:26:09.162Z,1761506769.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910599,0.314346,-0.268322],[-0.319086,-0.947342,-0.026960],[-0.262667,0.061068,0.962952]]
2025-10-26T19:26:09.172Z,1761506769.172 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:09.173Z,1761506769.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310927
2025-10-26T19:26:09.424Z,1761506769.424 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:09.425Z,1761506769.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563266
2025-10-26T19:26:09.574Z,1761506769.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907042,0.325946,-0.266521],[-0.331174,-0.943200,-0.026425],[-0.259996,0.064296,0.963467]]
2025-10-26T19:26:09.577Z,1761506769.577 [NAL9602](INFO): Powering up NAL9602
2025-10-26T19:26:09.677Z,1761506769.677 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:09.677Z,1761506769.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815539
2025-10-26T19:26:09.928Z,1761506769.928 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:09.928Z,1761506769.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066844
2025-10-26T19:26:09.981Z,1761506769.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904340,0.334525,-0.265072],[-0.340051,-0.940042,-0.026205],[-0.257945,0.066439,0.963873]]
2025-10-26T19:26:10.182Z,1761506770.182 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:10.182Z,1761506770.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.320492
2025-10-26T19:26:10.378Z,1761506770.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901160,0.342754,-0.265386],[-0.348202,-0.937007,-0.027796],[-0.258196,0.067360,0.963741]]
2025-10-26T19:26:10.432Z,1761506770.432 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:10.433Z,1761506770.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570938
2025-10-26T19:26:10.686Z,1761506770.686 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:10.687Z,1761506770.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.825153
2025-10-26T19:26:10.822Z,1761506770.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896927,0.352238,-0.267300],[-0.357404,-0.933442,-0.030782],[-0.260352,0.067925,0.963121]]
2025-10-26T19:26:10.936Z,1761506770.936 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:10.937Z,1761506770.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075219
2025-10-26T19:26:11.186Z,1761506771.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891766,0.363806,-0.269068],[-0.367832,-0.929148,-0.037201],[-0.263538,0.065798,0.962402]]
2025-10-26T19:26:11.188Z,1761506771.188 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:11.189Z,1761506771.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326906
2025-10-26T19:26:11.440Z,1761506771.440 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:11.440Z,1761506771.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578876
2025-10-26T19:26:11.592Z,1761506771.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885383,0.378253,-0.270223],[-0.380603,-0.923604,-0.045803],[-0.266905,0.062294,0.961708]]
2025-10-26T19:26:11.692Z,1761506771.692 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:11.693Z,1761506771.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831243
2025-10-26T19:26:11.944Z,1761506771.944 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:11.945Z,1761506771.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082896
2025-10-26T19:26:11.994Z,1761506771.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877784,0.395569,-0.270221],[-0.396027,-0.916573,-0.055296],[-0.269550,0.058477,0.961209]]
2025-10-26T19:26:12.196Z,1761506772.196 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:12.196Z,1761506772.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334850
2025-10-26T19:26:12.398Z,1761506772.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869275,0.414105,-0.269958],[-0.413529,-0.908387,-0.061852],[-0.270840,0.057869,0.960883]]
2025-10-26T19:26:12.449Z,1761506772.449 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:12.449Z,1761506772.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587554
2025-10-26T19:26:12.700Z,1761506772.700 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:12.701Z,1761506772.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839355
2025-10-26T19:26:12.846Z,1761506772.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859541,0.434027,-0.269834],[-0.433084,-0.898910,-0.066329],[-0.271345,0.059848,0.960620]]
2025-10-26T19:26:12.952Z,1761506772.952 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:12.952Z,1761506772.952 [DAT](INFO): Reached modem response timeout
2025-10-26T19:26:13.204Z,1761506773.204 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:13.209Z,1761506773.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848575,0.454806,-0.270319],[-0.454007,-0.888296,-0.069338],[-0.271659,0.063889,0.960271]]
2025-10-26T19:26:13.456Z,1761506773.456 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:13.610Z,1761506773.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836150,0.476072,-0.272413],[-0.475853,-0.876622,-0.071399],[-0.272794,0.069929,0.959528]]
2025-10-26T19:26:13.709Z,1761506773.709 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:13.961Z,1761506773.961 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:14.014Z,1761506774.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822324,0.497819,-0.275607],[-0.497805,-0.864010,-0.075339],[-0.275632,0.075245,0.958314]]
2025-10-26T19:26:14.212Z,1761506774.212 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:14.418Z,1761506774.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808510,0.518023,-0.279218],[-0.517724,-0.851704,-0.081004],[-0.279773,0.079065,0.956805]]
2025-10-26T19:26:14.464Z,1761506774.464 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:14.717Z,1761506774.717 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:14.851Z,1761506774.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798049,0.531962,-0.283080],[-0.531524,-0.842745,-0.085226],[-0.283901,0.082450,0.955302]]
2025-10-26T19:26:14.968Z,1761506774.968 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:26:15.220Z,1761506775.220 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:26:15.221Z,1761506775.221 [DAT](INFO): response not received
2025-10-26T19:26:15.221Z,1761506775.221 [DAT](INFO): DAT read: user:181>

2025-10-26T19:26:15.222Z,1761506775.222 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:26:15.222Z,1761506775.222 [DAT](INFO): set remote address to 6
2025-10-26T19:26:15.223Z,1761506775.223 [DAT](INFO): entering online mode
2025-10-26T19:26:15.231Z,1761506775.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789267,0.543504,-0.285764],[-0.542141,-0.835309,-0.091333],[-0.288341,0.082838,0.953938]]
2025-10-26T19:26:15.472Z,1761506775.472 [DAT](INFO): DAT read: user:182>

2025-10-26T19:26:15.473Z,1761506775.473 [DAT](INFO): DAT read: 

2025-10-26T19:26:15.474Z,1761506775.474 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:26:15.474Z,1761506775.474 [DAT](INFO): commRate: 600
2025-10-26T19:26:15.474Z,1761506775.474 [DAT](INFO): online mode acknowledged
2025-10-26T19:26:15.475Z,1761506775.475 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:26:15.630Z,1761506775.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780354,0.555588,-0.287001],[-0.552363,-0.827565,-0.100161],[-0.293160,0.080368,0.952680]]
2025-10-26T19:26:16.037Z,1761506776.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769792,0.570569,-0.286132],[-0.564339,-0.817834,-0.112558],[-0.298230,0.074829,0.951556]]
2025-10-26T19:26:16.064Z,1761506776.064 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:26:16.064Z,1761506776.064 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:26:16.065Z,1761506776.065 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:26:16.065Z,1761506776.065 [marl:UpdateRudder:A] Stopped
2025-10-26T19:26:16.065Z,1761506776.065 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:26:16.065Z,1761506776.065 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:26:16.065Z,1761506776.065 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:26:16.065Z,1761506776.065 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateCommandMode] Stopped
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:26:16.066Z,1761506776.066 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:26:16.067Z,1761506776.067 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:26:16.067Z,1761506776.067 [marl:UpdateSpeed] Stopped
2025-10-26T19:26:16.067Z,1761506776.067 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:26:16.438Z,1761506776.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757731,0.587108,-0.284866],[-0.577896,-0.806483,-0.124983],[-0.303118,0.069919,0.950385]]
2025-10-26T19:26:16.475Z,1761506776.475 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:26:16.475Z,1761506776.475 [marl:UpdateRudder:B] Stopped
2025-10-26T19:26:16.475Z,1761506776.475 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:26:16.475Z,1761506776.475 [marl:UpdateRudder] Stopped
2025-10-26T19:26:16.475Z,1761506776.475 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:26:16.855Z,1761506776.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744897,0.603653,-0.284132],[-0.592268,-0.794362,-0.134937],[-0.307159,0.067768,0.949242]]
2025-10-26T19:26:17.249Z,1761506777.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731040,0.620550,-0.283723],[-0.607721,-0.781209,-0.142783],[-0.310251,0.068045,0.948216]]
2025-10-26T19:26:17.651Z,1761506777.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715930,0.637959,-0.283641],[-0.623870,-0.766941,-0.150294],[-0.313417,0.069355,0.947080]]
2025-10-26T19:26:18.054Z,1761506778.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699690,0.654972,-0.285388],[-0.639892,-0.752170,-0.157413],[-0.317761,0.072477,0.945397]]
2025-10-26T19:26:18.458Z,1761506778.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683998,0.670494,-0.287375],[-0.654189,-0.738103,-0.165045],[-0.322774,0.075107,0.943491]]
2025-10-26T19:26:18.750Z,1761506778.750 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:26:17.9075

2025-10-26T19:26:18.751Z,1761506778.751 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:26:18.862Z,1761506778.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670937,0.682566,-0.289736],[-0.664885,-0.726764,-0.172460],[-0.328285,0.076932,0.941441]]
2025-10-26T19:26:19.280Z,1761506779.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660297,0.693762,-0.287581],[-0.671657,-0.716835,-0.187148],[-0.335984,0.069583,0.939294]]
2025-10-26T19:26:19.670Z,1761506779.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652932,0.703921,-0.279597],[-0.673533,-0.708467,-0.210780],[-0.346457,0.050693,0.936695]]
2025-10-26T19:26:20.077Z,1761506780.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649270,0.712544,-0.265951],[-0.670514,-0.701308,-0.242030],[-0.358970,0.021181,0.933109]]
2025-10-26T19:26:20.510Z,1761506780.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649053,0.718757,-0.249236],[-0.663389,-0.695111,-0.277012],[-0.372351,-0.014455,0.927979]]
2025-10-26T19:26:20.529Z,1761506780.529 [NAL9602](INFO): NAL9602 initialized
2025-10-26T19:26:20.910Z,1761506780.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651988,0.721862,-0.232008],[-0.653379,-0.690135,-0.311141],[-0.384718,-0.051271,0.921609]]
2025-10-26T19:26:21.342Z,1761506781.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657406,0.722889,-0.212718],[-0.642939,-0.685330,-0.341982],[-0.392998,-0.088057,0.915314]]
2025-10-26T19:26:21.746Z,1761506781.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664205,0.722335,-0.192519],[-0.634000,-0.680763,-0.366885],[-0.396074,-0.121630,0.910127]]
2025-10-26T19:26:22.146Z,1761506782.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669745,0.722308,-0.172373],[-0.628632,-0.675045,-0.386182],[-0.395302,-0.150285,0.906174]]
2025-10-26T19:26:22.551Z,1761506782.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669516,0.727042,-0.152177],[-0.629254,-0.664005,-0.403902],[-0.394700,-0.174661,0.902056]]
2025-10-26T19:26:22.954Z,1761506782.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663588,0.735891,-0.134597],[-0.634869,-0.649130,-0.419012],[-0.395718,-0.192600,0.897949]]
2025-10-26T19:26:23.358Z,1761506783.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655906,0.744595,-0.123957],[-0.640933,-0.636111,-0.429613],[-0.398739,-0.202338,0.894465]]
2025-10-26T19:26:23.773Z,1761506783.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648211,0.751733,-0.121328],[-0.645302,-0.626896,-0.436563],[-0.404239,-0.204691,0.891455]]
2025-10-26T19:26:24.172Z,1761506784.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642907,0.755772,-0.124413],[-0.647013,-0.622801,-0.439878],[-0.409932,-0.202303,0.889398]]
2025-10-26T19:26:24.570Z,1761506784.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639536,0.757258,-0.132495],[-0.646956,-0.623249,-0.439327],[-0.415261,-0.195247,0.888503]]
2025-10-26T19:26:24.974Z,1761506784.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636166,0.758188,-0.142985],[-0.646785,-0.625096,-0.436950],[-0.420669,-0.185492,0.888049]]
2025-10-26T19:26:25.379Z,1761506785.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632530,0.758871,-0.154987],[-0.647028,-0.627705,-0.432830],[-0.425748,-0.173496,0.888053]]
2025-10-26T19:26:25.783Z,1761506785.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629460,0.758677,-0.167898],[-0.647013,-0.631407,-0.427432],[-0.430295,-0.160420,0.888320]]
2025-10-26T19:26:26.190Z,1761506786.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628117,0.757324,-0.178687],[-0.646027,-0.635554,-0.422753],[-0.433727,-0.150101,0.888454]]
2025-10-26T19:26:26.590Z,1761506786.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629659,0.754457,-0.185269],[-0.643969,-0.640278,-0.418746],[-0.434550,-0.144359,0.889003]]
2025-10-26T19:26:26.995Z,1761506786.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633410,0.751310,-0.185268],[-0.642397,-0.644024,-0.415403],[-0.431414,-0.144104,0.890571]]
2025-10-26T19:26:27.400Z,1761506787.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633529,0.753500,-0.175725],[-0.645240,-0.639856,-0.417432],[-0.426974,-0.151071,0.891555]]
2025-10-26T19:26:27.802Z,1761506787.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630064,0.759779,-0.160487],[-0.652556,-0.630062,-0.420944],[-0.420941,-0.160495,0.892777]]
2025-10-26T19:26:28.210Z,1761506788.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625640,0.766539,-0.144892],[-0.661748,-0.619835,-0.421774],[-0.413115,-0.167996,0.895049]]
2025-10-26T19:26:28.610Z,1761506788.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620543,0.772729,-0.133476],[-0.670752,-0.611219,-0.420123],[-0.406225,-0.171175,0.897597]]
2025-10-26T19:26:28.830Z,1761506788.830 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:26:29.015Z,1761506789.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614802,0.778102,-0.128748],[-0.678037,-0.604843,-0.417648],[-0.402846,-0.169475,0.899441]]
2025-10-26T19:26:29.081Z,1761506789.081 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:26:29.081Z,1761506789.081 [DAT](INFO): #Outgoing data=2
2025-10-26T19:26:29.081Z,1761506789.081 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:26:29.332Z,1761506789.332 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:26:29.418Z,1761506789.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609617,0.781356,-0.133602],[-0.682429,-0.603060,-0.413048],[-0.403308,-0.160627,0.900856]]
2025-10-26T19:26:29.461Z,1761506789.461 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateRudder:A] Stopped
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:26:29.462Z,1761506789.462 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:26:29.463Z,1761506789.463 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:26:29.463Z,1761506789.463 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:26:29.463Z,1761506789.463 [marl:UpdateCommandMode] Stopped
2025-10-26T19:26:29.463Z,1761506789.463 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:26:29.463Z,1761506789.463 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:26:29.463Z,1761506789.463 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:26:29.464Z,1761506789.464 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:26:29.464Z,1761506789.464 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:26:29.464Z,1761506789.464 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:26:29.464Z,1761506789.464 [marl:UpdateSpeed] Stopped
2025-10-26T19:26:29.464Z,1761506789.464 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:26:29.822Z,1761506789.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606585,0.781979,-0.143404],[-0.683524,-0.605081,-0.408254],[-0.406017,-0.149621,0.901534]]
2025-10-26T19:26:29.876Z,1761506789.876 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:26:29.876Z,1761506789.876 [marl:UpdateRudder:B] Stopped
2025-10-26T19:26:29.877Z,1761506789.877 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:26:29.877Z,1761506789.877 [marl:UpdateRudder] Stopped
2025-10-26T19:26:29.877Z,1761506789.877 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:26:30.237Z,1761506790.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606307,0.779968,-0.155053],[-0.681798,-0.610205,-0.403485],[-0.409320,-0.138921,0.901753]]
2025-10-26T19:26:30.632Z,1761506790.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608129,0.777202,-0.161666],[-0.679021,-0.614768,-0.401236],[-0.411229,-0.134229,0.901595]]
2025-10-26T19:26:31.034Z,1761506791.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610877,0.774991,-0.161922],[-0.676782,-0.617281,-0.401161],[-0.410847,-0.135474,0.901583]]
2025-10-26T19:26:31.439Z,1761506791.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614395,0.772725,-0.159419],[-0.675722,-0.619646,-0.399298],[-0.407331,-0.137604,0.902855]]
2025-10-26T19:26:31.843Z,1761506791.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619144,0.770024,-0.154026],[-0.676101,-0.622479,-0.394217],[-0.399435,-0.139940,0.906018]]
2025-10-26T19:26:31.894Z,1761506791.894 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:26:32.104Z,1761506792.104 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:26:32.155Z,1761506792.155 [DAT](INFO): entering command mode
2025-10-26T19:26:32.357Z,1761506792.357 [DAT](INFO): DAT read: 

2025-10-26T19:26:32.357Z,1761506792.357 [DAT](INFO): DAT read: user:183>

2025-10-26T19:26:32.358Z,1761506792.358 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:26:32.358Z,1761506792.358 [DAT](INFO): setting remote address to 0
2025-10-26T19:26:32.608Z,1761506792.608 [DAT](INFO): DAT read: user:183>

2025-10-26T19:26:32.609Z,1761506792.609 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:26:32.609Z,1761506792.609 [DAT](INFO): set remote address to 0
2025-10-26T19:26:32.610Z,1761506792.610 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:26:32.610Z,1761506792.610 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:26:32.652Z,1761506792.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622864,0.772332,-0.124676],[-0.684177,-0.615041,-0.391952],[-0.379397,-0.158832,0.911499]]
2025-10-26T19:26:32.860Z,1761506792.860 [DAT](INFO): DAT read: user:184>

2025-10-26T19:26:32.861Z,1761506792.861 [DAT](INFO): DAT read: Tx time:19:26:31.9585

2025-10-26T19:26:32.861Z,1761506792.861 [DAT](INFO): Ping request sent.
2025-10-26T19:26:32.861Z,1761506792.861 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:26:32.862Z,1761506792.862 [DAT](INFO): publishing transmit ping time
2025-10-26T19:26:32.862Z,1761506792.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000961
2025-10-26T19:26:33.054Z,1761506793.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617100,0.780058,-0.103422],[-0.693755,-0.601369,-0.396307],[-0.371337,-0.172811,0.912275]]
2025-10-26T19:26:33.113Z,1761506793.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251145
2025-10-26T19:26:33.364Z,1761506793.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502900
2025-10-26T19:26:33.459Z,1761506793.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611507,0.786413,-0.087258],[-0.703270,-0.590742,-0.395518],[-0.362587,-0.180496,0.914304]]
2025-10-26T19:26:33.616Z,1761506793.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754934
2025-10-26T19:26:33.862Z,1761506793.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607032,0.791249,-0.073741],[-0.711954,-0.582719,-0.391868],[-0.353035,-0.185376,0.917062]]
2025-10-26T19:26:33.869Z,1761506793.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007114
2025-10-26T19:26:34.121Z,1761506794.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259723
2025-10-26T19:26:34.267Z,1761506794.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601946,0.796115,-0.062142],[-0.720718,-0.575146,-0.387006],[-0.343842,-0.188170,0.919981]]
2025-10-26T19:26:34.372Z,1761506794.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511021
2025-10-26T19:26:34.624Z,1761506794.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762995
2025-10-26T19:26:34.670Z,1761506794.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593290,0.803054,-0.055776],[-0.731731,-0.566882,-0.378437],[-0.335524,-0.183710,0.923945]]
2025-10-26T19:26:34.876Z,1761506794.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014999
2025-10-26T19:26:35.085Z,1761506795.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580611,0.811788,-0.062371],[-0.743503,-0.559871,-0.365716],[-0.331804,-0.165966,0.928634]]
2025-10-26T19:26:35.128Z,1761506795.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267068
2025-10-26T19:26:35.380Z,1761506795.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518927
2025-10-26T19:26:35.482Z,1761506795.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570231,0.817182,-0.083959],[-0.751595,-0.560238,-0.348192],[-0.331574,-0.135447,0.933656]]
2025-10-26T19:26:35.632Z,1761506795.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770914
2025-10-26T19:26:35.884Z,1761506795.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022922
2025-10-26T19:26:35.888Z,1761506795.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570195,0.813971,-0.111034],[-0.753502,-0.572039,-0.324046],[-0.327280,-0.101105,0.939503]]
2025-10-26T19:26:35.936Z,1761506795.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:26:36.136Z,1761506796.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274922
2025-10-26T19:26:36.319Z,1761506796.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588104,0.801605,-0.107528],[-0.746142,-0.589041,-0.310328],[-0.312099,-0.102274,0.944529]]
2025-10-26T19:26:36.388Z,1761506796.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526803
2025-10-26T19:26:36.641Z,1761506796.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779559
2025-10-26T19:26:36.849Z,1761506796.849 [marl:NeedComms:C] Running Loop=1
2025-10-26T19:26:36.893Z,1761506796.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031493
2025-10-26T19:26:36.940Z,1761506796.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:26:37.123Z,1761506797.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579907,0.811534,-0.071556],[-0.747744,-0.565069,-0.348677],[-0.323397,-0.148695,0.934507]]
2025-10-26T19:26:37.144Z,1761506797.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282963
2025-10-26T19:26:37.396Z,1761506797.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534933
2025-10-26T19:26:37.476Z,1761506797.476 [Radio_Surface](INFO): Powering up
2025-10-26T19:26:37.532Z,1761506797.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574749,0.816546,-0.053997],[-0.756348,-0.555250,-0.345883],[-0.312411,-0.157955,0.936723]]
2025-10-26T19:26:37.648Z,1761506797.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786977
2025-10-26T19:26:37.900Z,1761506797.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038903
2025-10-26T19:26:37.929Z,1761506797.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576795,0.816533,-0.024095],[-0.773350,-0.555317,-0.305864],[-0.263128,-0.157787,0.951770]]
2025-10-26T19:26:38.154Z,1761506798.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292492
2025-10-26T19:26:38.331Z,1761506798.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576526,0.817065,0.004709],[-0.788139,-0.554577,-0.266986],[-0.215533,-0.157636,0.963689]]
2025-10-26T19:26:38.405Z,1761506798.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543502
2025-10-26T19:26:38.656Z,1761506798.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794892
2025-10-26T19:26:38.746Z,1761506798.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589824,0.806598,0.038829],[-0.792836,-0.569289,-0.217536],[-0.153359,-0.159093,0.975280]]
2025-10-26T19:26:38.909Z,1761506798.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047571
2025-10-26T19:26:39.160Z,1761506799.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299053
2025-10-26T19:26:39.190Z,1761506799.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586905,0.808515,0.042967],[-0.800517,-0.571511,-0.180410],[-0.121308,-0.140280,0.982653]]
2025-10-26T19:26:39.412Z,1761506799.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550905
2025-10-26T19:26:39.586Z,1761506799.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590784,0.806753,0.011155],[-0.798183,-0.582377,-0.154082],[-0.117810,-0.099933,0.987995]]
2025-10-26T19:26:39.664Z,1761506799.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802811
2025-10-26T19:26:39.918Z,1761506799.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056804
2025-10-26T19:26:39.990Z,1761506799.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608885,0.793225,-0.007299],[-0.783973,-0.603136,-0.147015],[-0.121018,-0.083793,0.989107]]
2025-10-26T19:26:40.168Z,1761506800.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306856
2025-10-26T19:26:40.394Z,1761506800.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603481,0.797048,0.022941],[-0.791912,-0.595732,-0.134086],[-0.093206,-0.099085,0.990704]]
2025-10-26T19:26:40.421Z,1761506800.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559379
2025-10-26T19:26:40.672Z,1761506800.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810948
2025-10-26T19:26:40.849Z,1761506800.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591984,0.803872,0.057827],[-0.803706,-0.583466,-0.116720],[-0.060088,-0.115572,0.991480]]
2025-10-26T19:26:40.924Z,1761506800.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063004
2025-10-26T19:26:41.176Z,1761506801.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314907
2025-10-26T19:26:41.202Z,1761506801.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594375,0.800850,0.073195],[-0.802121,-0.583867,-0.125302],[-0.057612,-0.133188,0.989415]]
2025-10-26T19:26:41.429Z,1761506801.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567764
2025-10-26T19:26:41.606Z,1761506801.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605784,0.790576,0.089529],[-0.793281,-0.591523,-0.144240],[-0.061074,-0.158400,0.985484]]
2025-10-26T19:26:41.684Z,1761506801.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823016
2025-10-26T19:26:41.937Z,1761506801.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075541
2025-10-26T19:26:41.941Z,1761506801.941 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:26:41.941Z,1761506801.941 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:26:42.011Z,1761506802.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602732,0.791927,0.097798],[-0.797271,-0.592655,-0.114538],[-0.032745,-0.147008,0.988593]]
2025-10-26T19:26:42.188Z,1761506802.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326960
2025-10-26T19:26:42.414Z,1761506802.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601339,0.794626,0.083433],[-0.798987,-0.598490,-0.058562],[0.003399,-0.101878,0.994791]]
2025-10-26T19:26:42.440Z,1761506802.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578856
2025-10-26T19:26:42.462Z,1761506802.462 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:26:42.462Z,1761506802.462 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:26:42.462Z,1761506802.462 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:26:42.462Z,1761506802.462 [marl:UpdateRudder:A] Stopped
2025-10-26T19:26:42.462Z,1761506802.462 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:26:42.462Z,1761506802.462 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:26:42.463Z,1761506802.463 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:26:42.463Z,1761506802.463 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:26:42.463Z,1761506802.463 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:26:42.463Z,1761506802.463 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:26:42.463Z,1761506802.463 [marl:UpdateCommandMode] Stopped
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed] Stopped
2025-10-26T19:26:42.464Z,1761506802.464 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:26:42.693Z,1761506802.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831270
2025-10-26T19:26:42.728Z,1761506802.728 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T19:26:42.729Z,1761506802.729 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T19:26:42.850Z,1761506802.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600745,0.796534,0.068117],[-0.799302,-0.600043,-0.032623],[0.014887,-0.074044,0.997144]]
2025-10-26T19:26:42.930Z,1761506802.930 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:26:42.930Z,1761506802.930 [marl:UpdateRudder:B] Stopped
2025-10-26T19:26:42.930Z,1761506802.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:26:42.930Z,1761506802.930 [marl:UpdateRudder] Stopped
2025-10-26T19:26:42.931Z,1761506802.931 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:26:42.944Z,1761506802.944 [DAT](INFO): Reached modem response timeout
2025-10-26T19:26:43.231Z,1761506803.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589127,0.805099,0.068892],[-0.807723,-0.589142,-0.022270],[0.022657,-0.068765,0.997376]]
2025-10-26T19:26:43.628Z,1761506803.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592095,0.802394,0.074756],[-0.805727,-0.591178,-0.036241],[0.015114,-0.081691,0.996543]]
2025-10-26T19:26:44.031Z,1761506804.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605928,0.789598,0.096876],[-0.795424,-0.603227,-0.058459],[0.012279,-0.112480,0.993578]]
2025-10-26T19:26:44.434Z,1761506804.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613011,0.779050,0.131523],[-0.789028,-0.612220,-0.051198],[0.040635,-0.135160,0.989990]]
2025-10-26T19:26:44.861Z,1761506804.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606416,0.785899,0.120919],[-0.794081,-0.606432,-0.040932],[0.041160,-0.120841,0.991818]]
2025-10-26T19:26:45.213Z,1761506805.213 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:26:45.214Z,1761506805.214 [DAT](INFO): response not received
2025-10-26T19:26:45.214Z,1761506805.214 [DAT](ERROR): No response from remote modem.
2025-10-26T19:26:45.253Z,1761506805.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604749,0.792512,0.078761],[-0.795950,-0.604815,-0.025734],[0.027242,-0.078253,0.996561]]
2025-10-26T19:26:45.646Z,1761506805.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617769,0.784807,0.049385],[-0.786094,-0.617972,-0.012861],[0.020425,-0.046767,0.998697]]
2025-10-26T19:26:46.050Z,1761506806.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623328,0.779353,0.063806],[-0.781002,-0.624527,-0.001467],[0.038705,-0.050747,0.997961]]
2025-10-26T19:26:46.454Z,1761506806.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618916,0.778882,0.101418],[-0.781691,-0.623422,0.017465],[0.076829,-0.068468,0.994691]]
2025-10-26T19:26:47.262Z,1761506807.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597303,0.793406,0.117202],[-0.799107,-0.601182,-0.002802],[0.068237,-0.095331,0.993104]]
2025-10-26T19:26:47.666Z,1761506807.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598271,0.797894,0.073728],[-0.801154,-0.597347,-0.036450],[0.014958,-0.080875,0.996612]]
2025-10-26T19:26:48.070Z,1761506808.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608041,0.792213,0.051821],[-0.793833,-0.605804,-0.053202],[-0.010754,-0.073487,0.997238]]
2025-10-26T19:26:48.474Z,1761506808.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632289,0.770955,0.076415],[-0.774666,-0.630445,-0.049308],[0.010161,-0.090373,0.995856]]
2025-10-26T19:26:48.886Z,1761506808.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652246,0.748277,0.121067],[-0.757551,-0.649024,-0.069881],[0.026285,-0.137294,0.990182]]
2025-10-26T19:26:49.294Z,1761506809.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648643,0.744807,0.156600],[-0.760125,-0.644330,-0.083960],[0.038368,-0.173496,0.984087]]
2025-10-26T19:26:49.686Z,1761506809.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637946,0.754132,0.155915],[-0.767329,-0.639602,-0.045988],[0.065042,-0.148976,0.986699]]
2025-10-26T19:26:50.090Z,1761506810.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634424,0.764301,0.115545],[-0.769066,-0.639149,0.005092],[0.077743,-0.085631,0.993289]]
2025-10-26T19:26:50.494Z,1761506810.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637285,0.766714,0.077568],[-0.767375,-0.640611,0.027443],[0.070732,-0.042035,0.996609]]
2025-10-26T19:26:50.900Z,1761506810.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641613,0.761909,0.088473],[-0.762480,-0.646094,0.034453],[0.083412,-0.045353,0.995483]]
2025-10-26T19:26:51.305Z,1761506811.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641245,0.759146,0.111816],[-0.761942,-0.647189,0.024321],[0.090829,-0.069601,0.993431]]
2025-10-26T19:26:51.724Z,1761506811.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628650,0.770190,0.107738],[-0.774673,-0.632362,0.000376],[0.068419,-0.083226,0.994179]]
2025-10-26T19:26:52.110Z,1761506812.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616052,0.782423,0.091076],[-0.785988,-0.618217,-0.005506],[0.051997,-0.074977,0.995829]]
2025-10-26T19:26:52.514Z,1761506812.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623244,0.777537,0.083680],[-0.779526,-0.626235,0.012974],[0.062491,-0.057145,0.996408]]
2025-10-26T19:26:52.918Z,1761506812.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619990,0.779717,0.087488],[-0.781217,-0.623818,0.023484],[0.072888,-0.053787,0.995889]]
2025-10-26T19:26:53.322Z,1761506813.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609534,0.786655,0.098194],[-0.788768,-0.614209,0.024337],[0.079457,-0.062618,0.994870]]
2025-10-26T19:26:53.733Z,1761506813.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606073,0.789536,0.096479],[-0.792987,-0.609225,0.004116],[0.062027,-0.074012,0.995327]]
2025-10-26T19:26:54.130Z,1761506814.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608451,0.788198,0.092368],[-0.792694,-0.609167,-0.023505],[0.037741,-0.087521,0.995448]]
2025-10-26T19:26:54.534Z,1761506814.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616163,0.780168,0.108076],[-0.786725,-0.616178,-0.037276],[0.037512,-0.107994,0.993444]]
2025-10-26T19:26:54.938Z,1761506814.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629920,0.765340,0.132122],[-0.774956,-0.630638,-0.041687],[0.051417,-0.128648,0.990356]]
2025-10-26T19:26:55.346Z,1761506815.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644752,0.746456,0.164615],[-0.760586,-0.647953,-0.040823],[0.076191,-0.151524,0.985513]]
2025-10-26T19:26:55.746Z,1761506815.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634288,0.748972,0.191622],[-0.766777,-0.641100,-0.032315],[0.098646,-0.167428,0.980937]]
2025-10-26T19:26:55.778Z,1761506815.778 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:26:55.778Z,1761506815.778 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:26:55.778Z,1761506815.778 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:26:55.778Z,1761506815.778 [marl:UpdateRudder:A] Stopped
2025-10-26T19:26:55.778Z,1761506815.778 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:26:55.779Z,1761506815.779 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:26:55.779Z,1761506815.779 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:26:55.779Z,1761506815.779 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:26:55.779Z,1761506815.779 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:26:55.779Z,1761506815.779 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:26:55.779Z,1761506815.779 [marl:UpdateCommandMode] Stopped
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed] Stopped
2025-10-26T19:26:55.780Z,1761506815.780 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:26:56.150Z,1761506816.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603899,0.775107,0.185783],[-0.788191,-0.615406,0.005478],[0.118578,-0.143125,0.982576]]
2025-10-26T19:26:56.201Z,1761506816.201 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:26:56.201Z,1761506816.201 [marl:UpdateRudder:B] Stopped
2025-10-26T19:26:56.201Z,1761506816.201 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:26:56.201Z,1761506816.201 [marl:UpdateRudder] Stopped
2025-10-26T19:26:56.201Z,1761506816.201 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:26:56.556Z,1761506816.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580850,0.800692,0.146650],[-0.799686,-0.594941,0.080922],[0.152041,-0.070270,0.985873]]
2025-10-26T19:26:56.960Z,1761506816.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585325,0.805625,0.091455],[-0.795809,-0.592426,0.125374],[0.155185,0.000603,0.987885]]
2025-10-26T19:26:57.362Z,1761506817.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600122,0.797961,0.055776],[-0.791683,-0.602479,0.101276],[0.114418,0.016621,0.993294]]
2025-10-26T19:26:57.766Z,1761506817.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605871,0.791494,0.080361],[-0.790114,-0.610446,0.055457],[0.092949,-0.029895,0.995222]]
2025-10-26T19:26:58.170Z,1761506818.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605565,0.783506,0.139318],[-0.788521,-0.614381,0.027778],[0.107358,-0.093034,0.989858]]
2025-10-26T19:26:58.575Z,1761506818.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603604,0.776053,0.182769],[-0.787581,-0.616036,0.014715],[0.124012,-0.135063,0.983046]]
2025-10-26T19:26:58.981Z,1761506818.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610802,0.768453,0.190789],[-0.782269,-0.622923,0.004590],[0.122374,-0.146445,0.981620]]
2025-10-26T19:26:59.382Z,1761506819.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620426,0.767005,0.163630],[-0.777683,-0.628654,-0.001921],[0.101393,-0.128444,0.986520]]
2025-10-26T19:26:59.788Z,1761506819.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632944,0.763680,0.127178],[-0.770114,-0.637902,-0.002247],[0.079411,-0.099364,0.991877]]
2025-10-26T19:27:00.201Z,1761506820.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635292,0.761387,0.129204],[-0.766411,-0.642157,0.015752],[0.094963,-0.089016,0.991493]]
2025-10-26T19:27:00.594Z,1761506820.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621174,0.766545,0.162945],[-0.769630,-0.635896,0.057497],[0.147690,-0.089692,0.984958]]
2025-10-26T19:27:00.998Z,1761506820.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606969,0.775503,0.173736],[-0.774708,-0.626126,0.088288],[0.177248,-0.081007,0.980827]]
2025-10-26T19:27:01.402Z,1761506821.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604905,0.780643,0.157120],[-0.776856,-0.621869,0.098861],[0.174883,-0.062258,0.982619]]
2025-10-26T19:27:01.808Z,1761506821.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603396,0.785520,0.137373],[-0.780372,-0.617104,0.101002],[0.164112,-0.046258,0.985356]]
2025-10-26T19:27:02.213Z,1761506822.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603009,0.786248,0.134883],[-0.782445,-0.615881,0.092035],[0.155434,-0.050040,0.986578]]
2025-10-26T19:27:02.246Z,1761506822.246 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:27:02.376Z,1761506822.376 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:27:02.376Z,1761506822.376 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:27:02.614Z,1761506822.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605162,0.780891,0.154880],[-0.780861,-0.620121,0.075541],[0.155034,-0.075226,0.985041]]
2025-10-26T19:27:02.628Z,1761506822.628 [DAT](INFO): DAT read: user:185>

2025-10-26T19:27:02.629Z,1761506822.629 [DAT](INFO): DAT read: Tx time:19:27:01.7083

2025-10-26T19:27:02.629Z,1761506822.629 [DAT](INFO): Ping request sent.
2025-10-26T19:27:02.630Z,1761506822.630 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:27:02.630Z,1761506822.630 [DAT](INFO): publishing transmit ping time
2025-10-26T19:27:02.631Z,1761506822.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930
2025-10-26T19:27:02.880Z,1761506822.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250755
2025-10-26T19:27:03.018Z,1761506823.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609515,0.773789,0.172460],[-0.777496,-0.625956,0.060664],[0.154893,-0.097112,0.983147]]
2025-10-26T19:27:03.133Z,1761506823.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503239
2025-10-26T19:27:03.384Z,1761506823.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825
2025-10-26T19:27:03.427Z,1761506823.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610516,0.774887,0.163770],[-0.779415,-0.624548,0.049515],[0.140651,-0.097416,0.985255]]
2025-10-26T19:27:03.636Z,1761506823.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006729
2025-10-26T19:27:03.826Z,1761506823.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593538,0.791538,0.145533],[-0.793252,-0.605904,0.060267],[0.135882,-0.079673,0.987516]]
2025-10-26T19:27:03.831Z,1761506823.831 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192700.00,A,3646.26412,N,12151.95714,W,1.011,188.56,261025,,,A*7C
2025-10-26T19:27:03.834Z,1761506823.834 [NAL9602](INFO): GPS fix at 20251026T192700: (36.771069, -121.865952)
2025-10-26T19:27:03.863Z,1761506823.863 [UniversalFixResidualReporter](INFO): Fix residual: 4.0 %DT, over the last 573.2 m. Residual distance 22.8 m at bearing -134.7 degrees. Fix at (36.7711, -121.8660) with 292.1 m made good.
2025-10-26T19:27:03.872Z,1761506823.872 [marl:NeedComms:C] Stopped
2025-10-26T19:27:03.872Z,1761506823.872 [marl:NeedComms:D] Running Loop=1
2025-10-26T19:27:03.874Z,1761506823.874 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506816.00. Resetting abort timer.
2025-10-26T19:27:03.897Z,1761506823.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267331
2025-10-26T19:27:04.150Z,1761506824.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520698
2025-10-26T19:27:04.230Z,1761506824.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573231,0.806749,0.143394],[-0.802083,-0.588243,0.103111],[0.167535,-0.055908,0.984280]]
2025-10-26T19:27:04.400Z,1761506824.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770789
2025-10-26T19:27:04.634Z,1761506824.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568466,0.808843,0.150399],[-0.798098,-0.586546,0.137849],[0.199714,-0.041671,0.978968]]
2025-10-26T19:27:04.652Z,1761506824.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022889
2025-10-26T19:27:04.904Z,1761506824.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274828
2025-10-26T19:27:05.038Z,1761506825.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570469,0.808051,0.147035],[-0.798572,-0.587550,0.130643],[0.191956,-0.042890,0.980466]]
2025-10-26T19:27:05.157Z,1761506825.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527302
2025-10-26T19:27:05.408Z,1761506825.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778767
2025-10-26T19:27:05.442Z,1761506825.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567498,0.813863,0.124794],[-0.809958,-0.579051,0.093106],[0.148037,-0.048240,0.987805]]
2025-10-26T19:27:05.660Z,1761506825.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030788
2025-10-26T19:27:05.846Z,1761506825.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570335,0.814926,0.103017],[-0.813555,-0.577725,0.066048],[0.113340,-0.046141,0.992484]]
2025-10-26T19:27:05.913Z,1761506825.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283232
2025-10-26T19:27:06.164Z,1761506826.164 [DAT](INFO): DAT read: Rx Time:19:27:04.7642

2025-10-26T19:27:06.165Z,1761506826.165 [DAT](INFO): Rx dataTimestamp_ set to:1761506826.164780
2025-10-26T19:27:06.166Z,1761506826.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536571
2025-10-26T19:27:06.250Z,1761506826.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584521,0.803186,0.115012],[-0.801876,-0.593473,0.069171],[0.123814,-0.051793,0.990953]]
2025-10-26T19:27:06.416Z,1761506826.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786840
2025-10-26T19:27:06.654Z,1761506826.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595734,0.786914,0.160831],[-0.787514,-0.611641,0.075606],[0.157866,-0.081616,0.984082]]
2025-10-26T19:27:06.680Z,1761506826.680 [DAT](INFO): DAT read: 19:27:04.7642 LVL= 28656, 28817, 32754, 32755, AGC= 72, IDX= 463, 0.38,-0.659, 0.285,-1.502,-0.297, PHS=-0.260, 0.628,-1.248, RAW=   1.8,  10.8, CAL=   2.0,  12.3, ROT= 148.0, -12.3

2025-10-26T19:27:06.682Z,1761506826.682 [DAT](INFO): got valid direction response:
 19:27:04.7642 LVL= 28656, 28817, 32754, 32755, AGC= 72, IDX= 463, 0.38,-0.659, 0.285,-1.502,-0.297, PHS=-0.260, 0.628,-1.248, RAW=   1.8,  10.8, CAL=   2.0,  12.3, ROT= 148.0, -12.3

2025-10-26T19:27:06.683Z,1761506826.683 [DAT](INFO): DAT read: Bearing 193.7,  24.7 (Local)

2025-10-26T19:27:06.700Z,1761506826.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.7,  24.7 (Local)

2025-10-26T19:27:06.702Z,1761506826.702 [DAT](INFO): DAT read: Range 11 to 20 : 488.8 m  (Round-trip  651.8 ms) speed -0.4 m/s

2025-10-26T19:27:06.703Z,1761506826.703 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:27:06.712Z,1761506826.712 [DAT](INFO): direction in FSK: [-0.828582,0.517755,0.213030]
2025-10-26T19:27:06.713Z,1761506826.713 [DAT](INFO): publishing direction and range info
2025-10-26T19:27:06.770Z,1761506826.770 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506816.00. Resetting abort timer.
2025-10-26T19:27:07.058Z,1761506827.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597519,0.772223,0.215968],[-0.780033,-0.622185,0.066592],[0.185797,-0.128672,0.974127]]
2025-10-26T19:27:07.080Z,1761506827.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:27:07.462Z,1761506827.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597270,0.762602,0.248409],[-0.776969,-0.626983,0.056670],[0.198965,-0.159159,0.966996]]
2025-10-26T19:27:07.866Z,1761506827.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589636,0.768477,0.248539],[-0.780421,-0.621353,0.069734],[0.208019,-0.152847,0.966109]]
2025-10-26T19:27:08.084Z,1761506828.084 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T19:27:08.084Z,1761506828.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:27:08.271Z,1761506828.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579989,0.784231,0.220441],[-0.786122,-0.609768,0.100968],[0.213600,-0.114733,0.970161]]
2025-10-26T19:27:08.686Z,1761506828.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574301,0.798980,0.178352],[-0.792342,-0.597279,0.124307],[0.205844,-0.069926,0.976083]]
2025-10-26T19:27:09.079Z,1761506829.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568558,0.808055,0.154236],[-0.796443,-0.587629,0.142724],[0.205963,-0.041693,0.977671]]
2025-10-26T19:27:09.193Z,1761506829.193 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:27:09.193Z,1761506829.193 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:27:09.193Z,1761506829.193 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:27:09.194Z,1761506829.194 [marl:UpdateRudder:A] Stopped
2025-10-26T19:27:09.194Z,1761506829.194 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:27:09.194Z,1761506829.194 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:27:09.194Z,1761506829.194 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:27:09.194Z,1761506829.194 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:27:09.194Z,1761506829.194 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:27:09.195Z,1761506829.195 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:27:09.195Z,1761506829.195 [marl:UpdateCommandMode] Stopped
2025-10-26T19:27:09.195Z,1761506829.195 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:27:09.195Z,1761506829.195 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:27:09.195Z,1761506829.195 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:27:09.195Z,1761506829.195 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:27:09.200Z,1761506829.200 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:27:09.200Z,1761506829.200 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:27:09.200Z,1761506829.200 [marl:UpdateSpeed] Stopped
2025-10-26T19:27:09.200Z,1761506829.200 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:27:09.482Z,1761506829.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563642,0.812858,0.146866],[-0.797191,-0.581866,0.160991],[0.216319,-0.026339,0.975967]]
2025-10-26T19:27:09.513Z,1761506829.513 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:27:09.513Z,1761506829.513 [marl:UpdateRudder:B] Stopped
2025-10-26T19:27:09.513Z,1761506829.513 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:27:09.513Z,1761506829.513 [marl:UpdateRudder] Stopped
2025-10-26T19:27:09.514Z,1761506829.514 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:27:09.887Z,1761506829.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558109,0.817939,0.139608],[-0.799630,-0.575104,0.172763],[0.221599,-0.015214,0.975019]]
2025-10-26T19:27:10.290Z,1761506830.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545173,0.827096,0.136746],[-0.809399,-0.561791,0.171066],[0.218311,-0.017422,0.975724]]
2025-10-26T19:27:10.702Z,1761506830.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534072,0.833880,0.139327],[-0.818839,-0.551209,0.160220],[0.210403,-0.028518,0.977199]]
2025-10-26T19:27:11.100Z,1761506831.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536327,0.832886,0.136580],[-0.821568,-0.552254,0.141571],[0.193339,-0.036282,0.980461]]
2025-10-26T19:27:11.514Z,1761506831.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541043,0.827123,0.152122],[-0.818545,-0.559428,0.130474],[0.193019,-0.053927,0.979712]]
2025-10-26T19:27:13.670Z,1761506833.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543374,0.795742,0.267469],[-0.791778,-0.591665,0.151722],[0.278983,-0.129334,0.951547]]
2025-10-26T19:27:14.070Z,1761506834.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517148,0.832327,0.199471],[-0.805243,-0.552130,0.216186],[0.290071,-0.048823,0.955759]]
2025-10-26T19:27:14.467Z,1761506834.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512969,0.846673,0.141450],[-0.816390,-0.532114,0.224415],[0.265274,-0.000360,0.964173]]
2025-10-26T19:27:14.870Z,1761506834.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506368,0.854162,0.118316],[-0.828476,-0.519956,0.208024],[0.239206,0.007315,0.970941]]
2025-10-26T19:27:15.274Z,1761506835.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505875,0.852384,0.132408],[-0.833226,-0.522574,0.180695],[0.223215,-0.018917,0.974586]]
2025-10-26T19:27:15.684Z,1761506835.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511213,0.841874,0.172942],[-0.829466,-0.535975,0.157215],[0.225048,-0.063080,0.972304]]
2025-10-26T19:27:16.086Z,1761506836.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515469,0.824723,0.232642],[-0.816634,-0.555045,0.158219],[0.259614,-0.108427,0.959606]]
2025-10-26T19:27:16.486Z,1761506836.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515970,0.807823,0.284951],[-0.799617,-0.573520,0.178011],[0.307226,-0.136003,0.941868]]
2025-10-26T19:27:16.890Z,1761506836.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505458,0.808595,0.301142],[-0.797257,-0.571141,0.195396],[0.329991,-0.141323,0.933345]]
2025-10-26T19:27:17.294Z,1761506837.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485361,0.830145,0.274379],[-0.812604,-0.544124,0.208818],[0.322645,-0.121610,0.938675]]
2025-10-26T19:27:17.702Z,1761506837.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479958,0.851236,0.212221],[-0.824599,-0.520305,0.222078],[0.299461,-0.068409,0.951653]]
2025-10-26T19:27:18.102Z,1761506838.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498347,0.850989,0.165734],[-0.819315,-0.524776,0.230941],[0.283501,-0.020699,0.958748]]
2025-10-26T19:27:18.506Z,1761506838.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506537,0.844093,0.175863],[-0.812764,-0.535530,0.229393],[0.287809,-0.026739,0.957315]]
2025-10-26T19:27:18.964Z,1761506838.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504094,0.834622,0.222024],[-0.808787,-0.546371,0.217582],[0.302907,-0.069888,0.950454]]
2025-10-26T19:27:19.541Z,1761506839.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491694,0.831934,0.257142],[-0.815097,-0.543627,0.200215],[0.306356,-0.111151,0.945405]]
2025-10-26T19:27:19.879Z,1761506839.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476796,0.841486,0.254101],[-0.824706,-0.528273,0.201960],[0.304181,-0.113265,0.945857]]
2025-10-26T19:27:20.282Z,1761506840.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470275,0.859185,0.201602],[-0.829403,-0.508339,0.231692],[0.301548,-0.058250,0.951670]]
2025-10-26T19:27:20.687Z,1761506840.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470482,0.871381,0.139074],[-0.831920,-0.490566,0.259333],[0.294202,0.006313,0.955722]]
2025-10-26T19:27:21.090Z,1761506841.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479173,0.869151,0.122353],[-0.829689,-0.494010,0.259942],[0.286373,0.023042,0.957841]]
2025-10-26T19:27:21.495Z,1761506841.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485388,0.858162,0.167201],[-0.825828,-0.512807,0.234600],[0.287067,-0.024207,0.957605]]
2025-10-26T19:27:21.898Z,1761506841.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491706,0.837556,0.238169],[-0.816159,-0.538631,0.209193],[0.303496,-0.091522,0.948427]]
2025-10-26T19:27:22.302Z,1761506842.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505811,0.813451,0.287146],[-0.805541,-0.564488,0.180158],[0.308641,-0.140182,0.940792]]
2025-10-26T19:27:22.711Z,1761506842.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523353,0.798621,0.297163],[-0.800730,-0.580190,0.149034],[0.291433,-0.159950,0.943124]]
2025-10-26T19:27:23.111Z,1761506843.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536213,0.797747,0.275818],[-0.797223,-0.586005,0.145032],[0.277330,-0.142121,0.950205]]
2025-10-26T19:27:23.514Z,1761506843.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535795,0.809992,0.238403],[-0.796020,-0.578728,0.177271],[0.281559,-0.094793,0.954850]]
2025-10-26T19:27:23.919Z,1761506843.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523439,0.829105,0.196458],[-0.796311,-0.558041,0.233407],[0.303151,-0.034268,0.952326]]
2025-10-26T19:27:23.949Z,1761506843.949 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:27:23.949Z,1761506843.949 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:27:23.949Z,1761506843.949 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateRudder:A] Stopped
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode] Stopped
2025-10-26T19:27:23.950Z,1761506843.950 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:27:23.951Z,1761506843.951 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:27:23.951Z,1761506843.951 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:27:23.951Z,1761506843.951 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:27:23.951Z,1761506843.951 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:27:23.952Z,1761506843.952 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:27:23.953Z,1761506843.953 [marl:UpdateSpeed] Stopped
2025-10-26T19:27:23.953Z,1761506843.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:27:24.322Z,1761506844.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507275,0.845868,0.164865],[-0.800633,-0.533353,0.272985],[0.318841,0.006482,0.947786]]
2025-10-26T19:27:24.370Z,1761506844.370 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:27:24.371Z,1761506844.371 [marl:UpdateRudder:B] Stopped
2025-10-26T19:27:24.371Z,1761506844.371 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:27:24.371Z,1761506844.371 [marl:UpdateRudder] Stopped
2025-10-26T19:27:24.371Z,1761506844.371 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:27:24.731Z,1761506844.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488189,0.859856,0.149398],[-0.814978,-0.510391,0.274429],[0.312221,0.012217,0.949931]]
2025-10-26T19:27:25.138Z,1761506845.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467904,0.873306,0.135655],[-0.840107,-0.487166,0.238514],[0.274383,-0.002363,0.961618]]
2025-10-26T19:27:25.534Z,1761506845.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450034,0.884552,0.122627],[-0.864795,-0.465931,0.187184],[0.222710,-0.021807,0.974641]]
2025-10-26T19:27:25.939Z,1761506845.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453268,0.882370,0.126376],[-0.868108,-0.469159,0.162106],[0.202328,-0.036231,0.978648]]
2025-10-26T19:27:26.344Z,1761506846.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479781,0.864252,0.151255],[-0.851626,-0.500190,0.156664],[0.211053,-0.053648,0.976001]]
2025-10-26T19:27:26.747Z,1761506846.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497874,0.844630,0.196777],[-0.837451,-0.527195,0.144019],[0.225383,-0.093088,0.969813]]
2025-10-26T19:27:27.165Z,1761506847.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478850,0.844759,0.238922],[-0.844630,-0.517524,0.137000],[0.239380,-0.136198,0.961326]]
2025-10-26T19:27:27.554Z,1761506847.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454523,0.858035,0.239134],[-0.855321,-0.495378,0.151748],[0.248666,-0.135563,0.959056]]
2025-10-26T19:27:27.958Z,1761506847.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457240,0.868989,0.189179],[-0.855952,-0.487742,0.171621],[0.241408,-0.083456,0.966828]]
2025-10-26T19:27:28.369Z,1761506848.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468190,0.874791,0.124655],[-0.854634,-0.484140,0.187641],[0.224497,-0.018683,0.974296]]
2025-10-26T19:27:28.775Z,1761506848.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437958,0.895813,0.075582],[-0.875717,-0.444115,0.189422],[0.203254,0.016770,0.978982]]
2025-10-26T19:27:29.187Z,1761506849.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425250,0.899782,0.097743],[-0.883405,-0.436131,0.171420],[0.196870,-0.013451,0.980337]]
2025-10-26T19:27:29.579Z,1761506849.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413714,0.901037,0.130278],[-0.892561,-0.429625,0.136956],[0.179373,-0.059621,0.981973]]
2025-10-26T19:27:29.983Z,1761506849.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410072,0.899868,0.148589],[-0.900459,-0.425345,0.090860],[0.144963,-0.096539,0.984716]]
2025-10-26T19:27:30.388Z,1761506850.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407278,0.901698,0.145141],[-0.907774,-0.417129,0.044150],[0.100352,-0.113774,0.988425]]
2025-10-26T19:27:30.810Z,1761506850.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411278,0.902957,0.124576],[-0.908651,-0.416958,0.022367],[0.072140,-0.103997,0.991958]]
2025-10-26T19:27:31.193Z,1761506851.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419696,0.901633,0.104462],[-0.904320,-0.425243,0.037080],[0.077854,-0.078905,0.993837]]
2025-10-26T19:27:31.594Z,1761506851.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430259,0.897690,0.095020],[-0.897841,-0.436476,0.058049],[0.093584,-0.060337,0.993781]]
2025-10-26T19:27:31.000Z,1761506852.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436258,0.894465,0.098036],[-0.894618,-0.442854,0.059494],[0.096631,-0.061750,0.993403]]
2025-10-26T19:27:32.403Z,1761506852.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426554,0.897145,0.114813],[-0.899399,-0.434148,0.050967],[0.095570,-0.081522,0.992079]]
2025-10-26T19:27:32.444Z,1761506852.444 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:27:32.644Z,1761506852.644 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:27:32.645Z,1761506852.645 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:27:32.845Z,1761506852.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407782,0.904734,0.123164],[-0.908872,-0.415128,0.040258],[0.087552,-0.095524,0.991569]]
2025-10-26T19:27:32.896Z,1761506852.896 [DAT](INFO): DAT read: user:186>

2025-10-26T19:27:32.897Z,1761506852.897 [DAT](INFO): DAT read: Tx time:19:27:31.9581

2025-10-26T19:27:32.897Z,1761506852.897 [DAT](INFO): Ping request sent.
2025-10-26T19:27:32.898Z,1761506852.898 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:27:32.898Z,1761506852.898 [DAT](INFO): publishing transmit ping time
2025-10-26T19:27:32.899Z,1761506852.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928
2025-10-26T19:27:33.149Z,1761506853.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251268
2025-10-26T19:27:33.213Z,1761506853.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394464,0.913449,0.100044],[-0.917611,-0.397354,0.009969],[0.048859,-0.087869,0.994933]]
2025-10-26T19:27:33.401Z,1761506853.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503380
2025-10-26T19:27:33.615Z,1761506853.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371036,0.927359,0.048344],[-0.928618,-0.370561,-0.018769],[0.000508,-0.051858,0.998654]]
2025-10-26T19:27:33.653Z,1761506853.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755476
2025-10-26T19:27:33.904Z,1761506853.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006708
2025-10-26T19:27:34.018Z,1761506854.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363391,0.931621,0.005375],[-0.931564,-0.363429,0.010411],[0.011653,-0.001223,0.999931]]
2025-10-26T19:27:34.156Z,1761506854.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258783
2025-10-26T19:27:34.416Z,1761506854.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518626
2025-10-26T19:27:34.424Z,1761506854.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395744,0.918315,0.009134],[-0.917073,-0.395696,0.049005],[0.048616,0.011017,0.998757]]
2025-10-26T19:27:34.660Z,1761506854.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762709
2025-10-26T19:27:34.848Z,1761506854.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426701,0.901730,0.069351],[-0.903567,-0.428333,0.009922],[0.038652,-0.058430,0.997543]]
2025-10-26T19:27:34.912Z,1761506854.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014802
2025-10-26T19:27:35.164Z,1761506855.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266740
2025-10-26T19:27:35.240Z,1761506855.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434133,0.889749,0.140979],[-0.900820,-0.430008,-0.060129],[0.007122,-0.153101,0.988185]]
2025-10-26T19:27:35.416Z,1761506855.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800
2025-10-26T19:27:35.646Z,1761506855.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417159,0.891654,0.175872],[-0.908831,-0.409717,-0.078473],[0.002087,-0.192574,0.981280]]
2025-10-26T19:27:35.668Z,1761506855.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770644
2025-10-26T19:27:35.920Z,1761506855.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022626
2025-10-26T19:27:36.038Z,1761506856.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396347,0.901848,0.171985],[-0.917691,-0.394757,-0.044846],[0.027448,-0.175603,0.984078]]
2025-10-26T19:27:36.172Z,1761506856.172 [DAT](INFO): DAT read: Rx Time:19:27:34.6584

2025-10-26T19:27:36.173Z,1761506856.173 [DAT](INFO): Rx dataTimestamp_ set to:1761506856.172617
2025-10-26T19:27:36.173Z,1761506856.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275865
2025-10-26T19:27:36.424Z,1761506856.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526669
2025-10-26T19:27:36.445Z,1761506856.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407640,0.903645,0.131360],[-0.911096,-0.412122,0.007708],[0.061101,-0.116539,0.991305]]
2025-10-26T19:27:36.677Z,1761506856.677 [DAT](INFO): DAT read: Bearing 356, -21 (Remote)

2025-10-26T19:27:36.677Z,1761506856.677 [DAT](INFO): Remote Bearing received:Bearing 356, -21 (Remote)

2025-10-26T19:27:36.678Z,1761506856.678 [DAT](INFO): DAT read: Range 11 to 20 : 503.4 m  (Round-trip  671.2 ms) speed -0.8 m/s

2025-10-26T19:27:36.679Z,1761506856.679 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T19:27:36.856Z,1761506856.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426390,0.900360,0.086846],[-0.900972,-0.431266,0.047539],[0.080256,-0.057976,0.995087]]
2025-10-26T19:27:36.921Z,1761506856.921 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506816.00. Resetting abort timer.
2025-10-26T19:27:37.250Z,1761506857.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422971,0.905193,0.041490],[-0.903791,-0.424727,0.052610],[0.065244,-0.015246,0.997753]]
2025-10-26T19:27:37.295Z,1761506857.295 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:27:37.295Z,1761506857.295 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:27:37.299Z,1761506857.299 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:27:37.300Z,1761506857.300 [marl:UpdateRudder:A] Stopped
2025-10-26T19:27:37.300Z,1761506857.300 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:27:37.300Z,1761506857.300 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:27:37.300Z,1761506857.300 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:27:37.300Z,1761506857.300 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateCommandMode] Stopped
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:27:37.301Z,1761506857.301 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:27:37.302Z,1761506857.302 [marl:UpdateSpeed] Stopped
2025-10-26T19:27:37.302Z,1761506857.302 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:27:37.656Z,1761506857.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397915,0.917373,0.009541],[-0.916999,-0.398026,0.026233],[0.027863,0.001690,0.999610]]
2025-10-26T19:27:37.706Z,1761506857.706 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:27:37.706Z,1761506857.706 [marl:UpdateRudder:B] Stopped
2025-10-26T19:27:37.707Z,1761506857.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:27:37.707Z,1761506857.707 [marl:UpdateRudder] Stopped
2025-10-26T19:27:37.707Z,1761506857.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:27:38.060Z,1761506858.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388442,0.921412,0.010648],[-0.921427,-0.388512,0.005541],[0.009243,-0.007659,0.999928]]
2025-10-26T19:27:38.208Z,1761506858.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:27:38.463Z,1761506858.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402930,0.914037,0.046734],[-0.915124,-0.403138,-0.005302],[0.013994,-0.044904,0.998893]]
2025-10-26T19:27:38.866Z,1761506858.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428347,0.898387,0.097052],[-0.903218,-0.428862,-0.016558],[0.026747,-0.094752,0.995142]]
2025-10-26T19:27:39.212Z,1761506859.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:27:39.273Z,1761506859.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431988,0.891946,0.133483],[-0.900894,-0.433681,-0.017642],[0.042153,-0.127875,0.990894]]
2025-10-26T19:27:39.675Z,1761506859.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421924,0.899181,0.115990],[-0.904318,-0.426523,0.016966],[0.064728,-0.097733,0.993105]]
2025-10-26T19:27:40.078Z,1761506860.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417317,0.906643,0.062012],[-0.904422,-0.421017,0.069040],[0.088703,-0.027273,0.995685]]
2025-10-26T19:27:40.482Z,1761506860.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418242,0.908096,0.020881],[-0.900832,-0.417626,0.118699],[0.116511,0.030835,0.992711]]
2025-10-26T19:27:40.886Z,1761506860.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403839,0.914672,0.017031],[-0.903285,-0.401622,0.150921],[0.144883,0.045564,0.988399]]
2025-10-26T19:27:41.296Z,1761506861.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379606,0.923998,0.046107],[-0.913068,-0.382212,0.142201],[0.149017,0.011882,0.988763]]
2025-10-26T19:27:41.695Z,1761506861.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372639,0.921980,0.105325],[-0.917332,-0.383126,0.108239],[0.140147,-0.056284,0.988530]]
2025-10-26T19:27:42.008Z,1761506862.008 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:27:42.008Z,1761506862.008 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:27:42.098Z,1761506862.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387844,0.908184,0.157413],[-0.911508,-0.403268,0.080801],[0.136862,-0.112145,0.984222]]
2025-10-26T19:27:42.506Z,1761506862.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396486,0.902683,0.167221],[-0.909567,-0.410946,0.061731],[0.124442,-0.127623,0.983985]]
2025-10-26T19:27:42.907Z,1761506862.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394117,0.905422,0.157742],[-0.909388,-0.409018,0.075621],[0.132988,-0.113645,0.984581]]
2025-10-26T19:27:43.310Z,1761506863.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398608,0.902806,0.161407],[-0.899867,-0.418982,0.121214],[0.177059,-0.096928,0.979416]]
2025-10-26T19:27:43.719Z,1761506863.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412206,0.897067,0.159240],[-0.888328,-0.434546,0.148470],[0.202385,-0.080257,0.976012]]
2025-10-26T19:27:44.150Z,1761506864.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427938,0.890665,0.153576],[-0.884705,-0.447553,0.130363],[0.184843,-0.080082,0.979500]]
2025-10-26T19:27:44.532Z,1761506864.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432554,0.888174,0.155061],[-0.886953,-0.450065,0.103711],[0.161901,-0.092671,0.982446]]
2025-10-26T19:27:44.926Z,1761506864.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432168,0.886163,0.167171],[-0.885912,-0.451835,0.104906],[0.168497,-0.102762,0.980331]]
2025-10-26T19:27:45.330Z,1761506865.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441659,0.876777,0.190259],[-0.873784,-0.468473,0.130513],[0.203563,-0.108603,0.973020]]
2025-10-26T19:27:45.737Z,1761506865.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449425,0.870645,0.199987],[-0.864381,-0.480348,0.148697],[0.225526,-0.106037,0.968449]]
2025-10-26T19:27:46.143Z,1761506866.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447601,0.873379,0.191998],[-0.866322,-0.476741,0.149008],[0.221673,-0.099636,0.970017]]
2025-10-26T19:27:46.542Z,1761506866.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432502,0.884616,0.174348],[-0.874474,-0.458660,0.157881],[0.219631,-0.084179,0.971945]]
2025-10-26T19:27:46.946Z,1761506866.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411983,0.900247,0.140801],[-0.885892,-0.431893,0.169304],[0.213227,-0.054984,0.975454]]
2025-10-26T19:27:47.350Z,1761506867.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397612,0.912451,0.096629],[-0.897735,-0.408630,0.164602],[0.189677,-0.021300,0.981616]]
2025-10-26T19:27:47.754Z,1761506867.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402128,0.912687,0.072775],[-0.898626,-0.408658,0.159593],[0.175398,-0.001220,0.984497]]
2025-10-26T19:27:47.759Z,1761506867.759 [NAL9602](INFO): SBD MO Status=2, MOMSN=2967, MT Status=2, MTMSN=0
2025-10-26T19:27:47.760Z,1761506867.760 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:27:48.158Z,1761506868.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414215,0.905776,0.089418],[-0.891807,-0.423530,0.159069],[0.181952,-0.013855,0.983210]]
2025-10-26T19:27:48.566Z,1761506868.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409189,0.903646,0.126446],[-0.889618,-0.425908,0.164872],[0.202840,-0.045024,0.978176]]
2025-10-26T19:27:48.966Z,1761506868.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395251,0.906582,0.147937],[-0.893371,-0.416854,0.167689],[0.213692,-0.065883,0.974677]]
2025-10-26T19:27:48.998Z,1761506868.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192748.00,A,3646.25560,N,12151.96446,W,0.389,191.45,261025,,,A*79
2025-10-26T19:27:49.001Z,1761506869.001 [NAL9602](INFO): GPS fix at 20251026T192748: (36.770927, -121.866074)
2025-10-26T19:27:49.057Z,1761506869.057 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506816.00. Resetting abort timer.
2025-10-26T19:27:49.371Z,1761506869.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386283,0.911495,0.141286],[-0.901502,-0.405490,0.151235],[0.195140,-0.068950,0.978349]]
2025-10-26T19:27:49.774Z,1761506869.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381265,0.914245,0.137089],[-0.905591,-0.399164,0.143433],[0.185854,-0.069460,0.980119]]
2025-10-26T19:27:50.178Z,1761506870.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375156,0.916678,0.137694],[-0.905713,-0.394112,0.156075],[0.197338,-0.066158,0.978101]]
2025-10-26T19:27:50.582Z,1761506870.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364624,0.920955,0.137447],[-0.908447,-0.384235,0.164582],[0.204384,-0.064853,0.976740]]
2025-10-26T19:27:50.645Z,1761506870.645 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:27:50.645Z,1761506870.645 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:27:50.645Z,1761506870.645 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateRudder:A] Stopped
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:27:50.646Z,1761506870.646 [marl:UpdateCommandMode] Stopped
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:27:50.647Z,1761506870.647 [marl:UpdateSpeed] Stopped
2025-10-26T19:27:50.648Z,1761506870.648 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:27:50.988Z,1761506870.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352601,0.926108,0.134153],[-0.915310,-0.371144,0.156393],[0.194627,-0.067648,0.978542]]
2025-10-26T19:27:51.062Z,1761506871.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:27:51.062Z,1761506871.062 [marl:UpdateRudder:B] Stopped
2025-10-26T19:27:51.062Z,1761506871.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:27:51.062Z,1761506871.062 [marl:UpdateRudder] Stopped
2025-10-26T19:27:51.063Z,1761506871.063 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:27:51.390Z,1761506871.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343722,0.931166,0.121590],[-0.924842,-0.358119,0.128135],[0.162859,-0.068409,0.984275]]
2025-10-26T19:27:51.794Z,1761506871.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343117,0.932745,0.110711],[-0.930897,-0.353403,0.092397],[0.125309,-0.071358,0.989548]]
2025-10-26T19:27:52.198Z,1761506872.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346098,0.931832,0.109110],[-0.934409,-0.352803,0.049085],[0.084233,-0.084966,0.992817]]
2025-10-26T19:27:52.641Z,1761506872.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344340,0.932395,0.109860],[-0.938046,-0.346511,0.000714],[0.038733,-0.102808,0.993947]]
2025-10-26T19:27:55.441Z,1761506875.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389239,0.913690,0.116889],[-0.921107,-0.387108,-0.041353],[0.007465,-0.123763,0.992284]]
2025-10-26T19:27:55.839Z,1761506875.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403741,0.910920,0.084964],[-0.914870,-0.402245,-0.034805],[0.002472,-0.091784,0.995776]]
2025-10-26T19:27:56.245Z,1761506876.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421872,0.903484,0.075765],[-0.906631,-0.421006,-0.027844],[0.006741,-0.080437,0.996737]]
2025-10-26T19:27:56.646Z,1761506876.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432771,0.897294,0.087019],[-0.901386,-0.432253,-0.025690],[0.014563,-0.089556,0.995875]]
2025-10-26T19:27:57.050Z,1761506877.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436137,0.894150,0.101392],[-0.899215,-0.437372,-0.010894],[0.034605,-0.095925,0.994787]]
2025-10-26T19:27:57.454Z,1761506877.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417052,0.902827,0.104739],[-0.906320,-0.421754,0.026619],[0.068206,-0.083825,0.994143]]
2025-10-26T19:27:57.860Z,1761506877.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391376,0.916384,0.084057],[-0.915580,-0.396942,0.064418],[0.092397,-0.051750,0.994377]]
2025-10-26T19:27:58.262Z,1761506878.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373753,0.926960,0.032472],[-0.924227,-0.375146,0.071209],[0.078190,-0.003397,0.996933]]
2025-10-26T19:27:58.667Z,1761506878.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348685,0.937236,-0.002648],[-0.935740,-0.347965,0.057537],[0.053005,0.022540,0.998340]]
2025-10-26T19:27:59.070Z,1761506879.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346102,0.938106,0.013058],[-0.936902,-0.346322,0.047713],[0.049282,0.004279,0.998776]]
2025-10-26T19:27:59.476Z,1761506879.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359719,0.930989,0.062149],[-0.931990,-0.361698,0.023856],[0.044689,-0.049341,0.997782]]
2025-10-26T19:27:59.879Z,1761506879.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364345,0.924407,0.112801],[-0.931209,-0.362962,-0.033296],[0.010164,-0.117173,0.993060]]
2025-10-26T19:28:00.282Z,1761506880.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364810,0.920865,0.137555],[-0.931017,-0.359030,-0.065619],[-0.011040,-0.152004,0.988318]]
2025-10-26T19:28:00.687Z,1761506880.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362554,0.920299,0.146985],[-0.931757,-0.361248,-0.036439],[0.019563,-0.150165,0.988467]]
2025-10-26T19:28:01.099Z,1761506881.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378701,0.917311,0.122991],[-0.923623,-0.383076,0.013191],[0.059215,-0.108601,0.992320]]
2025-10-26T19:28:01.107Z,1761506881.107 [NAL9602](INFO): SBD MO Status=1, MOMSN=2967, MT Status=0, MTMSN=0
2025-10-26T19:28:01.164Z,1761506881.164 [NAL9602](INFO): Sent 82 bytes from file Logs/20251026T180417/Courier0021.lzma
2025-10-26T19:28:01.164Z,1761506881.164 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:28:01.496Z,1761506881.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403619,0.911088,0.083729],[-0.912246,-0.407748,0.039352],[0.069994,-0.060498,0.995711]]
2025-10-26T19:28:02.195Z,1761506882.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410064,0.908041,0.085491],[-0.903012,-0.417378,0.101809],[0.128129,-0.035451,0.991124]]
2025-10-26T19:28:02.611Z,1761506882.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396186,0.908527,0.132719],[-0.902893,-0.411761,0.123438],[0.166795,-0.070927,0.983437]]
2025-10-26T19:28:04.697Z,1761506884.697 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:28:04.713Z,1761506884.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:28:04.714Z,1761506884.714 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:28:04.886Z,1761506884.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386546,0.920594,0.055570],[-0.905054,-0.390229,0.169109],[0.177366,0.015074,0.984030]]
2025-10-26T19:28:04.964Z,1761506884.964 [DAT](INFO): DAT read: user:187>

2025-10-26T19:28:04.965Z,1761506884.965 [DAT](INFO): DAT read: Tx time:19:28:04.0579

2025-10-26T19:28:04.965Z,1761506884.965 [DAT](INFO): Ping request sent.
2025-10-26T19:28:04.966Z,1761506884.966 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:28:04.966Z,1761506884.966 [DAT](INFO): publishing transmit ping time
2025-10-26T19:28:04.967Z,1761506884.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000932
2025-10-26T19:28:05.216Z,1761506885.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250628
2025-10-26T19:28:05.279Z,1761506885.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365728,0.924689,0.105797],[-0.913089,-0.378496,0.151688],[0.180308,-0.041126,0.982750]]
2025-10-26T19:28:05.469Z,1761506885.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503010
2025-10-26T19:28:05.682Z,1761506885.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358488,0.925589,0.121538],[-0.920434,-0.372183,0.119500],[0.155842,-0.069029,0.985367]]
2025-10-26T19:28:05.721Z,1761506885.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755165
2025-10-26T19:28:05.972Z,1761506885.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006551
2025-10-26T19:28:06.094Z,1761506886.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358851,0.926239,0.115355],[-0.924805,-0.369551,0.090375],[0.126339,-0.074249,0.989205]]
2025-10-26T19:28:06.224Z,1761506886.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258679
2025-10-26T19:28:06.476Z,1761506886.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510715
2025-10-26T19:28:06.502Z,1761506886.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362532,0.927669,0.089444],[-0.926811,-0.368946,0.070001],[0.097938,-0.057520,0.993529]]
2025-10-26T19:28:06.729Z,1761506886.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763190
2025-10-26T19:28:06.894Z,1761506886.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363826,0.928168,0.078323],[-0.926189,-0.369422,0.075504],[0.099014,-0.045072,0.994065]]
2025-10-26T19:28:06.981Z,1761506886.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015429
2025-10-26T19:28:07.232Z,1761506887.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266729
2025-10-26T19:28:07.298Z,1761506887.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364960,0.925309,0.102992],[-0.919259,-0.375667,0.117630],[0.147535,-0.051746,0.987702]]
2025-10-26T19:28:07.484Z,1761506887.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518554
2025-10-26T19:28:07.706Z,1761506887.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363866,0.920296,0.143726],[-0.912570,-0.383132,0.142920],[0.186595,-0.079156,0.979243]]
2025-10-26T19:28:07.737Z,1761506887.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771454
2025-10-26T19:28:07.756Z,1761506887.756 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:28:07.756Z,1761506887.756 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:28:07.756Z,1761506887.756 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:28:07.757Z,1761506887.757 [marl:UpdateRudder:A] Stopped
2025-10-26T19:28:07.757Z,1761506887.757 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:28:07.757Z,1761506887.757 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:28:07.757Z,1761506887.757 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:28:07.757Z,1761506887.757 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:28:07.757Z,1761506887.757 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateCommandMode] Stopped
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:28:07.758Z,1761506887.758 [marl:UpdateSpeed] Stopped
2025-10-26T19:28:07.759Z,1761506887.759 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:28:07.988Z,1761506887.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022747
2025-10-26T19:28:08.109Z,1761506888.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361646,0.917857,0.163558],[-0.914781,-0.383205,0.127786],[0.179965,-0.103407,0.978223]]
2025-10-26T19:28:08.133Z,1761506888.133 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:28:08.133Z,1761506888.133 [marl:UpdateRudder:B] Stopped
2025-10-26T19:28:08.133Z,1761506888.134 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:28:08.134Z,1761506888.134 [marl:UpdateRudder] Stopped
2025-10-26T19:28:08.134Z,1761506888.134 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:28:08.240Z,1761506888.240 [DAT](INFO): DAT read: Rx Time:19:28:06.7750

2025-10-26T19:28:08.241Z,1761506888.241 [DAT](INFO): Rx dataTimestamp_ set to:1761506888.240547
2025-10-26T19:28:08.241Z,1761506888.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275749
2025-10-26T19:28:08.492Z,1761506888.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526686
2025-10-26T19:28:08.510Z,1761506888.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365573,0.918489,0.150777],[-0.918363,-0.382305,0.102233],[0.151542,-0.101094,0.983267]]
2025-10-26T19:28:08.750Z,1761506888.750 [DAT](INFO): DAT read: 19:28:06.7750 LVL= 24192, 22769, 29202, 27571, AGC= 72, IDX=  73, 0.14, 1.209, 0.855,-0.819, 0.668, PHS= 0.643, 0.232,-1.530, RAW=  40.2,   6.6, CAL=  39.2,   6.3, ROT= 110.8,  -6.3

2025-10-26T19:28:08.751Z,1761506888.751 [DAT](INFO): got valid direction response:
 19:28:06.7750 LVL= 24192, 22769, 29202, 27571, AGC= 72, IDX=  73, 0.14, 1.209, 0.855,-0.819, 0.668, PHS= 0.643, 0.232,-1.530, RAW=  40.2,   6.6, CAL=  39.2,   6.3, ROT= 110.8,  -6.3

2025-10-26T19:28:08.752Z,1761506888.752 [DAT](INFO): DAT read: Bearing   2,  -5 (Remote)

2025-10-26T19:28:08.753Z,1761506888.753 [DAT](INFO): Remote Bearing received:Bearing   2,  -5 (Remote)

2025-10-26T19:28:08.753Z,1761506888.753 [DAT](INFO): DAT read: Bearing 198.6,  56.1 (Local)

2025-10-26T19:28:08.754Z,1761506888.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6,  56.1 (Local)

2025-10-26T19:28:08.755Z,1761506888.755 [DAT](INFO): DAT read: Range 11 to 20 : 515.9 m  (Round-trip  687.9 ms) speed -0.1 m/s

2025-10-26T19:28:08.756Z,1761506888.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:28:08.757Z,1761506888.757 [DAT](INFO): direction in FSK: [-0.352963,0.929180,0.109734]
2025-10-26T19:28:08.757Z,1761506888.757 [DAT](INFO): publishing direction and range info
2025-10-26T19:28:08.914Z,1761506888.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376939,0.918987,0.115675],[-0.915683,-0.388526,0.102821],[0.139434,-0.067164,0.987951]]
2025-10-26T19:28:09.036Z,1761506889.036 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506944.00. Resetting abort timer.
2025-10-26T19:28:09.319Z,1761506889.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385969,0.917790,0.093220],[-0.911086,-0.395092,0.117575],[0.144740,-0.039551,0.988679]]
2025-10-26T19:28:09.336Z,1761506889.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:28:09.736Z,1761506889.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397091,0.912259,0.100506],[-0.906534,-0.406957,0.112170],[0.143230,-0.046570,0.988593]]
2025-10-26T19:28:10.126Z,1761506890.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407160,0.904895,0.124041],[-0.906016,-0.417330,0.070505],[0.115565,-0.083676,0.989769]]
2025-10-26T19:28:10.340Z,1761506890.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:28:10.531Z,1761506890.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408741,0.899419,0.154846],[-0.909085,-0.416224,0.017951],[0.080597,-0.133431,0.987776]]
2025-10-26T19:28:10.937Z,1761506890.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415780,0.894622,0.163640],[-0.906955,-0.421225,-0.001569],[0.067526,-0.149067,0.986519]]
2025-10-26T19:28:11.338Z,1761506891.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428207,0.892467,0.141921],[-0.900212,-0.435016,0.019449],[0.079096,-0.119431,0.989687]]
2025-10-26T19:28:11.742Z,1761506891.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438080,0.892137,0.110351],[-0.891807,-0.446748,0.071389],[0.112988,-0.067138,0.991326]]
2025-10-26T19:28:12.146Z,1761506892.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438690,0.895943,0.069544],[-0.886446,-0.444145,0.130188],[0.147529,-0.004535,0.989047]]
2025-10-26T19:28:12.560Z,1761506892.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429603,0.902656,0.025548],[-0.886624,-0.427001,0.177674],[0.171288,0.053677,0.983758]]
2025-10-26T19:28:12.954Z,1761506892.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415718,0.909418,0.011690],[-0.890428,-0.409588,0.198435],[0.185248,0.072084,0.980044]]
2025-10-26T19:28:13.359Z,1761506893.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398264,0.916502,0.037546],[-0.900050,-0.398354,0.176702],[0.176905,0.036581,0.983548]]
2025-10-26T19:28:13.762Z,1761506893.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375504,0.923514,0.078221],[-0.917140,-0.382422,0.112284],[0.133609,-0.029577,0.990593]]
2025-10-26T19:28:14.180Z,1761506894.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353547,0.928873,0.110448],[-0.932438,-0.359372,0.037579],[0.074598,-0.089700,0.993171]]
2025-10-26T19:28:14.584Z,1761506894.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335188,0.936030,0.107224],[-0.941680,-0.336443,-0.006702],[0.029801,-0.103217,0.994212]]
2025-10-26T19:28:14.974Z,1761506894.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341420,0.936417,0.080965],[-0.939894,-0.340655,-0.023502],[0.005573,-0.084123,0.996440]]
2025-10-26T19:28:14.986Z,1761506894.986 [NAL9602](INFO): SBD MO Status=1, MOMSN=2968, MT Status=0, MTMSN=0
2025-10-26T19:28:15.040Z,1761506895.040 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0022.lzma
2025-10-26T19:28:15.040Z,1761506895.040 [NAL9602](INFO): Packets left to send: 2
2025-10-26T19:28:15.378Z,1761506895.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366571,0.929184,0.047348],[-0.930373,-0.365779,-0.024751],[-0.005679,-0.053124,0.998572]]
2025-10-26T19:28:15.920Z,1761506895.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375277,0.926572,0.025135],[-0.926883,-0.374911,-0.018159],[-0.007402,-0.030111,0.999519]]
2025-10-26T19:28:16.311Z,1761506896.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352378,0.935116,0.037269],[-0.935726,-0.351378,-0.030838],[-0.015742,-0.045740,0.998829]]
2025-10-26T19:28:18.452Z,1761506898.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361057,0.926804,0.103305],[-0.928150,-0.367885,0.056553],[0.090418,-0.075464,0.993041]]
2025-10-26T19:28:18.856Z,1761506898.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333385,0.940001,0.072476],[-0.942285,-0.334739,0.007057],[0.030894,-0.065940,0.997345]]
2025-10-26T19:28:19.242Z,1761506899.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337464,0.937926,0.080077],[-0.940841,-0.338827,0.003683],[0.030587,-0.074096,0.996782]]
2025-10-26T19:28:19.652Z,1761506899.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337744,0.937912,0.079053],[-0.940526,-0.339562,0.010393],[0.036591,-0.070841,0.996816]]
2025-10-26T19:28:20.060Z,1761506900.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332203,0.940280,0.074266],[-0.941425,-0.335385,0.035159],[0.057967,-0.058236,0.996619]]
2025-10-26T19:28:20.454Z,1761506900.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323693,0.943186,0.074980],[-0.939190,-0.329900,0.095330],[0.114650,-0.039563,0.992618]]
2025-10-26T19:28:20.861Z,1761506900.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318588,0.946072,0.058730],[-0.934959,-0.323838,0.144848],[0.156056,-0.008764,0.987709]]
2025-10-26T19:28:21.264Z,1761506901.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309702,0.950211,0.034403],[-0.940136,-0.311429,0.138404],[0.142227,0.010520,0.989778]]
2025-10-26T19:28:21.670Z,1761506901.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292313,0.955131,0.047723],[-0.950816,-0.295616,0.092519],[0.102476,-0.018331,0.994567]]
2025-10-26T19:28:22.074Z,1761506902.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282510,0.954312,0.097353],[-0.956954,-0.287414,0.040407],[0.066541,-0.081747,0.994429]]
2025-10-26T19:28:22.474Z,1761506902.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283903,0.946560,0.153047],[-0.957447,-0.288493,0.008195],[0.051911,-0.144208,0.988185]]
2025-10-26T19:28:22.880Z,1761506902.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306036,0.934546,0.181563],[-0.950176,-0.311702,0.002820],[0.059229,-0.171654,0.983375]]
2025-10-26T19:28:22.939Z,1761506902.939 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:28:22.939Z,1761506902.939 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:28:22.943Z,1761506902.943 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateRudder:A] Stopped
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:28:22.944Z,1761506902.944 [marl:UpdateCommandMode] Stopped
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed] Stopped
2025-10-26T19:28:22.945Z,1761506902.945 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:28:23.282Z,1761506903.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316906,0.931730,0.177342],[-0.942869,-0.329749,0.047570],[0.102800,-0.152135,0.982999]]
2025-10-26T19:28:23.322Z,1761506903.322 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:28:23.322Z,1761506903.322 [marl:UpdateRudder:B] Stopped
2025-10-26T19:28:23.322Z,1761506903.322 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:28:23.322Z,1761506903.322 [marl:UpdateRudder] Stopped
2025-10-26T19:28:23.322Z,1761506903.322 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:28:23.686Z,1761506903.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302187,0.943111,0.138650],[-0.936487,-0.320873,0.141538],[0.177975,-0.087073,0.980175]]
2025-10-26T19:28:24.090Z,1761506904.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280967,0.956466,0.078930],[-0.934832,-0.291362,0.202970],[0.217132,-0.016758,0.975998]]
2025-10-26T19:28:24.496Z,1761506904.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259854,0.965096,0.032640],[-0.949214,-0.261495,0.174967],[0.177395,0.014484,0.984033]]
2025-10-26T19:28:24.899Z,1761506904.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241456,0.969777,0.035097],[-0.962769,-0.243928,0.116513],[0.121553,-0.005657,0.992569]]
2025-10-26T19:28:25.302Z,1761506905.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240515,0.966856,0.085687],[-0.961789,-0.249288,0.113218],[0.130826,-0.055182,0.989868]]
2025-10-26T19:28:25.710Z,1761506905.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232458,0.962941,0.136775],[-0.958663,-0.250575,0.134823],[0.164100,-0.099781,0.981384]]
2025-10-26T19:28:26.112Z,1761506906.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216629,0.963317,0.158409],[-0.961903,-0.238336,0.133938],[0.166779,-0.123360,0.978247]]
2025-10-26T19:28:26.190Z,1761506906.190 [NAL9602](INFO): SBD MO Status=1, MOMSN=2969, MT Status=0, MTMSN=0
2025-10-26T19:28:26.240Z,1761506906.240 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0022.lzma
2025-10-26T19:28:26.240Z,1761506906.240 [NAL9602](INFO): Packets left to send: 1
2025-10-26T19:28:26.514Z,1761506906.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202359,0.969524,0.138110],[-0.968822,-0.218777,0.116282],[0.142953,-0.110273,0.983567]]
2025-10-26T19:28:27.151Z,1761506907.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186051,0.978800,0.085644],[-0.975131,-0.194630,0.106011],[0.120433,-0.063791,0.990670]]
2025-10-26T19:28:29.746Z,1761506909.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177921,0.980113,0.087874],[-0.981349,-0.183331,0.057835],[0.072795,-0.075945,0.994451]]
2025-10-26T19:28:30.128Z,1761506910.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180743,0.982389,0.047363],[-0.978271,-0.184541,0.094500],[0.101576,-0.029254,0.994398]]
2025-10-26T19:28:30.538Z,1761506910.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167329,0.983859,0.063425],[-0.982644,-0.171655,0.070320],[0.080072,-0.050558,0.995506]]
2025-10-26T19:28:30.935Z,1761506910.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154644,0.984161,0.086672],[-0.986658,-0.158363,0.037778],[0.050905,-0.079673,0.995520]]
2025-10-26T19:28:31.338Z,1761506911.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149116,0.984026,0.097248],[-0.988207,-0.151763,0.020373],[0.034806,-0.093063,0.995052]]
2025-10-26T19:28:31.752Z,1761506911.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157958,0.982953,0.094085],[-0.986244,-0.161748,0.034072],[0.048710,-0.087409,0.994981]]
2025-10-26T19:28:32.146Z,1761506912.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158187,0.983396,0.088929],[-0.985108,-0.163322,0.053741],[0.067373,-0.079103,0.994587]]
2025-10-26T19:28:32.555Z,1761506912.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151679,0.985320,0.078348],[-0.986152,-0.156231,0.055637],[0.067061,-0.068824,0.995372]]
2025-10-26T19:28:32.955Z,1761506912.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150241,0.987168,0.054107],[-0.987383,-0.152592,0.042303],[0.050016,-0.047069,0.997639]]
2025-10-26T19:28:33.360Z,1761506913.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151775,0.987674,0.038269],[-0.987275,-0.153345,0.042103],[0.047452,-0.031392,0.998380]]
2025-10-26T19:28:33.762Z,1761506913.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157925,0.984815,0.072108],[-0.986152,-0.161040,0.039621],[0.050631,-0.064853,0.996610]]
2025-10-26T19:28:34.231Z,1761506914.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151838,0.979811,0.130063],[-0.988225,-0.153005,-0.001031],[0.018890,-0.128688,0.991505]]
2025-10-26T19:28:34.684Z,1761506914.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135674,0.979621,0.148109],[-0.990553,-0.131117,-0.040157],[-0.019919,-0.152158,0.988155]]
2025-10-26T19:28:34.747Z,1761506914.747 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:28:34.969Z,1761506914.969 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:28:34.969Z,1761506914.969 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:28:35.088Z,1761506915.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143226,0.982719,0.117258],[-0.989316,-0.138908,-0.044244],[-0.027191,-0.122342,0.992115]]
2025-10-26T19:28:35.220Z,1761506915.220 [DAT](INFO): DAT read: user:188>

2025-10-26T19:28:35.221Z,1761506915.221 [DAT](INFO): DAT read: Tx time:19:28:34.3077

2025-10-26T19:28:35.221Z,1761506915.221 [DAT](INFO): Ping request sent.
2025-10-26T19:28:35.221Z,1761506915.221 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:28:35.222Z,1761506915.222 [DAT](INFO): publishing transmit ping time
2025-10-26T19:28:35.222Z,1761506915.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939
2025-10-26T19:28:35.472Z,1761506915.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250803
2025-10-26T19:28:35.490Z,1761506915.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161915,0.985027,0.059201],[-0.986786,-0.161254,-0.015816],[-0.006033,-0.060979,0.998121]]
2025-10-26T19:28:35.726Z,1761506915.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504106
2025-10-26T19:28:35.894Z,1761506915.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172453,0.984877,0.016663],[-0.984697,-0.172804,0.022599],[0.025137,-0.012510,0.999606]]
2025-10-26T19:28:35.977Z,1761506915.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755052
2025-10-26T19:28:36.228Z,1761506916.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006720
2025-10-26T19:28:36.298Z,1761506916.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171855,0.985066,0.010517],[-0.984653,-0.172093,0.029026],[0.030403,-0.005367,0.999523]]
2025-10-26T19:28:36.480Z,1761506916.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258782
2025-10-26T19:28:36.708Z,1761506916.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167538,0.985027,0.040663],[-0.985708,-0.168107,0.010977],[0.017648,-0.038243,0.999113]]
2025-10-26T19:28:36.733Z,1761506916.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511068
2025-10-26T19:28:36.984Z,1761506916.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762811
2025-10-26T19:28:37.106Z,1761506917.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166797,0.981027,0.098812],[-0.985299,-0.169596,0.020573],[0.036941,-0.093928,0.994893]]
2025-10-26T19:28:37.236Z,1761506917.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014728
2025-10-26T19:28:37.488Z,1761506917.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266873
2025-10-26T19:28:37.512Z,1761506917.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169912,0.975309,0.141073],[-0.981894,-0.179720,0.059876],[0.083751,-0.128345,0.988187]]
2025-10-26T19:28:37.740Z,1761506917.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879
2025-10-26T19:28:37.915Z,1761506917.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165709,0.976305,0.139172],[-0.980857,-0.177801,0.079411],[0.102274,-0.123349,0.987079]]
2025-10-26T19:28:37.946Z,1761506917.946 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:28:37.947Z,1761506917.947 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:28:37.947Z,1761506917.947 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:28:37.947Z,1761506917.947 [marl:UpdateRudder:A] Stopped
2025-10-26T19:28:37.947Z,1761506917.947 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:28:37.947Z,1761506917.947 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:28:37.947Z,1761506917.947 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateCommandMode] Stopped
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:28:37.948Z,1761506917.948 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:28:37.949Z,1761506917.949 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:28:37.949Z,1761506917.949 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:28:37.949Z,1761506917.949 [marl:UpdateSpeed] Stopped
2025-10-26T19:28:37.949Z,1761506917.949 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:28:37.992Z,1761506917.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770986
2025-10-26T19:28:38.244Z,1761506918.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866
2025-10-26T19:28:38.318Z,1761506918.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152611,0.984194,0.089849],[-0.985478,-0.158397,0.061192],[0.074457,-0.079206,0.994074]]
2025-10-26T19:28:38.353Z,1761506918.353 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:28:38.353Z,1761506918.353 [marl:UpdateRudder:B] Stopped
2025-10-26T19:28:38.353Z,1761506918.353 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:28:38.353Z,1761506918.353 [marl:UpdateRudder] Stopped
2025-10-26T19:28:38.353Z,1761506918.353 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:28:38.496Z,1761506918.496 [DAT](INFO): DAT read: Rx Time:19:28:37.0367

2025-10-26T19:28:38.497Z,1761506918.497 [DAT](INFO): Rx dataTimestamp_ set to:1761506918.496554
2025-10-26T19:28:38.497Z,1761506918.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275903
2025-10-26T19:28:38.735Z,1761506918.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140122,0.989594,0.032713],[-0.989034,-0.141447,0.042480],[0.046665,-0.026401,0.998562]]
2025-10-26T19:28:38.748Z,1761506918.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526791
2025-10-26T19:28:39.001Z,1761506919.001 [DAT](INFO): DAT read: Bearing 360,   3 (Remote)

2025-10-26T19:28:39.001Z,1761506919.001 [DAT](INFO): Remote Bearing received:Bearing 360,   3 (Remote)

2025-10-26T19:28:39.002Z,1761506919.002 [DAT](INFO): DAT read: Range 11 to 20 : 524.9 m  (Round-trip  699.9 ms) speed -0.5 m/s

2025-10-26T19:28:39.003Z,1761506919.003 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T19:28:39.209Z,1761506919.209 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506944.00. Resetting abort timer.
2025-10-26T19:28:39.538Z,1761506919.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139162,0.990180,0.013312],[-0.989070,-0.139642,0.047334],[0.048728,-0.006579,0.998790]]
2025-10-26T19:28:39.935Z,1761506919.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129030,0.990375,0.050092],[-0.990185,-0.131413,0.047595],[0.053719,-0.043459,0.997610]]
2025-10-26T19:28:40.338Z,1761506920.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122581,0.989214,0.080180],[-0.990454,-0.127066,0.053429],[0.063041,-0.072865,0.995347]]
2025-10-26T19:28:40.468Z,1761506920.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:28:40.758Z,1761506920.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123119,0.988758,0.084854],[-0.990566,-0.127626,0.049898],[0.060166,-0.077910,0.995143]]
2025-10-26T19:28:41.155Z,1761506921.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131945,0.987797,0.082750],[-0.990032,-0.135471,0.038529],[0.049269,-0.076841,0.995825]]
2025-10-26T19:28:41.472Z,1761506921.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:28:41.558Z,1761506921.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139593,0.987633,0.071373],[-0.989791,-0.141264,0.018903],[0.028751,-0.068006,0.997271]]
2025-10-26T19:28:41.962Z,1761506921.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139300,0.988897,0.051750],[-0.989861,-0.140521,0.020731],[0.027773,-0.048337,0.998445]]
2025-10-26T19:28:42.124Z,1761506922.124 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:28:42.124Z,1761506922.124 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:28:42.366Z,1761506922.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136855,0.988954,0.056924],[-0.987957,-0.140454,0.064912],[0.072190,-0.047354,0.996266]]
2025-10-26T19:28:42.806Z,1761506922.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145195,0.985479,0.088032],[-0.981950,-0.154431,0.109205],[0.121214,-0.070587,0.990113]]
2025-10-26T19:28:43.174Z,1761506923.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136269,0.984474,0.110640],[-0.982000,-0.148976,0.116117],[0.130797,-0.092826,0.987054]]
2025-10-26T19:28:43.578Z,1761506923.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113399,0.989522,0.089368],[-0.987624,-0.122075,0.098470],[0.108348,-0.077095,0.991119]]
2025-10-26T19:28:43.982Z,1761506923.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101081,0.993571,0.050975],[-0.992461,-0.104272,0.064407],[0.069308,-0.044080,0.996621]]
2025-10-26T19:28:44.387Z,1761506924.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097888,0.993647,0.055523],[-0.994709,-0.099436,0.025824],[0.031180,-0.052701,0.998123]]
2025-10-26T19:28:44.854Z,1761506924.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103866,0.990890,0.085723],[-0.994497,-0.102279,-0.022704],[-0.013729,-0.087610,0.996060]]
2025-10-26T19:28:45.194Z,1761506925.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107987,0.988514,0.105727],[-0.993187,-0.102585,-0.055282],[-0.043801,-0.110976,0.992857]]
2025-10-26T19:28:45.599Z,1761506925.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112784,0.988081,0.104766],[-0.992904,-0.108075,-0.049604],[-0.037690,-0.109618,0.993259]]
2025-10-26T19:28:46.006Z,1761506926.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126294,0.987657,0.092652],[-0.991306,-0.122180,-0.048829],[-0.036906,-0.098013,0.994501]]
2025-10-26T19:28:46.406Z,1761506926.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140417,0.986373,0.085735],[-0.989729,-0.137491,-0.039162],[-0.026841,-0.090354,0.995548]]
2025-10-26T19:28:46.411Z,1761506926.411 [NAL9602](INFO): SBD MO Status=2, MOMSN=2970, MT Status=2, MTMSN=0
2025-10-26T19:28:46.411Z,1761506926.411 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:28:46.869Z,1761506926.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157688,0.984784,0.073038],[-0.985795,-0.161316,0.046744],[0.057815,-0.064629,0.996233]]
2025-10-26T19:28:47.618Z,1761506927.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154471,0.986911,0.046312],[-0.985813,-0.157075,0.059158],[0.065658,-0.036516,0.997174]]
2025-10-26T19:28:47.623Z,1761506927.623 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192846.00,A,3646.25315,N,12151.97606,W,0.700,201.95,261025,,,A*79
2025-10-26T19:28:47.625Z,1761506927.625 [NAL9602](INFO): GPS fix at 20251026T192846: (36.770886, -121.866268)
2025-10-26T19:28:47.684Z,1761506927.684 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:28:48.027Z,1761506928.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131323,0.991279,0.010953],[-0.989552,-0.131741,0.058569],[0.059501,-0.003147,0.998223]]
2025-10-26T19:28:48.426Z,1761506928.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095736,0.995340,-0.011546],[-0.992656,-0.094604,0.075389],[0.073945,0.018678,0.997087]]
2025-10-26T19:28:48.861Z,1761506928.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078104,0.995976,0.043945],[-0.991625,-0.082160,0.099647],[0.102857,-0.035795,0.994052]]
2025-10-26T19:28:49.638Z,1761506929.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074169,0.990690,0.114157],[-0.991317,-0.085707,0.099721],[0.108577,-0.105769,0.988445]]
2025-10-26T19:28:50.042Z,1761506930.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068754,0.985868,0.152767],[-0.991604,-0.084342,0.098020],[0.109520,-0.144745,0.983389]]
2025-10-26T19:28:50.448Z,1761506930.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063375,0.986690,0.149754],[-0.994076,-0.075689,0.078005],[0.088301,-0.143923,0.985641]]
2025-10-26T19:28:50.877Z,1761506930.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056407,0.996638,0.059422],[-0.998137,-0.054904,-0.026624],[-0.023272,-0.060813,0.997878]]
2025-10-26T19:28:51.739Z,1761506931.739 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:28:51.739Z,1761506931.739 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:28:51.739Z,1761506931.739 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateRudder:A] Stopped
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:28:51.760Z,1761506931.760 [marl:UpdateCommandMode] Stopped
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed] Stopped
2025-10-26T19:28:51.761Z,1761506931.761 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:28:51.840Z,1761506931.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075429,0.997125,-0.007162],[-0.997141,-0.075393,0.005151],[0.004596,0.007530,0.999961]]
2025-10-26T19:28:51.889Z,1761506931.889 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:28:51.889Z,1761506931.889 [marl:UpdateRudder:B] Stopped
2025-10-26T19:28:51.889Z,1761506931.889 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:28:51.889Z,1761506931.889 [marl:UpdateRudder] Stopped
2025-10-26T19:28:51.889Z,1761506931.889 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:28:52.222Z,1761506932.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089762,0.995241,0.037926],[-0.995034,-0.091258,0.039740],[0.043012,-0.034171,0.998490]]
2025-10-26T19:28:54.387Z,1761506934.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041640,0.998286,0.041117],[-0.998958,-0.042366,0.016952],[0.018665,-0.040369,0.999010]]
2025-10-26T19:28:54.754Z,1761506934.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049163,0.996190,0.072028],[-0.998771,-0.049483,0.002673],[0.006227,-0.071808,0.997399]]
2025-10-26T19:28:55.158Z,1761506935.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048216,0.994758,0.090178],[-0.998808,-0.048704,0.003223],[0.007598,-0.089915,0.995920]]
2025-10-26T19:28:55.563Z,1761506935.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040543,0.994761,0.093850],[-0.999173,-0.040669,-0.000572],[0.003248,-0.093796,0.995586]]
2025-10-26T19:28:55.967Z,1761506935.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044162,0.995410,0.084903],[-0.999022,-0.044194,-0.001507],[0.002252,-0.084887,0.996388]]
2025-10-26T19:28:56.370Z,1761506936.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044960,0.996560,0.069615],[-0.998916,-0.045691,0.008942],[0.012092,-0.069138,0.997534]]
2025-10-26T19:28:56.782Z,1761506936.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046973,0.997232,0.057628],[-0.998609,-0.048264,0.021222],[0.023945,-0.056551,0.998113]]
2025-10-26T19:28:57.180Z,1761506937.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048224,0.997826,0.044928],[-0.998410,-0.049468,0.027007],[0.029171,-0.043554,0.998625]]
2025-10-26T19:28:57.582Z,1761506937.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044197,0.998314,0.037616],[-0.997445,-0.046211,0.054471],[0.056117,-0.035112,0.997807]]
2025-10-26T19:28:57.992Z,1761506937.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043111,0.997648,0.053291],[-0.993650,-0.048365,0.101586],[0.103924,-0.048573,0.993398]]
2025-10-26T19:28:58.390Z,1761506938.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040693,0.995873,0.081130],[-0.994027,-0.048579,0.097726],[0.101264,-0.076668,0.991901]]
2025-10-26T19:28:58.849Z,1761506938.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039457,0.993526,0.106537],[-0.998026,-0.044399,0.044420],[0.048863,-0.104574,0.993316]]
2025-10-26T19:28:59.210Z,1761506939.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047406,0.991340,0.122466],[-0.998778,-0.048757,0.008058],[0.013959,-0.121935,0.992440]]
2025-10-26T19:28:59.602Z,1761506939.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054242,0.993176,0.103244],[-0.998479,-0.054974,0.004254],[0.009900,-0.102856,0.994647]]
2025-10-26T19:29:00.009Z,1761506940.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061922,0.994402,0.085618],[-0.997890,-0.063359,0.014169],[0.019514,-0.084560,0.996227]]
2025-10-26T19:29:00.412Z,1761506940.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054390,0.996805,0.058500],[-0.997404,-0.057004,0.043994],[0.047188,-0.055955,0.997317]]
2025-10-26T19:29:00.854Z,1761506940.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043516,0.998965,0.013257],[-0.994910,-0.044539,0.090394],[0.090891,-0.009256,0.995818]]
2025-10-26T19:29:01.218Z,1761506941.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032149,0.999013,-0.030650],[-0.994985,-0.029083,0.095706],[0.094720,0.033573,0.994938]]
2025-10-26T19:29:01.623Z,1761506941.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012594,0.999395,-0.032407],[-0.997026,-0.010087,0.076406],[0.076033,0.033273,0.996550]]
2025-10-26T19:29:02.032Z,1761506942.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005584,0.999781,0.020187],[-0.998308,-0.006742,0.057759],[0.057883,-0.019830,0.998126]]
2025-10-26T19:29:02.450Z,1761506942.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007509,0.995387,0.095643],[-0.999526,-0.010326,0.028999],[0.029853,-0.095380,0.994993]]
2025-10-26T19:29:02.853Z,1761506942.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005858,0.988850,0.148801],[-0.999982,0.005958,-0.000226],[-0.001110,-0.148797,0.988867]]
2025-10-26T19:29:03.242Z,1761506943.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005211,0.987972,0.154543],[-0.999959,0.006300,-0.006559],[-0.007453,-0.154503,0.987964]]
2025-10-26T19:29:03.648Z,1761506943.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019085,0.991108,0.131682],[-0.999581,-0.021781,0.019061],[0.021760,-0.131263,0.991109]]
2025-10-26T19:29:04.050Z,1761506944.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047490,0.993303,0.105331],[-0.997304,-0.053056,0.050689],[0.055938,-0.102640,0.993145]]
2025-10-26T19:29:04.062Z,1761506944.062 [NAL9602](INFO): SBD MO Status=1, MOMSN=2970, MT Status=0, MTMSN=0
2025-10-26T19:29:04.112Z,1761506944.112 [NAL9602](INFO): Sent 108 bytes from file Logs/20251026T180417/Express0022.lzma
2025-10-26T19:29:04.112Z,1761506944.112 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:29:04.457Z,1761506944.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068875,0.993812,0.087141],[-0.995972,-0.073525,0.051328],[0.057417,-0.083255,0.994873]]
2025-10-26T19:29:04.996Z,1761506944.996 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:29:05.051Z,1761506945.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027446,0.997404,0.066568],[-0.999170,-0.029377,0.028210],[0.030093,-0.065738,0.997383]]
2025-10-26T19:29:05.220Z,1761506945.220 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:29:05.220Z,1761506945.220 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:29:05.438Z,1761506945.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021682,0.999325,0.029649],[-0.998048,-0.023372,0.057907],[0.058561,-0.028336,0.997882]]
2025-10-26T19:29:05.473Z,1761506945.473 [DAT](INFO): DAT read: user:189>

2025-10-26T19:29:05.474Z,1761506945.474 [DAT](INFO): DAT read: Tx time:19:29:04.5575

2025-10-26T19:29:05.475Z,1761506945.475 [DAT](INFO): Ping request sent.
2025-10-26T19:29:05.475Z,1761506945.475 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:29:05.475Z,1761506945.475 [DAT](INFO): publishing transmit ping time
2025-10-26T19:29:05.476Z,1761506945.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001690
2025-10-26T19:29:05.725Z,1761506945.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249886
2025-10-26T19:29:05.845Z,1761506945.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034807,0.999392,0.002130],[-0.995444,-0.034859,0.088751],[0.088771,0.000969,0.996052]]
2025-10-26T19:29:05.977Z,1761506945.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502568
2025-10-26T19:29:06.228Z,1761506946.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753580
2025-10-26T19:29:06.246Z,1761506946.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038571,0.999233,0.006810],[-0.994151,-0.039061,0.100684],[0.100873,-0.002887,0.994895]]
2025-10-26T19:29:06.481Z,1761506946.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006362
2025-10-26T19:29:06.650Z,1761506946.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031457,0.998673,0.040770],[-0.995090,-0.035122,0.092536],[0.093845,-0.037659,0.994874]]
2025-10-26T19:29:06.681Z,1761506946.681 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:29:06.681Z,1761506946.681 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:29:06.681Z,1761506946.681 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:29:06.681Z,1761506946.681 [marl:UpdateRudder:A] Stopped
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode] Stopped
2025-10-26T19:29:06.682Z,1761506946.682 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:29:06.683Z,1761506946.683 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:29:06.683Z,1761506946.683 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:29:06.683Z,1761506946.683 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:29:06.683Z,1761506946.683 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:29:06.699Z,1761506946.699 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:29:06.700Z,1761506946.700 [marl:UpdateSpeed] Stopped
2025-10-26T19:29:06.700Z,1761506946.700 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:29:06.733Z,1761506946.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257772
2025-10-26T19:29:06.986Z,1761506946.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849
2025-10-26T19:29:07.054Z,1761506947.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016469,0.995403,0.094354],[-0.994585,-0.025994,0.100627],[0.102617,-0.092186,0.990440]]
2025-10-26T19:29:07.107Z,1761506947.107 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:29:07.107Z,1761506947.107 [marl:UpdateRudder:B] Stopped
2025-10-26T19:29:07.107Z,1761506947.107 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:29:07.107Z,1761506947.107 [marl:UpdateRudder] Stopped
2025-10-26T19:29:07.107Z,1761506947.107 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:29:07.236Z,1761506947.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761537
2025-10-26T19:29:07.460Z,1761506947.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005979,0.992545,0.121732],[-0.993144,-0.020106,0.115158],[0.116747,-0.120209,0.985860]]
2025-10-26T19:29:07.488Z,1761506947.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013486
2025-10-26T19:29:07.740Z,1761506947.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265611
2025-10-26T19:29:07.866Z,1761506947.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004388,0.995078,0.098994],[-0.995769,-0.004738,0.091770],[0.091788,-0.098978,0.990847]]
2025-10-26T19:29:07.995Z,1761506947.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519941
2025-10-26T19:29:08.248Z,1761506948.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773521
2025-10-26T19:29:08.266Z,1761506948.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000217,0.998226,0.059534],[-0.998404,-0.003147,0.056393],[0.056480,-0.059452,0.996632]]
2025-10-26T19:29:08.500Z,1761506948.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025540
2025-10-26T19:29:08.670Z,1761506948.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025040,0.998711,0.044145],[-0.999038,-0.026589,0.034870],[0.035998,-0.043230,0.998416]]
2025-10-26T19:29:08.752Z,1761506948.752 [DAT](INFO): DAT read: Rx Time:19:29:07.2991

2025-10-26T19:29:08.753Z,1761506948.753 [DAT](INFO): Rx dataTimestamp_ set to:1761506948.752606
2025-10-26T19:29:08.753Z,1761506948.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278651
2025-10-26T19:29:09.005Z,1761506949.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530116
2025-10-26T19:29:09.074Z,1761506949.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026339,0.998169,0.054457],[-0.999492,-0.027274,0.016497],[0.017952,-0.053995,0.998380]]
2025-10-26T19:29:09.266Z,1761506949.266 [DAT](INFO): DAT read: 19:29:07.2991 LVL= 29456, 29089, 24210, 26531, AGC= 72, IDX=  45,-0.48,-1.537,-2.383,-3.136,-2.257, PHS= 0.822,-0.081,-0.923, RAW=  61.2,   2.4, CAL=  61.0,  -0.2, ROT=  89.0,   0.2

2025-10-26T19:29:09.268Z,1761506949.268 [DAT](INFO): got valid direction response:
 19:29:07.2991 LVL= 29456, 29089, 24210, 26531, AGC= 72, IDX=  45,-0.48,-1.537,-2.383,-3.136,-2.257, PHS= 0.822,-0.081,-0.923, RAW=  61.2,   2.4, CAL=  61.0,  -0.2, ROT=  89.0,   0.2

2025-10-26T19:29:09.268Z,1761506949.268 [DAT](INFO): DAT read: Bearing   0, -16 (Remote)

2025-10-26T19:29:09.269Z,1761506949.269 [DAT](INFO): Remote Bearing received:Bearing   0, -16 (Remote)

2025-10-26T19:29:09.270Z,1761506949.270 [DAT](INFO): DAT read: Bearing 179.1,  86.3 (Local)

2025-10-26T19:29:09.270Z,1761506949.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.1,  86.3 (Local)

2025-10-26T19:29:09.271Z,1761506949.271 [DAT](INFO): DAT read: Range 11 to 20 : 534.3 m  (Round-trip  712.5 ms) speed -0.8 m/s

2025-10-26T19:29:09.272Z,1761506949.272 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:29:09.276Z,1761506949.276 [DAT](INFO): direction in FSK: [0.017452,0.999842,-0.003491]
2025-10-26T19:29:09.277Z,1761506949.277 [DAT](INFO): publishing direction and range info
2025-10-26T19:29:09.403Z,1761506949.403 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:09.500Z,1761506949.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006142,0.998216,0.059391],[-0.999911,-0.006832,0.011420],[0.011805,-0.059316,0.998169]]
2025-10-26T19:29:09.882Z,1761506949.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008324,0.998663,0.051013],[-0.999794,-0.009255,0.018043],[0.018491,-0.050853,0.998535]]
2025-10-26T19:29:10.287Z,1761506950.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012116,0.999091,0.040881],[-0.999797,-0.012762,0.015567],[0.016075,-0.040684,0.999043]]
2025-10-26T19:29:10.692Z,1761506950.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006514,0.998797,0.048603],[-0.999927,-0.007002,0.009891],[0.010219,-0.048535,0.998769]]
2025-10-26T19:29:11.094Z,1761506951.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011545,0.996477,0.083064],[-0.999800,-0.012862,0.015330],[0.016344,-0.082871,0.996426]]
2025-10-26T19:29:11.498Z,1761506951.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020886,0.992311,0.121996],[-0.999171,-0.024984,0.032157],[0.034958,-0.121223,0.992010]]
2025-10-26T19:29:11.592Z,1761506951.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:29:11.907Z,1761506951.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032579,0.989059,0.143881],[-0.997172,-0.041920,0.062377],[0.067726,-0.141442,0.987627]]
2025-10-26T19:29:12.306Z,1761506952.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046083,0.990454,0.129913],[-0.993959,-0.058432,0.092904],[0.099608,-0.124847,0.987163]]
2025-10-26T19:29:12.596Z,1761506952.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:29:12.714Z,1761506952.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032872,0.995676,0.086880],[-0.993678,-0.041895,0.104159],[0.107349,-0.082907,0.990759]]
2025-10-26T19:29:13.114Z,1761506953.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009276,0.999155,0.040033],[-0.995604,-0.012960,0.092764],[0.093204,-0.038997,0.994883]]
2025-10-26T19:29:13.520Z,1761506953.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001055,0.999849,0.017342],[-0.996946,-0.002406,0.078055],[0.078085,-0.017207,0.996798]]
2025-10-26T19:29:13.922Z,1761506953.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014966,0.999674,0.020683],[-0.997559,0.013517,0.068507],[0.068205,-0.021658,0.997436]]
2025-10-26T19:29:14.326Z,1761506954.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020614,0.999089,0.037370],[-0.998876,0.018985,0.043426],[0.042677,-0.038223,0.998357]]
2025-10-26T19:29:14.734Z,1761506954.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005809,0.997546,0.069769],[-0.999928,0.006526,-0.010041],[-0.010471,-0.069706,0.997513]]
2025-10-26T19:29:15.136Z,1761506955.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004536,0.993775,0.111314],[-0.999129,0.009121,-0.040713],[-0.041475,-0.111032,0.992951]]
2025-10-26T19:29:15.538Z,1761506955.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002703,0.991731,0.128306],[-0.999570,0.006427,-0.028621],[-0.029209,-0.128173,0.991322]]
2025-10-26T19:29:15.944Z,1761506955.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025284,0.991912,0.124380],[-0.999524,-0.022887,-0.020664],[-0.017651,-0.124843,0.992019]]
2025-10-26T19:29:16.347Z,1761506956.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034622,0.992588,0.116492],[-0.999320,-0.032899,-0.016677],[-0.012720,-0.116990,0.993052]]
2025-10-26T19:29:16.352Z,1761506956.352 [NAL9602](INFO): SBD MO Status=0, MOMSN=2971, MT Status=0, MTMSN=0
2025-10-26T19:29:16.462Z,1761506956.462 [marl:NeedComms:D] Stopped
2025-10-26T19:29:16.462Z,1761506956.462 [marl:NeedComms:E] Running Loop=1
2025-10-26T19:29:16.752Z,1761506956.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021132,0.995900,0.087958],[-0.999729,-0.021906,0.007841],[0.009736,-0.087768,0.996093]]
2025-10-26T19:29:17.154Z,1761506957.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021978,0.998961,0.039925],[-0.999139,-0.023352,0.034280],[0.035177,-0.039137,0.998614]]
2025-10-26T19:29:17.562Z,1761506957.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043083,0.998936,0.016478],[-0.997268,-0.043990,0.059336],[0.059997,-0.013877,0.998102]]
2025-10-26T19:29:17.567Z,1761506957.567 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192916.00,A,3646.25221,N,12151.98111,W,0.583,267.89,261025,,,A*71
2025-10-26T19:29:17.569Z,1761506957.569 [NAL9602](INFO): GPS fix at 20251026T192916: (36.770870, -121.866352)
2025-10-26T19:29:17.617Z,1761506957.617 [marl:NeedComms:E] Stopped
2025-10-26T19:29:17.648Z,1761506957.648 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T19:29:17.648Z,1761506957.648 [marl:NeedComms] Stopped
2025-10-26T19:29:17.648Z,1761506957.648 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T19:29:17.648Z,1761506957.648 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T19:29:17.648Z,1761506957.648 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T19:29:17.649Z,1761506957.649 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:17.970Z,1761506957.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055019,0.998065,0.028970],[-0.992929,-0.057746,0.103715],[0.105187,-0.023059,0.994185]]
2025-10-26T19:29:18.366Z,1761506958.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044526,0.998144,0.041537],[-0.987486,-0.050271,0.149476],[0.151287,-0.034362,0.987892]]
2025-10-26T19:29:18.774Z,1761506958.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029247,0.999047,0.032403],[-0.989294,-0.033568,0.142024],[0.142976,-0.027903,0.989333]]
2025-10-26T19:29:19.174Z,1761506959.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018285,0.999172,0.036356],[-0.995432,-0.021600,0.092999],[0.093708,-0.034489,0.995002]]
2025-10-26T19:29:19.591Z,1761506959.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024288,0.997644,0.064162],[-0.998445,-0.027428,0.048524],[0.050170,-0.062884,0.996759]]
2025-10-26T19:29:19.982Z,1761506959.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043219,0.994152,0.098967],[-0.998985,-0.044259,0.008333],[0.012664,-0.098507,0.995056]]
2025-10-26T19:29:20.001Z,1761506960.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192919.00,A,3646.25197,N,12151.98147,W,0.991,260.77,261025,,,A*7A
2025-10-26T19:29:20.003Z,1761506960.003 [NAL9602](INFO): GPS fix at 20251026T192919: (36.770866, -121.866358)
2025-10-26T19:29:20.025Z,1761506960.025 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:20.386Z,1761506960.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054512,0.991788,0.115690],[-0.998305,-0.051766,-0.026607],[-0.020400,-0.116944,0.992929]]
2025-10-26T19:29:20.442Z,1761506960.442 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:29:20.442Z,1761506960.442 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:29:20.442Z,1761506960.442 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:29:20.443Z,1761506960.443 [marl:UpdateRudder:A] Stopped
2025-10-26T19:29:20.444Z,1761506960.444 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:29:20.444Z,1761506960.444 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:29:20.444Z,1761506960.444 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:29:20.444Z,1761506960.444 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateCommandMode] Stopped
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:29:20.445Z,1761506960.445 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:29:20.446Z,1761506960.446 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:29:20.446Z,1761506960.446 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:29:20.446Z,1761506960.446 [marl:UpdateSpeed] Stopped
2025-10-26T19:29:20.446Z,1761506960.446 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:29:20.823Z,1761506960.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066981,0.992175,0.105369],[-0.997505,-0.064228,-0.029310],[-0.022313,-0.107070,0.994001]]
2025-10-26T19:29:20.919Z,1761506960.919 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:29:20.923Z,1761506960.923 [marl:UpdateRudder:B] Stopped
2025-10-26T19:29:20.924Z,1761506960.924 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:29:20.924Z,1761506960.924 [marl:UpdateRudder] Stopped
2025-10-26T19:29:20.924Z,1761506960.924 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:29:21.196Z,1761506961.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074915,0.994781,0.069267],[-0.996939,-0.076272,0.017165],[0.022359,-0.067769,0.997451]]
2025-10-26T19:29:21.601Z,1761506961.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072493,0.996674,0.037235],[-0.994133,-0.075212,0.077734],[0.080276,-0.031382,0.996279]]
2025-10-26T19:29:22.002Z,1761506962.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061980,0.997671,0.028486],[-0.990025,-0.065073,0.124964],[0.126526,-0.020456,0.991752]]
2025-10-26T19:29:22.407Z,1761506962.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046723,0.997758,0.047911],[-0.989246,-0.052873,0.136367],[0.138595,-0.041024,0.989499]]
2025-10-26T19:29:22.846Z,1761506962.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033751,0.996519,0.076232],[-0.993674,-0.041634,0.104297],[0.107107,-0.072230,0.991620]]
2025-10-26T19:29:22.852Z,1761506962.852 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192922.00,A,3646.25185,N,12151.98137,W,0.583,182.91,261025,,,A*7E
2025-10-26T19:29:22.854Z,1761506962.854 [NAL9602](INFO): GPS fix at 20251026T192922: (36.770864, -121.866356)
2025-10-26T19:29:22.964Z,1761506962.964 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:23.248Z,1761506963.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014598,0.994649,0.102280],[-0.997323,-0.021814,0.069790],[0.071648,-0.100987,0.992305]]
2025-10-26T19:29:23.657Z,1761506963.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012683,0.993020,0.117263],[-0.997355,0.004170,0.072563],[0.071568,-0.117873,0.990446]]
2025-10-26T19:29:24.054Z,1761506964.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017165,0.993584,0.111789],[-0.995869,0.007020,0.090525],[0.089159,-0.112881,0.989600]]
2025-10-26T19:29:25.268Z,1761506965.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002575,0.995172,0.098116],[-0.996498,-0.010754,0.082926],[0.083581,-0.097559,0.991714]]
2025-10-26T19:29:25.677Z,1761506965.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024001,0.992999,0.115661],[-0.997333,-0.031761,0.065719],[0.068933,-0.113775,0.991112]]
2025-10-26T19:29:26.074Z,1761506966.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043965,0.988998,0.141246],[-0.997040,-0.052361,0.056290],[0.063066,-0.138353,0.988373]]
2025-10-26T19:29:26.099Z,1761506966.099 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192925.00,A,3646.25197,N,12151.98243,W,1.438,279.43,261025,,,A*72
2025-10-26T19:29:26.101Z,1761506966.101 [NAL9602](INFO): GPS fix at 20251026T192925: (36.770866, -121.866374)
2025-10-26T19:29:26.128Z,1761506966.128 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:26.478Z,1761506966.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043171,0.985900,0.161669],[-0.996450,-0.054197,0.064423],[0.072276,-0.158314,0.984740]]
2025-10-26T19:29:26.885Z,1761506966.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033362,0.988193,0.149536],[-0.995693,-0.045812,0.080600],[0.086498,-0.146203,0.985466]]
2025-10-26T19:29:27.286Z,1761506967.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032421,0.992173,0.120585],[-0.996305,-0.041683,0.075093],[0.079531,-0.117704,0.989859]]
2025-10-26T19:29:27.690Z,1761506967.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039105,0.994400,0.098184],[-0.996574,-0.045978,0.068745],[0.072874,-0.095160,0.992791]]
2025-10-26T19:29:28.099Z,1761506968.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041544,0.995550,0.084585],[-0.995852,-0.048118,0.077227],[0.080954,-0.081026,0.993419]]
2025-10-26T19:29:28.505Z,1761506968.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062640,0.992305,0.106804],[-0.991953,-0.073698,0.102945],[0.110024,-0.099496,0.988936]]
2025-10-26T19:29:28.908Z,1761506968.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053720,0.992705,0.107937],[-0.988092,-0.068454,0.137801],[0.144184,-0.099249,0.984561]]
2025-10-26T19:29:28.913Z,1761506968.913 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192928.00,A,3646.25173,N,12151.98369,W,1.127,257.76,261025,,,A*7D
2025-10-26T19:29:28.919Z,1761506968.919 [NAL9602](INFO): GPS fix at 20251026T192928: (36.770862, -121.866395)
2025-10-26T19:29:29.014Z,1761506969.014 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:29.310Z,1761506969.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053460,0.993897,0.096489],[-0.985570,-0.068058,0.154985],[0.160606,-0.086811,0.983194]]
2025-10-26T19:29:29.721Z,1761506969.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077111,0.991860,0.101328],[-0.986193,-0.090817,0.138477],[0.146552,-0.089251,0.985168]]
2025-10-26T19:29:30.115Z,1761506970.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085801,0.988711,0.122837],[-0.985060,-0.102662,0.138262],[0.149312,-0.109139,0.982749]]
2025-10-26T19:29:30.518Z,1761506970.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081371,0.990260,0.112973],[-0.980869,-0.099676,0.167213],[0.176845,-0.097205,0.979427]]
2025-10-26T19:29:30.938Z,1761506970.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081109,0.993643,0.078067],[-0.978007,-0.094443,0.185965],[0.192156,-0.061267,0.979450]]
2025-10-26T19:29:31.329Z,1761506971.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097511,0.992847,0.068892],[-0.976155,-0.108902,0.187783],[0.193942,-0.048939,0.979791]]
2025-10-26T19:29:31.735Z,1761506971.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116269,0.989024,0.091175],[-0.973257,-0.131762,0.188172],[0.198120,-0.066858,0.977895]]
2025-10-26T19:29:32.134Z,1761506972.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127039,0.985535,0.112165],[-0.973449,-0.145584,0.176640],[0.190415,-0.086747,0.977864]]
2025-10-26T19:29:32.140Z,1761506972.140 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192931.00,A,3646.25162,N,12151.98462,W,1.166,269.15,261025,,,A*74
2025-10-26T19:29:32.142Z,1761506972.142 [NAL9602](INFO): GPS fix at 20251026T192931: (36.770860, -121.866410)
2025-10-26T19:29:32.206Z,1761506972.206 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:32.538Z,1761506972.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142510,0.981990,0.124045],[-0.976554,-0.159925,0.144103],[0.161345,-0.100600,0.981757]]
2025-10-26T19:29:32.961Z,1761506972.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167237,0.974803,0.147616],[-0.974972,-0.185764,0.122156],[0.146500,-0.123492,0.981472]]
2025-10-26T19:29:33.346Z,1761506973.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194089,0.966659,0.167032],[-0.966090,-0.217909,0.138512],[0.170291,-0.134484,0.976174]]
2025-10-26T19:29:33.750Z,1761506973.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219381,0.958657,0.181241],[-0.951643,-0.251208,0.176834],[0.215053,-0.133683,0.967410]]
2025-10-26T19:29:33.814Z,1761506973.814 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:29:33.814Z,1761506973.814 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:29:33.814Z,1761506973.814 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:29:33.814Z,1761506973.814 [marl:UpdateRudder:A] Stopped
2025-10-26T19:29:33.814Z,1761506973.814 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:29:33.814Z,1761506973.814 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:29:33.815Z,1761506973.815 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:29:33.815Z,1761506973.815 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:29:33.815Z,1761506973.815 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:29:33.819Z,1761506973.819 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:29:33.819Z,1761506973.819 [marl:UpdateCommandMode] Stopped
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed] Stopped
2025-10-26T19:29:33.820Z,1761506973.820 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:29:34.155Z,1761506974.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239578,0.950472,0.198005],[-0.942594,-0.276578,0.187141],[0.232636,-0.141804,0.962171]]
2025-10-26T19:29:34.181Z,1761506974.181 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:29:34.181Z,1761506974.181 [marl:UpdateRudder:B] Stopped
2025-10-26T19:29:34.181Z,1761506974.181 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:29:34.181Z,1761506974.181 [marl:UpdateRudder] Stopped
2025-10-26T19:29:34.181Z,1761506974.181 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:29:34.558Z,1761506974.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241951,0.945251,0.218997],[-0.942333,-0.282704,0.179130],[0.231234,-0.163027,0.959142]]
2025-10-26T19:29:34.963Z,1761506974.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244086,0.941559,0.232137],[-0.933506,-0.292966,0.206728],[0.262655,-0.166242,0.950461]]
2025-10-26T19:29:34.970Z,1761506974.970 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192934.00,A,3646.25158,N,12151.98612,W,0.816,265.00,261025,,,A*7A
2025-10-26T19:29:34.973Z,1761506974.973 [NAL9602](INFO): GPS fix at 20251026T192934: (36.770860, -121.866435)
2025-10-26T19:29:35.052Z,1761506975.052 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:29:35.053Z,1761506975.053 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:35.221Z,1761506975.221 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:29:35.221Z,1761506975.221 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:29:35.366Z,1761506975.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260927,0.934651,0.241544],[-0.915049,-0.319182,0.246592],[0.307574,-0.156682,0.938535]]
2025-10-26T19:29:35.477Z,1761506975.477 [DAT](INFO): DAT read: user:190>

2025-10-26T19:29:35.478Z,1761506975.478 [DAT](INFO): DAT read: Tx time:19:29:34.5573

2025-10-26T19:29:35.478Z,1761506975.478 [DAT](INFO): Ping request sent.
2025-10-26T19:29:35.478Z,1761506975.478 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:29:35.478Z,1761506975.478 [DAT](INFO): publishing transmit ping time
2025-10-26T19:29:35.480Z,1761506975.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000915
2025-10-26T19:29:35.725Z,1761506975.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246463
2025-10-26T19:29:35.776Z,1761506975.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262968,0.927255,0.266545],[-0.912201,-0.328931,0.244324],[0.314225,-0.178893,0.932341]]
2025-10-26T19:29:35.976Z,1761506975.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497982
2025-10-26T19:29:36.175Z,1761506976.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244341,0.926147,0.287315],[-0.923858,-0.312354,0.221182],[0.294591,-0.211395,0.931949]]
2025-10-26T19:29:36.228Z,1761506976.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749989
2025-10-26T19:29:36.480Z,1761506976.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002001
2025-10-26T19:29:36.578Z,1761506976.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231195,0.935125,0.268496],[-0.931227,-0.292608,0.217250],[0.281720,-0.199803,0.938463]]
2025-10-26T19:29:36.732Z,1761506976.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254067
2025-10-26T19:29:36.984Z,1761506976.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506001
2025-10-26T19:29:36.988Z,1761506976.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233909,0.948252,0.214722],[-0.933905,-0.280551,0.221611],[0.270384,-0.148693,0.951201]]
2025-10-26T19:29:37.236Z,1761506977.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758068
2025-10-26T19:29:37.387Z,1761506977.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234731,0.954572,0.183557],[-0.937646,-0.272148,0.216231],[0.256363,-0.121355,0.958932]]
2025-10-26T19:29:37.489Z,1761506977.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010386
2025-10-26T19:29:37.741Z,1761506977.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262617
2025-10-26T19:29:37.790Z,1761506977.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236825,0.953932,0.184194],[-0.937329,-0.274216,0.214991],[0.255595,-0.121735,0.959089]]
2025-10-26T19:29:37.992Z,1761506977.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514054
2025-10-26T19:29:38.194Z,1761506978.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246559,0.950381,0.189697],[-0.930544,-0.286845,0.227614],[0.270734,-0.120401,0.955095]]
2025-10-26T19:29:38.224Z,1761506978.224 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192937.00,A,3646.25113,N,12151.98699,W,1.788,253.47,261025,,,A*7A
2025-10-26T19:29:38.226Z,1761506978.226 [NAL9602](INFO): GPS fix at 20251026T192937: (36.770852, -121.866450)
2025-10-26T19:29:38.244Z,1761506978.244 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:29:38.244Z,1761506978.244 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:29:38.245Z,1761506978.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766430
2025-10-26T19:29:38.258Z,1761506978.258 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:38.497Z,1761506978.497 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:29:38.497Z,1761506978.497 [DAT](INFO): #Outgoing data=3
2025-10-26T19:29:38.497Z,1761506978.497 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:29:38.497Z,1761506978.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018999
2025-10-26T19:29:38.749Z,1761506978.749 [DAT](INFO): DAT read: Rx Time:19:29:37.3111

2025-10-26T19:29:38.749Z,1761506978.749 [DAT](INFO): Rx dataTimestamp_ set to:1761506978.749171
2025-10-26T19:29:38.750Z,1761506978.750 [DAT](INFO): setting remote address to 6
2025-10-26T19:29:38.751Z,1761506978.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272299
2025-10-26T19:29:38.000Z,1761506979.000 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:29:39.000Z,1761506979.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522123
2025-10-26T19:29:39.005Z,1761506979.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277878,0.935520,0.218142],[-0.905816,-0.330783,0.264726],[0.319814,-0.124035,0.939326]]
2025-10-26T19:29:39.259Z,1761506979.259 [DAT](INFO): DAT read: 19:29:37.3111 LVL= 16368, 14433, 20946, 23907, AGC= 71, IDX=  40, 0.14,-1.668,-1.440,-2.921,-1.471, PHS=-0.095, 0.076,-1.494, RAW=  24.3,  19.7, CAL=  22.4,  23.4, ROT= 127.6, -23.4

2025-10-26T19:29:39.261Z,1761506979.261 [DAT](INFO): got valid direction response:
 19:29:37.3111 LVL= 16368, 14433, 20946, 23907, AGC= 71, IDX=  40, 0.14,-1.668,-1.440,-2.921,-1.471, PHS=-0.095, 0.076,-1.494, RAW=  24.3,  19.7, CAL=  22.4,  23.4, ROT= 127.6, -23.4

2025-10-26T19:29:39.262Z,1761506979.262 [DAT](INFO): DAT read: Bearing   4, -26 (Remote)

2025-10-26T19:29:39.263Z,1761506979.263 [DAT](INFO): Remote Bearing received:Bearing   4, -26 (Remote)

2025-10-26T19:29:39.265Z,1761506979.265 [DAT](INFO): DAT read: Bearing 203.9,  29.4 (Local)

2025-10-26T19:29:39.265Z,1761506979.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.9,  29.4 (Local)

2025-10-26T19:29:39.267Z,1761506979.267 [DAT](INFO): DAT read: Range 11 to 20 : 543.5 m  (Round-trip  724.7 ms) speed -0.4 m/s

2025-10-26T19:29:39.268Z,1761506979.268 [DAT](INFO): DAT read: user:191>

2025-10-26T19:29:39.269Z,1761506979.269 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:29:39.269Z,1761506979.269 [DAT](INFO): set remote address to 6
2025-10-26T19:29:39.270Z,1761506979.270 [DAT](INFO): entering online mode
2025-10-26T19:29:39.434Z,1761506979.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273972,0.926191,0.259053],[-0.896355,-0.343529,0.280242],[0.348550,-0.155425,0.924314]]
2025-10-26T19:29:39.505Z,1761506979.505 [DAT](INFO): DAT read: user:192>

2025-10-26T19:29:39.506Z,1761506979.506 [DAT](INFO): DAT read: 

2025-10-26T19:29:39.508Z,1761506979.508 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:29:39.508Z,1761506979.508 [DAT](INFO): commRate: 600
2025-10-26T19:29:39.508Z,1761506979.508 [DAT](INFO): online mode acknowledged
2025-10-26T19:29:39.509Z,1761506979.509 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:29:39.514Z,1761506979.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032083
2025-10-26T19:29:39.756Z,1761506979.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277993
2025-10-26T19:29:39.810Z,1761506979.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264049,0.915711,0.302905],[-0.893684,-0.350404,0.280261],[0.362777,-0.196699,0.910880]]
2025-10-26T19:29:40.012Z,1761506980.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533575
2025-10-26T19:29:40.214Z,1761506980.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260981,0.909642,0.323171],[-0.900640,-0.349939,0.257664],[0.347472,-0.223816,0.910587]]
2025-10-26T19:29:40.261Z,1761506980.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782146
2025-10-26T19:29:40.513Z,1761506980.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034661
2025-10-26T19:29:40.618Z,1761506980.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265865,0.912835,0.309916],[-0.913111,-0.341541,0.222662],[0.309102,-0.223790,0.924324]]
2025-10-26T19:29:40.766Z,1761506980.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287703
2025-10-26T19:29:41.016Z,1761506981.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538131
2025-10-26T19:29:41.024Z,1761506981.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275253,0.921562,0.273786],[-0.920344,-0.334903,0.202005],[0.277852,-0.196375,0.940338]]
2025-10-26T19:29:41.029Z,1761506981.029 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192940.00,A,3646.25041,N,12151.98918,W,2.255,258.76,261025,,,A*75
2025-10-26T19:29:41.051Z,1761506981.051 [NAL9602](INFO): GPS fix at 20251026T192940: (36.770840, -121.866486)
2025-10-26T19:29:41.112Z,1761506981.112 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761506944.00. Resetting abort timer.
2025-10-26T19:29:41.268Z,1761506981.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790003
2025-10-26T19:29:41.433Z,1761506981.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288834,0.926779,0.240117],[-0.917309,-0.339700,0.207719],[0.274077,-0.160265,0.948260]]
2025-10-26T19:29:41.524Z,1761506981.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045473
2025-10-26T19:29:41.773Z,1761506981.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294214
2025-10-26T19:29:41.836Z,1761506981.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301141,0.922017,0.243307],[-0.909089,-0.354615,0.218643],[0.287873,-0.155345,0.944985]]
2025-10-26T19:29:42.025Z,1761506982.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546532
2025-10-26T19:29:42.126Z,1761506982.126 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:29:42.126Z,1761506982.126 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:29:42.234Z,1761506982.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309949,0.908289,0.280969],[-0.899586,-0.375811,0.222512],[0.307697,-0.183788,0.933566]]
2025-10-26T19:29:42.278Z,1761506982.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800150
2025-10-26T19:29:42.528Z,1761506982.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050083
2025-10-26T19:29:42.638Z,1761506982.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305716,0.895322,0.323940],[-0.894292,-0.386784,0.225033],[0.326772,-0.220901,0.918925]]
2025-10-26T19:29:42.721Z,1761506982.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:29:42.785Z,1761506982.785 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:29:41.9560

2025-10-26T19:29:42.786Z,1761506982.786 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:29:42.788Z,1761506982.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309508
2025-10-26T19:29:43.032Z,1761506983.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554045
2025-10-26T19:29:43.045Z,1761506983.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291849,0.892682,0.343427],[-0.896153,-0.380695,0.227992],[0.334266,-0.241224,0.911086]]
2025-10-26T19:29:43.284Z,1761506983.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805970
2025-10-26T19:29:43.447Z,1761506983.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284755,0.896855,0.338475],[-0.898588,-0.372705,0.231582],[0.333846,-0.238206,0.912033]]
2025-10-26T19:29:43.537Z,1761506983.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058685
2025-10-26T19:29:43.726Z,1761506983.726 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:29:43.788Z,1761506983.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310017
2025-10-26T19:29:43.850Z,1761506983.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292793,0.899380,0.324635],[-0.896079,-0.376559,0.235044],[0.333638,-0.222079,0.916170]]
2025-10-26T19:29:44.040Z,1761506984.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562092
2025-10-26T19:29:44.254Z,1761506984.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303513,0.896953,0.321489],[-0.891302,-0.386544,0.236990],[0.336839,-0.214614,0.916777]]
2025-10-26T19:29:44.292Z,1761506984.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814085
2025-10-26T19:29:44.544Z,1761506984.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066006
2025-10-26T19:29:44.658Z,1761506984.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309223,0.891170,0.331960],[-0.886692,-0.396353,0.238079],[0.343742,-0.220727,0.912755]]
2025-10-26T19:29:44.800Z,1761506984.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320646
2025-10-26T19:29:45.048Z,1761506985.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570051
2025-10-26T19:29:45.070Z,1761506985.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307773,0.884442,0.350768],[-0.883822,-0.402273,0.238821],[0.352327,-0.236514,0.905498]]
2025-10-26T19:29:45.300Z,1761506985.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822022
2025-10-26T19:29:45.466Z,1761506985.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302038,0.880518,0.365323],[-0.883669,-0.402371,0.239221],[0.357634,-0.250570,0.899618]]
2025-10-26T19:29:45.553Z,1761506985.553 [DAT](INFO): Reached modem response timeout
2025-10-26T19:29:45.870Z,1761506985.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297237,0.880543,0.369179],[-0.886486,-0.398133,0.235866],[0.354672,-0.257165,0.898929]]
2025-10-26T19:29:46.276Z,1761506986.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295566,0.885036,0.359655],[-0.891704,-0.390673,0.228558],[0.342790,-0.253152,0.904660]]
2025-10-26T19:29:46.678Z,1761506986.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298328,0.893561,0.335483],[-0.897532,-0.382210,0.219889],[0.324709,-0.235508,0.916024]]
2025-10-26T19:29:46.753Z,1761506986.753 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:29:46.754Z,1761506986.754 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:29:46.754Z,1761506986.754 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:29:46.754Z,1761506986.754 [marl:UpdateRudder:A] Stopped
2025-10-26T19:29:46.754Z,1761506986.754 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:29:46.754Z,1761506986.754 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:29:46.755Z,1761506986.755 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:29:46.755Z,1761506986.755 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:29:46.755Z,1761506986.755 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:29:46.755Z,1761506986.755 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:29:46.755Z,1761506986.755 [marl:UpdateCommandMode] Stopped
2025-10-26T19:29:46.755Z,1761506986.755 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed] Stopped
2025-10-26T19:29:46.756Z,1761506986.756 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:29:47.082Z,1761506987.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308138,0.900758,0.306081],[-0.900715,-0.379785,0.210894],[0.306210,-0.210707,0.928352]]
2025-10-26T19:29:47.146Z,1761506987.146 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:29:47.146Z,1761506987.146 [marl:UpdateRudder:B] Stopped
2025-10-26T19:29:47.146Z,1761506987.146 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:29:47.146Z,1761506987.146 [marl:UpdateRudder] Stopped
2025-10-26T19:29:47.146Z,1761506987.146 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:29:47.486Z,1761506987.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325637,0.901660,0.284553],[-0.898019,-0.389115,0.205307],[0.295841,-0.188678,0.936418]]
2025-10-26T19:29:47.896Z,1761506987.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346271,0.894349,0.283261],[-0.889867,-0.408728,0.202678],[0.297041,-0.181883,0.937382]]
2025-10-26T19:29:48.294Z,1761506988.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362890,0.880388,0.305331],[-0.880504,-0.431219,0.196881],[0.304996,-0.197399,0.931671]]
2025-10-26T19:29:48.704Z,1761506988.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368720,0.865040,0.340222],[-0.875929,-0.445848,0.184302],[0.311116,-0.230055,0.922107]]
2025-10-26T19:29:49.102Z,1761506989.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361033,0.856864,0.368022],[-0.880186,-0.443486,0.169095],[0.308104,-0.262879,0.914312]]
2025-10-26T19:29:49.507Z,1761506989.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350913,0.857478,0.376286],[-0.886606,-0.433547,0.161142],[0.301314,-0.277071,0.912383]]
2025-10-26T19:29:49.919Z,1761506989.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340916,0.865510,0.366973],[-0.892169,-0.420914,0.163911],[0.296330,-0.271522,0.915677]]
2025-10-26T19:29:50.316Z,1761506990.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332420,0.875138,0.351612],[-0.896069,-0.409360,0.171709],[0.294205,-0.257989,0.920263]]
2025-10-26T19:29:50.725Z,1761506990.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327235,0.881543,0.340292],[-0.898440,-0.401837,0.177011],[0.292784,-0.247808,0.923509]]
2025-10-26T19:29:51.122Z,1761506991.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321877,0.886196,0.333244],[-0.902185,-0.393841,0.175931],[0.287154,-0.244019,0.926281]]
2025-10-26T19:29:51.526Z,1761506991.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315352,0.891425,0.325444],[-0.908404,-0.382766,0.168203],[0.274510,-0.242591,0.930480]]
2025-10-26T19:29:51.932Z,1761506991.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309912,0.898779,0.310082],[-0.915473,-0.370126,0.157845],[0.256638,-0.234954,0.937515]]
2025-10-26T19:29:52.334Z,1761506992.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308993,0.906841,0.286641],[-0.920896,-0.360587,0.148076],[0.237640,-0.218212,0.946526]]
2025-10-26T19:29:52.740Z,1761506992.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314351,0.912427,0.262032],[-0.923364,-0.357971,0.138769],[0.220416,-0.198329,0.955030]]
2025-10-26T19:29:52.860Z,1761506992.860 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:29:53.112Z,1761506993.112 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:29:53.143Z,1761506993.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324568,0.914048,0.243253],[-0.923419,-0.361900,0.127775],[0.204826,-0.183153,0.961510]]
2025-10-26T19:29:53.364Z,1761506993.364 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:29:53.546Z,1761506993.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336889,0.911437,0.236197],[-0.922261,-0.369948,0.112129],[0.189579,-0.180060,0.965214]]
2025-10-26T19:29:53.951Z,1761506993.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349402,0.905412,0.241138],[-0.920394,-0.379858,0.092644],[0.175479,-0.189572,0.966059]]
2025-10-26T19:29:54.354Z,1761506994.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360899,0.897963,0.251823],[-0.917865,-0.389819,0.074601],[0.165154,-0.204216,0.964894]]
2025-10-26T19:29:54.758Z,1761506994.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371640,0.890316,0.263099],[-0.914410,-0.400015,0.061985],[0.160430,-0.217545,0.962775]]
2025-10-26T19:29:55.164Z,1761506995.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383461,0.882769,0.271434],[-0.909718,-0.411721,0.053836],[0.159280,-0.226285,0.960950]]
2025-10-26T19:29:55.566Z,1761506995.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397590,0.875204,0.275573],[-0.903869,-0.425269,0.046551],[0.157934,-0.230573,0.960152]]
2025-10-26T19:29:55.970Z,1761506995.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413326,0.867688,0.276189],[-0.897389,-0.439594,0.038076],[0.154449,-0.232111,0.960349]]
2025-10-26T19:29:56.377Z,1761506996.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428654,0.860243,0.276112],[-0.890802,-0.453420,0.029717],[0.150759,-0.233223,0.960666]]
2025-10-26T19:29:56.641Z,1761506996.641 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:29:55.8059

2025-10-26T19:29:56.641Z,1761506996.641 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:29:56.802Z,1761506996.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439717,0.854460,0.276672],[-0.885810,-0.463453,0.023480],[0.148287,-0.234754,0.960678]]
2025-10-26T19:29:57.182Z,1761506997.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444025,0.851426,0.279133],[-0.883936,-0.467220,0.019034],[0.146623,-0.238284,0.960064]]
2025-10-26T19:29:57.586Z,1761506997.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444915,0.849182,0.284501],[-0.883510,-0.468150,0.015667],[0.146493,-0.244389,0.958548]]
2025-10-26T19:29:57.990Z,1761506997.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444925,0.847222,0.290270],[-0.883504,-0.468257,0.012486],[0.146499,-0.250899,0.956863]]
2025-10-26T19:29:58.405Z,1761506998.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443980,0.845858,0.295644],[-0.884150,-0.467122,0.008705],[0.145465,-0.257529,0.955259]]
2025-10-26T19:29:58.842Z,1761506998.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441761,0.846305,0.297683],[-0.885805,-0.464033,0.004701],[0.142114,-0.261613,0.954653]]
2025-10-26T19:29:59.607Z,1761506999.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431337,0.856075,0.284753],[-0.893172,-0.449714,-0.000945],[0.127248,-0.254741,0.958601]]
2025-10-26T19:29:59.631Z,1761506999.631 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:29:59.631Z,1761506999.631 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:29:59.632Z,1761506999.632 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:29:59.632Z,1761506999.632 [marl:UpdateRudder:A] Stopped
2025-10-26T19:29:59.632Z,1761506999.632 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:29:59.632Z,1761506999.632 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:29:59.632Z,1761506999.632 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:29:59.632Z,1761506999.632 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateCommandMode] Stopped
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:29:59.633Z,1761506999.633 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:29:59.634Z,1761506999.634 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:29:59.634Z,1761506999.634 [marl:UpdateSpeed] Stopped
2025-10-26T19:29:59.634Z,1761506999.634 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:30:00.011Z,1761507000.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424372,0.864603,0.269017],[-0.898178,-0.439614,-0.003977],[0.114825,-0.243313,0.963127]]
2025-10-26T19:30:00.038Z,1761507000.038 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:30:00.038Z,1761507000.038 [marl:UpdateRudder:B] Stopped
2025-10-26T19:30:00.038Z,1761507000.039 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:30:00.039Z,1761507000.039 [marl:UpdateRudder] Stopped
2025-10-26T19:30:00.039Z,1761507000.039 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:30:00.418Z,1761507000.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417915,0.874006,0.247912],[-0.903134,-0.429262,-0.009100],[0.098465,-0.227701,0.968740]]
2025-10-26T19:30:00.848Z,1761507000.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416048,0.881192,0.224508],[-0.905843,-0.423256,-0.017391],[0.079700,-0.210605,0.974317]]
2025-10-26T19:30:01.222Z,1761507001.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419579,0.884502,0.203986],[-0.905563,-0.423354,-0.026949],[0.062522,-0.196030,0.978603]]
2025-10-26T19:30:01.628Z,1761507001.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427721,0.883657,0.190277],[-0.902427,-0.429506,-0.033907],[0.051763,-0.186213,0.981145]]
2025-10-26T19:30:02.030Z,1761507002.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438631,0.879344,0.185358],[-0.897296,-0.439933,-0.036309],[0.049617,-0.182247,0.982000]]
2025-10-26T19:30:02.438Z,1761507002.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439141,0.878419,0.188506],[-0.897207,-0.439678,-0.041264],[0.046634,-0.187249,0.981205]]
2025-10-26T19:30:02.852Z,1761507002.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435201,0.879226,0.193807],[-0.899390,-0.434406,-0.048885],[0.041210,-0.195583,0.979821]]
2025-10-26T19:30:03.268Z,1761507003.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430967,0.880950,0.195434],[-0.901783,-0.428263,-0.058127],[0.032490,-0.201290,0.978993]]
2025-10-26T19:30:03.670Z,1761507003.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431087,0.882034,0.190211],[-0.902033,-0.426497,-0.066608],[0.022374,-0.200290,0.979481]]
2025-10-26T19:30:04.076Z,1761507004.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437116,0.881267,0.179715],[-0.899313,-0.431126,-0.073263],[0.012915,-0.193644,0.980987]]
2025-10-26T19:30:04.479Z,1761507004.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445958,0.878819,0.169702],[-0.895045,-0.438710,-0.080175],[0.003991,-0.187646,0.982229]]
2025-10-26T19:30:04.891Z,1761507004.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456924,0.873675,0.167070],[-0.889500,-0.448086,-0.089492],[-0.003325,-0.189499,0.981875]]
2025-10-26T19:30:05.286Z,1761507005.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468182,0.866587,0.172724],[-0.883591,-0.457231,-0.101033],[-0.008579,-0.199919,0.979775]]
2025-10-26T19:30:05.366Z,1761507005.366 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:30:05.476Z,1761507005.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:30:05.527Z,1761507005.527 [DAT](INFO): entering command mode
2025-10-26T19:30:05.692Z,1761507005.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476483,0.859170,0.186522],[-0.879106,-0.462770,-0.114092],[-0.011708,-0.218336,0.975803]]
2025-10-26T19:30:05.729Z,1761507005.729 [DAT](INFO): DAT read: 

2025-10-26T19:30:05.730Z,1761507005.730 [DAT](INFO): DAT read: user:193>

2025-10-26T19:30:05.731Z,1761507005.731 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:30:05.731Z,1761507005.731 [DAT](INFO): setting remote address to 0
2025-10-26T19:30:05.980Z,1761507005.980 [DAT](INFO): DAT read: user:193>

2025-10-26T19:30:05.981Z,1761507005.981 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:30:05.982Z,1761507005.982 [DAT](INFO): set remote address to 0
2025-10-26T19:30:05.982Z,1761507005.982 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:30:05.982Z,1761507005.982 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:30:06.098Z,1761507006.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479323,0.853849,0.202957],[-0.877547,-0.462947,-0.124863],[-0.012656,-0.237954,0.971194]]
2025-10-26T19:30:06.232Z,1761507006.232 [DAT](INFO): DAT read: user:194>

2025-10-26T19:30:06.233Z,1761507006.233 [DAT](INFO): DAT read: Tx time:19:30:05.3070

2025-10-26T19:30:06.233Z,1761507006.233 [DAT](INFO): Ping request sent.
2025-10-26T19:30:06.233Z,1761507006.233 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:30:06.234Z,1761507006.234 [DAT](INFO): publishing transmit ping time
2025-10-26T19:30:06.234Z,1761507006.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000977
2025-10-26T19:30:06.484Z,1761507006.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250888
2025-10-26T19:30:06.500Z,1761507006.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476177,0.852376,0.216128],[-0.879262,-0.458064,-0.130670],[-0.012380,-0.252255,0.967582]]
2025-10-26T19:30:06.736Z,1761507006.736 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:30:06.736Z,1761507006.736 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:30:06.737Z,1761507006.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503221
2025-10-26T19:30:06.902Z,1761507006.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468037,0.855092,0.223065],[-0.883620,-0.449259,-0.131843],[-0.012524,-0.258812,0.965847]]
2025-10-26T19:30:06.988Z,1761507006.988 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:30:06.989Z,1761507006.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755104
2025-10-26T19:30:07.240Z,1761507007.240 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:30:07.240Z,1761507007.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007037
2025-10-26T19:30:07.307Z,1761507007.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456675,0.861495,0.221978],[-0.889489,-0.437653,-0.131417],[-0.016066,-0.257462,0.966155]]
2025-10-26T19:30:07.492Z,1761507007.492 [DAT](INFO): setting remote address to 6
2025-10-26T19:30:07.493Z,1761507007.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259293
2025-10-26T19:30:07.714Z,1761507007.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444727,0.869962,0.213033],[-0.895346,-0.425457,-0.131687],[-0.023926,-0.249303,0.968130]]
2025-10-26T19:30:07.744Z,1761507007.744 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:07.744Z,1761507007.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510981
2025-10-26T19:30:07.997Z,1761507007.997 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:07.997Z,1761507007.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763683
2025-10-26T19:30:08.114Z,1761507008.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435870,0.877856,0.198459],[-0.899384,-0.416624,-0.132413],[-0.033556,-0.236205,0.971124]]
2025-10-26T19:30:08.248Z,1761507008.248 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:08.248Z,1761507008.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015086
2025-10-26T19:30:08.500Z,1761507008.500 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:08.500Z,1761507008.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004
2025-10-26T19:30:08.525Z,1761507008.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432839,0.883205,0.180556],[-0.900529,-0.414467,-0.131398],[-0.041217,-0.219470,0.974748]]
2025-10-26T19:30:08.752Z,1761507008.752 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:08.752Z,1761507008.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519064
2025-10-26T19:30:08.924Z,1761507008.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435309,0.885534,0.162284],[-0.899116,-0.418456,-0.128392],[-0.045787,-0.201802,0.978355]]
2025-10-26T19:30:09.004Z,1761507009.004 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:09.005Z,1761507009.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771205
2025-10-26T19:30:09.256Z,1761507009.256 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:09.257Z,1761507009.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023112
2025-10-26T19:30:09.326Z,1761507009.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442089,0.884764,0.147477],[-0.895695,-0.426685,-0.125178],[-0.047827,-0.187434,0.981112]]
2025-10-26T19:30:09.509Z,1761507009.509 [DAT](INFO): DAT read: Rx Time:19:30:08.0914

2025-10-26T19:30:09.510Z,1761507009.510 [DAT](INFO): Rx dataTimestamp_ set to:1761507009.509330
2025-10-26T19:30:09.510Z,1761507009.510 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:09.510Z,1761507009.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276872
2025-10-26T19:30:09.734Z,1761507009.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451722,0.881373,0.138308],[-0.890807,-0.437055,-0.124280],[-0.049089,-0.179345,0.982561]]
2025-10-26T19:30:09.760Z,1761507009.760 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:09.761Z,1761507009.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527110
2025-10-26T19:30:10.019Z,1761507010.019 [DAT](INFO): DAT read: 19:30:08.0914 LVL= 21120, 14897, 22226, 22259, AGC= 71, IDX= 162, 0.27, 1.722, 2.486, 0.756, 1.914, PHS=-0.090, 0.616,-1.202, RAW=   7.3,   8.6, CAL=   7.3,   9.0, ROT= 142.7,  -9.0

2025-10-26T19:30:10.020Z,1761507010.020 [DAT](INFO): got valid direction response:
 19:30:08.0914 LVL= 21120, 14897, 22226, 22259, AGC= 71, IDX= 162, 0.27, 1.722, 2.486, 0.756, 1.914, PHS=-0.090, 0.616,-1.202, RAW=   7.3,   8.6, CAL=   7.3,   9.0, ROT= 142.7,  -9.0

2025-10-26T19:30:10.021Z,1761507010.021 [DAT](INFO): DAT read: Bearing 329, -12 (Remote)

2025-10-26T19:30:10.022Z,1761507010.022 [DAT](INFO): Remote Bearing received:Bearing 329, -12 (Remote)

2025-10-26T19:30:10.023Z,1761507010.023 [DAT](INFO): DAT read: Bearing 205.2,  36.8 (Local)

2025-10-26T19:30:10.023Z,1761507010.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.2,  36.8 (Local)

2025-10-26T19:30:10.025Z,1761507010.025 [DAT](INFO): DAT read: Range 11 to 20 : 566.4 m  (Round-trip  755.2 ms) speed -0.5 m/s

2025-10-26T19:30:10.025Z,1761507010.025 [DAT](INFO): DAT read: user:195>

2025-10-26T19:30:10.026Z,1761507010.026 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:30:10.027Z,1761507010.027 [DAT](INFO): set remote address to 6
2025-10-26T19:30:10.028Z,1761507010.028 [DAT](INFO): entering online mode
2025-10-26T19:30:10.134Z,1761507010.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462428,0.876272,0.135307],[-0.885211,-0.447557,-0.126862],[-0.050608,-0.178440,0.982648]]
2025-10-26T19:30:10.264Z,1761507010.264 [DAT](INFO): DAT read: user:196>

2025-10-26T19:30:10.265Z,1761507010.265 [DAT](INFO): DAT read: 

2025-10-26T19:30:10.266Z,1761507010.266 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:30:10.266Z,1761507010.266 [DAT](INFO): commRate: 600
2025-10-26T19:30:10.266Z,1761507010.266 [DAT](INFO): online mode acknowledged
2025-10-26T19:30:10.267Z,1761507010.267 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:30:10.268Z,1761507010.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033772
2025-10-26T19:30:10.516Z,1761507010.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282952
2025-10-26T19:30:10.552Z,1761507010.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475971,0.867560,0.144193],[-0.877836,-0.458700,-0.137835],[-0.053438,-0.192183,0.979903]]
2025-10-26T19:30:10.768Z,1761507010.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534977
2025-10-26T19:30:11.021Z,1761507011.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787654
2025-10-26T19:30:11.272Z,1761507011.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038995
2025-10-26T19:30:11.361Z,1761507011.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477256,0.863470,0.163235],[-0.877382,-0.457797,-0.143604],[-0.049269,-0.211755,0.976080]]
2025-10-26T19:30:11.524Z,1761507011.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290902
2025-10-26T19:30:11.755Z,1761507011.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475574,0.862533,0.172817],[-0.878431,-0.455202,-0.145429],[-0.046771,-0.220970,0.974159]]
2025-10-26T19:30:11.777Z,1761507011.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543656
2025-10-26T19:30:12.029Z,1761507012.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795581
2025-10-26T19:30:12.159Z,1761507012.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473233,0.862323,0.180140],[-0.879710,-0.451795,-0.148298],[-0.046495,-0.228651,0.972398]]
2025-10-26T19:30:12.280Z,1761507012.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046941
2025-10-26T19:30:12.532Z,1761507012.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298916
2025-10-26T19:30:12.573Z,1761507012.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471484,0.862197,0.185257],[-0.880621,-0.449108,-0.151026],[-0.047014,-0.234348,0.971015]]
2025-10-26T19:30:12.787Z,1761507012.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553170
2025-10-26T19:30:12.962Z,1761507012.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469970,0.861814,0.190799],[-0.881501,-0.447063,-0.151958],[-0.045660,-0.239605,0.969796]]
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateRudder:A] Stopped
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:30:13.014Z,1761507013.014 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:30:13.015Z,1761507013.015 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:30:13.015Z,1761507013.015 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:30:13.015Z,1761507013.015 [marl:UpdateCommandMode] Stopped
2025-10-26T19:30:13.015Z,1761507013.015 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:30:13.018Z,1761507013.018 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:30:13.018Z,1761507013.018 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:30:13.018Z,1761507013.018 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:30:13.019Z,1761507013.019 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:30:13.019Z,1761507013.019 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:30:13.019Z,1761507013.019 [marl:UpdateSpeed] Stopped
2025-10-26T19:30:13.019Z,1761507013.019 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:30:13.036Z,1761507013.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802829
2025-10-26T19:30:13.288Z,1761507013.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054871
2025-10-26T19:30:13.373Z,1761507013.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466355,0.862186,0.197858],[-0.883562,-0.443187,-0.151338],[-0.042793,-0.245397,0.968478]]
2025-10-26T19:30:13.426Z,1761507013.426 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:30:13.426Z,1761507013.426 [marl:UpdateRudder:B] Stopped
2025-10-26T19:30:13.426Z,1761507013.426 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:30:13.426Z,1761507013.426 [marl:UpdateRudder] Stopped
2025-10-26T19:30:13.426Z,1761507013.426 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:30:13.541Z,1761507013.541 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:30:12.7058

2025-10-26T19:30:13.541Z,1761507013.541 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:30:13.541Z,1761507013.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308054
2025-10-26T19:30:13.770Z,1761507013.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460336,0.864172,0.203220],[-0.886894,-0.437663,-0.147885],[-0.038856,-0.248312,0.967901]]
2025-10-26T19:30:13.792Z,1761507013.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558953
2025-10-26T19:30:13.856Z,1761507013.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:30:14.045Z,1761507014.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811627
2025-10-26T19:30:14.174Z,1761507014.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451960,0.867744,0.206765],[-0.891365,-0.430315,-0.142470],[-0.034653,-0.248694,0.967962]]
2025-10-26T19:30:14.296Z,1761507014.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063018
2025-10-26T19:30:14.550Z,1761507014.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316135
2025-10-26T19:30:14.589Z,1761507014.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441709,0.873062,0.206532],[-0.896598,-0.421441,-0.136014],[-0.031708,-0.245255,0.968940]]
2025-10-26T19:30:14.803Z,1761507014.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569429
2025-10-26T19:30:14.860Z,1761507014.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:30:14.984Z,1761507014.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431065,0.879352,0.202292],[-0.901801,-0.412241,-0.129663],[-0.030626,-0.238320,0.970704]]
2025-10-26T19:30:15.053Z,1761507015.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819075
2025-10-26T19:30:15.304Z,1761507015.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070928
2025-10-26T19:30:15.387Z,1761507015.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422913,0.884966,0.194886],[-0.905613,-0.405219,-0.125150],[-0.031782,-0.229419,0.972809]]
2025-10-26T19:30:15.556Z,1761507015.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323006
2025-10-26T19:30:15.790Z,1761507015.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419176,0.889476,0.181998],[-0.907227,-0.402615,-0.121824],[-0.035085,-0.216179,0.975723]]
2025-10-26T19:30:15.808Z,1761507015.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575049
2025-10-26T19:30:16.061Z,1761507016.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827094
2025-10-26T19:30:16.194Z,1761507016.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419509,0.892304,0.166750],[-0.906889,-0.403973,-0.119830],[-0.039562,-0.201494,0.978691]]
2025-10-26T19:30:16.312Z,1761507016.312 [DAT](INFO): Reached modem response timeout
2025-10-26T19:30:16.606Z,1761507016.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424212,0.892645,0.152409],[-0.904534,-0.409664,-0.118298],[-0.043162,-0.188042,0.981212]]
2025-10-26T19:30:17.002Z,1761507017.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432481,0.889948,0.144751],[-0.900601,-0.418664,-0.116778],[-0.043324,-0.180868,0.982553]]
2025-10-26T19:30:17.406Z,1761507017.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443566,0.883993,0.147666],[-0.895431,-0.430101,-0.114966],[-0.038118,-0.183220,0.982333]]
2025-10-26T19:30:17.810Z,1761507017.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455514,0.876103,0.157957],[-0.889770,-0.442360,-0.112368],[-0.028572,-0.191730,0.981032]]
2025-10-26T19:30:18.218Z,1761507018.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462311,0.869271,0.175034],[-0.886527,-0.449023,-0.111571],[-0.018391,-0.206753,0.978220]]
2025-10-26T19:30:18.618Z,1761507018.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461906,0.865151,0.195336],[-0.886872,-0.448030,-0.112816],[-0.010086,-0.225348,0.974226]]
2025-10-26T19:30:19.022Z,1761507019.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456181,0.863334,0.215764],[-0.889881,-0.441627,-0.114361],[-0.003445,-0.244173,0.969725]]
2025-10-26T19:30:19.426Z,1761507019.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446170,0.864207,0.232549],[-0.894947,-0.431301,-0.114234],[0.001577,-0.259087,0.965853]]
2025-10-26T19:30:19.833Z,1761507019.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434902,0.866513,0.244978],[-0.900459,-0.420260,-0.112054],[0.005858,-0.269325,0.963032]]
2025-10-26T19:30:20.234Z,1761507020.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424371,0.870955,0.247684],[-0.905444,-0.410871,-0.106563],[0.008955,-0.269486,0.962963]]
2025-10-26T19:30:20.638Z,1761507020.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415695,0.877913,0.237626],[-0.909456,-0.403922,-0.098677],[0.009352,-0.257130,0.966331]]
2025-10-26T19:30:21.042Z,1761507021.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411690,0.885217,0.216567],[-0.911294,-0.401811,-0.089953],[0.007391,-0.234389,0.972115]]
2025-10-26T19:30:21.447Z,1761507021.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414071,0.889594,0.192789],[-0.910229,-0.405921,-0.081928],[0.005374,-0.209406,0.977814]]
2025-10-26T19:30:21.859Z,1761507021.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422142,0.889306,0.175870],[-0.906511,-0.415371,-0.075530],[0.005882,-0.191313,0.981511]]
2025-10-26T19:30:22.254Z,1761507022.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433016,0.884875,0.171737],[-0.901321,-0.427350,-0.070664],[0.010863,-0.185389,0.982605]]
2025-10-26T19:30:22.658Z,1761507022.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444324,0.877340,0.181248],[-0.895632,-0.439648,-0.067478],[0.020484,-0.192314,0.981120]]
2025-10-26T19:30:23.063Z,1761507023.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454308,0.868309,0.199107],[-0.890258,-0.450631,-0.066119],[0.032312,-0.207295,0.977745]]
2025-10-26T19:30:23.468Z,1761507023.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457710,0.861423,0.220119],[-0.888099,-0.454712,-0.067205],[0.042199,-0.226248,0.973155]]
2025-10-26T19:30:23.628Z,1761507023.628 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:30:23.874Z,1761507023.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452715,0.858654,0.240338],[-0.890324,-0.450035,-0.069228],[0.048718,-0.245319,0.968217]]
2025-10-26T19:30:23.881Z,1761507023.881 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:30:24.132Z,1761507024.132 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:30:24.274Z,1761507024.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445702,0.858276,0.254385],[-0.893515,-0.443861,-0.067952],[0.054590,-0.257583,0.964713]]
2025-10-26T19:30:24.685Z,1761507024.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437068,0.860110,0.263025],[-0.897463,-0.436368,-0.064360],[0.059419,-0.264185,0.962640]]
2025-10-26T19:30:25.082Z,1761507025.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427874,0.864334,0.264292],[-0.901706,-0.428283,-0.059165],[0.062053,-0.263629,0.962626]]
2025-10-26T19:30:25.486Z,1761507025.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420647,0.869543,0.258750],[-0.905071,-0.421859,-0.053686],[0.062474,-0.256770,0.964451]]
2025-10-26T19:30:25.891Z,1761507025.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419091,0.873272,0.248513],[-0.905668,-0.421444,-0.046364],[0.064246,-0.244501,0.967518]]
2025-10-26T19:30:25.955Z,1761507025.955 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:30:25.955Z,1761507025.955 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:30:25.955Z,1761507025.955 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateRudder:A] Stopped
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:30:25.960Z,1761507025.960 [marl:UpdateCommandMode] Stopped
2025-10-26T19:30:25.961Z,1761507025.961 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:30:26.294Z,1761507026.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422553,0.874696,0.237392],[-0.903611,-0.426879,-0.035530],[0.070259,-0.229523,0.970764]]
2025-10-26T19:30:26.351Z,1761507026.351 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:30:26.351Z,1761507026.351 [marl:UpdateRudder:B] Stopped
2025-10-26T19:30:26.368Z,1761507026.368 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:30:26.368Z,1761507026.368 [marl:UpdateRudder] Stopped
2025-10-26T19:30:26.368Z,1761507026.368 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:30:26.368Z,1761507026.368 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:30:26.368Z,1761507026.368 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:30:26.368Z,1761507026.368 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:30:26.369Z,1761507026.369 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:30:26.369Z,1761507026.369 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:30:26.369Z,1761507026.369 [marl:UpdateSpeed] Stopped
2025-10-26T19:30:26.369Z,1761507026.369 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:30:26.701Z,1761507026.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424086,0.875647,0.231071],[-0.902207,-0.430640,-0.023908],[0.078574,-0.218613,0.972643]]
2025-10-26T19:30:27.103Z,1761507027.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420952,0.876707,0.232776],[-0.902798,-0.429846,-0.013687],[0.088059,-0.215912,0.972434]]
2025-10-26T19:30:27.409Z,1761507027.409 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:30:26.5571

2025-10-26T19:30:27.409Z,1761507027.409 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:30:27.508Z,1761507027.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414622,0.877228,0.241990],[-0.904876,-0.425609,-0.007545],[0.096374,-0.222100,0.970249]]
2025-10-26T19:30:27.910Z,1761507027.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406575,0.878405,0.251200],[-0.908009,-0.418924,-0.004734],[0.101075,-0.230017,0.967924]]
2025-10-26T19:30:28.314Z,1761507028.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397395,0.881584,0.254730],[-0.911917,-0.410368,-0.002424],[0.102396,-0.233256,0.967009]]
2025-10-26T19:30:28.727Z,1761507028.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389704,0.886126,0.250822],[-0.915300,-0.402773,0.000844],[0.101772,-0.229248,0.968033]]
2025-10-26T19:30:29.157Z,1761507029.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385863,0.889988,0.242963],[-0.917029,-0.398796,0.004426],[0.100832,-0.221097,0.970025]]
2025-10-26T19:30:29.558Z,1761507029.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387214,0.892359,0.231865],[-0.916389,-0.400171,0.009736],[0.101474,-0.208709,0.972699]]
2025-10-26T19:30:29.962Z,1761507029.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392325,0.892215,0.223682],[-0.913942,-0.405576,0.014746],[0.103877,-0.198647,0.974551]]
2025-10-26T19:30:30.366Z,1761507030.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399230,0.889639,0.221716],[-0.910522,-0.413071,0.017935],[0.107540,-0.194717,0.974946]]
2025-10-26T19:30:30.774Z,1761507030.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406862,0.885495,0.224414],[-0.906632,-0.421478,0.019352],[0.111722,-0.195587,0.974302]]
2025-10-26T19:30:31.175Z,1761507031.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413853,0.880609,0.230766],[-0.903032,-0.429184,0.018288],[0.115146,-0.200820,0.972837]]
2025-10-26T19:30:31.578Z,1761507031.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418754,0.876533,0.237352],[-0.900522,-0.434519,0.015897],[0.117068,-0.207084,0.971294]]
2025-10-26T19:30:31.982Z,1761507031.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423355,0.872930,0.242415],[-0.898257,-0.439275,0.013096],[0.117918,-0.212207,0.970084]]
2025-10-26T19:30:32.835Z,1761507032.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433681,0.867087,0.245113],[-0.893139,-0.449659,0.010428],[0.119259,-0.214398,0.969438]]
2025-10-26T19:30:33.194Z,1761507033.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439322,0.863455,0.247874],[-0.890215,-0.455457,0.008777],[0.120474,-0.216805,0.968753]]
2025-10-26T19:30:33.598Z,1761507033.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443937,0.859411,0.253639],[-0.887579,-0.460600,0.007161],[0.122980,-0.221945,0.967273]]
2025-10-26T19:30:34.003Z,1761507034.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446378,0.855765,0.261557],[-0.885830,-0.463968,0.006241],[0.126695,-0.228909,0.965168]]
2025-10-26T19:30:34.407Z,1761507034.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446375,0.852688,0.271426],[-0.885248,-0.465090,0.005247],[0.130712,-0.237937,0.962445]]
2025-10-26T19:30:34.846Z,1761507034.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443883,0.850894,0.280976],[-0.886106,-0.463469,0.003685],[0.133359,-0.247339,0.959708]]
2025-10-26T19:30:35.214Z,1761507035.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438437,0.851436,0.287801],[-0.888809,-0.458274,0.001750],[0.133382,-0.255032,0.957689]]
2025-10-26T19:30:35.618Z,1761507035.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431373,0.854137,0.290461],[-0.892564,-0.450921,0.000415],[0.131329,-0.259076,0.956887]]
2025-10-26T19:30:35.644Z,1761507035.644 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:30:35.732Z,1761507035.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:30:35.784Z,1761507035.784 [DAT](INFO): entering command mode
2025-10-26T19:30:35.984Z,1761507035.984 [DAT](INFO): DAT read: 

2025-10-26T19:30:35.984Z,1761507035.984 [DAT](INFO): DAT read: user:197>

2025-10-26T19:30:35.985Z,1761507035.985 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:30:35.985Z,1761507035.985 [DAT](INFO): setting remote address to 0
2025-10-26T19:30:36.025Z,1761507036.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422992,0.859107,0.288119],[-0.897043,-0.441942,0.000813],[0.128030,-0.258111,0.957594]]
2025-10-26T19:30:36.236Z,1761507036.236 [DAT](INFO): DAT read: user:197>

2025-10-26T19:30:36.237Z,1761507036.237 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:30:36.238Z,1761507036.238 [DAT](INFO): set remote address to 0
2025-10-26T19:30:36.238Z,1761507036.238 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:30:36.238Z,1761507036.238 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:30:36.426Z,1761507036.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413502,0.865365,0.283125],[-0.901994,-0.431742,0.002255],[0.124189,-0.254445,0.959080]]
2025-10-26T19:30:36.488Z,1761507036.488 [DAT](INFO): DAT read: user:198>

2025-10-26T19:30:36.489Z,1761507036.489 [DAT](INFO): DAT read: Tx time:19:30:35.5569

2025-10-26T19:30:36.489Z,1761507036.489 [DAT](INFO): Ping request sent.
2025-10-26T19:30:36.489Z,1761507036.489 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:30:36.490Z,1761507036.490 [DAT](INFO): publishing transmit ping time
2025-10-26T19:30:36.490Z,1761507036.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000979
2025-10-26T19:30:36.740Z,1761507036.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250890
2025-10-26T19:30:36.849Z,1761507036.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406649,0.871379,0.274472],[-0.905509,-0.424292,0.005448],[0.121204,-0.246322,0.961580]]
2025-10-26T19:30:36.993Z,1761507036.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503306
2025-10-26T19:30:37.242Z,1761507037.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404617,0.875228,0.265069],[-0.906530,-0.422029,0.009712],[0.120367,-0.236363,0.964181]]
2025-10-26T19:30:37.244Z,1761507037.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936
2025-10-26T19:30:37.496Z,1761507037.496 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:30:37.496Z,1761507037.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006991
2025-10-26T19:30:37.638Z,1761507037.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404132,0.877552,0.258032],[-0.906808,-0.421352,0.012743],[0.119905,-0.228836,0.966052]]
2025-10-26T19:30:37.748Z,1761507037.748 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:30:37.748Z,1761507037.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258943
2025-10-26T19:30:38.000Z,1761507038.000 [DAT](INFO): setting remote address to 6
2025-10-26T19:30:38.001Z,1761507038.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511125
2025-10-26T19:30:38.042Z,1761507038.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403705,0.878941,0.253940],[-0.907098,-0.420686,0.014011],[0.119144,-0.224692,0.967119]]
2025-10-26T19:30:38.252Z,1761507038.252 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:38.253Z,1761507038.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763016
2025-10-26T19:30:38.446Z,1761507038.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402075,0.879892,0.253230],[-0.907905,-0.418938,0.014115],[0.118507,-0.224234,0.967303]]
2025-10-26T19:30:38.504Z,1761507038.504 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:38.505Z,1761507038.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015311
2025-10-26T19:30:38.756Z,1761507038.756 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:38.756Z,1761507038.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267001
2025-10-26T19:30:38.855Z,1761507038.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398830,0.881161,0.253949],[-0.909398,-0.415686,0.014138],[0.118021,-0.225302,0.967114]]
2025-10-26T19:30:38.907Z,1761507038.907 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:30:38.907Z,1761507038.907 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:30:38.907Z,1761507038.907 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:30:38.911Z,1761507038.911 [marl:UpdateRudder:A] Stopped
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode] Stopped
2025-10-26T19:30:38.912Z,1761507038.912 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:30:39.008Z,1761507039.008 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:39.009Z,1761507039.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519037
2025-10-26T19:30:39.266Z,1761507039.266 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:39.267Z,1761507039.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777210
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateRudder:B] Stopped
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateRudder] Stopped
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:30:39.346Z,1761507039.346 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:30:39.347Z,1761507039.347 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:30:39.347Z,1761507039.347 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:30:39.347Z,1761507039.347 [marl:UpdateSpeed] Stopped
2025-10-26T19:30:39.347Z,1761507039.347 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:30:39.516Z,1761507039.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:39.516Z,1761507039.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027001
2025-10-26T19:30:39.658Z,1761507039.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387705,0.886065,0.254113],[-0.914092,-0.405111,0.017934],[0.118835,-0.225330,0.967008]]
2025-10-26T19:30:39.768Z,1761507039.768 [DAT](INFO): DAT read: Rx Time:19:30:38.3750

2025-10-26T19:30:39.769Z,1761507039.769 [DAT](INFO): Rx dataTimestamp_ set to:1761507039.768570
2025-10-26T19:30:39.769Z,1761507039.769 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:39.770Z,1761507039.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280039
2025-10-26T19:30:40.020Z,1761507040.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:30:40.021Z,1761507040.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531017
2025-10-26T19:30:40.066Z,1761507040.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380521,0.889886,0.251607],[-0.917033,-0.398228,0.021570],[0.119392,-0.222524,0.967589]]
2025-10-26T19:30:40.279Z,1761507040.279 [DAT](INFO): DAT read: 19:30:38.3750 LVL= 32752, 32145, 32754, 32755, AGC= 69, IDX= 184,-0.05, 0.269, 1.081,-0.646, 0.605, PHS=-0.234, 0.521,-1.294, RAW=   5.5,  12.7, CAL=   5.6,  15.1, ROT= 144.4, -15.1

2025-10-26T19:30:40.280Z,1761507040.280 [DAT](INFO): got valid direction response:
 19:30:38.3750 LVL= 32752, 32145, 32754, 32755, AGC= 69, IDX= 184,-0.05, 0.269, 1.081,-0.646, 0.605, PHS=-0.234, 0.521,-1.294, RAW=   5.5,  12.7, CAL=   5.6,  15.1, ROT= 144.4, -15.1

2025-10-26T19:30:40.281Z,1761507040.281 [DAT](INFO): DAT read: Bearing  10,   4 (Remote)

2025-10-26T19:30:40.281Z,1761507040.281 [DAT](INFO): Remote Bearing received:Bearing  10,   4 (Remote)

2025-10-26T19:30:40.282Z,1761507040.282 [DAT](INFO): DAT read: Bearing 197.9,  22.8 (Local)

2025-10-26T19:30:40.282Z,1761507040.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.9,  22.8 (Local)

2025-10-26T19:30:40.284Z,1761507040.284 [DAT](INFO): DAT read: Range 11 to 20 : 591.7 m  (Round-trip  789.0 ms) speed -0.6 m/s

2025-10-26T19:30:40.285Z,1761507040.285 [DAT](INFO): DAT read: user:199>

2025-10-26T19:30:40.286Z,1761507040.286 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:30:40.286Z,1761507040.286 [DAT](INFO): set remote address to 6
2025-10-26T19:30:40.286Z,1761507040.286 [DAT](INFO): entering online mode
2025-10-26T19:30:40.467Z,1761507040.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375356,0.893287,0.247279],[-0.919208,-0.393014,0.024441],[0.119017,-0.218127,0.968636]]
2025-10-26T19:30:40.525Z,1761507040.525 [DAT](INFO): DAT read: user:200>

2025-10-26T19:30:40.525Z,1761507040.525 [DAT](INFO): DAT read: 

2025-10-26T19:30:40.527Z,1761507040.527 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:30:40.527Z,1761507040.527 [DAT](INFO): commRate: 600
2025-10-26T19:30:40.527Z,1761507040.527 [DAT](INFO): online mode acknowledged
2025-10-26T19:30:40.528Z,1761507040.528 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:30:40.530Z,1761507040.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040136
2025-10-26T19:30:40.779Z,1761507040.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289230
2025-10-26T19:30:40.870Z,1761507040.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374121,0.894790,0.243690],[-0.919938,-0.391300,0.024470],[0.117252,-0.215025,0.969544]]
2025-10-26T19:30:41.029Z,1761507041.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539410
2025-10-26T19:30:41.280Z,1761507041.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790960
2025-10-26T19:30:41.287Z,1761507041.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375687,0.895309,0.239334],[-0.919906,-0.391585,0.020862],[0.112397,-0.212327,0.970713]]
2025-10-26T19:30:41.532Z,1761507041.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042926
2025-10-26T19:30:41.678Z,1761507041.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379302,0.894957,0.234910],[-0.919335,-0.393236,0.013722],[0.104656,-0.210756,0.971920]]
2025-10-26T19:30:41.772Z,1761507041.772 [Radio_Surface](INFO): Powering down
2025-10-26T19:30:41.784Z,1761507041.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295003
2025-10-26T19:30:42.037Z,1761507042.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547620
2025-10-26T19:30:42.082Z,1761507042.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386618,0.892451,0.232503],[-0.917213,-0.398377,0.003961],[0.096158,-0.211723,0.972588]]
2025-10-26T19:30:42.252Z,1761507042.252 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:30:42.252Z,1761507042.252 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:30:42.288Z,1761507042.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798941
2025-10-26T19:30:42.487Z,1761507042.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398566,0.885443,0.239031],[-0.912747,-0.408425,-0.009005],[0.089653,-0.221764,0.970970]]
2025-10-26T19:30:42.540Z,1761507042.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050972
2025-10-26T19:30:42.796Z,1761507042.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305593
2025-10-26T19:30:42.890Z,1761507042.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415213,0.872633,0.257117],[-0.905485,-0.423682,-0.024310],[0.087722,-0.242909,0.966074]]
2025-10-26T19:30:43.044Z,1761507043.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554948
2025-10-26T19:30:43.298Z,1761507043.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807942
2025-10-26T19:30:43.305Z,1761507043.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434609,0.854712,0.283870],[-0.895977,-0.442291,-0.040047],[0.091325,-0.271745,0.958026]]
2025-10-26T19:30:43.548Z,1761507043.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058887
2025-10-26T19:30:43.707Z,1761507043.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454713,0.832597,0.316257],[-0.885036,-0.462171,-0.055760],[0.099739,-0.305254,0.947033]]
2025-10-26T19:30:43.802Z,1761507043.802 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:30:42.9556

2025-10-26T19:30:43.802Z,1761507043.802 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:30:43.803Z,1761507043.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313291
2025-10-26T19:30:44.052Z,1761507044.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562856
2025-10-26T19:30:44.122Z,1761507044.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474398,0.807628,0.350262],[-0.873339,-0.481758,-0.072031],[0.110568,-0.340069,0.933878]]
2025-10-26T19:30:44.306Z,1761507044.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816641
2025-10-26T19:30:44.523Z,1761507044.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492607,0.782419,0.380998],[-0.861830,-0.499362,-0.088802],[0.120775,-0.372100,0.920302]]
2025-10-26T19:30:44.557Z,1761507044.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067202
2025-10-26T19:30:44.813Z,1761507044.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323170
2025-10-26T19:30:44.926Z,1761507044.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507459,0.760953,0.404272],[-0.852342,-0.512156,-0.105875],[0.126485,-0.398305,0.908490]]
2025-10-26T19:30:44.981Z,1761507044.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:30:45.060Z,1761507045.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570896
2025-10-26T19:30:45.313Z,1761507045.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823521
2025-10-26T19:30:45.336Z,1761507045.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515923,0.745024,0.422804],[-0.847056,-0.517289,-0.122097],[0.127746,-0.421132,0.897958]]
2025-10-26T19:30:45.565Z,1761507045.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075363
2025-10-26T19:30:45.737Z,1761507045.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526283,0.733099,0.430804],[-0.840453,-0.525395,-0.132658],[0.129091,-0.431886,0.892642]]
2025-10-26T19:30:45.818Z,1761507045.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328399
2025-10-26T19:30:45.984Z,1761507045.984 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T19:30:45.984Z,1761507045.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:30:46.068Z,1761507046.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578911
2025-10-26T19:30:46.140Z,1761507046.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538733,0.725362,0.428505],[-0.832358,-0.536867,-0.137677],[0.130185,-0.430841,0.892988]]
2025-10-26T19:30:46.321Z,1761507046.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831578
2025-10-26T19:30:46.544Z,1761507046.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553145,0.719696,0.419606],[-0.822451,-0.551976,-0.137463],[0.132681,-0.421142,0.897238]]
2025-10-26T19:30:46.572Z,1761507046.572 [DAT](INFO): Reached modem response timeout
2025-10-26T19:30:46.946Z,1761507046.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569927,0.712984,0.408457],[-0.810064,-0.570868,-0.133813],[0.137769,-0.407140,0.902916]]
2025-10-26T19:30:47.829Z,1761507047.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610722,0.682097,0.402196],[-0.776344,-0.615788,-0.134518],[0.155913,-0.394396,0.905618]]
2025-10-26T19:30:48.228Z,1761507048.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618902,0.670711,0.408788],[-0.769081,-0.623207,-0.141868],[0.159608,-0.402194,0.901535]]
2025-10-26T19:30:49.034Z,1761507049.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634297,0.654294,0.411784],[-0.756605,-0.634791,-0.156811],[0.158796,-0.411023,0.897688]]
2025-10-26T19:30:49.438Z,1761507049.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644009,0.650338,0.402881],[-0.749305,-0.642411,-0.160779],[0.154255,-0.405424,0.901020]]
2025-10-26T19:30:49.846Z,1761507049.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655762,0.648023,0.387353],[-0.740247,-0.652719,-0.161218],[0.148360,-0.392458,0.907726]]
2025-10-26T19:30:50.323Z,1761507050.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670341,0.644068,0.368536],[-0.728292,-0.666237,-0.160371],[0.142243,-0.375905,0.915676]]
2025-10-26T19:30:50.747Z,1761507050.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687610,0.635355,0.351449],[-0.713000,-0.682314,-0.161489],[0.137196,-0.361625,0.922174]]
2025-10-26T19:30:51.151Z,1761507051.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706548,0.620564,0.340133],[-0.694971,-0.699101,-0.168148],[0.133440,-0.355187,0.925222]]
2025-10-26T19:30:51.556Z,1761507051.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726518,0.599946,0.335017],[-0.674549,-0.715621,-0.181301],[0.130975,-0.357704,0.924605]]
2025-10-26T19:30:51.962Z,1761507051.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746284,0.576171,0.333297],[-0.652886,-0.731126,-0.197977],[0.129614,-0.365352,0.921802]]
2025-10-26T19:30:52.366Z,1761507052.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765429,0.549942,0.334188],[-0.630474,-0.744900,-0.218234],[0.128921,-0.377739,0.916893]]
2025-10-26T19:30:52.429Z,1761507052.429 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:30:52.429Z,1761507052.429 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:30:52.429Z,1761507052.429 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:30:52.429Z,1761507052.429 [marl:UpdateRudder:A] Stopped
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode] Stopped
2025-10-26T19:30:52.430Z,1761507052.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:30:52.772Z,1761507052.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782915,0.524591,0.334437],[-0.608664,-0.757116,-0.237283],[0.128731,-0.389332,0.912057]]
2025-10-26T19:30:52.880Z,1761507052.880 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:30:52.880Z,1761507052.880 [marl:UpdateRudder:B] Stopped
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateRudder] Stopped
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:30:52.881Z,1761507052.881 [marl:UpdateSpeed] Stopped
2025-10-26T19:30:52.882Z,1761507052.882 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:30:53.170Z,1761507053.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797612,0.502871,0.333072],[-0.589232,-0.767638,-0.252065],[0.128922,-0.397306,0.908585]]
2025-10-26T19:30:53.574Z,1761507053.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808874,0.485242,0.332059],[-0.573628,-0.775264,-0.264416],[0.129127,-0.404358,0.905440]]
2025-10-26T19:30:53.892Z,1761507053.892 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:30:53.978Z,1761507053.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817058,0.472605,0.330243],[-0.561889,-0.781081,-0.272386],[0.129216,-0.408115,0.903740]]
2025-10-26T19:30:54.148Z,1761507054.148 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:30:54.388Z,1761507054.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822885,0.463900,0.328111],[-0.553358,-0.785419,-0.277328],[0.129052,-0.409772,0.903013]]
2025-10-26T19:30:54.396Z,1761507054.396 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:30:54.828Z,1761507054.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827087,0.458290,0.325420],[-0.547343,-0.788378,-0.280850],[0.127843,-0.410403,0.902898]]
2025-10-26T19:30:55.190Z,1761507055.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830852,0.455163,0.320175],[-0.542137,-0.791876,-0.281105],[0.125590,-0.407135,0.904692]]
2025-10-26T19:30:55.594Z,1761507055.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835215,0.453040,0.311720],[-0.536108,-0.797044,-0.278045],[0.122490,-0.399343,0.908582]]
2025-10-26T19:30:55.998Z,1761507055.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840938,0.449938,0.300631],[-0.528004,-0.803888,-0.273818],[0.118472,-0.388998,0.913589]]
2025-10-26T19:30:56.417Z,1761507056.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848046,0.445206,0.287419],[-0.517498,-0.812529,-0.268314],[0.114081,-0.376281,0.919455]]
2025-10-26T19:30:56.843Z,1761507056.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856209,0.437881,0.274166],[-0.504821,-0.821926,-0.263805],[0.109828,-0.364277,0.924792]]
2025-10-26T19:30:57.225Z,1761507057.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865192,0.427678,0.261790],[-0.490072,-0.831731,-0.260871],[0.106170,-0.354000,0.929200]]
2025-10-26T19:30:57.616Z,1761507057.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875219,0.413742,0.250618],[-0.472544,-0.842046,-0.260117],[0.103410,-0.346087,0.932486]]
2025-10-26T19:30:57.673Z,1761507057.673 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:30:56.8055

2025-10-26T19:30:57.673Z,1761507057.673 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:30:58.018Z,1761507058.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886320,0.395066,0.241576],[-0.451739,-0.852361,-0.263463],[0.101825,-0.342642,0.933932]]
2025-10-26T19:30:58.422Z,1761507058.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898172,0.372019,0.234284],[-0.427833,-0.862292,-0.270944],[0.101225,-0.343589,0.933649]]
2025-10-26T19:30:59.372Z,1761507059.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921843,0.318824,0.220356],[-0.374334,-0.879740,-0.293140],[0.100397,-0.352716,0.930329]]
2025-10-26T19:31:00.652Z,1761507060.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956388,0.227321,0.183431],[-0.278364,-0.899594,-0.336518],[0.088515,-0.372902,0.923639]]
2025-10-26T19:31:01.049Z,1761507061.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963083,0.208346,0.170479],[-0.256042,-0.904514,-0.341023],[0.083150,-0.372083,0.924467]]
2025-10-26T19:31:01.450Z,1761507061.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969159,0.189872,0.157100],[-0.233928,-0.909323,-0.344105],[0.077519,-0.370243,0.925695]]
2025-10-26T19:31:01.855Z,1761507061.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974550,0.171826,0.143975],[-0.212338,-0.913468,-0.347115],[0.071873,-0.368852,0.926705]]
2025-10-26T19:31:02.265Z,1761507062.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979361,0.154006,0.130894],[-0.190924,-0.917436,-0.349083],[0.066326,-0.366869,0.927905]]
2025-10-26T19:31:02.662Z,1761507062.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983299,0.138102,0.118538],[-0.171692,-0.919949,-0.352443],[0.060376,-0.366909,0.928296]]
2025-10-26T19:31:03.067Z,1761507063.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986405,0.125092,0.106573],[-0.155196,-0.922349,-0.353816],[0.054038,-0.365546,0.929224]]
2025-10-26T19:31:03.477Z,1761507063.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988948,0.113807,0.095028],[-0.140457,-0.924383,-0.354665],[0.047479,-0.364092,0.930152]]
2025-10-26T19:31:03.875Z,1761507063.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991123,0.103649,0.083259],[-0.126617,-0.926856,-0.353420],[0.040538,-0.360825,0.931752]]
2025-10-26T19:31:05.287Z,1761507065.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996266,0.072571,0.046769],[-0.084251,-0.935536,-0.343037],[0.018860,-0.345696,0.938157]]
2025-10-26T19:31:05.730Z,1761507065.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997509,0.061289,0.034915],[-0.069502,-0.938500,-0.338212],[0.012039,-0.339796,0.940422]]
2025-10-26T19:31:05.793Z,1761507065.793 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:31:05.793Z,1761507065.793 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:31:05.794Z,1761507065.794 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:31:05.794Z,1761507065.794 [marl:UpdateRudder:A] Stopped
2025-10-26T19:31:05.794Z,1761507065.794 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:31:05.794Z,1761507065.794 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:31:05.794Z,1761507065.794 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:31:05.794Z,1761507065.794 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:31:05.795Z,1761507065.795 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:31:05.795Z,1761507065.795 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:31:05.795Z,1761507065.795 [marl:UpdateCommandMode] Stopped
2025-10-26T19:31:05.795Z,1761507065.795 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:31:05.812Z,1761507065.812 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:31:06.001Z,1761507066.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:31:06.055Z,1761507066.055 [DAT](INFO): entering command mode
2025-10-26T19:31:06.127Z,1761507066.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998487,0.049502,0.023946],[-0.054659,-0.941110,-0.333653],[0.006020,-0.334457,0.942392]]
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateRudder:B] Stopped
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateRudder] Stopped
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:31:06.154Z,1761507066.154 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:31:06.155Z,1761507066.155 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:31:06.155Z,1761507066.155 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:31:06.155Z,1761507066.155 [marl:UpdateSpeed] Stopped
2025-10-26T19:31:06.155Z,1761507066.155 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:31:06.256Z,1761507066.256 [DAT](INFO): DAT read: 

2025-10-26T19:31:06.257Z,1761507066.257 [DAT](INFO): DAT read: user:201>

2025-10-26T19:31:06.258Z,1761507066.258 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:31:06.258Z,1761507066.258 [DAT](INFO): setting remote address to 0
2025-10-26T19:31:06.504Z,1761507066.504 [DAT](INFO): DAT read: user:201>

2025-10-26T19:31:06.505Z,1761507066.505 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:31:06.506Z,1761507066.506 [DAT](INFO): set remote address to 0
2025-10-26T19:31:06.506Z,1761507066.506 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:31:06.506Z,1761507066.506 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:31:06.531Z,1761507066.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999211,0.037180,0.013987],[-0.039714,-0.942972,-0.330495],[0.000901,-0.330790,0.943704]]
2025-10-26T19:31:06.757Z,1761507066.757 [DAT](INFO): DAT read: user:202>

2025-10-26T19:31:06.758Z,1761507066.758 [DAT](INFO): DAT read: Tx time:19:31:05.8066

2025-10-26T19:31:06.759Z,1761507066.759 [DAT](INFO): Ping request sent.
2025-10-26T19:31:06.759Z,1761507066.759 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:31:06.760Z,1761507066.760 [DAT](INFO): publishing transmit ping time
2025-10-26T19:31:06.764Z,1761507066.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004335
2025-10-26T19:31:06.934Z,1761507066.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,0.024171,0.005424],[-0.024613,-0.944371,-0.327959],[-0.002805,-0.327992,0.944676]]
2025-10-26T19:31:07.008Z,1761507067.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249365
2025-10-26T19:31:07.261Z,1761507067.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502089
2025-10-26T19:31:07.338Z,1761507067.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999946,0.010307,-0.001459],[-0.009270,-0.945379,-0.325841],[-0.004737,-0.325810,0.945423]]
2025-10-26T19:31:07.513Z,1761507067.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754204
2025-10-26T19:31:07.744Z,1761507067.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999973,-0.003092,-0.006594],[0.005061,-0.946104,-0.323824],[-0.005238,-0.323849,0.946094]]
2025-10-26T19:31:07.765Z,1761507067.765 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:31:07.765Z,1761507067.765 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:31:07.766Z,1761507067.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006423
2025-10-26T19:31:08.016Z,1761507068.016 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:31:08.017Z,1761507068.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257760
2025-10-26T19:31:08.219Z,1761507068.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999619,-0.023955,-0.013701],[0.027012,-0.950961,-0.308129],[-0.005648,-0.308382,0.951246]]
2025-10-26T19:31:08.268Z,1761507068.268 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:31:08.269Z,1761507068.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509881
2025-10-26T19:31:08.521Z,1761507068.521 [DAT](INFO): setting remote address to 6
2025-10-26T19:31:08.521Z,1761507068.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762424
2025-10-26T19:31:08.653Z,1761507068.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999285,-0.033455,-0.017620],[0.037165,-0.954831,-0.294817],[-0.006961,-0.295261,0.955391]]
2025-10-26T19:31:08.773Z,1761507068.773 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:08.773Z,1761507068.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014401
2025-10-26T19:31:09.024Z,1761507069.024 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:09.024Z,1761507069.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265603
2025-10-26T19:31:09.066Z,1761507069.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998706,-0.045105,-0.023493],[0.049890,-0.958563,-0.280479],[-0.009868,-0.281288,0.959573]]
2025-10-26T19:31:09.276Z,1761507069.276 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:09.276Z,1761507069.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517547
2025-10-26T19:31:09.458Z,1761507069.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997968,-0.055392,-0.031486],[0.061773,-0.962235,-0.265117],[-0.015611,-0.266524,0.963702]]
2025-10-26T19:31:09.528Z,1761507069.528 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:09.528Z,1761507069.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769534
2025-10-26T19:31:09.780Z,1761507069.780 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:09.780Z,1761507069.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021546
2025-10-26T19:31:09.862Z,1761507069.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997654,-0.056706,-0.038358],[0.064652,-0.964667,-0.255417],[-0.022519,-0.257297,0.966070]]
2025-10-26T19:31:10.033Z,1761507070.033 [DAT](INFO): DAT read: Rx Time:19:31:08.6600

2025-10-26T19:31:10.034Z,1761507070.034 [DAT](INFO): Rx dataTimestamp_ set to:1761507070.033266
2025-10-26T19:31:10.034Z,1761507070.034 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:10.034Z,1761507070.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275328
2025-10-26T19:31:10.274Z,1761507070.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997610,-0.053586,-0.043613],[0.062759,-0.966805,-0.247690],[-0.028893,-0.249835,0.967857]]
2025-10-26T19:31:10.284Z,1761507070.284 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:10.285Z,1761507070.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525700
2025-10-26T19:31:10.543Z,1761507070.543 [DAT](INFO): DAT read: 19:31:08.6600 LVL= 32752, 24561, 28898, 32755, AGC= 74, IDX= 213,-0.26, 3.097,-1.326,-2.411,-2.563, PHS=-0.521, 1.282, 0.107, RAW= 309.9, -11.0, CAL= 310.3, -14.8, ROT= 199.7,  14.8

2025-10-26T19:31:10.544Z,1761507070.544 [DAT](INFO): got valid direction response:
 19:31:08.6600 LVL= 32752, 24561, 28898, 32755, AGC= 74, IDX= 213,-0.26, 3.097,-1.326,-2.411,-2.563, PHS=-0.521, 1.282, 0.107, RAW= 309.9, -11.0, CAL= 310.3, -14.8, ROT= 199.7,  14.8

2025-10-26T19:31:10.545Z,1761507070.545 [DAT](INFO): DAT read: Bearing  13,  -7 (Remote)

2025-10-26T19:31:10.545Z,1761507070.545 [DAT](INFO): Remote Bearing received:Bearing  13,  -7 (Remote)

2025-10-26T19:31:10.546Z,1761507070.546 [DAT](INFO): DAT read: Bearing 174.7, -12.8 (Local)

2025-10-26T19:31:10.546Z,1761507070.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.7, -12.8 (Local)

2025-10-26T19:31:10.548Z,1761507070.548 [DAT](INFO): DAT read: Range 11 to 20 : 618.2 m  (Round-trip  824.3 ms) speed -1.3 m/s

2025-10-26T19:31:10.549Z,1761507070.549 [DAT](INFO): DAT read: user:203>

2025-10-26T19:31:10.549Z,1761507070.549 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:31:10.550Z,1761507070.550 [DAT](INFO): set remote address to 6
2025-10-26T19:31:10.550Z,1761507070.550 [DAT](INFO): entering online mode
2025-10-26T19:31:10.673Z,1761507070.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997608,-0.049148,-0.048600],[0.059385,-0.969254,-0.238790],[-0.035370,-0.241105,0.969854]]
2025-10-26T19:31:10.791Z,1761507070.791 [DAT](INFO): DAT read: user:204>

2025-10-26T19:31:10.792Z,1761507070.792 [DAT](INFO): DAT read: 

2025-10-26T19:31:10.798Z,1761507070.798 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:31:10.799Z,1761507070.799 [DAT](INFO): commRate: 600
2025-10-26T19:31:10.800Z,1761507070.800 [DAT](INFO): online mode acknowledged
2025-10-26T19:31:10.801Z,1761507070.801 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:31:10.806Z,1761507070.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043666
2025-10-26T19:31:11.040Z,1761507071.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281543
2025-10-26T19:31:11.074Z,1761507071.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997621,-0.043326,-0.053617],[0.054621,-0.971320,-0.231419],[-0.042053,-0.233797,0.971376]]
2025-10-26T19:31:11.292Z,1761507071.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533547
2025-10-26T19:31:11.478Z,1761507071.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997623,-0.036568,-0.058403],[0.048790,-0.973379,-0.223947],[-0.048659,-0.226264,0.972850]]
2025-10-26T19:31:11.545Z,1761507071.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786425
2025-10-26T19:31:11.796Z,1761507071.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037518
2025-10-26T19:31:11.882Z,1761507071.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997602,-0.029134,-0.062776],[0.042169,-0.975133,-0.217571],[-0.054876,-0.219697,0.974024]]
2025-10-26T19:31:12.048Z,1761507072.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289557
2025-10-26T19:31:12.288Z,1761507072.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997588,-0.022134,-0.065797],[0.035704,-0.976431,-0.212856],[-0.059535,-0.214691,0.974866]]
2025-10-26T19:31:12.300Z,1761507072.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541552
2025-10-26T19:31:12.552Z,1761507072.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793478
2025-10-26T19:31:12.690Z,1761507072.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997533,-0.017403,-0.068010],[0.031205,-0.977736,-0.207505],[-0.062884,-0.209115,0.975867]]
2025-10-26T19:31:12.807Z,1761507072.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047791
2025-10-26T19:31:13.056Z,1761507073.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297453
2025-10-26T19:31:13.095Z,1761507073.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997495,-0.014556,-0.069218],[0.028401,-0.978667,-0.203481],[-0.064779,-0.204937,0.976629]]
2025-10-26T19:31:13.308Z,1761507073.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549533
2025-10-26T19:31:13.498Z,1761507073.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997504,-0.013500,-0.069311],[0.027245,-0.979133,-0.201386],[-0.065146,-0.202772,0.977057]]
2025-10-26T19:31:13.560Z,1761507073.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801543
2025-10-26T19:31:13.813Z,1761507073.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054386
2025-10-26T19:31:13.904Z,1761507073.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997573,-0.014261,-0.068157],[0.027705,-0.979282,-0.200598],[-0.063884,-0.201999,0.977300]]
2025-10-26T19:31:14.065Z,1761507074.065 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:31:13.2054

2025-10-26T19:31:14.065Z,1761507074.065 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:31:14.066Z,1761507074.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306781
2025-10-26T19:31:14.317Z,1761507074.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558305
2025-10-26T19:31:14.323Z,1761507074.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997684,-0.016668,-0.065938],[0.029729,-0.978855,-0.202382],[-0.061170,-0.203874,0.977084]]
2025-10-26T19:31:14.569Z,1761507074.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810240
2025-10-26T19:31:14.715Z,1761507074.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997819,-0.019880,-0.062937],[0.032483,-0.977998,-0.206071],[-0.057456,-0.207666,0.976511]]
2025-10-26T19:31:14.823Z,1761507074.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063928
2025-10-26T19:31:15.072Z,1761507075.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313404
2025-10-26T19:31:15.116Z,1761507075.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997937,-0.022816,-0.060015],[0.035047,-0.976764,-0.211432],[-0.053797,-0.213099,0.975548]]
2025-10-26T19:31:15.324Z,1761507075.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565450
2025-10-26T19:31:15.519Z,1761507075.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998051,-0.024298,-0.057481],[0.036316,-0.975202,-0.218316],[-0.050751,-0.219978,0.974184]]
2025-10-26T19:31:15.576Z,1761507075.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817594
2025-10-26T19:31:15.828Z,1761507075.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069387
2025-10-26T19:31:15.922Z,1761507075.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998231,-0.023948,-0.054422],[0.035605,-0.973808,-0.224569],[-0.047618,-0.226109,0.972937]]
2025-10-26T19:31:16.082Z,1761507076.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322673
2025-10-26T19:31:16.108Z,1761507076.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:31:16.326Z,1761507076.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998467,-0.021954,-0.050807],[0.033125,-0.972440,-0.230787],[-0.044340,-0.232116,0.971677]]
2025-10-26T19:31:16.332Z,1761507076.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573478
2025-10-26T19:31:16.584Z,1761507076.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825460
2025-10-26T19:31:16.738Z,1761507076.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998737,-0.018423,-0.046755],[0.028914,-0.971619,-0.234780],[-0.041103,-0.235835,0.970924]]
2025-10-26T19:31:16.838Z,1761507076.838 [DAT](INFO): Reached modem response timeout
2025-10-26T19:31:17.112Z,1761507077.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:31:17.137Z,1761507077.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998968,-0.014522,-0.043043],[0.024266,-0.971600,-0.235381],[-0.038402,-0.236183,0.970950]]
2025-10-26T19:31:17.538Z,1761507077.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999154,-0.011219,-0.039575],[0.020171,-0.972110,-0.233657],[-0.035850,-0.234258,0.971513]]
2025-10-26T19:31:17.942Z,1761507077.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999303,-0.009148,-0.036179],[0.017249,-0.972933,-0.230444],[-0.033092,-0.230908,0.972413]]
2025-10-26T19:31:18.346Z,1761507078.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999445,-0.006775,-0.032617],[0.013998,-0.973879,-0.226635],[-0.030230,-0.226966,0.973433]]
2025-10-26T19:31:18.758Z,1761507078.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999573,-0.004963,-0.028779],[0.011240,-0.974919,-0.222276],[-0.026954,-0.222504,0.974559]]
2025-10-26T19:31:18.861Z,1761507078.861 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:31:18.861Z,1761507078.861 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:31:18.861Z,1761507078.861 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:31:18.861Z,1761507078.861 [marl:UpdateRudder:A] Stopped
2025-10-26T19:31:18.861Z,1761507078.861 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:31:18.861Z,1761507078.861 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:31:18.862Z,1761507078.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:31:18.862Z,1761507078.862 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:31:18.862Z,1761507078.862 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:31:18.862Z,1761507078.862 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:31:18.862Z,1761507078.862 [marl:UpdateCommandMode] Stopped
2025-10-26T19:31:18.862Z,1761507078.862 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:31:19.154Z,1761507079.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,-0.002789,-0.024607],[0.008099,-0.975814,-0.218450],[-0.023403,-0.218582,0.975538]]
2025-10-26T19:31:19.204Z,1761507079.204 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:31:19.204Z,1761507079.204 [marl:UpdateRudder:B] Stopped
2025-10-26T19:31:19.204Z,1761507079.204 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:31:19.204Z,1761507079.204 [marl:UpdateRudder] Stopped
2025-10-26T19:31:19.204Z,1761507079.204 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:31:19.558Z,1761507079.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999795,-0.000867,-0.020222],[0.005203,-0.976519,-0.215370],[-0.019560,-0.215431,0.976323]]
2025-10-26T19:31:19.614Z,1761507079.614 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:31:19.614Z,1761507079.614 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:31:19.614Z,1761507079.614 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:31:19.615Z,1761507079.615 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:31:19.615Z,1761507079.615 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:31:19.615Z,1761507079.615 [marl:UpdateSpeed] Stopped
2025-10-26T19:31:19.615Z,1761507079.615 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:31:19.962Z,1761507079.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999886,0.001127,-0.015080],[0.002103,-0.977166,-0.212465],[-0.014975,-0.212473,0.977052]]
2025-10-26T19:31:20.367Z,1761507080.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999953,0.002733,-0.009307],[-0.000705,-0.977432,-0.211248],[-0.009674,-0.211231,0.977388]]
2025-10-26T19:31:20.774Z,1761507080.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999990,0.003216,-0.003202],[-0.002473,-0.977778,-0.209630],[-0.003805,-0.209620,0.977776]]
2025-10-26T19:31:21.174Z,1761507081.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999994,0.002003,0.002836],[-0.002548,-0.978198,-0.207659],[0.002358,-0.207665,0.978197]]
2025-10-26T19:31:21.580Z,1761507081.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999952,-0.002239,0.009579],[0.000216,-0.978522,-0.206143],[0.009835,-0.206131,0.978475]]
2025-10-26T19:31:21.982Z,1761507081.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999820,-0.007582,0.017401],[0.003828,-0.978469,-0.206358],[0.018591,-0.206254,0.978322]]
2025-10-26T19:31:22.387Z,1761507082.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999579,-0.012891,0.026001],[0.007158,-0.977767,-0.209573],[0.028124,-0.209299,0.977447]]
2025-10-26T19:31:22.831Z,1761507082.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999235,-0.017745,0.034865],[0.009887,-0.976826,-0.213807],[0.037851,-0.213299,0.976254]]
2025-10-26T19:31:23.194Z,1761507083.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998834,-0.022349,0.042793],[0.012425,-0.975541,-0.219465],[0.046651,-0.218677,0.974681]]
2025-10-26T19:31:23.600Z,1761507083.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998405,-0.026605,0.049798],[0.014771,-0.974380,-0.224421],[0.054493,-0.223328,0.973219]]
2025-10-26T19:31:24.002Z,1761507084.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997995,-0.030495,0.055468],[0.017090,-0.973568,-0.227759],[0.060947,-0.226354,0.972136]]
2025-10-26T19:31:24.144Z,1761507084.144 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:31:24.397Z,1761507084.397 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:31:24.411Z,1761507084.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997586,-0.034542,0.060249],[0.019874,-0.973244,-0.228913],[0.066544,-0.227163,0.971581]]
2025-10-26T19:31:24.648Z,1761507084.648 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:31:24.843Z,1761507084.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997152,-0.039023,0.064541],[0.023418,-0.973641,-0.226880],[0.071693,-0.224723,0.971782]]
2025-10-26T19:31:25.218Z,1761507085.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996702,-0.043378,0.068587],[0.026961,-0.974147,-0.224301],[0.076544,-0.221712,0.972103]]
2025-10-26T19:31:25.618Z,1761507085.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996252,-0.045961,0.073273],[0.028572,-0.974454,-0.222762],[0.081640,-0.219834,0.972115]]
2025-10-26T19:31:26.023Z,1761507086.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995854,-0.045132,0.078979],[0.026553,-0.974652,-0.222145],[0.087003,-0.219126,0.971810]]
2025-10-26T19:31:26.429Z,1761507086.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995437,-0.042087,0.085643],[0.021949,-0.974403,-0.223732],[0.092867,-0.220832,0.970881]]
2025-10-26T19:31:26.850Z,1761507086.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994960,-0.038341,0.092649],[0.016541,-0.974108,-0.225477],[0.098895,-0.222808,0.969833]]
2025-10-26T19:31:27.240Z,1761507087.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994410,-0.034565,0.099766],[0.011103,-0.973891,-0.226745],[0.104999,-0.224370,0.968831]]
2025-10-26T19:31:27.638Z,1761507087.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993757,-0.030688,0.107264],[0.005566,-0.973867,-0.227049],[0.111428,-0.225034,0.967958]]
2025-10-26T19:31:27.929Z,1761507087.929 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:31:27.0553

2025-10-26T19:31:27.929Z,1761507087.929 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:31:28.044Z,1761507088.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992986,-0.027016,0.115108],[0.000208,-0.973943,-0.226795],[0.118236,-0.225180,0.967117]]
2025-10-26T19:31:28.447Z,1761507088.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992064,-0.024100,0.123403],[-0.004440,-0.974131,-0.225939],[0.125656,-0.224694,0.966294]]
2025-10-26T19:31:28.855Z,1761507088.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990944,-0.022690,0.132342],[-0.007821,-0.974191,-0.225592],[0.134045,-0.224584,0.965191]]
2025-10-26T19:31:29.254Z,1761507089.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989638,-0.024323,0.141507],[-0.008478,-0.973930,-0.226689],[0.143332,-0.225540,0.963633]]
2025-10-26T19:31:29.660Z,1761507089.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988291,-0.030143,0.149574],[-0.004951,-0.973441,-0.228884],[0.152500,-0.226945,0.961894]]
2025-10-26T19:31:30.062Z,1761507090.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986890,-0.039149,0.156576],[0.001528,-0.972359,-0.233488],[0.161389,-0.230188,0.959670]]
2025-10-26T19:31:30.466Z,1761507090.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985560,-0.048732,0.162164],[0.008913,-0.971293,-0.237717],[0.169093,-0.232839,0.957702]]
2025-10-26T19:31:30.870Z,1761507090.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984313,-0.057602,0.166766],[0.015430,-0.969687,-0.243863],[0.175758,-0.237465,0.955364]]
2025-10-26T19:31:31.276Z,1761507091.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983254,-0.064018,0.170626],[0.019944,-0.968445,-0.248428],[0.181146,-0.240865,0.953504]]
2025-10-26T19:31:31.678Z,1761507091.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982410,-0.067853,0.173973],[0.022374,-0.967707,-0.251082],[0.185392,-0.242773,0.952203]]
2025-10-26T19:31:32.082Z,1761507092.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981804,-0.069287,0.176805],[0.022529,-0.966983,-0.253845],[0.188556,-0.245242,0.950948]]
2025-10-26T19:31:32.133Z,1761507092.133 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:31:32.133Z,1761507092.133 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:31:32.133Z,1761507092.133 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:31:32.133Z,1761507092.133 [marl:UpdateRudder:A] Stopped
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode] Stopped
2025-10-26T19:31:32.134Z,1761507092.134 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:31:32.490Z,1761507092.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981395,-0.067906,0.179588],[0.020656,-0.967281,-0.252867],[0.190883,-0.244453,0.950687]]
2025-10-26T19:31:32.549Z,1761507092.549 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:31:32.549Z,1761507092.549 [marl:UpdateRudder:B] Stopped
2025-10-26T19:31:32.549Z,1761507092.549 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:31:32.549Z,1761507092.549 [marl:UpdateRudder] Stopped
2025-10-26T19:31:32.549Z,1761507092.549 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:31:32.892Z,1761507092.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981223,-0.063274,0.182203],[0.015868,-0.967939,-0.250685],[0.192223,-0.243087,0.950768]]
2025-10-26T19:31:32.952Z,1761507092.952 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:31:32.952Z,1761507092.952 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:31:32.952Z,1761507092.952 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:31:32.953Z,1761507092.953 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:31:32.953Z,1761507092.953 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:31:32.953Z,1761507092.953 [marl:UpdateSpeed] Stopped
2025-10-26T19:31:32.953Z,1761507092.953 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:31:33.705Z,1761507093.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980980,-0.047021,0.188327],[-0.000638,-0.969429,-0.245372],[0.194107,-0.240825,0.950960]]
2025-10-26T19:31:34.102Z,1761507094.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980677,-0.039844,0.191536],[-0.007707,-0.970413,-0.241327],[0.195484,-0.238139,0.951355]]
2025-10-26T19:31:34.512Z,1761507094.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980264,-0.034941,0.194582],[-0.012229,-0.971655,-0.236088],[0.197316,-0.233808,0.952051]]
2025-10-26T19:31:34.910Z,1761507094.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979762,-0.032608,0.197494],[-0.014359,-0.972650,-0.231831],[0.199652,-0.229975,0.952497]]
2025-10-26T19:31:35.314Z,1761507095.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979299,-0.033163,0.199683],[-0.013825,-0.973226,-0.229435],[0.201945,-0.227446,0.952621]]
2025-10-26T19:31:35.731Z,1761507095.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978915,-0.036942,0.200899],[-0.009919,-0.973753,-0.227391],[0.204026,-0.224589,0.952855]]
2025-10-26T19:31:35.823Z,1761507095.823 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:31:35.992Z,1761507095.992 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:31:36.043Z,1761507096.043 [DAT](INFO): entering command mode
2025-10-26T19:31:36.123Z,1761507096.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978631,-0.043134,0.201048],[-0.003914,-0.973666,-0.227947],[0.205586,-0.223863,0.952691]]
2025-10-26T19:31:36.244Z,1761507096.244 [DAT](INFO): DAT read: 

2025-10-26T19:31:36.245Z,1761507096.245 [DAT](INFO): DAT read: user:205>

2025-10-26T19:31:36.246Z,1761507096.246 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:31:36.246Z,1761507096.246 [DAT](INFO): setting remote address to 0
2025-10-26T19:31:36.496Z,1761507096.496 [DAT](INFO): DAT read: user:205>

2025-10-26T19:31:36.497Z,1761507096.497 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:31:36.498Z,1761507096.498 [DAT](INFO): set remote address to 0
2025-10-26T19:31:36.498Z,1761507096.498 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:31:36.498Z,1761507096.498 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:31:36.526Z,1761507096.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978417,-0.050077,0.200482],[0.002488,-0.972977,-0.230890],[0.206627,-0.225408,0.952101]]
2025-10-26T19:31:36.748Z,1761507096.748 [DAT](INFO): DAT read: user:206>

2025-10-26T19:31:36.749Z,1761507096.749 [DAT](INFO): DAT read: Tx time:19:31:35.8065

2025-10-26T19:31:36.749Z,1761507096.749 [DAT](INFO): Ping request sent.
2025-10-26T19:31:36.749Z,1761507096.749 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:31:36.750Z,1761507096.750 [DAT](INFO): publishing transmit ping time
2025-10-26T19:31:36.750Z,1761507096.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000975
2025-10-26T19:31:36.930Z,1761507096.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978218,-0.056484,0.199750],[0.007872,-0.971669,-0.236213],[0.207433,-0.229495,0.950949]]
2025-10-26T19:31:37.000Z,1761507097.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250920
2025-10-26T19:31:37.252Z,1761507097.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502848
2025-10-26T19:31:37.334Z,1761507097.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978046,-0.061594,0.199079],[0.012047,-0.970435,-0.241062],[0.208041,-0.233372,0.949872]]
2025-10-26T19:31:37.504Z,1761507097.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754920
2025-10-26T19:31:37.750Z,1761507097.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977932,-0.066579,0.198033],[0.016178,-0.969151,-0.245937],[0.208298,-0.237306,0.948840]]
2025-10-26T19:31:37.756Z,1761507097.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006931
2025-10-26T19:31:38.008Z,1761507098.008 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:31:38.009Z,1761507098.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259009
2025-10-26T19:31:38.142Z,1761507098.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977801,-0.070509,0.197315],[0.019664,-0.968405,-0.248607],[0.208609,-0.239208,0.948294]]
2025-10-26T19:31:38.260Z,1761507098.260 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:31:38.261Z,1761507098.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510999
2025-10-26T19:31:38.512Z,1761507098.512 [DAT](INFO): setting remote address to 6
2025-10-26T19:31:38.513Z,1761507098.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763137
2025-10-26T19:31:38.546Z,1761507098.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977654,-0.074676,0.196511],[0.023437,-0.967670,-0.251127],[0.208911,-0.240909,0.947797]]
2025-10-26T19:31:38.766Z,1761507098.766 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:38.766Z,1761507098.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016552
2025-10-26T19:31:38.950Z,1761507098.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977504,-0.078993,0.195564],[0.027455,-0.966982,-0.253360],[0.209120,-0.242292,0.947398]]
2025-10-26T19:31:39.016Z,1761507099.016 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:39.017Z,1761507099.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267100
2025-10-26T19:31:39.268Z,1761507099.268 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:39.268Z,1761507099.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941
2025-10-26T19:31:39.355Z,1761507099.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977329,-0.083077,0.194746],[0.031553,-0.966682,-0.254028],[0.209361,-0.242125,0.947388]]
2025-10-26T19:31:39.520Z,1761507099.520 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:39.521Z,1761507099.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771175
2025-10-26T19:31:39.762Z,1761507099.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977232,-0.086597,0.193697],[0.035248,-0.966492,-0.254264],[0.209225,-0.241648,0.947540]]
2025-10-26T19:31:39.772Z,1761507099.772 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:39.772Z,1761507099.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022945
2025-10-26T19:31:40.024Z,1761507100.024 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:40.024Z,1761507100.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274906
2025-10-26T19:31:40.162Z,1761507100.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977142,-0.089390,0.192882],[0.038358,-0.966544,-0.253617],[0.209100,-0.240421,0.947879]]
2025-10-26T19:31:40.276Z,1761507100.276 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:40.276Z,1761507100.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526968
2025-10-26T19:31:40.528Z,1761507100.528 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:40.529Z,1761507100.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779022
2025-10-26T19:31:40.566Z,1761507100.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977211,-0.089812,0.192336],[0.039055,-0.966686,-0.252967],[0.208648,-0.239690,0.948164]]
2025-10-26T19:31:40.782Z,1761507100.782 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:40.784Z,1761507100.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033932
2025-10-26T19:31:40.970Z,1761507100.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977254,-0.088782,0.192596],[0.037983,-0.966743,-0.252915],[0.208645,-0.239846,0.948125]]
2025-10-26T19:31:41.032Z,1761507101.032 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:41.033Z,1761507101.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283072
2025-10-26T19:31:41.284Z,1761507101.284 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:41.284Z,1761507101.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534953
2025-10-26T19:31:41.374Z,1761507101.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977402,-0.085560,0.193297],[0.034951,-0.967250,-0.251408],[0.208477,-0.238971,0.948383]]
2025-10-26T19:31:41.536Z,1761507101.536 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:41.536Z,1761507101.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786940
2025-10-26T19:31:41.781Z,1761507101.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977655,-0.080991,0.193986],[0.030871,-0.968112,-0.248610],[0.207936,-0.237066,0.948980]]
2025-10-26T19:31:41.788Z,1761507101.788 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:41.789Z,1761507101.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039056
2025-10-26T19:31:42.040Z,1761507102.040 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:42.041Z,1761507102.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291143
2025-10-26T19:31:42.190Z,1761507102.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977883,-0.076290,0.194743],[0.026827,-0.969162,-0.244958],[0.207425,-0.234316,0.949774]]
2025-10-26T19:31:42.292Z,1761507102.292 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:42.293Z,1761507102.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543038
2025-10-26T19:31:42.451Z,1761507102.451 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:31:42.451Z,1761507102.451 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:31:42.545Z,1761507102.545 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:42.545Z,1761507102.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795535
2025-10-26T19:31:42.586Z,1761507102.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978042,-0.072803,0.195278],[0.023742,-0.969821,-0.242658],[0.207051,-0.232693,0.950255]]
2025-10-26T19:31:42.798Z,1761507102.798 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:42.799Z,1761507102.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049405
2025-10-26T19:31:42.990Z,1761507102.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978129,-0.070839,0.195563],[0.022098,-0.970288,-0.240942],[0.206820,-0.231351,0.950633]]
2025-10-26T19:31:43.048Z,1761507103.048 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:43.049Z,1761507103.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299108
2025-10-26T19:31:43.300Z,1761507103.300 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:43.300Z,1761507103.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550955
2025-10-26T19:31:43.394Z,1761507103.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978152,-0.071146,0.195340],[0.022561,-0.970397,-0.240460],[0.206665,-0.230800,0.950800]]
2025-10-26T19:31:43.552Z,1761507103.552 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:43.553Z,1761507103.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803053
2025-10-26T19:31:43.804Z,1761507103.804 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:43.804Z,1761507103.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054924
2025-10-26T19:31:43.810Z,1761507103.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978157,-0.073232,0.194539],[0.024914,-0.970443,-0.240041],[0.206368,-0.229951,0.951070]]
2025-10-26T19:31:44.056Z,1761507104.056 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:44.057Z,1761507104.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306997
2025-10-26T19:31:44.206Z,1761507104.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978171,-0.077333,0.192876],[0.029018,-0.969913,-0.241718],[0.205766,-0.230845,0.950984]]
2025-10-26T19:31:44.309Z,1761507104.309 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:44.310Z,1761507104.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560147
2025-10-26T19:31:44.560Z,1761507104.560 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:44.560Z,1761507104.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810942
2025-10-26T19:31:44.606Z,1761507104.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978157,-0.082816,0.190655],[0.034312,-0.968954,-0.244849],[0.205014,-0.232959,0.950631]]
2025-10-26T19:31:44.816Z,1761507104.816 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:44.818Z,1761507104.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067943
2025-10-26T19:31:45.010Z,1761507105.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978189,-0.088311,0.188008],[0.039423,-0.967602,-0.249385],[0.203941,-0.236534,0.949979]]
2025-10-26T19:31:45.064Z,1761507105.064 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:45.065Z,1761507105.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315136
2025-10-26T19:31:45.316Z,1761507105.316 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:45.316Z,1761507105.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566958
2025-10-26T19:31:45.416Z,1761507105.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978275,-0.093338,0.185112],[0.044327,-0.966439,-0.253045],[0.202518,-0.239342,0.949580]]
2025-10-26T19:31:45.439Z,1761507105.439 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:31:45.440Z,1761507105.440 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:31:45.440Z,1761507105.440 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:31:45.440Z,1761507105.440 [marl:UpdateRudder:A] Stopped
2025-10-26T19:31:45.440Z,1761507105.440 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:31:45.440Z,1761507105.440 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:31:45.440Z,1761507105.440 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:31:45.441Z,1761507105.441 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:31:45.442Z,1761507105.442 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:31:45.443Z,1761507105.443 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:31:45.444Z,1761507105.444 [marl:UpdateCommandMode] Stopped
2025-10-26T19:31:45.444Z,1761507105.444 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:31:45.568Z,1761507105.568 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:45.569Z,1761507105.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819003
2025-10-26T19:31:45.820Z,1761507105.820 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:45.820Z,1761507105.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070946
2025-10-26T19:31:45.830Z,1761507105.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978456,-0.097151,0.182170],[0.048207,-0.965484,-0.255961],[0.200749,-0.241665,0.949367]]
2025-10-26T19:31:45.890Z,1761507105.890 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:31:45.890Z,1761507105.890 [marl:UpdateRudder:B] Stopped
2025-10-26T19:31:45.890Z,1761507105.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:31:45.890Z,1761507105.890 [marl:UpdateRudder] Stopped
2025-10-26T19:31:45.890Z,1761507105.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:31:45.890Z,1761507105.890 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:31:45.891Z,1761507105.891 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:31:45.891Z,1761507105.891 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:31:45.891Z,1761507105.891 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:31:45.895Z,1761507105.895 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:31:45.895Z,1761507105.895 [marl:UpdateSpeed] Stopped
2025-10-26T19:31:45.895Z,1761507105.895 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:31:46.072Z,1761507106.072 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:46.072Z,1761507106.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322974
2025-10-26T19:31:46.222Z,1761507106.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978731,-0.100109,0.179065],[0.051446,-0.964732,-0.258157],[0.198594,-0.243454,0.949363]]
2025-10-26T19:31:46.324Z,1761507106.324 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:46.325Z,1761507106.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575000
2025-10-26T19:31:46.576Z,1761507106.576 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:46.577Z,1761507106.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826993
2025-10-26T19:31:46.626Z,1761507106.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979151,-0.101235,0.176109],[0.052930,-0.964167,-0.259962],[0.196116,-0.245221,0.949424]]
2025-10-26T19:31:46.830Z,1761507106.830 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:46.830Z,1761507106.830 [DAT](INFO): Reached modem response timeout
2025-10-26T19:31:47.032Z,1761507107.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979705,-0.100494,0.173433],[0.053088,-0.964432,-0.258945],[0.193287,-0.244482,0.950194]]
2025-10-26T19:31:47.081Z,1761507107.081 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:47.236Z,1761507107.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:31:47.332Z,1761507107.332 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:47.434Z,1761507107.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980440,-0.097312,0.171080],[0.050779,-0.964859,-0.257815],[0.190157,-0.244085,0.950927]]
2025-10-26T19:31:47.584Z,1761507107.584 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:47.836Z,1761507107.836 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:47.839Z,1761507107.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981260,-0.092239,0.169177],[0.046564,-0.965471,-0.256314],[0.186978,-0.243633,0.951673]]
2025-10-26T19:31:48.088Z,1761507108.088 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:48.240Z,1761507108.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:31:48.243Z,1761507108.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982157,-0.085666,0.167417],[0.041009,-0.966361,-0.253900],[0.183535,-0.242504,0.952631]]
2025-10-26T19:31:48.344Z,1761507108.344 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:48.592Z,1761507108.592 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:48.656Z,1761507108.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983741,-0.070389,0.165226],[0.028401,-0.969389,-0.243880],[0.177335,-0.235222,0.955627]]
2025-10-26T19:31:48.844Z,1761507108.844 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:31:49.057Z,1761507109.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984285,-0.064841,0.164249],[0.024378,-0.971134,-0.237286],[0.174894,-0.229553,0.957454]]
2025-10-26T19:31:49.097Z,1761507109.097 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:31:49.097Z,1761507109.097 [DAT](INFO): response not received
2025-10-26T19:31:49.097Z,1761507109.097 [DAT](INFO): DAT read: user:207>

2025-10-26T19:31:49.098Z,1761507109.098 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:31:49.098Z,1761507109.098 [DAT](INFO): set remote address to 6
2025-10-26T19:31:49.099Z,1761507109.099 [DAT](INFO): entering online mode
2025-10-26T19:31:49.348Z,1761507109.348 [DAT](INFO): DAT read: user:208>

2025-10-26T19:31:49.349Z,1761507109.349 [DAT](INFO): DAT read: 

2025-10-26T19:31:49.350Z,1761507109.350 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:31:49.350Z,1761507109.350 [DAT](INFO): commRate: 600
2025-10-26T19:31:49.350Z,1761507109.350 [DAT](INFO): online mode acknowledged
2025-10-26T19:31:49.351Z,1761507109.351 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:31:49.458Z,1761507109.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984711,-0.060872,0.163215],[0.021950,-0.972848,-0.230402],[0.172808,-0.223297,0.959310]]
2025-10-26T19:31:49.867Z,1761507109.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985006,-0.059120,0.162076],[0.021567,-0.974279,-0.224313],[0.171169,-0.217454,0.960945]]
2025-10-26T19:31:50.268Z,1761507110.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985263,-0.059369,0.160410],[0.022614,-0.974811,-0.221881],[0.169542,-0.214984,0.961789]]
2025-10-26T19:31:50.677Z,1761507110.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985405,-0.061118,0.158877],[0.025098,-0.975286,-0.219514],[0.168366,-0.212323,0.962586]]
2025-10-26T19:31:51.070Z,1761507111.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985503,-0.063476,0.157334],[0.027578,-0.974972,-0.220609],[0.167399,-0.213072,0.962589]]
2025-10-26T19:31:51.474Z,1761507111.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985587,-0.065550,0.155956],[0.029375,-0.974188,-0.223819],[0.166602,-0.216011,0.962072]]
2025-10-26T19:31:51.887Z,1761507111.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985748,-0.067340,0.154163],[0.031003,-0.973410,-0.226960],[0.165347,-0.218946,0.961625]]
2025-10-26T19:31:52.282Z,1761507112.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985936,-0.068580,0.152403],[0.032205,-0.972799,-0.229403],[0.163990,-0.221269,0.961326]]
2025-10-26T19:31:52.625Z,1761507112.625 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:31:51.7552

2025-10-26T19:31:52.625Z,1761507112.625 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:31:52.687Z,1761507112.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986154,-0.069771,0.150442],[0.033429,-0.972201,-0.231750],[0.162429,-0.223512,0.961072]]
2025-10-26T19:31:53.090Z,1761507113.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986331,-0.071369,0.148517],[0.035292,-0.971917,-0.232664],[0.160951,-0.224242,0.961151]]
2025-10-26T19:31:53.494Z,1761507113.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986565,-0.073408,0.145951],[0.038134,-0.972160,-0.231193],[0.158859,-0.222521,0.961898]]
2025-10-26T19:31:53.899Z,1761507113.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986695,-0.076750,0.143326],[0.042163,-0.972196,-0.230341],[0.157020,-0.221233,0.962497]]
2025-10-26T19:31:54.302Z,1761507114.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986791,-0.080566,0.140543],[0.046691,-0.972194,-0.229474],[0.155123,-0.219881,0.963114]]
2025-10-26T19:31:54.713Z,1761507114.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986728,-0.085195,0.138241],[0.051869,-0.972079,-0.228850],[0.153878,-0.218642,0.963596]]
2025-10-26T19:31:55.110Z,1761507115.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986633,-0.090265,0.135675],[0.057537,-0.971910,-0.228211],[0.152464,-0.217354,0.964112]]
2025-10-26T19:31:55.514Z,1761507115.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986436,-0.096137,0.133046],[0.063450,-0.970860,-0.231094],[0.151386,-0.219518,0.963792]]
2025-10-26T19:31:55.918Z,1761507115.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986138,-0.102043,0.130842],[0.069190,-0.969600,-0.234711],[0.150815,-0.222405,0.963219]]
2025-10-26T19:31:56.323Z,1761507116.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985895,-0.107327,0.128419],[0.074130,-0.967969,-0.239876],[0.150051,-0.226973,0.962272]]
2025-10-26T19:31:56.732Z,1761507116.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985675,-0.111612,0.126446],[0.078247,-0.966765,-0.243398],[0.149410,-0.230017,0.961649]]
2025-10-26T19:31:57.133Z,1761507117.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985475,-0.115653,0.124348],[0.081964,-0.965242,-0.248171],[0.148728,-0.234374,0.960702]]
2025-10-26T19:31:57.534Z,1761507117.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985434,-0.118163,0.122301],[0.084456,-0.964260,-0.251137],[0.147605,-0.237150,0.960194]]
2025-10-26T19:31:57.946Z,1761507117.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985461,-0.119651,0.120626],[0.085764,-0.963196,-0.254753],[0.146668,-0.240703,0.959453]]
2025-10-26T19:31:58.342Z,1761507118.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985555,-0.120004,0.119497],[0.086362,-0.963100,-0.254911],[0.145678,-0.240908,0.959553]]
2025-10-26T19:31:58.747Z,1761507118.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985732,-0.119613,0.118426],[0.086334,-0.963264,-0.254301],[0.144494,-0.240449,0.959847]]
2025-10-26T19:31:58.861Z,1761507118.861 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:31:58.861Z,1761507118.861 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:31:58.861Z,1761507118.861 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:31:58.861Z,1761507118.861 [marl:UpdateRudder:A] Stopped
2025-10-26T19:31:58.861Z,1761507118.861 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:31:58.861Z,1761507118.861 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:31:58.862Z,1761507118.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:31:58.862Z,1761507118.862 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:31:58.862Z,1761507118.862 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:31:58.862Z,1761507118.862 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:31:58.862Z,1761507118.862 [marl:UpdateCommandMode] Stopped
2025-10-26T19:31:58.862Z,1761507118.862 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:31:59.157Z,1761507119.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985968,-0.118487,0.117592],[0.085803,-0.963952,-0.251861],[0.143195,-0.238237,0.960593]]
2025-10-26T19:31:59.219Z,1761507119.219 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:31:59.219Z,1761507119.219 [marl:UpdateRudder:B] Stopped
2025-10-26T19:31:59.219Z,1761507119.219 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:31:59.219Z,1761507119.219 [marl:UpdateRudder] Stopped
2025-10-26T19:31:59.219Z,1761507119.219 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed] Stopped
2025-10-26T19:31:59.220Z,1761507119.220 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:31:59.554Z,1761507119.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986164,-0.117440,0.117000],[0.085278,-0.964623,-0.249460],[0.142158,-0.236031,0.961291]]
2025-10-26T19:31:59.958Z,1761507119.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986367,-0.116001,0.116720],[0.084484,-0.965645,-0.245746],[0.141217,-0.232535,0.962281]]
2025-10-26T19:32:00.362Z,1761507120.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986502,-0.114971,0.116596],[0.083883,-0.966352,-0.243162],[0.140629,-0.230099,0.962953]]
2025-10-26T19:32:00.770Z,1761507120.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986612,-0.114104,0.116520],[0.083245,-0.966740,-0.241833],[0.140238,-0.228895,0.963296]]
2025-10-26T19:32:01.172Z,1761507121.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986717,-0.113318,0.116402],[0.082468,-0.966747,-0.242071],[0.139962,-0.229256,0.963251]]
2025-10-26T19:32:01.574Z,1761507121.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986798,-0.112716,0.116299],[0.081681,-0.966431,-0.243598],[0.139852,-0.230882,0.962878]]
2025-10-26T19:32:01.979Z,1761507121.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986886,-0.111904,0.116332],[0.080631,-0.966089,-0.245297],[0.139836,-0.232700,0.962443]]
2025-10-26T19:32:02.383Z,1761507122.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986978,-0.111243,0.116184],[0.079773,-0.965728,-0.246993],[0.139679,-0.234509,0.962027]]
2025-10-26T19:32:02.708Z,1761507122.708 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:32:02.823Z,1761507122.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987037,-0.110858,0.116052],[0.079043,-0.965106,-0.249645],[0.139678,-0.237236,0.961358]]
2025-10-26T19:32:02.961Z,1761507122.961 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:32:03.190Z,1761507123.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987109,-0.110471,0.115811],[0.078396,-0.964574,-0.251895],[0.139535,-0.239569,0.960800]]
2025-10-26T19:32:03.212Z,1761507123.212 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:32:03.594Z,1761507123.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987176,-0.110202,0.115498],[0.077984,-0.964200,-0.253449],[0.139293,-0.241192,0.960429]]
2025-10-26T19:32:03.998Z,1761507123.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987219,-0.110301,0.115030],[0.078028,-0.963892,-0.254607],[0.138960,-0.242377,0.960179]]
2025-10-26T19:32:04.405Z,1761507124.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987145,-0.111670,0.114347],[0.079761,-0.964166,-0.253027],[0.138505,-0.240654,0.960678]]
2025-10-26T19:32:04.842Z,1761507124.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986994,-0.114761,0.112572],[0.083520,-0.964408,-0.250883],[0.137357,-0.238218,0.961450]]
2025-10-26T19:32:05.210Z,1761507125.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986760,-0.119305,0.109868],[0.088930,-0.964505,-0.248640],[0.135633,-0.235578,0.962345]]
2025-10-26T19:32:05.630Z,1761507125.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986474,-0.124676,0.106418],[0.095251,-0.964359,-0.246859],[0.133402,-0.233384,0.963190]]
2025-10-26T19:32:06.025Z,1761507126.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986150,-0.130459,0.102417],[0.101991,-0.963935,-0.245819],[0.130793,-0.231969,0.963890]]
2025-10-26T19:32:06.050Z,1761507126.050 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:32:06.236Z,1761507126.236 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:32:06.288Z,1761507126.288 [DAT](INFO): entering command mode
2025-10-26T19:32:06.422Z,1761507126.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985762,-0.136544,0.098126],[0.108925,-0.963135,-0.245980],[0.128095,-0.231789,0.964295]]
2025-10-26T19:32:06.488Z,1761507126.488 [DAT](INFO): DAT read: 

2025-10-26T19:32:06.489Z,1761507126.489 [DAT](INFO): DAT read: user:209>

2025-10-26T19:32:06.489Z,1761507126.489 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:32:06.489Z,1761507126.489 [DAT](INFO): setting remote address to 0
2025-10-26T19:32:06.740Z,1761507126.740 [DAT](INFO): DAT read: user:209>

2025-10-26T19:32:06.741Z,1761507126.741 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:32:06.741Z,1761507126.741 [DAT](INFO): set remote address to 0
2025-10-26T19:32:06.742Z,1761507126.742 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:32:06.742Z,1761507126.742 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:32:06.847Z,1761507126.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985437,-0.141928,0.093650],[0.115234,-0.962401,-0.245980],[0.125040,-0.231607,0.964740]]
2025-10-26T19:32:06.993Z,1761507126.993 [DAT](INFO): DAT read: user:210>

2025-10-26T19:32:06.993Z,1761507126.993 [DAT](INFO): DAT read: Tx time:19:32:06.0563

2025-10-26T19:32:06.994Z,1761507126.994 [DAT](INFO): Ping request sent.
2025-10-26T19:32:06.994Z,1761507126.994 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:32:06.994Z,1761507126.994 [DAT](INFO): publishing transmit ping time
2025-10-26T19:32:06.995Z,1761507126.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000948
2025-10-26T19:32:07.231Z,1761507127.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985274,-0.146016,0.088963],[0.120270,-0.961675,-0.246405],[0.121533,-0.232077,0.965075]]
2025-10-26T19:32:07.244Z,1761507127.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250505
2025-10-26T19:32:07.496Z,1761507127.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502437
2025-10-26T19:32:07.637Z,1761507127.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985391,-0.147890,0.084462],[0.123031,-0.961064,-0.247428],[0.117765,-0.233421,0.965218]]
2025-10-26T19:32:07.749Z,1761507127.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944
2025-10-26T19:32:08.000Z,1761507128.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006403
2025-10-26T19:32:08.038Z,1761507128.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985875,-0.146684,0.080833],[0.122747,-0.961177,-0.247126],[0.113944,-0.233714,0.965606]]
2025-10-26T19:32:08.252Z,1761507128.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258429
2025-10-26T19:32:08.442Z,1761507128.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986646,-0.143013,0.077952],[0.119827,-0.961495,-0.247324],[0.110321,-0.234680,0.965792]]
2025-10-26T19:32:08.505Z,1761507128.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510605
2025-10-26T19:32:08.756Z,1761507128.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762397
2025-10-26T19:32:08.856Z,1761507128.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987586,-0.137976,0.075075],[0.115533,-0.961860,-0.247947],[0.106423,-0.236195,0.965860]]
2025-10-26T19:32:09.008Z,1761507129.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014333
2025-10-26T19:32:09.250Z,1761507129.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988497,-0.132587,0.072768],[0.110883,-0.962522,-0.247501],[0.102857,-0.236585,0.966151]]
2025-10-26T19:32:09.260Z,1761507129.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266531
2025-10-26T19:32:09.512Z,1761507129.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518438
2025-10-26T19:32:09.654Z,1761507129.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989270,-0.127713,0.070953],[0.106682,-0.963271,-0.246429],[0.099819,-0.236215,0.966560]]
2025-10-26T19:32:09.764Z,1761507129.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770449
2025-10-26T19:32:10.016Z,1761507130.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022468
2025-10-26T19:32:10.069Z,1761507130.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989792,-0.124552,0.069273],[0.104187,-0.964006,-0.244618],[0.097247,-0.234904,0.967142]]
2025-10-26T19:32:10.273Z,1761507130.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277892
2025-10-26T19:32:10.462Z,1761507130.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990041,-0.123680,0.067252],[0.103910,-0.964277,-0.243664],[0.094986,-0.234249,0.967525]]
2025-10-26T19:32:10.520Z,1761507130.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526543
2025-10-26T19:32:10.772Z,1761507130.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778495
2025-10-26T19:32:10.866Z,1761507130.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989905,-0.125907,0.065075],[0.106733,-0.964337,-0.242203],[0.093249,-0.232813,0.968041]]
2025-10-26T19:32:11.024Z,1761507131.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030395
2025-10-26T19:32:11.270Z,1761507131.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989499,-0.130395,0.062364],[0.111806,-0.963939,-0.241496],[0.091605,-0.231987,0.968396]]
2025-10-26T19:32:11.276Z,1761507131.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282376
2025-10-26T19:32:11.528Z,1761507131.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534474
2025-10-26T19:32:11.680Z,1761507131.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988968,-0.135683,0.059430],[0.117570,-0.963061,-0.242261],[0.090105,-0.232601,0.968389]]
2025-10-26T19:32:11.781Z,1761507131.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787019
2025-10-26T19:32:12.033Z,1761507132.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039105
2025-10-26T19:32:12.090Z,1761507132.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988382,-0.141122,0.056443],[0.123470,-0.962061,-0.243298],[0.088636,-0.233502,0.968308]]
2025-10-26T19:32:12.122Z,1761507132.122 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:32:12.123Z,1761507132.123 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:32:12.123Z,1761507132.123 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:32:12.123Z,1761507132.123 [marl:UpdateRudder:A] Stopped
2025-10-26T19:32:12.123Z,1761507132.123 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:32:12.123Z,1761507132.123 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:32:12.124Z,1761507132.124 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:32:12.124Z,1761507132.124 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:32:12.124Z,1761507132.124 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:32:12.124Z,1761507132.124 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:32:12.124Z,1761507132.124 [marl:UpdateCommandMode] Stopped
2025-10-26T19:32:12.124Z,1761507132.124 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:32:12.286Z,1761507132.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291804
2025-10-26T19:32:12.482Z,1761507132.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987876,-0.145981,0.052823],[0.128928,-0.961002,-0.244647],[0.086477,-0.234871,0.968172]]
2025-10-26T19:32:12.521Z,1761507132.521 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:32:12.521Z,1761507132.521 [marl:UpdateRudder:B] Stopped
2025-10-26T19:32:12.521Z,1761507132.521 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateRudder] Stopped
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:32:12.522Z,1761507132.522 [marl:UpdateSpeed] Stopped
2025-10-26T19:32:12.523Z,1761507132.523 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:32:12.537Z,1761507132.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542740
2025-10-26T19:32:12.791Z,1761507132.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796854
2025-10-26T19:32:12.886Z,1761507132.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987530,-0.149655,0.048868],[0.133337,-0.960111,-0.245779],[0.083701,-0.236198,0.968093]]
2025-10-26T19:32:13.040Z,1761507133.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046513
2025-10-26T19:32:13.290Z,1761507133.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987426,-0.151621,0.044733],[0.136242,-0.959741,-0.245631],[0.080175,-0.236448,0.968331]]
2025-10-26T19:32:13.292Z,1761507133.292 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:32:13.292Z,1761507133.292 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:32:13.293Z,1761507133.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298719
2025-10-26T19:32:13.545Z,1761507133.545 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:32:13.545Z,1761507133.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551122
2025-10-26T19:32:13.702Z,1761507133.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987625,-0.151571,0.040281],[0.137271,-0.959660,-0.245377],[0.075848,-0.236811,0.968591]]
2025-10-26T19:32:13.800Z,1761507133.800 [DAT](INFO): setting remote address to 6
2025-10-26T19:32:13.801Z,1761507133.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806920
2025-10-26T19:32:14.052Z,1761507134.052 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:14.052Z,1761507134.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058556
2025-10-26T19:32:14.105Z,1761507134.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988151,-0.149212,0.035967],[0.136100,-0.960157,-0.244081],[0.070953,-0.236294,0.969088]]
2025-10-26T19:32:14.304Z,1761507134.304 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:14.304Z,1761507134.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310557
2025-10-26T19:32:14.502Z,1761507134.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988986,-0.144445,0.032287],[0.132450,-0.961065,-0.242512],[0.066059,-0.235565,0.969611]]
2025-10-26T19:32:14.556Z,1761507134.556 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:14.557Z,1761507134.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562708
2025-10-26T19:32:14.810Z,1761507134.810 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:14.812Z,1761507134.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817658
2025-10-26T19:32:14.907Z,1761507134.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989965,-0.138161,0.029673],[0.127152,-0.962527,-0.239527],[0.061655,-0.233351,0.970436]]
2025-10-26T19:32:15.060Z,1761507135.060 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:15.060Z,1761507135.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066574
2025-10-26T19:32:15.312Z,1761507135.312 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:15.313Z,1761507135.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318724
2025-10-26T19:32:15.313Z,1761507135.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990973,-0.131193,0.027583],[0.121061,-0.964117,-0.236267],[0.057590,-0.230795,0.971296]]
2025-10-26T19:32:15.564Z,1761507135.564 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:15.564Z,1761507135.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570575
2025-10-26T19:32:15.720Z,1761507135.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991861,-0.124650,0.025965],[0.115264,-0.965667,-0.232813],[0.054094,-0.227925,0.972175]]
2025-10-26T19:32:15.817Z,1761507135.817 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:15.818Z,1761507135.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824110
2025-10-26T19:32:16.069Z,1761507136.069 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:16.070Z,1761507136.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075602
2025-10-26T19:32:16.121Z,1761507136.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992565,-0.119222,0.024521],[0.110451,-0.966874,-0.230121],[0.051144,-0.225702,0.972853]]
2025-10-26T19:32:16.320Z,1761507136.320 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:16.320Z,1761507136.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326542
2025-10-26T19:32:16.522Z,1761507136.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993047,-0.115345,0.023524],[0.107038,-0.967902,-0.227394],[0.048998,-0.223295,0.973519]]
2025-10-26T19:32:16.573Z,1761507136.573 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:16.573Z,1761507136.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579513
2025-10-26T19:32:16.826Z,1761507136.826 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:16.828Z,1761507136.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833598
2025-10-26T19:32:16.927Z,1761507136.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993325,-0.113092,0.022703],[0.105119,-0.968562,-0.225474],[0.047489,-0.221582,0.973985]]
2025-10-26T19:32:17.081Z,1761507137.081 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:17.081Z,1761507137.081 [DAT](INFO): Reached modem response timeout
2025-10-26T19:32:17.329Z,1761507137.329 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:17.334Z,1761507137.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993393,-0.112589,0.022212],[0.104854,-0.969153,-0.223045],[0.046640,-0.219242,0.974555]]
2025-10-26T19:32:17.580Z,1761507137.580 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:17.736Z,1761507137.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993284,-0.113639,0.021726],[0.106004,-0.969117,-0.222656],[0.046357,-0.218858,0.974655]]
2025-10-26T19:32:17.832Z,1761507137.832 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:18.085Z,1761507138.085 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:18.146Z,1761507138.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992937,-0.116710,0.021330],[0.109111,-0.968888,-0.222152],[0.046593,-0.218255,0.974779]]
2025-10-26T19:32:18.336Z,1761507138.336 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:18.364Z,1761507138.364 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:32:18.542Z,1761507138.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992351,-0.121730,0.020522],[0.114148,-0.968127,-0.222934],[0.047005,-0.218887,0.974617]]
2025-10-26T19:32:18.589Z,1761507138.589 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:18.842Z,1761507138.842 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:18.946Z,1761507138.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991610,-0.127903,0.018697],[0.120529,-0.967154,-0.223801],[0.046708,-0.219670,0.974456]]
2025-10-26T19:32:19.095Z,1761507139.095 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:32:19.348Z,1761507139.348 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:32:19.349Z,1761507139.349 [DAT](INFO): response not received
2025-10-26T19:32:19.349Z,1761507139.349 [DAT](INFO): DAT read: user:211>

2025-10-26T19:32:19.350Z,1761507139.350 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:32:19.350Z,1761507139.350 [DAT](INFO): set remote address to 6
2025-10-26T19:32:19.351Z,1761507139.351 [DAT](INFO): entering online mode
2025-10-26T19:32:19.368Z,1761507139.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:32:19.601Z,1761507139.601 [DAT](INFO): DAT read: user:212>

2025-10-26T19:32:19.601Z,1761507139.601 [DAT](INFO): DAT read: 

2025-10-26T19:32:19.603Z,1761507139.603 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:32:19.603Z,1761507139.603 [DAT](INFO): commRate: 600
2025-10-26T19:32:19.603Z,1761507139.603 [DAT](INFO): online mode acknowledged
2025-10-26T19:32:19.603Z,1761507139.603 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:32:19.754Z,1761507139.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990049,-0.140129,0.012907],[0.133539,-0.964482,-0.227908],[0.044385,-0.223916,0.973597]]
2025-10-26T19:32:20.158Z,1761507140.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989381,-0.145036,0.009490],[0.138953,-0.962994,-0.230942],[0.042633,-0.227171,0.972921]]
2025-10-26T19:32:20.569Z,1761507140.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988801,-0.149106,0.006379],[0.143569,-0.962014,-0.232199],[0.040759,-0.228683,0.972647]]
2025-10-26T19:32:20.966Z,1761507140.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988338,-0.152251,0.002874],[0.147365,-0.961035,-0.233871],[0.038369,-0.230720,0.972264]]
2025-10-26T19:32:21.373Z,1761507141.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988150,-0.153488,-0.000558],[0.149285,-0.960232,-0.235942],[0.035678,-0.233229,0.971767]]
2025-10-26T19:32:21.774Z,1761507141.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988300,-0.152493,-0.003073],[0.148865,-0.960010,-0.237108],[0.033208,-0.234791,0.971478]]
2025-10-26T19:32:22.179Z,1761507142.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988676,-0.150003,-0.004425],[0.146766,-0.960350,-0.237039],[0.031307,-0.235004,0.971490]]
2025-10-26T19:32:22.586Z,1761507142.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989184,-0.146575,-0.005512],[0.143704,-0.960909,-0.236650],[0.029390,-0.234883,0.971579]]
2025-10-26T19:32:22.877Z,1761507142.877 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:32:22.0550

2025-10-26T19:32:22.877Z,1761507142.877 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:32:22.987Z,1761507142.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989827,-0.142152,-0.006018],[0.139567,-0.961861,-0.235252],[0.027653,-0.233699,0.971916]]
2025-10-26T19:32:23.395Z,1761507143.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990350,-0.138441,-0.006334],[0.136105,-0.962991,-0.232645],[0.026108,-0.231262,0.972541]]
2025-10-26T19:32:23.794Z,1761507143.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990841,-0.134890,-0.006184],[0.132712,-0.964347,-0.228959],[0.024920,-0.227683,0.973416]]
2025-10-26T19:32:24.198Z,1761507144.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991082,-0.133121,-0.005887],[0.131019,-0.965473,-0.225158],[0.024290,-0.223922,0.974304]]
2025-10-26T19:32:24.603Z,1761507144.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991250,-0.131872,-0.005816],[0.129867,-0.966392,-0.221857],[0.023636,-0.220671,0.975062]]
2025-10-26T19:32:25.008Z,1761507145.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991254,-0.131824,-0.006203],[0.129958,-0.966887,-0.219639],[0.022956,-0.218524,0.975562]]
2025-10-26T19:32:25.411Z,1761507145.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991179,-0.132393,-0.006085],[0.130518,-0.967110,-0.218320],[0.023019,-0.217188,0.975858]]
2025-10-26T19:32:25.454Z,1761507145.454 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:32:25.454Z,1761507145.454 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:32:25.454Z,1761507145.454 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:32:25.455Z,1761507145.455 [marl:UpdateRudder:A] Stopped
2025-10-26T19:32:25.455Z,1761507145.455 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:32:25.455Z,1761507145.455 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:32:25.455Z,1761507145.455 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:32:25.455Z,1761507145.455 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:32:25.456Z,1761507145.456 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:32:25.456Z,1761507145.456 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:32:25.456Z,1761507145.456 [marl:UpdateCommandMode] Stopped
2025-10-26T19:32:25.456Z,1761507145.456 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:32:25.815Z,1761507145.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991039,-0.133403,-0.006717],[0.131641,-0.966963,-0.218298],[0.022627,-0.217226,0.975859]]
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateRudder:B] Stopped
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateRudder] Stopped
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:32:25.870Z,1761507145.870 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:32:25.871Z,1761507145.871 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:32:25.871Z,1761507145.871 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:32:25.871Z,1761507145.871 [marl:UpdateSpeed] Stopped
2025-10-26T19:32:25.871Z,1761507145.871 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:32:26.218Z,1761507146.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990816,-0.134972,-0.008095],[0.133418,-0.966173,-0.220704],[0.021968,-0.219757,0.975307]]
2025-10-26T19:32:26.623Z,1761507146.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990615,-0.136349,-0.009558],[0.135014,-0.965221,-0.223873],[0.021299,-0.223063,0.974571]]
2025-10-26T19:32:27.026Z,1761507147.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990431,-0.137569,-0.011012],[0.136448,-0.964133,-0.227662],[0.020702,-0.226986,0.973678]]
2025-10-26T19:32:27.431Z,1761507147.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990349,-0.138065,-0.012154],[0.137127,-0.963309,-0.230721],[0.020147,-0.230161,0.972944]]
2025-10-26T19:32:27.835Z,1761507147.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990296,-0.138414,-0.012444],[0.137474,-0.962566,-0.233599],[0.020355,-0.233043,0.972253]]
2025-10-26T19:32:28.240Z,1761507148.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990210,-0.139002,-0.012789],[0.138100,-0.962182,-0.234805],[0.020333,-0.234273,0.971958]]
2025-10-26T19:32:28.642Z,1761507148.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990110,-0.139735,-0.012503],[0.138737,-0.961989,-0.235221],[0.020841,-0.234630,0.971861]]
2025-10-26T19:32:29.055Z,1761507149.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989870,-0.141418,-0.012570],[0.140400,-0.961881,-0.234674],[0.021096,-0.234062,0.971993]]
2025-10-26T19:32:29.452Z,1761507149.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989578,-0.143468,-0.012318],[0.142363,-0.961926,-0.233304],[0.021622,-0.232627,0.972326]]
2025-10-26T19:32:29.854Z,1761507149.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989210,-0.145992,-0.012248],[0.144844,-0.962018,-0.231391],[0.021998,-0.230668,0.972784]]
2025-10-26T19:32:30.258Z,1761507150.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988883,-0.148195,-0.012227],[0.147040,-0.962299,-0.228824],[0.022145,-0.228078,0.973391]]
2025-10-26T19:32:30.662Z,1761507150.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988566,-0.150253,-0.012696],[0.149202,-0.962512,-0.226516],[0.021814,-0.225820,0.973925]]
2025-10-26T19:32:31.068Z,1761507151.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988356,-0.151598,-0.013090],[0.150644,-0.962741,-0.224580],[0.021444,-0.223937,0.974368]]
2025-10-26T19:32:31.471Z,1761507151.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988282,-0.152069,-0.013182],[0.151186,-0.963327,-0.221682],[0.021012,-0.221078,0.975030]]
2025-10-26T19:32:31.874Z,1761507151.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988380,-0.151460,-0.012827],[0.150539,-0.963696,-0.220516],[0.021038,-0.219884,0.975299]]
2025-10-26T19:32:32.278Z,1761507152.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988635,-0.149780,-0.012941],[0.148916,-0.963837,-0.221001],[0.020628,-0.220416,0.975188]]
2025-10-26T19:32:32.684Z,1761507152.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988945,-0.147733,-0.012720],[0.146861,-0.964032,-0.221525],[0.020464,-0.220944,0.975072]]
2025-10-26T19:32:32.968Z,1761507152.968 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:32:32.968Z,1761507152.968 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:32:33.086Z,1761507153.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989231,-0.145839,-0.012405],[0.144922,-0.964077,-0.222608],[0.020505,-0.222008,0.974829]]
2025-10-26T19:32:33.220Z,1761507153.220 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:32:33.472Z,1761507153.472 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:32:33.490Z,1761507153.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989476,-0.144183,-0.012154],[0.143219,-0.963959,-0.224213],[0.020612,-0.223594,0.974464]]
2025-10-26T19:32:33.725Z,1761507153.725 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:32:33.899Z,1761507153.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989644,-0.143047,-0.011965],[0.142045,-0.963865,-0.225362],[0.020705,-0.224727,0.974202]]
2025-10-26T19:32:34.305Z,1761507154.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989744,-0.142438,-0.010859],[0.141142,-0.963352,-0.228104],[0.022030,-0.227297,0.973576]]
2025-10-26T19:32:34.714Z,1761507154.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989650,-0.143164,-0.009821],[0.141567,-0.962835,-0.230014],[0.023474,-0.229024,0.973138]]
2025-10-26T19:32:35.110Z,1761507155.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989586,-0.143676,-0.008818],[0.141756,-0.962056,-0.233139],[0.025013,-0.231961,0.972403]]
2025-10-26T19:32:35.523Z,1761507155.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989398,-0.145016,-0.007852],[0.142773,-0.961348,-0.235426],[0.026592,-0.234051,0.971861]]
2025-10-26T19:32:35.916Z,1761507155.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989148,-0.146724,-0.007582],[0.144293,-0.960455,-0.238128],[0.027657,-0.236638,0.971204]]
2025-10-26T19:32:36.318Z,1761507156.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988827,-0.148883,-0.007406],[0.146336,-0.960044,-0.238541],[0.028405,-0.236960,0.971104]]
2025-10-26T19:32:36.356Z,1761507156.356 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:32:36.496Z,1761507156.496 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:32:36.547Z,1761507156.547 [DAT](INFO): entering command mode
2025-10-26T19:32:36.730Z,1761507156.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988484,-0.151138,-0.007476],[0.148503,-0.959394,-0.239813],[0.029073,-0.238161,0.970790]]
2025-10-26T19:32:36.748Z,1761507156.748 [DAT](INFO): DAT read: 

2025-10-26T19:32:36.749Z,1761507156.749 [DAT](INFO): DAT read: user:213>

2025-10-26T19:32:36.749Z,1761507156.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:32:36.749Z,1761507156.749 [DAT](INFO): setting remote address to 0
2025-10-26T19:32:37.001Z,1761507157.001 [DAT](INFO): DAT read: user:213>

2025-10-26T19:32:37.003Z,1761507157.003 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:32:37.004Z,1761507157.004 [DAT](INFO): set remote address to 0
2025-10-26T19:32:37.004Z,1761507157.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:32:37.005Z,1761507157.005 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:32:37.126Z,1761507157.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988069,-0.153807,-0.007918],[0.151216,-0.959107,-0.239265],[0.029206,-0.237608,0.970922]]
2025-10-26T19:32:37.252Z,1761507157.252 [DAT](INFO): DAT read: user:214>

2025-10-26T19:32:37.253Z,1761507157.253 [DAT](INFO): DAT read: Tx time:19:32:36.3561

2025-10-26T19:32:37.253Z,1761507157.253 [DAT](INFO): Ping request sent.
2025-10-26T19:32:37.253Z,1761507157.253 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:32:37.254Z,1761507157.254 [DAT](INFO): publishing transmit ping time
2025-10-26T19:32:37.254Z,1761507157.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000958
2025-10-26T19:32:37.505Z,1761507157.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251827
2025-10-26T19:32:37.534Z,1761507157.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987628,-0.156600,-0.008272],[0.154054,-0.959008,-0.237848],[0.029314,-0.236180,0.971267]]
2025-10-26T19:32:37.761Z,1761507157.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507319
2025-10-26T19:32:37.934Z,1761507157.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987175,-0.159389,-0.009028],[0.156957,-0.958673,-0.237300],[0.029168,-0.235674,0.971394]]
2025-10-26T19:32:38.009Z,1761507158.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755456
2025-10-26T19:32:38.260Z,1761507158.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861
2025-10-26T19:32:38.339Z,1761507158.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986738,-0.162043,-0.009468],[0.159766,-0.959260,-0.233013],[0.028676,-0.231436,0.972428]]
2025-10-26T19:32:38.513Z,1761507158.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259434
2025-10-26T19:32:38.762Z,1761507158.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986415,-0.163959,-0.010120],[0.161854,-0.959523,-0.230478],[0.028079,-0.228985,0.973025]]
2025-10-26T19:32:38.765Z,1761507158.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511391
2025-10-26T19:32:38.856Z,1761507158.856 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:32:38.856Z,1761507158.856 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:32:38.856Z,1761507158.856 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateRudder:A] Stopped
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:32:38.857Z,1761507158.857 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateCommandMode] Stopped
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:32:38.858Z,1761507158.858 [marl:UpdateSpeed] Stopped
2025-10-26T19:32:38.859Z,1761507158.859 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:32:39.017Z,1761507159.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763608
2025-10-26T19:32:39.146Z,1761507159.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986135,-0.165604,-0.010596],[0.163664,-0.960068,-0.226900],[0.027403,-0.225488,0.973861]]
2025-10-26T19:32:39.195Z,1761507159.195 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:32:39.195Z,1761507159.195 [marl:UpdateRudder:B] Stopped
2025-10-26T19:32:39.196Z,1761507159.196 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:32:39.196Z,1761507159.196 [marl:UpdateRudder] Stopped
2025-10-26T19:32:39.196Z,1761507159.196 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:32:39.269Z,1761507159.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015918
2025-10-26T19:32:39.521Z,1761507159.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267189
2025-10-26T19:32:39.550Z,1761507159.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986051,-0.166087,-0.010878],[0.164286,-0.960708,-0.223718],[0.026706,-0.222384,0.974593]]
2025-10-26T19:32:39.772Z,1761507159.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519012
2025-10-26T19:32:39.955Z,1761507159.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986119,-0.165689,-0.010814],[0.163946,-0.961296,-0.221433],[0.026293,-0.220132,0.975116]]
2025-10-26T19:32:40.026Z,1761507160.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772797
2025-10-26T19:32:40.276Z,1761507160.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022930
2025-10-26T19:32:40.358Z,1761507160.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986318,-0.164508,-0.010632],[0.162778,-0.961689,-0.220584],[0.026063,-0.219296,0.975310]]
2025-10-26T19:32:40.529Z,1761507160.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275842
2025-10-26T19:32:40.777Z,1761507160.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986644,-0.162597,-0.009829],[0.160693,-0.961654,-0.222261],[0.026687,-0.220872,0.974938]]
2025-10-26T19:32:40.783Z,1761507160.783 [DAT](INFO): DAT read: Rx Time:19:32:39.2805

2025-10-26T19:32:40.785Z,1761507160.785 [DAT](INFO): Rx dataTimestamp_ set to:1761507160.783957
2025-10-26T19:32:40.786Z,1761507160.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532854
2025-10-26T19:32:41.033Z,1761507161.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779118
2025-10-26T19:32:41.175Z,1761507161.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987081,-0.159951,-0.009295],[0.157951,-0.961728,-0.223898],[0.026874,-0.222474,0.974568]]
2025-10-26T19:32:41.293Z,1761507161.293 [DAT](INFO): DAT read: 19:32:39.2805 LVL= 32752, 28465, 32738, 32755, AGC= 71, IDX= 444,-0.13,-2.426,-0.305,-1.455,-1.072, PHS=-1.252, 0.812,-0.427, RAW= 306.6,   9.7, CAL= 304.4,  11.6, ROT= 205.6, -11.6

2025-10-26T19:32:41.294Z,1761507161.294 [DAT](INFO): got valid direction response:
 19:32:39.2805 LVL= 32752, 28465, 32738, 32755, AGC= 71, IDX= 444,-0.13,-2.426,-0.305,-1.455,-1.072, PHS=-1.252, 0.812,-0.427, RAW= 306.6,   9.7, CAL= 304.4,  11.6, ROT= 205.6, -11.6

2025-10-26T19:32:41.295Z,1761507161.295 [DAT](INFO): DAT read: Bearing 357, -18 (Remote)

2025-10-26T19:32:41.296Z,1761507161.296 [DAT](INFO): Remote Bearing received:Bearing 357, -18 (Remote)

2025-10-26T19:32:41.297Z,1761507161.297 [DAT](INFO): DAT read: Bearing 136.2, -29.4 (Local)

2025-10-26T19:32:41.297Z,1761507161.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.2, -29.4 (Local)

2025-10-26T19:32:41.298Z,1761507161.298 [DAT](INFO): DAT read: Range 11 to 20 : 671.4 m  (Round-trip  895.3 ms) speed -0.5 m/s

2025-10-26T19:32:41.299Z,1761507161.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:32:41.317Z,1761507161.317 [DAT](INFO): direction in FSK: [-0.883413,-0.423261,0.201078]
2025-10-26T19:32:41.317Z,1761507161.317 [DAT](INFO): publishing direction and range info
2025-10-26T19:32:41.578Z,1761507161.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987091,-0.159888,-0.009330],[0.157857,-0.961395,-0.225390],[0.027067,-0.223953,0.974224]]
2025-10-26T19:32:41.620Z,1761507161.620 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507200.00. Resetting abort timer.
2025-10-26T19:32:41.983Z,1761507161.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986319,-0.164518,-0.010462],[0.162432,-0.959054,-0.232014],[0.028137,-0.230539,0.972656]]
2025-10-26T19:32:42.386Z,1761507162.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984751,-0.173412,-0.013909],[0.171344,-0.952948,-0.250063],[0.030110,-0.248633,0.968130]]
2025-10-26T19:32:42.591Z,1761507162.591 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:32:42.591Z,1761507162.591 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:32:42.850Z,1761507162.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982398,-0.185761,-0.019674],[0.183965,-0.943829,-0.274488],[0.032420,-0.273276,0.961389]]
2025-10-26T19:32:43.194Z,1761507163.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979420,-0.200065,-0.026635],[0.198731,-0.932906,-0.300322],[0.035236,-0.299435,0.953466]]
2025-10-26T19:32:43.598Z,1761507163.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975957,-0.215243,-0.034331],[0.214503,-0.920518,-0.326551],[0.038686,-0.326064,0.944556]]
2025-10-26T19:32:43.805Z,1761507163.805 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:32:43.805Z,1761507163.805 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:32:44.010Z,1761507164.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972036,-0.231012,-0.042198],[0.230962,-0.907949,-0.349694],[0.042470,-0.349661,0.935913]]
2025-10-26T19:32:44.056Z,1761507164.056 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:32:44.310Z,1761507164.310 [DAT](INFO): setting remote address to 6
2025-10-26T19:32:44.411Z,1761507164.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967541,-0.247693,-0.050133],[0.248412,-0.895706,-0.368786],[0.046441,-0.369269,0.928161]]
2025-10-26T19:32:44.560Z,1761507164.560 [DAT](INFO): DAT read: user:215>

2025-10-26T19:32:44.561Z,1761507164.561 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:32:44.561Z,1761507164.561 [DAT](INFO): set remote address to 6
2025-10-26T19:32:44.562Z,1761507164.562 [DAT](INFO): entering online mode
2025-10-26T19:32:44.815Z,1761507164.815 [DAT](INFO): DAT read: user:216>

2025-10-26T19:32:44.825Z,1761507164.825 [DAT](INFO): DAT read: 

2025-10-26T19:32:44.829Z,1761507164.829 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:32:44.830Z,1761507164.830 [DAT](INFO): commRate: 600
2025-10-26T19:32:44.830Z,1761507164.830 [DAT](INFO): online mode acknowledged
2025-10-26T19:32:44.840Z,1761507164.840 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:32:44.870Z,1761507164.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962932,-0.263514,-0.057636],[0.265024,-0.884440,-0.384094],[0.050238,-0.385131,0.921493]]
2025-10-26T19:32:45.634Z,1761507165.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953819,-0.292502,-0.068347],[0.294684,-0.867083,-0.401657],[0.058223,-0.403249,0.913236]]
2025-10-26T19:32:46.081Z,1761507166.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949225,-0.306254,-0.071976],[0.308384,-0.860544,-0.405417],[0.062222,-0.407028,0.911294]]
2025-10-26T19:32:46.490Z,1761507166.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944386,-0.320223,-0.074784],[0.322092,-0.854934,-0.406626],[0.066276,-0.408099,0.910529]]
2025-10-26T19:32:46.957Z,1761507166.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939363,-0.334129,-0.077165],[0.335626,-0.849624,-0.406809],[0.070365,-0.408040,0.910248]]
2025-10-26T19:32:47.404Z,1761507167.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933759,-0.348956,-0.079524],[0.350144,-0.844667,-0.404891],[0.074117,-0.405916,0.910900]]
2025-10-26T19:32:47.810Z,1761507167.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927332,-0.365040,-0.082473],[0.366039,-0.838829,-0.402966],[0.077918,-0.403872,0.911491]]
2025-10-26T19:32:48.089Z,1761507168.089 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:32:47.2548

2025-10-26T19:32:48.090Z,1761507168.090 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:32:48.210Z,1761507168.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919985,-0.382505,-0.085546],[0.383322,-0.832480,-0.400052],[0.081807,-0.400834,0.912491]]
2025-10-26T19:32:48.614Z,1761507168.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911644,-0.401307,-0.088640],[0.401933,-0.825589,-0.396046],[0.085756,-0.396681,0.913942]]
2025-10-26T19:32:49.041Z,1761507169.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902739,-0.420329,-0.091572],[0.420640,-0.817874,-0.392613],[0.090133,-0.392946,0.915134]]
2025-10-26T19:32:49.442Z,1761507169.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893622,-0.438579,-0.095334],[0.438743,-0.808866,-0.391459],[0.094573,-0.391644,0.915244]]
2025-10-26T19:32:49.506Z,1761507169.506 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:32:49.939Z,1761507169.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875415,-0.472316,-0.102792],[0.472693,-0.792040,-0.386308],[0.101044,-0.386768,0.916624]]
2025-10-26T19:32:50.334Z,1761507170.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866366,-0.487625,-0.107854],[0.488903,-0.784057,-0.382397],[0.101903,-0.384026,0.917682]]
2025-10-26T19:32:50.508Z,1761507170.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:32:50.747Z,1761507170.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857126,-0.502135,-0.114873],[0.505248,-0.776125,-0.377299],[0.100299,-0.381432,0.918939]]
2025-10-26T19:32:51.151Z,1761507171.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847620,-0.515989,-0.123673],[0.521820,-0.768397,-0.370500],[0.096144,-0.378578,0.920562]]
2025-10-26T19:32:51.554Z,1761507171.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837991,-0.529080,-0.133587],[0.538210,-0.760983,-0.362264],[0.090009,-0.375472,0.922453]]
2025-10-26T19:32:51.964Z,1761507171.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828284,-0.541426,-0.144238],[0.554197,-0.753718,-0.353235],[0.082536,-0.372514,0.924349]]
2025-10-26T19:32:52.365Z,1761507172.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819372,-0.552045,-0.154519],[0.568361,-0.747126,-0.344630],[0.074806,-0.370203,0.925934]]
2025-10-26T19:32:52.422Z,1761507172.422 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:32:52.422Z,1761507172.422 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:32:52.422Z,1761507172.422 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:32:52.423Z,1761507172.423 [marl:UpdateRudder:A] Stopped
2025-10-26T19:32:52.423Z,1761507172.423 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:32:52.423Z,1761507172.423 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:32:52.423Z,1761507172.423 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:32:52.423Z,1761507172.423 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateCommandMode] Stopped
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:32:52.424Z,1761507172.424 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:32:52.425Z,1761507172.425 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:32:52.425Z,1761507172.425 [marl:UpdateSpeed] Stopped
2025-10-26T19:32:52.425Z,1761507172.425 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:32:52.771Z,1761507172.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811933,-0.560539,-0.162975],[0.579781,-0.741842,-0.336934],[0.067963,-0.368058,0.927316]]
2025-10-26T19:32:52.888Z,1761507172.888 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:32:52.888Z,1761507172.888 [marl:UpdateRudder:B] Stopped
2025-10-26T19:32:52.888Z,1761507172.888 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:32:52.888Z,1761507172.888 [marl:UpdateRudder] Stopped
2025-10-26T19:32:52.888Z,1761507172.888 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:32:53.170Z,1761507173.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805143,-0.567991,-0.170677],[0.589823,-0.736725,-0.330674],[0.062078,-0.366909,0.928183]]
2025-10-26T19:32:53.574Z,1761507173.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797651,-0.575983,-0.178877],[0.600460,-0.730584,-0.325106],[0.056571,-0.366730,0.928606]]
2025-10-26T19:32:53.984Z,1761507173.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789105,-0.585296,-0.186389],[0.612069,-0.723629,-0.318956],[0.051807,-0.365773,0.929261]]
2025-10-26T19:32:54.420Z,1761507174.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779976,-0.595112,-0.193595],[0.623946,-0.715651,-0.313904],[0.048261,-0.365630,0.929508]]
2025-10-26T19:32:54.834Z,1761507174.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770195,-0.605440,-0.200606],[0.636139,-0.706450,-0.310250],[0.046120,-0.366566,0.929248]]
2025-10-26T19:32:55.190Z,1761507175.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760218,-0.615708,-0.207295],[0.648063,-0.696291,-0.308533],[0.045629,-0.368893,0.928351]]
2025-10-26T19:32:55.594Z,1761507175.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750504,-0.625473,-0.213373],[0.659214,-0.685719,-0.308586],[0.046698,-0.372253,0.926956]]
2025-10-26T19:32:55.999Z,1761507175.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740902,-0.635138,-0.218318],[0.669804,-0.674939,-0.309547],[0.049254,-0.375575,0.925482]]
2025-10-26T19:32:56.413Z,1761507176.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731199,-0.644947,-0.222241],[0.680113,-0.663985,-0.310757],[0.052857,-0.378374,0.924142]]
2025-10-26T19:32:56.847Z,1761507176.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720701,-0.655824,-0.224688],[0.690931,-0.653052,-0.310061],[0.056613,-0.378705,0.923784]]
2025-10-26T19:32:57.215Z,1761507177.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708313,-0.667832,-0.228675],[0.703407,-0.640561,-0.308060],[0.059252,-0.379055,0.923475]]
2025-10-26T19:32:57.616Z,1761507177.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694602,-0.680562,-0.233160],[0.716835,-0.627459,-0.304043],[0.060622,-0.378326,0.923685]]
2025-10-26T19:32:58.018Z,1761507178.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679516,-0.693886,-0.238287],[0.731107,-0.613365,-0.298774],[0.061158,-0.377235,0.924096]]
2025-10-26T19:32:58.179Z,1761507178.179 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:32:58.425Z,1761507178.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664242,-0.706713,-0.243596],[0.744978,-0.599013,-0.293584],[0.061563,-0.376484,0.924375]]
2025-10-26T19:32:58.428Z,1761507178.428 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:32:58.680Z,1761507178.680 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:32:58.869Z,1761507178.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649058,-0.719176,-0.248012],[0.758223,-0.585071,-0.287732],[0.061825,-0.374803,0.925041]]
2025-10-26T19:32:59.722Z,1761507179.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618230,-0.742355,-0.258264],[0.783719,-0.557212,-0.274406],[0.059799,-0.372053,0.926283]]
2025-10-26T19:33:00.536Z,1761507180.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585226,-0.764045,-0.271563],[0.809197,-0.528785,-0.256101],[0.052074,-0.369625,0.927721]]
2025-10-26T19:33:00.960Z,1761507180.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567950,-0.773931,-0.280114],[0.821794,-0.514330,-0.245192],[0.045690,-0.369453,0.928125]]
2025-10-26T19:33:01.342Z,1761507181.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550095,-0.783687,-0.288495],[0.834237,-0.499976,-0.232534],[0.037993,-0.368589,0.928816]]
2025-10-26T19:33:01.957Z,1761507181.957 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:33:01.1047

2025-10-26T19:33:01.957Z,1761507181.957 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:33:02.152Z,1761507182.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514553,-0.800506,-0.307286],[0.857213,-0.471672,-0.206665],[0.020498,-0.369750,0.928905]]
2025-10-26T19:33:02.554Z,1761507182.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499510,-0.806967,-0.315109],[0.866214,-0.459883,-0.195399],[0.012767,-0.370556,0.928722]]
2025-10-26T19:33:02.964Z,1761507182.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487039,-0.812092,-0.321403],[0.873357,-0.450180,-0.185970],[0.006336,-0.371275,0.928501]]
2025-10-26T19:33:03.364Z,1761507183.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475153,-0.816954,-0.326826],[0.879903,-0.441123,-0.176581],[0.000088,-0.371479,0.928442]]
2025-10-26T19:33:03.767Z,1761507183.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463860,-0.821364,-0.331957],[0.885893,-0.432247,-0.168390],[-0.005178,-0.372188,0.928143]]
2025-10-26T19:33:04.170Z,1761507184.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453108,-0.825502,-0.336511],[0.891402,-0.423686,-0.160909],[-0.009745,-0.372876,0.927830]]
2025-10-26T19:33:04.575Z,1761507184.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442199,-0.829955,-0.340050],[0.896809,-0.415016,-0.153281],[-0.013910,-0.372741,0.927831]]
2025-10-26T19:33:04.991Z,1761507184.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431738,-0.834091,-0.343358],[0.901835,-0.406409,-0.146712],[-0.017173,-0.372993,0.927675]]
2025-10-26T19:33:05.387Z,1761507185.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421339,-0.838135,-0.346416],[0.906692,-0.397554,-0.140931],[-0.019600,-0.373472,0.927434]]
2025-10-26T19:33:05.463Z,1761507185.463 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:33:05.463Z,1761507185.463 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:33:05.463Z,1761507185.463 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:33:05.464Z,1761507185.464 [marl:UpdateRudder:A] Stopped
2025-10-26T19:33:05.464Z,1761507185.464 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:33:05.464Z,1761507185.464 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:33:05.464Z,1761507185.464 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:33:05.464Z,1761507185.464 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:33:05.464Z,1761507185.464 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateCommandMode] Stopped
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:33:05.465Z,1761507185.465 [marl:UpdateSpeed] Stopped
2025-10-26T19:33:05.466Z,1761507185.466 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:33:05.790Z,1761507185.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411018,-0.841846,-0.349800],[0.911382,-0.388361,-0.136232],[-0.021162,-0.374795,0.926866]]
2025-10-26T19:33:05.824Z,1761507185.824 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:33:05.824Z,1761507185.824 [marl:UpdateRudder:B] Stopped
2025-10-26T19:33:05.824Z,1761507185.824 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:33:05.824Z,1761507185.824 [marl:UpdateRudder] Stopped
2025-10-26T19:33:05.824Z,1761507185.824 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:33:06.194Z,1761507186.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400199,-0.846290,-0.351616],[0.916159,-0.378767,-0.131108],[-0.022225,-0.374605,0.926918]]
2025-10-26T19:33:06.599Z,1761507186.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388865,-0.850581,-0.353972],[0.921009,-0.368478,-0.126362],[-0.022950,-0.375149,0.926680]]
2025-10-26T19:33:06.635Z,1761507186.635 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:33:06.744Z,1761507186.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:33:06.796Z,1761507186.796 [DAT](INFO): entering command mode
2025-10-26T19:33:06.996Z,1761507186.996 [DAT](INFO): DAT read: 

2025-10-26T19:33:06.997Z,1761507186.997 [DAT](INFO): DAT read: user:217

2025-10-26T19:33:06.997Z,1761507186.997 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:33:06.997Z,1761507186.997 [DAT](INFO): setting remote address to 0
2025-10-26T19:33:07.010Z,1761507187.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376897,-0.855325,-0.355483],[0.925942,-0.357894,-0.120593],[-0.024079,-0.374608,0.926871]]
2025-10-26T19:33:07.249Z,1761507187.249 [DAT](INFO): DAT read: user:217>

2025-10-26T19:33:07.250Z,1761507187.250 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:33:07.250Z,1761507187.250 [DAT](INFO): set remote address to 0
2025-10-26T19:33:07.251Z,1761507187.251 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:33:07.251Z,1761507187.251 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:33:07.410Z,1761507187.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365411,-0.860944,-0.353906],[0.930477,-0.348547,-0.112817],[-0.026224,-0.370526,0.928452]]
2025-10-26T19:33:07.501Z,1761507187.501 [DAT](INFO): DAT read: user:218>

2025-10-26T19:33:07.502Z,1761507187.502 [DAT](INFO): DAT read: Tx time:19:33:06.5559

2025-10-26T19:33:07.502Z,1761507187.502 [DAT](INFO): Ping request sent.
2025-10-26T19:33:07.503Z,1761507187.503 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:33:07.503Z,1761507187.503 [DAT](INFO): publishing transmit ping time
2025-10-26T19:33:07.504Z,1761507187.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001392
2025-10-26T19:33:07.752Z,1761507187.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249764
2025-10-26T19:33:07.813Z,1761507187.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356101,-0.867661,-0.346924],[0.933972,-0.342321,-0.102527],[-0.029801,-0.360528,0.932272]]
2025-10-26T19:33:08.004Z,1761507188.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501719
2025-10-26T19:33:08.215Z,1761507188.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349426,-0.875746,-0.333122],[0.936328,-0.339470,-0.089721],[-0.034512,-0.343263,0.938605]]
2025-10-26T19:33:08.257Z,1761507188.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753924
2025-10-26T19:33:08.508Z,1761507188.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005727
2025-10-26T19:33:08.618Z,1761507188.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343382,-0.884207,-0.316649],[0.938328,-0.337468,-0.075204],[-0.040363,-0.322945,0.945557]]
2025-10-26T19:33:08.765Z,1761507188.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262148
2025-10-26T19:33:09.013Z,1761507189.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510678
2025-10-26T19:33:09.024Z,1761507189.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337581,-0.891754,-0.301355],[0.940125,-0.335382,-0.060691],[-0.046948,-0.303799,0.951579]]
2025-10-26T19:33:09.264Z,1761507189.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761762
2025-10-26T19:33:09.434Z,1761507189.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331779,-0.898329,-0.287972],[0.941818,-0.332859,-0.046734],[-0.053872,-0.286723,0.956498]]
2025-10-26T19:33:09.516Z,1761507189.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013779
2025-10-26T19:33:09.768Z,1761507189.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265812
2025-10-26T19:33:09.832Z,1761507189.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326071,-0.904178,-0.275935],[0.943370,-0.330080,-0.033176],[-0.061083,-0.271127,0.960604]]
2025-10-26T19:33:10.020Z,1761507190.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517736
2025-10-26T19:33:10.234Z,1761507190.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320267,-0.909247,-0.265893],[0.944859,-0.326842,-0.020409],[-0.068348,-0.257768,0.963786]]
2025-10-26T19:33:10.272Z,1761507190.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769840
2025-10-26T19:33:10.524Z,1761507190.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021800
2025-10-26T19:33:10.638Z,1761507190.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314568,-0.913363,-0.258486],[0.946210,-0.323437,-0.008635],[-0.075717,-0.247298,0.965977]]
2025-10-26T19:33:10.787Z,1761507190.787 [DAT](INFO): DAT read: Rx Time:19:33:09.4703

2025-10-26T19:33:10.789Z,1761507190.789 [DAT](INFO): Rx dataTimestamp_ set to:1761507190.788046
2025-10-26T19:33:10.791Z,1761507190.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287931
2025-10-26T19:33:11.036Z,1761507191.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533867
2025-10-26T19:33:11.044Z,1761507191.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308512,-0.916735,-0.253805],[0.947542,-0.319620,0.002675],[-0.083573,-0.239665,0.967252]]
2025-10-26T19:33:11.291Z,1761507191.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787597
2025-10-26T19:33:11.447Z,1761507191.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302042,-0.919329,-0.252198],[0.948841,-0.315463,0.013579],[-0.092043,-0.235194,0.967580]]
2025-10-26T19:33:11.549Z,1761507191.549 [DAT](INFO): DAT read: 19:33:09.4703 LVL= 28048, 20977, 15250, 27891, AGC= 70, IDX= 261,-0.11,-0.439, 0.824, 2.167, 0.780, PHS=-1.118, 0.089, 1.343, RAW= 239.4,  -3.0, CAL= 236.3,  -4.4, ROT= 273.7,   4.4

2025-10-26T19:33:11.550Z,1761507191.550 [DAT](INFO): got valid direction response:
 19:33:09.4703 LVL= 28048, 20977, 15250, 27891, AGC= 70, IDX= 261,-0.11,-0.439, 0.824, 2.167, 0.780, PHS=-1.118, 0.089, 1.343, RAW= 239.4,  -3.0, CAL= 236.3,  -4.4, ROT= 273.7,   4.4

2025-10-26T19:33:11.551Z,1761507191.551 [DAT](INFO): DAT read: Bearing 353, -21 (Remote)

2025-10-26T19:33:11.551Z,1761507191.551 [DAT](INFO): Remote Bearing received:Bearing 353, -21 (Remote)

2025-10-26T19:33:11.552Z,1761507191.552 [DAT](INFO): DAT read: Bearing 168.4, -71.1 (Local)

2025-10-26T19:33:11.552Z,1761507191.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.4, -71.1 (Local)

2025-10-26T19:33:11.554Z,1761507191.554 [DAT](INFO): DAT read: Range 11 to 20 : 663.9 m  (Round-trip  885.2 ms) speed  0.4 m/s

2025-10-26T19:33:11.554Z,1761507191.554 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:33:11.560Z,1761507191.560 [DAT](INFO): direction in FSK: [0.064343,-0.994974,-0.076719]
2025-10-26T19:33:11.560Z,1761507191.560 [DAT](INFO): publishing direction and range info
2025-10-26T19:33:11.850Z,1761507191.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295127,-0.921528,-0.252361],[0.950067,-0.311059,0.024800],[-0.101353,-0.232441,0.967315]]
2025-10-26T19:33:11.934Z,1761507191.934 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507200.00. Resetting abort timer.
2025-10-26T19:33:12.044Z,1761507192.044 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:33:12.296Z,1761507192.296 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:33:12.549Z,1761507192.549 [DAT](INFO): setting remote address to 6
2025-10-26T19:33:12.659Z,1761507192.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282928,-0.924835,-0.254228],[0.951519,-0.303990,0.046923],[-0.120679,-0.228627,0.966005]]
2025-10-26T19:33:12.804Z,1761507192.804 [DAT](INFO): DAT read: user:219>

2025-10-26T19:33:12.808Z,1761507192.808 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:33:12.809Z,1761507192.809 [DAT](INFO): set remote address to 6
2025-10-26T19:33:12.810Z,1761507192.810 [DAT](INFO): entering online mode
2025-10-26T19:33:13.052Z,1761507193.052 [DAT](INFO): DAT read: user:220>

2025-10-26T19:33:13.053Z,1761507193.053 [DAT](INFO): DAT read: 

2025-10-26T19:33:13.054Z,1761507193.054 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:33:13.054Z,1761507193.054 [DAT](INFO): commRate: 600
2025-10-26T19:33:13.054Z,1761507193.054 [DAT](INFO): online mode acknowledged
2025-10-26T19:33:13.055Z,1761507193.055 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:33:13.097Z,1761507193.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279050,-0.925986,-0.254325],[0.951539,-0.302283,0.056553],[-0.129245,-0.226219,0.965464]]
2025-10-26T19:33:13.466Z,1761507193.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276661,-0.926808,-0.253940],[0.951175,-0.301736,0.064969],[-0.136837,-0.223567,0.965035]]
2025-10-26T19:33:13.870Z,1761507193.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275224,-0.927106,-0.254412],[0.950596,-0.301960,0.072019],[-0.143591,-0.222021,0.964411]]
2025-10-26T19:33:14.275Z,1761507194.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274207,-0.927209,-0.255136],[0.950055,-0.302298,0.077534],[-0.149018,-0.221133,0.963792]]
2025-10-26T19:33:14.678Z,1761507194.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273662,-0.927184,-0.255811],[0.949630,-0.302680,0.081164],[-0.152683,-0.220714,0.963314]]
2025-10-26T19:33:15.083Z,1761507195.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273201,-0.926656,-0.258207],[0.949319,-0.303084,0.083269],[-0.155420,-0.222371,0.962494]]
2025-10-26T19:33:15.486Z,1761507195.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272667,-0.926143,-0.260599],[0.949114,-0.303296,0.084818],[-0.157592,-0.224212,0.961714]]
2025-10-26T19:33:15.914Z,1761507195.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272072,-0.925689,-0.262825],[0.949016,-0.303307,0.085864],[-0.159200,-0.226064,0.961015]]
2025-10-26T19:33:16.294Z,1761507196.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271022,-0.925344,-0.265115],[0.949047,-0.302890,0.086997],[-0.160803,-0.228028,0.960284]]
2025-10-26T19:33:16.329Z,1761507196.329 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:33:15.5046

2025-10-26T19:33:16.329Z,1761507196.329 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:33:16.703Z,1761507196.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269931,-0.924995,-0.267434],[0.949031,-0.302517,0.088447],[-0.162717,-0.229928,0.959508]]
2025-10-26T19:33:17.102Z,1761507197.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269645,-0.924736,-0.268617],[0.948810,-0.302781,0.089906],[-0.164472,-0.230623,0.959042]]
2025-10-26T19:33:17.506Z,1761507197.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269615,-0.924305,-0.270126],[0.948466,-0.303393,0.091464],[-0.166495,-0.231545,0.958471]]
2025-10-26T19:33:17.915Z,1761507197.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269935,-0.923645,-0.272058],[0.947973,-0.304451,0.093045],[-0.168769,-0.232788,0.957772]]
2025-10-26T19:33:18.315Z,1761507198.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271050,-0.923476,-0.271521],[0.947260,-0.306010,0.095161],[-0.170967,-0.231407,0.957717]]
2025-10-26T19:33:18.339Z,1761507198.339 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:33:18.339Z,1761507198.339 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:33:18.340Z,1761507198.340 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:33:18.340Z,1761507198.340 [marl:UpdateRudder:A] Stopped
2025-10-26T19:33:18.340Z,1761507198.340 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:33:18.340Z,1761507198.340 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:33:18.340Z,1761507198.340 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:33:18.340Z,1761507198.340 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:33:18.341Z,1761507198.341 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:33:18.341Z,1761507198.341 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:33:18.341Z,1761507198.341 [marl:UpdateCommandMode] Stopped
2025-10-26T19:33:18.342Z,1761507198.342 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:33:18.342Z,1761507198.342 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:33:18.342Z,1761507198.342 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:33:18.343Z,1761507198.343 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:33:18.347Z,1761507198.347 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:33:18.348Z,1761507198.348 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:33:18.348Z,1761507198.348 [marl:UpdateSpeed] Stopped
2025-10-26T19:33:18.348Z,1761507198.348 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:33:18.850Z,1761507198.850 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:33:18.850Z,1761507198.850 [marl:UpdateRudder:B] Stopped
2025-10-26T19:33:18.850Z,1761507198.850 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:33:18.850Z,1761507198.850 [marl:UpdateRudder] Stopped
2025-10-26T19:33:18.851Z,1761507198.851 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:33:19.122Z,1761507199.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275720,-0.922307,-0.270792],[0.945673,-0.310761,0.095557],[-0.172284,-0.229734,0.957883]]
2025-10-26T19:33:19.527Z,1761507199.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278952,-0.921508,-0.270203],[0.944880,-0.313612,0.094076],[-0.171431,-0.229067,0.958196]]
2025-10-26T19:33:19.940Z,1761507199.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282899,-0.921063,-0.267601],[0.944045,-0.316706,0.092065],[-0.169549,-0.226583,0.959121]]
2025-10-26T19:33:20.334Z,1761507200.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286256,-0.920511,-0.265928],[0.943476,-0.319190,0.089281],[-0.167066,-0.225339,0.959850]]
2025-10-26T19:33:20.628Z,1761507200.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:33:20.740Z,1761507200.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288818,-0.920208,-0.264201],[0.943203,-0.320812,0.086298],[-0.164171,-0.224271,0.960599]]
2025-10-26T19:33:21.155Z,1761507201.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290300,-0.920209,-0.262566],[0.943315,-0.321314,0.083148],[-0.160880,-0.223545,0.961325]]
2025-10-26T19:33:21.207Z,1761507201.207 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-10-26T19:33:21.560Z,1761507201.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289876,-0.920626,-0.261572],[0.944719,-0.318999,0.075803],[-0.153227,-0.225139,0.962203]]
2025-10-26T19:33:21.632Z,1761507201.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:33:21.959Z,1761507201.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288730,-0.920930,-0.261769],[0.945746,-0.316895,0.071713],[-0.148996,-0.226861,0.962463]]
2025-10-26T19:33:22.369Z,1761507202.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286626,-0.921316,-0.262720],[0.947033,-0.313925,0.067676],[-0.144826,-0.229407,0.962496]]
2025-10-26T19:33:22.770Z,1761507202.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284197,-0.922062,-0.262742],[0.948401,-0.310548,0.063988],[-0.140595,-0.231000,0.962742]]
2025-10-26T19:33:23.174Z,1761507203.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281856,-0.922382,-0.264136],[0.949687,-0.307393,0.060040],[-0.136573,-0.233924,0.962615]]
2025-10-26T19:33:23.570Z,1761507203.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279347,-0.922706,-0.265668],[0.950958,-0.304136,0.056387],[-0.132828,-0.236887,0.962414]]
2025-10-26T19:33:23.974Z,1761507203.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277083,-0.923265,-0.266097],[0.952149,-0.301013,0.052951],[-0.128986,-0.238692,0.962491]]
2025-10-26T19:33:24.383Z,1761507204.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274993,-0.923725,-0.266665],[0.953272,-0.298049,0.049396],[-0.125107,-0.240621,0.962523]]
2025-10-26T19:33:24.810Z,1761507204.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273512,-0.924401,-0.265846],[0.954238,-0.295517,0.045817],[-0.120915,-0.241149,0.962926]]
2025-10-26T19:33:25.186Z,1761507205.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272830,-0.924956,-0.264614],[0.955014,-0.293619,0.041676],[-0.116244,-0.241340,0.963453]]
2025-10-26T19:33:25.590Z,1761507205.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272268,-0.925752,-0.262398],[0.955757,-0.291747,0.037587],[-0.111350,-0.240555,0.964227]]
2025-10-26T19:33:25.995Z,1761507205.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271708,-0.926532,-0.260217],[0.956483,-0.289870,0.033394],[-0.106370,-0.239820,0.964972]]
2025-10-26T19:33:26.400Z,1761507206.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271078,-0.927313,-0.258084],[0.957211,-0.287922,0.029116],[-0.101308,-0.239148,0.965684]]
2025-10-26T19:33:26.409Z,1761507206.409 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:33:26.660Z,1761507206.660 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:33:26.842Z,1761507206.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270190,-0.927881,-0.256969],[0.957971,-0.285797,0.024716],[-0.096375,-0.239491,0.966103]]
2025-10-26T19:33:26.912Z,1761507206.912 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:33:27.206Z,1761507207.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269510,-0.928404,-0.255792],[0.958628,-0.283926,0.020476],[-0.091636,-0.239691,0.966515]]
2025-10-26T19:33:27.610Z,1761507207.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269129,-0.928309,-0.256538],[0.959098,-0.282596,0.016432],[-0.087751,-0.241623,0.966394]]
2025-10-26T19:33:28.016Z,1761507208.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268942,-0.928972,-0.254324],[0.959429,-0.281601,0.014029],[-0.084651,-0.240233,0.967017]]
2025-10-26T19:33:28.418Z,1761507208.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269419,-0.929148,-0.253176],[0.959508,-0.281436,0.011794],[-0.082211,-0.239746,0.967349]]
2025-10-26T19:33:28.852Z,1761507208.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271297,-0.928839,-0.252301],[0.959179,-0.282652,0.009179],[-0.079839,-0.239512,0.967605]]
2025-10-26T19:33:29.227Z,1761507209.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274667,-0.928047,-0.251568],[0.958410,-0.285328,0.006177],[-0.077512,-0.239409,0.967820]]
2025-10-26T19:33:29.630Z,1761507209.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278697,-0.927204,-0.250241],[0.957404,-0.288729,0.003537],[-0.075532,-0.238596,0.968177]]
2025-10-26T19:33:30.034Z,1761507210.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283519,-0.926372,-0.247895],[0.956170,-0.292812,0.000648],[-0.073186,-0.236846,0.968787]]
2025-10-26T19:33:30.189Z,1761507210.189 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:33:29.3546

2025-10-26T19:33:30.190Z,1761507210.190 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:33:30.438Z,1761507210.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288298,-0.925526,-0.245532],[0.954954,-0.296741,-0.002727],[-0.070335,-0.235258,0.969385]]
2025-10-26T19:33:30.859Z,1761507210.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293417,-0.924520,-0.243247],[0.953645,-0.300855,-0.006863],[-0.066837,-0.233985,0.969940]]
2025-10-26T19:33:31.246Z,1761507211.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298739,-0.923337,-0.241256],[0.952322,-0.304836,-0.012555],[-0.061951,-0.233504,0.970380]]
2025-10-26T19:33:31.292Z,1761507211.292 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:33:31.292Z,1761507211.292 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:33:31.292Z,1761507211.292 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:33:31.292Z,1761507211.292 [marl:UpdateRudder:A] Stopped
2025-10-26T19:33:31.292Z,1761507211.292 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode] Stopped
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:33:31.293Z,1761507211.293 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:33:31.294Z,1761507211.294 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:33:31.294Z,1761507211.294 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:33:31.294Z,1761507211.294 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:33:31.294Z,1761507211.294 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:33:31.294Z,1761507211.294 [marl:UpdateSpeed] Stopped
2025-10-26T19:33:31.294Z,1761507211.294 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:33:31.650Z,1761507211.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303752,-0.922384,-0.238626],[0.951110,-0.308257,-0.019151],[-0.055893,-0.232777,0.970923]]
2025-10-26T19:33:31.726Z,1761507211.726 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:33:31.726Z,1761507211.726 [marl:UpdateRudder:B] Stopped
2025-10-26T19:33:31.726Z,1761507211.726 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:33:31.727Z,1761507211.727 [marl:UpdateRudder] Stopped
2025-10-26T19:33:31.727Z,1761507211.727 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:33:32.056Z,1761507212.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307105,-0.921599,-0.237365],[0.950388,-0.309969,-0.026126],[-0.049498,-0.233613,0.971069]]
2025-10-26T19:33:32.459Z,1761507212.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308751,-0.921677,-0.234915],[0.950167,-0.310067,-0.032278],[-0.043089,-0.233174,0.971480]]
2025-10-26T19:33:32.863Z,1761507212.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308657,-0.921830,-0.234436],[0.950448,-0.308529,-0.038183],[-0.037132,-0.234605,0.971381]]
2025-10-26T19:33:33.266Z,1761507213.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307404,-0.922215,-0.234570],[0.951056,-0.305930,-0.043590],[-0.031563,-0.236489,0.971121]]
2025-10-26T19:33:33.671Z,1761507213.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305376,-0.922613,-0.235650],[0.951861,-0.302669,-0.048503],[-0.026575,-0.239118,0.970627]]
2025-10-26T19:33:34.074Z,1761507214.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302648,-0.923242,-0.236702],[0.952836,-0.298950,-0.052264],[-0.022510,-0.241355,0.970176]]
2025-10-26T19:33:34.479Z,1761507214.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300107,-0.924174,-0.236302],[0.953713,-0.295675,-0.054850],[-0.019178,-0.241825,0.970130]]
2025-10-26T19:33:34.882Z,1761507214.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297315,-0.925364,-0.235172],[0.954637,-0.292371,-0.056460],[-0.016511,-0.241291,0.970312]]
2025-10-26T19:33:35.287Z,1761507215.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295186,-0.926674,-0.232681],[0.955332,-0.289917,-0.057342],[-0.014321,-0.239214,0.970861]]
2025-10-26T19:33:35.693Z,1761507215.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293377,-0.927389,-0.232120],[0.955906,-0.287910,-0.057884],[-0.013148,-0.238867,0.970963]]
2025-10-26T19:33:36.094Z,1761507216.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292571,-0.928129,-0.230172],[0.956168,-0.286969,-0.058232],[-0.012006,-0.237120,0.971406]]
2025-10-26T19:33:36.499Z,1761507216.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293271,-0.928009,-0.229763],[0.955964,-0.287476,-0.059083],[-0.011222,-0.236972,0.971452]]
2025-10-26T19:33:36.972Z,1761507216.972 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:33:36.996Z,1761507216.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:33:37.048Z,1761507217.048 [DAT](INFO): entering command mode
2025-10-26T19:33:37.248Z,1761507217.248 [DAT](INFO): DAT read: 

2025-10-26T19:33:37.249Z,1761507217.249 [DAT](INFO): DAT read: user:221>

2025-10-26T19:33:37.249Z,1761507217.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:33:37.249Z,1761507217.249 [DAT](INFO): setting remote address to 0
2025-10-26T19:33:37.313Z,1761507217.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298364,-0.926920,-0.227593],[0.954419,-0.291735,-0.063049],[-0.007956,-0.236031,0.971713]]
2025-10-26T19:33:37.500Z,1761507217.500 [DAT](INFO): DAT read: user:221>

2025-10-26T19:33:37.501Z,1761507217.501 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:33:37.501Z,1761507217.501 [DAT](INFO): set remote address to 0
2025-10-26T19:33:37.502Z,1761507217.502 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:33:37.502Z,1761507217.502 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:33:37.716Z,1761507217.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302106,-0.925869,-0.226932],[0.953255,-0.294917,-0.065785],[-0.006017,-0.236198,0.971686]]
2025-10-26T19:33:37.753Z,1761507217.753 [DAT](INFO): DAT read: user:222>

2025-10-26T19:33:37.754Z,1761507217.754 [DAT](INFO): DAT read: Tx time:19:33:36.8557

2025-10-26T19:33:37.754Z,1761507217.754 [DAT](INFO): Ping request sent.
2025-10-26T19:33:37.754Z,1761507217.754 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:33:37.754Z,1761507217.754 [DAT](INFO): publishing transmit ping time
2025-10-26T19:33:37.755Z,1761507217.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937
2025-10-26T19:33:38.004Z,1761507218.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250465
2025-10-26T19:33:38.114Z,1761507218.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306189,-0.924434,-0.227309],[0.951962,-0.298337,-0.069014],[-0.004016,-0.237521,0.971374]]
2025-10-26T19:33:38.256Z,1761507218.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502438
2025-10-26T19:33:38.513Z,1761507218.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758571
2025-10-26T19:33:38.520Z,1761507218.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310263,-0.923001,-0.227608],[0.950649,-0.301671,-0.072529],[-0.001719,-0.238878,0.971048]]
2025-10-26T19:33:38.769Z,1761507218.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014353
2025-10-26T19:33:38.935Z,1761507218.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314278,-0.921607,-0.227748],[0.949330,-0.304827,-0.076503],[0.001082,-0.240251,0.970710]]
2025-10-26T19:33:39.017Z,1761507219.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263271
2025-10-26T19:33:39.268Z,1761507219.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514427
2025-10-26T19:33:39.333Z,1761507219.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317433,-0.920728,-0.226930],[0.948270,-0.307042,-0.080686],[0.004613,-0.240803,0.970563]]
2025-10-26T19:33:39.520Z,1761507219.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766488
2025-10-26T19:33:39.734Z,1761507219.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319600,-0.920365,-0.225355],[0.947510,-0.308152,-0.085249],[0.009016,-0.240771,0.970540]]
2025-10-26T19:33:39.772Z,1761507219.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018530
2025-10-26T19:33:40.024Z,1761507220.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270437
2025-10-26T19:33:40.134Z,1761507220.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319826,-0.920772,-0.223363],[0.947383,-0.307478,-0.089007],[0.013276,-0.240077,0.970663]]
2025-10-26T19:33:40.276Z,1761507220.276 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:33:40.276Z,1761507220.276 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:33:40.277Z,1761507220.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522788
2025-10-26T19:33:40.528Z,1761507220.528 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:33:40.528Z,1761507220.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774569
2025-10-26T19:33:40.545Z,1761507220.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318127,-0.921652,-0.222156],[0.947893,-0.304975,-0.092140],[0.017169,-0.239892,0.970648]]
2025-10-26T19:33:40.784Z,1761507220.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029269
2025-10-26T19:33:40.942Z,1761507220.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315567,-0.922513,-0.222232],[0.948679,-0.301626,-0.095025],[0.020631,-0.240814,0.970352]]
2025-10-26T19:33:41.033Z,1761507221.033 [DAT](INFO): DAT read: Rx Time:19:33:39.7499

2025-10-26T19:33:41.033Z,1761507221.033 [DAT](INFO): Rx dataTimestamp_ set to:1761507221.032705
2025-10-26T19:33:41.034Z,1761507221.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279614
2025-10-26T19:33:41.284Z,1761507221.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530357
2025-10-26T19:33:41.346Z,1761507221.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312446,-0.923775,-0.221397],[0.949644,-0.297972,-0.096901],[0.023545,-0.240524,0.970358]]
2025-10-26T19:33:41.538Z,1761507221.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783907
2025-10-26T19:33:41.750Z,1761507221.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309329,-0.924948,-0.220878],[0.950611,-0.294516,-0.097972],[0.025567,-0.240275,0.970368]]
2025-10-26T19:33:41.798Z,1761507221.798 [DAT](INFO): DAT read: 19:33:39.7499 LVL= 32752, 31345, 19954, 32627, AGC= 69, IDX= 166,-0.07, 2.246,-2.781,-1.380,-2.817, PHS=-1.119, 0.081, 1.393, RAW= 238.5,  -3.3, CAL= 235.5,  -4.9, ROT= 274.5,   4.9

2025-10-26T19:33:41.800Z,1761507221.800 [DAT](INFO): got valid direction response:
 19:33:39.7499 LVL= 32752, 31345, 19954, 32627, AGC= 69, IDX= 166,-0.07, 2.246,-2.781,-1.380,-2.817, PHS=-1.119, 0.081, 1.393, RAW= 238.5,  -3.3, CAL= 235.5,  -4.9, ROT= 274.5,   4.9

2025-10-26T19:33:41.801Z,1761507221.801 [DAT](INFO): DAT read: Bearing 354,  -1 (Remote)

2025-10-26T19:33:41.802Z,1761507221.802 [DAT](INFO): Remote Bearing received:Bearing 354,  -1 (Remote)

2025-10-26T19:33:41.803Z,1761507221.803 [DAT](INFO): DAT read: Bearing 185.9, -70.6 (Local)

2025-10-26T19:33:41.804Z,1761507221.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9, -70.6 (Local)

2025-10-26T19:33:41.806Z,1761507221.806 [DAT](INFO): DAT read: Range 11 to 20 : 648.7 m  (Round-trip  865.0 ms) speed  0.8 m/s

2025-10-26T19:33:41.807Z,1761507221.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:33:41.817Z,1761507221.817 [DAT](INFO): direction in FSK: [0.078172,-0.993274,-0.085417]
2025-10-26T19:33:41.817Z,1761507221.817 [DAT](INFO): publishing direction and range info
2025-10-26T19:33:41.857Z,1761507221.857 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507200.00. Resetting abort timer.
2025-10-26T19:33:42.154Z,1761507222.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306512,-0.925877,-0.220913],[0.951497,-0.291562,-0.098209],[0.026520,-0.240300,0.970336]]
2025-10-26T19:33:42.560Z,1761507222.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304325,-0.926672,-0.220603],[0.952202,-0.289521,-0.097408],[0.026396,-0.239703,0.970487]]
2025-10-26T19:33:42.639Z,1761507222.639 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:33:42.640Z,1761507222.640 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:33:42.962Z,1761507222.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303914,-0.926902,-0.220202],[0.952357,-0.289385,-0.096289],[0.025527,-0.238974,0.970690]]
2025-10-26T19:33:43.366Z,1761507223.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305606,-0.926442,-0.219797],[0.951836,-0.291242,-0.095850],[0.024785,-0.238503,0.970825]]
2025-10-26T19:33:43.770Z,1761507223.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309194,-0.925422,-0.219074],[0.950678,-0.294790,-0.096491],[0.024714,-0.238103,0.970925]]
2025-10-26T19:33:44.175Z,1761507224.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313956,-0.924321,-0.216937],[0.949102,-0.299466,-0.097604],[0.025252,-0.236539,0.971294]]
2025-10-26T19:33:44.578Z,1761507224.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318789,-0.923029,-0.215385],[0.947461,-0.304027,-0.099426],[0.026291,-0.235765,0.971454]]
2025-10-26T19:33:44.608Z,1761507224.608 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:33:44.609Z,1761507224.609 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:33:44.609Z,1761507224.609 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:33:44.609Z,1761507224.609 [marl:UpdateRudder:A] Stopped
2025-10-26T19:33:44.609Z,1761507224.609 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:33:44.609Z,1761507224.609 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:33:44.609Z,1761507224.609 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateCommandMode] Stopped
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:33:44.610Z,1761507224.610 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:33:44.611Z,1761507224.611 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:33:44.611Z,1761507224.611 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:33:44.611Z,1761507224.611 [marl:UpdateSpeed] Stopped
2025-10-26T19:33:44.611Z,1761507224.611 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:33:44.983Z,1761507224.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323162,-0.922107,-0.212802],[0.945923,-0.308044,-0.101673],[0.028201,-0.234151,0.971791]]
2025-10-26T19:33:45.034Z,1761507225.034 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:33:45.034Z,1761507225.034 [marl:UpdateRudder:B] Stopped
2025-10-26T19:33:45.034Z,1761507225.034 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:33:45.035Z,1761507225.035 [marl:UpdateRudder] Stopped
2025-10-26T19:33:45.035Z,1761507225.035 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:33:45.386Z,1761507225.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326988,-0.921249,-0.210661],[0.944518,-0.311264,-0.104883],[0.031052,-0.233269,0.971916]]
2025-10-26T19:33:45.801Z,1761507225.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330123,-0.920485,-0.209109],[0.943284,-0.313455,-0.109365],[0.035122,-0.233353,0.971758]]
2025-10-26T19:33:46.194Z,1761507226.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331827,-0.920113,-0.208047],[0.942515,-0.314148,-0.113916],[0.039458,-0.233888,0.971463]]
2025-10-26T19:33:46.598Z,1761507226.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331369,-0.920990,-0.204870],[0.942505,-0.313149,-0.116712],[0.043336,-0.231766,0.971806]]
2025-10-26T19:33:47.408Z,1761507227.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325890,-0.923253,-0.203470],[0.944129,-0.306634,-0.120812],[0.049149,-0.231473,0.971599]]
2025-10-26T19:33:47.821Z,1761507227.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322104,-0.924594,-0.203410],[0.945318,-0.302499,-0.121933],[0.051207,-0.231563,0.971471]]
2025-10-26T19:33:48.215Z,1761507228.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318480,-0.925164,-0.206501],[0.946482,-0.298323,-0.123183],[0.052360,-0.234681,0.970661]]
2025-10-26T19:33:48.618Z,1761507228.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315094,-0.926164,-0.207209],[0.947567,-0.294763,-0.123419],[0.053229,-0.235233,0.970480]]
2025-10-26T19:33:49.453Z,1761507229.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310642,-0.927081,-0.209813],[0.948942,-0.289735,-0.124747],[0.054860,-0.237852,0.969751]]
2025-10-26T19:33:49.833Z,1761507229.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309485,-0.927193,-0.211024],[0.949254,-0.288177,-0.125979],[0.055995,-0.239304,0.969329]]
2025-10-26T19:33:50.234Z,1761507230.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308806,-0.927336,-0.211390],[0.949407,-0.287186,-0.127084],[0.057141,-0.239940,0.969105]]
2025-10-26T19:33:50.638Z,1761507230.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308814,-0.927162,-0.212143],[0.949347,-0.286851,-0.128283],[0.058085,-0.241013,0.968782]]
2025-10-26T19:33:51.044Z,1761507231.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309357,-0.927144,-0.211431],[0.949130,-0.287303,-0.128879],[0.058745,-0.240545,0.968859]]
2025-10-26T19:33:51.447Z,1761507231.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310236,-0.926780,-0.211738],[0.948818,-0.288003,-0.129607],[0.059136,-0.241110,0.968694]]
2025-10-26T19:33:51.760Z,1761507231.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:33:51.853Z,1761507231.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312028,-0.926364,-0.210922],[0.948223,-0.289803,-0.129950],[0.059255,-0.240549,0.968827]]
2025-10-26T19:33:52.254Z,1761507232.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314786,-0.925629,-0.210048],[0.947356,-0.292748,-0.129677],[0.058542,-0.239811,0.969053]]
2025-10-26T19:33:52.659Z,1761507232.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318111,-0.924768,-0.208828],[0.946294,-0.296308,-0.129344],[0.057736,-0.238758,0.969361]]
2025-10-26T19:33:52.764Z,1761507232.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:33:53.466Z,1761507233.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325382,-0.922371,-0.208227],[0.943946,-0.303893,-0.128902],[0.055617,-0.238498,0.969549]]
2025-10-26T19:33:53.873Z,1761507233.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329339,-0.921378,-0.206394],[0.942622,-0.308153,-0.128472],[0.054771,-0.236863,0.969998]]
2025-10-26T19:33:54.283Z,1761507234.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333427,-0.920298,-0.204642],[0.941195,-0.312364,-0.128768],[0.054582,-0.235543,0.970330]]
2025-10-26T19:33:54.678Z,1761507234.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337733,-0.919071,-0.203088],[0.939637,-0.316622,-0.129737],[0.054935,-0.234646,0.970527]]
2025-10-26T19:33:55.086Z,1761507235.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341891,-0.918026,-0.200843],[0.938079,-0.320702,-0.130990],[0.055842,-0.233191,0.970826]]
2025-10-26T19:33:55.486Z,1761507235.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345979,-0.916766,-0.199594],[0.936476,-0.324378,-0.133383],[0.057537,-0.233062,0.970758]]
2025-10-26T19:33:55.897Z,1761507235.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348469,-0.915939,-0.199062],[0.935485,-0.326567,-0.134991],[0.058636,-0.233260,0.970645]]
2025-10-26T19:33:56.294Z,1761507236.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349767,-0.915541,-0.198612],[0.934975,-0.327781,-0.135576],[0.059024,-0.233117,0.970656]]
2025-10-26T19:33:56.701Z,1761507236.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351156,-0.914898,-0.199126],[0.934438,-0.328969,-0.136401],[0.059287,-0.233969,0.970435]]
2025-10-26T19:33:57.102Z,1761507237.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351403,-0.914955,-0.198426],[0.934371,-0.329412,-0.135785],[0.058873,-0.233119,0.970665]]
2025-10-26T19:33:57.508Z,1761507237.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351699,-0.914846,-0.198405],[0.934285,-0.329798,-0.135444],[0.058477,-0.233002,0.970716]]
2025-10-26T19:33:57.910Z,1761507237.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351675,-0.914798,-0.198670],[0.934325,-0.329860,-0.135013],[0.057976,-0.233103,0.970722]]
2025-10-26T19:33:57.959Z,1761507237.959 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:33:57.959Z,1761507237.959 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:33:57.959Z,1761507237.959 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:33:57.959Z,1761507237.959 [marl:UpdateRudder:A] Stopped
2025-10-26T19:33:57.959Z,1761507237.959 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:33:57.959Z,1761507237.959 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateCommandMode] Stopped
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:33:57.960Z,1761507237.960 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:33:57.961Z,1761507237.961 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:33:57.961Z,1761507237.961 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:33:57.961Z,1761507237.961 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:33:57.961Z,1761507237.961 [marl:UpdateSpeed] Stopped
2025-10-26T19:33:57.961Z,1761507237.961 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:33:58.314Z,1761507238.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351263,-0.914800,-0.199386],[0.934509,-0.329479,-0.134669],[0.057502,-0.233632,0.970623]]
2025-10-26T19:33:58.346Z,1761507238.346 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:33:58.346Z,1761507238.346 [marl:UpdateRudder:B] Stopped
2025-10-26T19:33:58.346Z,1761507238.346 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:33:58.346Z,1761507238.346 [marl:UpdateRudder] Stopped
2025-10-26T19:33:58.346Z,1761507238.346 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:33:58.724Z,1761507238.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350321,-0.915469,-0.197970],[0.934844,-0.328707,-0.134235],[0.057814,-0.232096,0.970973]]
2025-10-26T19:33:59.122Z,1761507239.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348760,-0.916335,-0.196717],[0.935376,-0.327189,-0.134237],[0.058643,-0.230820,0.971228]]
2025-10-26T19:33:59.526Z,1761507239.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346704,-0.917099,-0.196788],[0.936064,-0.324915,-0.134958],[0.059830,-0.230997,0.971113]]
2025-10-26T19:33:59.930Z,1761507239.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344172,-0.918086,-0.196633],[0.936894,-0.322114,-0.135908],[0.061437,-0.231000,0.971012]]
2025-10-26T19:34:00.335Z,1761507240.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341236,-0.919350,-0.195840],[0.937843,-0.318955,-0.136816],[0.063317,-0.230354,0.971045]]
2025-10-26T19:34:00.748Z,1761507240.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338101,-0.920488,-0.195933],[0.938852,-0.315485,-0.137936],[0.065155,-0.230588,0.970868]]
2025-10-26T19:34:01.142Z,1761507241.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334657,-0.922036,-0.194563],[0.939969,-0.311987,-0.138283],[0.066801,-0.229161,0.971094]]
2025-10-26T19:34:01.547Z,1761507241.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331125,-0.923235,-0.194917],[0.941115,-0.308194,-0.138992],[0.068250,-0.229463,0.970921]]
2025-10-26T19:34:01.957Z,1761507241.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327506,-0.924326,-0.195862],[0.942300,-0.304313,-0.139511],[0.069351,-0.230251,0.970657]]
2025-10-26T19:34:02.355Z,1761507242.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324018,-0.925422,-0.196486],[0.943459,-0.300721,-0.139470],[0.069981,-0.230567,0.970537]]
2025-10-26T19:34:02.766Z,1761507242.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320303,-0.926535,-0.197332],[0.944715,-0.296994,-0.138952],[0.070137,-0.230929,0.970439]]
2025-10-26T19:34:03.162Z,1761507243.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316527,-0.927646,-0.198201],[0.946065,-0.293502,-0.137181],[0.069083,-0.230932,0.970514]]
2025-10-26T19:34:03.567Z,1761507243.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313059,-0.928462,-0.199881],[0.947389,-0.290511,-0.134381],[0.066700,-0.231434,0.970561]]
2025-10-26T19:34:03.977Z,1761507243.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309250,-0.929343,-0.201706],[0.948860,-0.287384,-0.130671],[0.063471,-0.231801,0.970690]]
2025-10-26T19:34:04.374Z,1761507244.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306631,-0.929474,-0.205073],[0.949948,-0.285305,-0.127276],[0.059791,-0.233836,0.970436]]
2025-10-26T19:34:04.792Z,1761507244.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305239,-0.929447,-0.207263],[0.950618,-0.284566,-0.123885],[0.056164,-0.234842,0.970410]]
2025-10-26T19:34:05.186Z,1761507245.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305627,-0.928829,-0.209447],[0.950692,-0.285510,-0.121115],[0.052696,-0.236135,0.970290]]
2025-10-26T19:34:05.588Z,1761507245.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307451,-0.927869,-0.211028],[0.950294,-0.287939,-0.118462],[0.049154,-0.236960,0.970275]]
2025-10-26T19:34:05.990Z,1761507245.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310225,-0.926489,-0.213023],[0.949567,-0.291232,-0.116215],[0.045633,-0.238333,0.970111]]
2025-10-26T19:34:06.399Z,1761507246.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313417,-0.925083,-0.214455],[0.948682,-0.295012,-0.113884],[0.042085,-0.239143,0.970072]]
2025-10-26T19:34:06.842Z,1761507246.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321227,-0.922841,-0.212552],[0.946327,-0.304331,-0.108850],[0.035765,-0.236109,0.971068]]
2025-10-26T19:34:07.212Z,1761507247.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325770,-0.921551,-0.211228],[0.944874,-0.309550,-0.106735],[0.032976,-0.234355,0.971592]]
2025-10-26T19:34:07.248Z,1761507247.248 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:34:07.256Z,1761507247.256 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:34:07.256Z,1761507247.256 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:34:07.508Z,1761507247.508 [DAT](INFO): DAT read: user:223>

2025-10-26T19:34:07.509Z,1761507247.509 [DAT](INFO): DAT read: Tx time:19:34:06.6055

2025-10-26T19:34:07.509Z,1761507247.509 [DAT](INFO): Ping request sent.
2025-10-26T19:34:07.509Z,1761507247.509 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:34:07.510Z,1761507247.510 [DAT](INFO): publishing transmit ping time
2025-10-26T19:34:07.510Z,1761507247.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000919
2025-10-26T19:34:07.611Z,1761507247.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330389,-0.920389,-0.209110],[0.943347,-0.314814,-0.104826],[0.030650,-0.231896,0.972258]]
2025-10-26T19:34:07.760Z,1761507247.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815
2025-10-26T19:34:08.012Z,1761507248.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502938
2025-10-26T19:34:08.016Z,1761507248.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335023,-0.919122,-0.207303],[0.941778,-0.320006,-0.103199],[0.028514,-0.229807,0.972818]]
2025-10-26T19:34:08.264Z,1761507248.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754882
2025-10-26T19:34:08.417Z,1761507248.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339510,-0.917974,-0.205080],[0.940226,-0.325037,-0.101621],[0.026627,-0.227323,0.973455]]
2025-10-26T19:34:08.516Z,1761507248.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912
2025-10-26T19:34:08.769Z,1761507248.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259412
2025-10-26T19:34:08.847Z,1761507248.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343846,-0.916761,-0.203270],[0.938689,-0.329775,-0.100555],[0.025151,-0.225383,0.973946]]
2025-10-26T19:34:09.020Z,1761507249.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909
2025-10-26T19:34:09.230Z,1761507249.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347760,-0.915763,-0.201097],[0.937268,-0.333989,-0.099901],[0.024321,-0.223223,0.974464]]
2025-10-26T19:34:09.272Z,1761507249.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762900
2025-10-26T19:34:09.525Z,1761507249.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015520
2025-10-26T19:34:09.626Z,1761507249.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351088,-0.914686,-0.200216],[0.936029,-0.337322,-0.100318],[0.024222,-0.222628,0.974603]]
2025-10-26T19:34:09.776Z,1761507249.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266832
2025-10-26T19:34:10.029Z,1761507250.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519371
2025-10-26T19:34:10.044Z,1761507250.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353311,-0.913945,-0.199688],[0.935184,-0.339456,-0.100993],[0.024517,-0.222427,0.974641]]
2025-10-26T19:34:10.281Z,1761507250.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771371
2025-10-26T19:34:10.434Z,1761507250.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354277,-0.913576,-0.199666],[0.934809,-0.340301,-0.101623],[0.024894,-0.222652,0.974580]]
2025-10-26T19:34:10.534Z,1761507250.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024987
2025-10-26T19:34:10.787Z,1761507250.787 [DAT](INFO): DAT read: Rx Time:19:34:09.4771

2025-10-26T19:34:10.788Z,1761507250.788 [DAT](INFO): Rx dataTimestamp_ set to:1761507250.787341
2025-10-26T19:34:10.790Z,1761507250.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280142
2025-10-26T19:34:10.863Z,1761507250.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352739,-0.913953,-0.200663],[0.935394,-0.338734,-0.101475],[0.024772,-0.223493,0.974391]]
2025-10-26T19:34:11.036Z,1761507251.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526946
2025-10-26T19:34:11.242Z,1761507251.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348949,-0.915109,-0.202016],[0.936812,-0.334912,-0.101076],[0.024838,-0.224521,0.974153]]
2025-10-26T19:34:11.289Z,1761507251.289 [DAT](INFO): DAT read: Bearing 352, -17 (Remote)

2025-10-26T19:34:11.289Z,1761507251.289 [DAT](INFO): Remote Bearing received:Bearing 352, -17 (Remote)

2025-10-26T19:34:11.291Z,1761507251.291 [DAT](INFO): DAT read: Range 11 to 20 : 631.8 m  (Round-trip  842.4 ms) speed  0.8 m/s

2025-10-26T19:34:11.291Z,1761507251.291 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T19:34:11.344Z,1761507251.344 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:34:11.344Z,1761507251.344 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:34:11.344Z,1761507251.344 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:34:11.345Z,1761507251.345 [marl:UpdateRudder:A] Stopped
2025-10-26T19:34:11.345Z,1761507251.345 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:34:11.345Z,1761507251.345 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:34:11.345Z,1761507251.345 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:34:11.345Z,1761507251.345 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:34:11.345Z,1761507251.345 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateCommandMode] Stopped
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:34:11.346Z,1761507251.346 [marl:UpdateSpeed] Stopped
2025-10-26T19:34:11.347Z,1761507251.347 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:34:11.353Z,1761507251.353 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507200.00. Resetting abort timer.
2025-10-26T19:34:11.647Z,1761507251.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344155,-0.916379,-0.204470],[0.938574,-0.329919,-0.101159],[0.025242,-0.226724,0.973632]]
2025-10-26T19:34:11.674Z,1761507251.674 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:34:11.674Z,1761507251.674 [marl:UpdateRudder:B] Stopped
2025-10-26T19:34:11.674Z,1761507251.674 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:34:11.674Z,1761507251.674 [marl:UpdateRudder] Stopped
2025-10-26T19:34:11.674Z,1761507251.674 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:34:12.052Z,1761507252.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339072,-0.917958,-0.205872],[0.940398,-0.324658,-0.101231],[0.026088,-0.227927,0.973329]]
2025-10-26T19:34:12.454Z,1761507252.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333972,-0.919389,-0.207812],[0.942197,-0.319316,-0.101493],[0.026954,-0.229696,0.972889]]
2025-10-26T19:34:12.859Z,1761507252.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328898,-0.920931,-0.209072],[0.943961,-0.314124,-0.101307],[0.027622,-0.230676,0.972639]]
2025-10-26T19:34:13.263Z,1761507253.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323808,-0.922422,-0.210441],[0.945720,-0.309073,-0.100439],[0.027605,-0.231541,0.972433]]
2025-10-26T19:34:13.668Z,1761507253.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318888,-0.924056,-0.210785],[0.947428,-0.304616,-0.097927],[0.026281,-0.230932,0.972615]]
2025-10-26T19:34:14.071Z,1761507254.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314066,-0.925297,-0.212576],[0.949110,-0.300453,-0.094440],[0.023516,-0.231418,0.972570]]
2025-10-26T19:34:14.478Z,1761507254.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309542,-0.926586,-0.213594],[0.950701,-0.297141,-0.088743],[0.018761,-0.230533,0.972884]]
2025-10-26T19:34:15.283Z,1761507255.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301869,-0.928189,-0.217578],[0.953333,-0.292556,-0.074617],[0.005605,-0.229948,0.973187]]
2025-10-26T19:34:15.690Z,1761507255.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301138,-0.927746,-0.220462],[0.953581,-0.293059,-0.069283],[-0.000331,-0.231092,0.972932]]
2025-10-26T19:34:16.091Z,1761507256.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303158,-0.926776,-0.221769],[0.952928,-0.295994,-0.065692],[-0.004761,-0.231245,0.972884]]
2025-10-26T19:34:16.494Z,1761507256.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305841,-0.925946,-0.221553],[0.952049,-0.299396,-0.062969],[-0.008026,-0.230188,0.973113]]
2025-10-26T19:34:16.900Z,1761507256.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308673,-0.924972,-0.221694],[0.951117,-0.302566,-0.061883],[-0.009837,-0.229958,0.973151]]
2025-10-26T19:34:17.302Z,1761507257.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311426,-0.924140,-0.221313],[0.950218,-0.305292,-0.062310],[-0.009981,-0.229701,0.973210]]
2025-10-26T19:34:17.714Z,1761507257.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313699,-0.922951,-0.223058],[0.949485,-0.307002,-0.065028],[-0.008462,-0.232189,0.972634]]
2025-10-26T19:34:18.112Z,1761507258.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314955,-0.922500,-0.223151],[0.949088,-0.307603,-0.067919],[-0.005986,-0.233182,0.972415]]
2025-10-26T19:34:18.516Z,1761507258.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314640,-0.922612,-0.223132],[0.949205,-0.306664,-0.070477],[-0.003404,-0.233973,0.972237]]
2025-10-26T19:34:18.961Z,1761507258.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312620,-0.923438,-0.222554],[0.949877,-0.304299,-0.071666],[-0.001543,-0.233803,0.972283]]
2025-10-26T19:34:19.322Z,1761507259.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309454,-0.924500,-0.222572],[0.950914,-0.301021,-0.071752],[-0.000664,-0.233850,0.972272]]
2025-10-26T19:34:19.731Z,1761507259.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305563,-0.925792,-0.222578],[0.952171,-0.297322,-0.070491],[-0.000917,-0.233472,0.972363]]
2025-10-26T19:34:20.137Z,1761507260.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301827,-0.926942,-0.222887],[0.953360,-0.294046,-0.068136],[-0.002381,-0.233056,0.972460]]
2025-10-26T19:34:20.534Z,1761507260.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298009,-0.928040,-0.223457],[0.954548,-0.291028,-0.064345],[-0.005317,-0.232476,0.972588]]
2025-10-26T19:34:20.938Z,1761507260.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295051,-0.929167,-0.222698],[0.955437,-0.289164,-0.059369],[-0.009232,-0.230291,0.973078]]
2025-10-26T19:34:21.342Z,1761507261.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294165,-0.929821,-0.221135],[0.955663,-0.289356,-0.054595],[-0.013223,-0.227390,0.973714]]
2025-10-26T19:34:21.748Z,1761507261.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295446,-0.929843,-0.219324],[0.955217,-0.291481,-0.050991],[-0.016515,-0.224567,0.974319]]
2025-10-26T19:34:22.150Z,1761507262.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297529,-0.929243,-0.219053],[0.954512,-0.294232,-0.048310],[-0.019560,-0.223463,0.974516]]
2025-10-26T19:34:22.554Z,1761507262.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300418,-0.928482,-0.218335],[0.953560,-0.297586,-0.046550],[-0.021752,-0.222180,0.974763]]
2025-10-26T19:34:22.888Z,1761507262.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:34:22.958Z,1761507262.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303316,-0.927740,-0.217482],[0.952607,-0.300781,-0.045495],[-0.023207,-0.220974,0.975004]]
2025-10-26T19:34:23.364Z,1761507263.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306140,-0.926958,-0.216858],[0.951695,-0.303636,-0.045623],[-0.023555,-0.220350,0.975136]]
2025-10-26T19:34:23.766Z,1761507263.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308562,-0.926074,-0.217203],[0.950924,-0.305868,-0.046787],[-0.023107,-0.220980,0.975005]]
2025-10-26T19:34:23.892Z,1761507263.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:34:24.177Z,1761507264.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310172,-0.925581,-0.217012],[0.950426,-0.307181,-0.048266],[-0.021988,-0.221224,0.974975]]
2025-10-26T19:34:24.574Z,1761507264.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310591,-0.925241,-0.217858],[0.950321,-0.307217,-0.050085],[-0.020589,-0.222591,0.974695]]
2025-10-26T19:34:24.635Z,1761507264.635 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:34:24.635Z,1761507264.635 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:34:24.636Z,1761507264.636 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:34:24.636Z,1761507264.636 [marl:UpdateRudder:A] Stopped
2025-10-26T19:34:24.636Z,1761507264.636 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:34:24.636Z,1761507264.636 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:34:24.636Z,1761507264.636 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:34:24.636Z,1761507264.636 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateCommandMode] Stopped
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:34:24.637Z,1761507264.637 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:34:24.638Z,1761507264.638 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:34:24.638Z,1761507264.638 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:34:24.638Z,1761507264.638 [marl:UpdateSpeed] Stopped
2025-10-26T19:34:24.638Z,1761507264.638 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:34:24.980Z,1761507264.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309990,-0.925100,-0.219307],[0.950543,-0.306256,-0.051715],[-0.019322,-0.224492,0.974284]]
2025-10-26T19:34:25.068Z,1761507265.068 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:34:25.068Z,1761507265.068 [marl:UpdateRudder:B] Stopped
2025-10-26T19:34:25.068Z,1761507265.068 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:34:25.068Z,1761507265.068 [marl:UpdateRudder] Stopped
2025-10-26T19:34:25.068Z,1761507265.068 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:34:25.382Z,1761507265.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308923,-0.924887,-0.221698],[0.950906,-0.304908,-0.053003],[-0.018575,-0.227188,0.973674]]
2025-10-26T19:34:25.786Z,1761507265.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308146,-0.924856,-0.222907],[0.951165,-0.303996,-0.053591],[-0.018199,-0.228535,0.973366]]
2025-10-26T19:34:26.197Z,1761507266.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307500,-0.924864,-0.223764],[0.951365,-0.303434,-0.053221],[-0.018676,-0.229246,0.973189]]
2025-10-26T19:34:26.594Z,1761507266.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307542,-0.924491,-0.225242],[0.951337,-0.303560,-0.053001],[-0.019375,-0.230581,0.972860]]
2025-10-26T19:34:26.998Z,1761507266.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308210,-0.924001,-0.226338],[0.951104,-0.304345,-0.052681],[-0.020207,-0.231508,0.972623]]
2025-10-26T19:34:27.402Z,1761507267.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309328,-0.923186,-0.228132],[0.950739,-0.305338,-0.053507],[-0.020260,-0.233445,0.972159]]
2025-10-26T19:34:27.807Z,1761507267.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310766,-0.923064,-0.226664],[0.950272,-0.306793,-0.053486],[-0.020168,-0.232014,0.972503]]
2025-10-26T19:34:28.214Z,1761507268.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312061,-0.922757,-0.226136],[0.949857,-0.307969,-0.054094],[-0.019727,-0.231678,0.972593]]
2025-10-26T19:34:28.614Z,1761507268.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313096,-0.922919,-0.224035],[0.949536,-0.308862,-0.054639],[-0.018769,-0.229837,0.973048]]
2025-10-26T19:34:29.018Z,1761507269.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313516,-0.923133,-0.222559],[0.949423,-0.309036,-0.055616],[-0.017438,-0.228739,0.973332]]
2025-10-26T19:34:29.423Z,1761507269.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312912,-0.923441,-0.222132],[0.949651,-0.308070,-0.057051],[-0.015749,-0.228800,0.973346]]
2025-10-26T19:34:29.826Z,1761507269.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311351,-0.924034,-0.221861],[0.950191,-0.306162,-0.058317],[-0.014038,-0.228968,0.973333]]
2025-10-26T19:34:30.234Z,1761507270.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308754,-0.925076,-0.221145],[0.951062,-0.303285,-0.059158],[-0.012344,-0.228588,0.973445]]
2025-10-26T19:34:30.637Z,1761507270.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305757,-0.925731,-0.222564],[0.952049,-0.299903,-0.060504],[-0.010737,-0.230391,0.973039]]
2025-10-26T19:34:31.040Z,1761507271.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302632,-0.926391,-0.224083],[0.953059,-0.296499,-0.061370],[-0.009588,-0.232136,0.972636]]
2025-10-26T19:34:31.442Z,1761507271.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299378,-0.927240,-0.224940],[0.954093,-0.293134,-0.061479],[-0.008932,-0.233019,0.972431]]
2025-10-26T19:34:31.846Z,1761507271.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296802,-0.927536,-0.227124],[0.954898,-0.290467,-0.061627],[-0.008811,-0.235172,0.971914]]
2025-10-26T19:34:32.253Z,1761507272.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294856,-0.928033,-0.227627],[0.955496,-0.288675,-0.060771],[-0.009313,-0.235416,0.971850]]
2025-10-26T19:34:32.660Z,1761507272.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293950,-0.928288,-0.227760],[0.955768,-0.287978,-0.059804],[-0.010075,-0.235265,0.971879]]
2025-10-26T19:34:33.059Z,1761507273.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293512,-0.928602,-0.227046],[0.955893,-0.287812,-0.058592],[-0.010937,-0.234229,0.972120]]
2025-10-26T19:34:33.462Z,1761507273.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293969,-0.928912,-0.225176],[0.955744,-0.288538,-0.057436],[-0.011619,-0.232095,0.972624]]
2025-10-26T19:34:33.866Z,1761507273.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295589,-0.928528,-0.224637],[0.955239,-0.290252,-0.057208],[-0.012082,-0.231493,0.972762]]
2025-10-26T19:34:34.272Z,1761507274.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297671,-0.928555,-0.221758],[0.954591,-0.292466,-0.056741],[-0.012170,-0.228579,0.973449]]
2025-10-26T19:34:34.674Z,1761507274.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300074,-0.928187,-0.220057],[0.953847,-0.294721,-0.057571],[-0.011419,-0.227176,0.973787]]
2025-10-26T19:34:35.079Z,1761507275.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302169,-0.927959,-0.218143],[0.953197,-0.296640,-0.058480],[-0.010442,-0.225604,0.974163]]
2025-10-26T19:34:35.482Z,1761507275.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304450,-0.927373,-0.217459],[0.952482,-0.298643,-0.059918],[-0.009377,-0.225368,0.974229]]
2025-10-26T19:34:35.887Z,1761507275.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306408,-0.926444,-0.218668],[0.951867,-0.300111,-0.062306],[-0.007901,-0.227234,0.973808]]
2025-10-26T19:34:36.290Z,1761507276.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307576,-0.926549,-0.216572],[0.951502,-0.301030,-0.063445],[-0.006410,-0.225583,0.974203]]
2025-10-26T19:34:36.695Z,1761507276.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307646,-0.926649,-0.216045],[0.951486,-0.300867,-0.064445],[-0.005283,-0.225391,0.974254]]
2025-10-26T19:34:37.098Z,1761507277.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307313,-0.926466,-0.217299],[0.951599,-0.300190,-0.065915],[-0.004163,-0.227038,0.973877]]
2025-10-26T19:34:37.504Z,1761507277.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306769,-0.926145,-0.219428],[0.951777,-0.299351,-0.067146],[-0.003499,-0.229445,0.973315]]
2025-10-26T19:34:37.563Z,1761507277.563 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:34:37.768Z,1761507277.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:34:37.768Z,1761507277.768 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:34:37.906Z,1761507277.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305882,-0.926077,-0.220948],[0.952063,-0.298384,-0.067402],[-0.003508,-0.230974,0.972954]]
2025-10-26T19:34:37.955Z,1761507277.955 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:34:37.955Z,1761507277.955 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:34:37.955Z,1761507277.955 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:34:37.955Z,1761507277.955 [marl:UpdateRudder:A] Stopped
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode] Stopped
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:34:37.956Z,1761507277.956 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:34:37.957Z,1761507277.957 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:34:37.957Z,1761507277.957 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:34:37.957Z,1761507277.957 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:34:37.957Z,1761507277.957 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:34:37.957Z,1761507277.957 [marl:UpdateSpeed] Stopped
2025-10-26T19:34:37.957Z,1761507277.957 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:34:38.020Z,1761507278.020 [DAT](INFO): DAT read: user:224>

2025-10-26T19:34:38.021Z,1761507278.021 [DAT](INFO): DAT read: Tx time:19:34:37.1053

2025-10-26T19:34:38.021Z,1761507278.021 [DAT](INFO): Ping request sent.
2025-10-26T19:34:38.022Z,1761507278.022 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:34:38.022Z,1761507278.022 [DAT](INFO): publishing transmit ping time
2025-10-26T19:34:38.023Z,1761507278.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000924
2025-10-26T19:34:38.272Z,1761507278.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250644
2025-10-26T19:34:38.310Z,1761507278.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304638,-0.925869,-0.223524],[0.952460,-0.297073,-0.067575],[-0.003837,-0.233484,0.972353]]
2025-10-26T19:34:38.421Z,1761507278.421 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:34:38.421Z,1761507278.421 [marl:UpdateRudder:B] Stopped
2025-10-26T19:34:38.421Z,1761507278.421 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:34:38.421Z,1761507278.421 [marl:UpdateRudder] Stopped
2025-10-26T19:34:38.421Z,1761507278.421 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:34:38.525Z,1761507278.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503323
2025-10-26T19:34:38.719Z,1761507278.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304992,-0.925286,-0.225447],[0.952349,-0.297177,-0.068687],[-0.003442,-0.235653,0.971831]]
2025-10-26T19:34:38.780Z,1761507278.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757191
2025-10-26T19:34:39.028Z,1761507279.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695
2025-10-26T19:34:39.129Z,1761507279.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305651,-0.924829,-0.226425],[0.952138,-0.297687,-0.069392],[-0.003228,-0.236797,0.971554]]
2025-10-26T19:34:39.281Z,1761507279.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259339
2025-10-26T19:34:39.522Z,1761507279.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306994,-0.924254,-0.226957],[0.951707,-0.298829,-0.070385],[-0.002767,-0.237604,0.971358]]
2025-10-26T19:34:39.532Z,1761507279.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798
2025-10-26T19:34:39.784Z,1761507279.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762681
2025-10-26T19:34:40.037Z,1761507280.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015871
2025-10-26T19:34:40.288Z,1761507280.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266786
2025-10-26T19:34:40.330Z,1761507280.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310507,-0.923322,-0.225966],[0.950570,-0.302009,-0.072167],[-0.001610,-0.237205,0.971458]]
2025-10-26T19:34:40.540Z,1761507280.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518838
2025-10-26T19:34:40.738Z,1761507280.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312830,-0.922954,-0.224261],[0.949809,-0.304004,-0.073785],[-0.000077,-0.236088,0.971732]]
2025-10-26T19:34:40.796Z,1761507280.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773239
2025-10-26T19:34:41.044Z,1761507281.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022801
2025-10-26T19:34:41.140Z,1761507281.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315032,-0.922714,-0.222156],[0.949080,-0.305860,-0.075483],[0.001701,-0.234624,0.972085]]
2025-10-26T19:34:41.296Z,1761507281.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274783
2025-10-26T19:34:41.542Z,1761507281.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316465,-0.923035,-0.218761],[0.948597,-0.307051,-0.076700],[0.003626,-0.231789,0.972759]]
2025-10-26T19:34:41.548Z,1761507281.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526662
2025-10-26T19:34:41.800Z,1761507281.800 [DAT](INFO): DAT read: Rx Time:19:34:40.3438

2025-10-26T19:34:41.801Z,1761507281.801 [DAT](INFO): Rx dataTimestamp_ set to:1761507281.800592
2025-10-26T19:34:41.801Z,1761507281.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779816
2025-10-26T19:34:41.947Z,1761507281.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317188,-0.923746,-0.214672],[0.948346,-0.307606,-0.077581],[0.005631,-0.228191,0.973600]]
2025-10-26T19:34:42.052Z,1761507282.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030696
2025-10-26T19:34:42.310Z,1761507282.310 [DAT](INFO): DAT read: 19:34:40.3438 LVL= 28096, 22673, 17138, 26387, AGC= 70, IDX= 108, 0.27,-2.974,-1.774,-0.488,-1.754, PHS=-1.117, 0.025, 1.223, RAW= 239.2,  -1.3, CAL= 235.6,  -1.7, ROT= 274.4,   1.7

2025-10-26T19:34:42.312Z,1761507282.312 [DAT](INFO): got valid direction response:
 19:34:40.3438 LVL= 28096, 22673, 17138, 26387, AGC= 70, IDX= 108, 0.27,-2.974,-1.774,-0.488,-1.754, PHS=-1.117, 0.025, 1.223, RAW= 239.2,  -1.3, CAL= 235.6,  -1.7, ROT= 274.4,   1.7

2025-10-26T19:34:42.313Z,1761507282.313 [DAT](INFO): DAT read: Bearing 187.0, -73.5 (Local)

2025-10-26T19:34:42.313Z,1761507282.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.0, -73.5 (Local)

2025-10-26T19:34:42.314Z,1761507282.314 [DAT](INFO): DAT read: Range 11 to 20 : 625.8 m  (Round-trip  834.4 ms) speed  0.4 m/s

2025-10-26T19:34:42.315Z,1761507282.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:34:42.316Z,1761507282.316 [DAT](INFO): direction in FSK: [0.076685,-0.996614,-0.029666]
2025-10-26T19:34:42.316Z,1761507282.316 [DAT](INFO): publishing direction and range info
2025-10-26T19:34:42.353Z,1761507282.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317004,-0.924486,-0.211741],[0.948395,-0.307252,-0.078373],[0.007397,-0.225658,0.974178]]
2025-10-26T19:34:42.425Z,1761507282.425 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507328.00. Resetting abort timer.
2025-10-26T19:34:42.754Z,1761507282.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315691,-0.925677,-0.208473],[0.948821,-0.305920,-0.078431],[0.008826,-0.222563,0.974878]]
2025-10-26T19:34:43.003Z,1761507283.003 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:34:43.003Z,1761507283.003 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:34:43.158Z,1761507283.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313977,-0.926532,-0.207260],[0.949378,-0.304086,-0.078824],[0.010009,-0.221517,0.975105]]
2025-10-26T19:34:43.562Z,1761507283.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311935,-0.927201,-0.207350],[0.950044,-0.301953,-0.079003],[0.010642,-0.221635,0.975072]]
2025-10-26T19:34:44.012Z,1761507284.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309405,-0.928171,-0.206804],[0.950872,-0.299569,-0.078113],[0.010550,-0.220812,0.975259]]
2025-10-26T19:34:44.370Z,1761507284.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306818,-0.929071,-0.206616],[0.951712,-0.297130,-0.077184],[0.010318,-0.220321,0.975373]]
2025-10-26T19:34:44.813Z,1761507284.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304809,-0.929674,-0.206879],[0.952366,-0.295335,-0.076005],[0.009562,-0.220191,0.975410]]
2025-10-26T19:34:45.179Z,1761507285.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303137,-0.929811,-0.208707],[0.952908,-0.293775,-0.075257],[0.008662,-0.221692,0.975078]]
2025-10-26T19:34:45.588Z,1761507285.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301403,-0.929732,-0.211554],[0.953464,-0.292032,-0.074995],[0.007945,-0.224313,0.974485]]
2025-10-26T19:34:45.987Z,1761507285.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299984,-0.929375,-0.215109],[0.953915,-0.290480,-0.075283],[0.007481,-0.227780,0.973684]]
2025-10-26T19:34:46.390Z,1761507286.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299123,-0.928303,-0.220858],[0.954189,-0.289303,-0.076332],[0.006964,-0.233573,0.972314]]
2025-10-26T19:34:46.852Z,1761507286.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298820,-0.927556,-0.224379],[0.954286,-0.288794,-0.077046],[0.006665,-0.237144,0.971452]]
2025-10-26T19:34:47.200Z,1761507287.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299040,-0.926887,-0.226838],[0.954219,-0.288881,-0.077546],[0.006348,-0.239642,0.970840]]
2025-10-26T19:34:47.612Z,1761507287.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300212,-0.925675,-0.230213],[0.953855,-0.289863,-0.078361],[0.005807,-0.243115,0.969980]]
2025-10-26T19:34:48.006Z,1761507288.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301780,-0.924831,-0.231554],[0.953364,-0.291436,-0.078502],[0.005118,-0.244446,0.969649]]
2025-10-26T19:34:48.410Z,1761507288.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304334,-0.924067,-0.231258],[0.952555,-0.294074,-0.078485],[0.004518,-0.244172,0.969721]]
2025-10-26T19:34:49.623Z,1761507289.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314140,-0.922500,-0.224300],[0.949369,-0.304315,-0.078041],[0.003735,-0.237459,0.971390]]
2025-10-26T19:34:50.026Z,1761507290.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317129,-0.922360,-0.220637],[0.948374,-0.307464,-0.077792],[0.003914,-0.233917,0.972249]]
2025-10-26T19:34:50.431Z,1761507290.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319251,-0.922193,-0.218263],[0.947657,-0.309435,-0.078717],[0.005054,-0.231969,0.972710]]
2025-10-26T19:34:50.865Z,1761507290.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320783,-0.922535,-0.214540],[0.947135,-0.311052,-0.078629],[0.005805,-0.228421,0.973545]]
2025-10-26T19:34:51.279Z,1761507291.279 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:34:51.279Z,1761507291.279 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateRudder:A] Stopped
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:34:51.280Z,1761507291.280 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateCommandMode] Stopped
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:34:51.281Z,1761507291.281 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:34:51.282Z,1761507291.282 [marl:UpdateSpeed] Stopped
2025-10-26T19:34:51.282Z,1761507291.282 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:34:51.649Z,1761507291.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320172,-0.922862,-0.214047],[0.947340,-0.310417,-0.078671],[0.006159,-0.227964,0.973650]]
2025-10-26T19:34:51.707Z,1761507291.707 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:34:51.707Z,1761507291.707 [marl:UpdateRudder:B] Stopped
2025-10-26T19:34:51.707Z,1761507291.707 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:34:51.707Z,1761507291.707 [marl:UpdateRudder] Stopped
2025-10-26T19:34:51.707Z,1761507291.707 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:34:52.055Z,1761507292.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316477,-0.923524,-0.216668],[0.948565,-0.306120,-0.080720],[0.008220,-0.231070,0.972902]]
2025-10-26T19:34:52.454Z,1761507292.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313407,-0.923907,-0.219482],[0.949574,-0.302671,-0.081845],[0.009186,-0.234065,0.972178]]
2025-10-26T19:34:52.862Z,1761507292.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309920,-0.924956,-0.220014],[0.950710,-0.299056,-0.081949],[0.010002,-0.234567,0.972048]]
2025-10-26T19:34:53.264Z,1761507293.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306230,-0.925839,-0.221462],[0.951900,-0.295244,-0.081963],[0.010500,-0.235909,0.971718]]
2025-10-26T19:34:53.666Z,1761507293.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302349,-0.927164,-0.221249],[0.953141,-0.291546,-0.080767],[0.010380,-0.235301,0.971867]]
2025-10-26T19:34:54.012Z,1761507294.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:34:54.072Z,1761507294.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298775,-0.928332,-0.221210],[0.954278,-0.288366,-0.078726],[0.009295,-0.234617,0.972043]]
2025-10-26T19:34:54.493Z,1761507294.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296395,-0.929065,-0.221331],[0.955033,-0.286421,-0.076646],[0.007815,-0.234096,0.972182]]
2025-10-26T19:34:54.883Z,1761507294.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294746,-0.929684,-0.220934],[0.955553,-0.285168,-0.074817],[0.006553,-0.233166,0.972415]]
2025-10-26T19:34:55.016Z,1761507295.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:34:55.278Z,1761507295.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294262,-0.929882,-0.220747],[0.955711,-0.285069,-0.073158],[0.005100,-0.232498,0.972584]]
2025-10-26T19:34:55.682Z,1761507295.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294542,-0.929654,-0.221333],[0.955633,-0.285757,-0.071473],[0.003198,-0.232565,0.972576]]
2025-10-26T19:34:56.090Z,1761507296.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295457,-0.929169,-0.222151],[0.955355,-0.286978,-0.070290],[0.001559,-0.233000,0.972476]]
2025-10-26T19:34:56.492Z,1761507296.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296868,-0.928398,-0.223486],[0.954918,-0.288443,-0.070226],[0.000734,-0.234259,0.972174]]
2025-10-26T19:34:56.897Z,1761507296.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298485,-0.927693,-0.224261],[0.954414,-0.289996,-0.070684],[0.000538,-0.235136,0.971962]]
2025-10-26T19:34:57.298Z,1761507297.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299832,-0.927028,-0.225209],[0.953991,-0.291120,-0.071762],[0.000962,-0.236364,0.971664]]
2025-10-26T19:34:57.707Z,1761507297.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300697,-0.926612,-0.225770],[0.953718,-0.291690,-0.073071],[0.001854,-0.237293,0.971436]]
2025-10-26T19:34:58.107Z,1761507298.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301573,-0.926386,-0.225528],[0.953438,-0.292239,-0.074515],[0.003122,-0.237499,0.971383]]
2025-10-26T19:34:58.510Z,1761507298.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302308,-0.926319,-0.224820],[0.953203,-0.292821,-0.075238],[0.003863,-0.237044,0.971491]]
2025-10-26T19:34:58.964Z,1761507298.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301967,-0.926702,-0.223696],[0.953308,-0.292439,-0.075387],[0.004444,-0.236016,0.971739]]
2025-10-26T19:34:59.318Z,1761507299.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301328,-0.927159,-0.222661],[0.953509,-0.291835,-0.075191],[0.004734,-0.234967,0.971992]]
2025-10-26T19:34:59.730Z,1761507299.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300864,-0.927708,-0.220992],[0.953656,-0.291566,-0.074358],[0.004549,-0.233122,0.972437]]
2025-10-26T19:35:00.126Z,1761507300.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301049,-0.928062,-0.219250],[0.953600,-0.292027,-0.073254],[0.003958,-0.231130,0.972915]]
2025-10-26T19:35:00.530Z,1761507300.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302628,-0.927763,-0.218339],[0.953106,-0.293990,-0.071830],[0.002452,-0.229838,0.973226]]
2025-10-26T19:35:00.938Z,1761507300.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305036,-0.927136,-0.217651],[0.952341,-0.296918,-0.069907],[0.000189,-0.228602,0.973520]]
2025-10-26T19:35:01.339Z,1761507301.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308400,-0.926271,-0.216592],[0.951254,-0.300848,-0.067867],[-0.002298,-0.226964,0.973900]]
2025-10-26T19:35:01.742Z,1761507301.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311973,-0.925321,-0.215529],[0.950080,-0.304916,-0.066138],[-0.004519,-0.225403,0.974255]]
2025-10-26T19:35:02.146Z,1761507302.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315654,-0.924320,-0.214464],[0.948858,-0.308817,-0.065580],[-0.005613,-0.224196,0.974528]]
2025-10-26T19:35:02.558Z,1761507302.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319350,-0.923307,-0.213355],[0.947621,-0.312454,-0.066238],[-0.005506,-0.223333,0.974727]]
2025-10-26T19:35:02.962Z,1761507302.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322666,-0.922205,-0.213133],[0.946505,-0.315286,-0.068720],[-0.003824,-0.223905,0.974604]]
2025-10-26T19:35:03.358Z,1761507303.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325450,-0.921051,-0.213886],[0.945559,-0.317168,-0.072954],[-0.000643,-0.225985,0.974131]]
2025-10-26T19:35:03.762Z,1761507303.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327091,-0.920350,-0.214399],[0.944986,-0.317679,-0.077985],[0.003663,-0.228112,0.973628]]
2025-10-26T19:35:04.166Z,1761507304.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326953,-0.920145,-0.215487],[0.945004,-0.316314,-0.083148],[0.008346,-0.230822,0.972960]]
2025-10-26T19:35:04.572Z,1761507304.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324491,-0.920615,-0.217194],[0.945806,-0.312762,-0.087354],[0.012489,-0.233769,0.972212]]
2025-10-26T19:35:04.614Z,1761507304.614 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:35:04.614Z,1761507304.614 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:35:04.615Z,1761507304.615 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:35:04.616Z,1761507304.616 [marl:UpdateRudder:A] Stopped
2025-10-26T19:35:04.616Z,1761507304.616 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:35:04.616Z,1761507304.616 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:35:04.617Z,1761507304.617 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:35:04.617Z,1761507304.617 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:35:04.632Z,1761507304.632 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:35:04.633Z,1761507304.633 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:35:04.633Z,1761507304.633 [marl:UpdateCommandMode] Stopped
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed] Stopped
2025-10-26T19:35:04.634Z,1761507304.634 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:35:04.974Z,1761507304.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320532,-0.921586,-0.218951],[0.947103,-0.307911,-0.090476],[0.015964,-0.236369,0.971532]]
2025-10-26T19:35:05.074Z,1761507305.074 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:35:05.074Z,1761507305.074 [marl:UpdateRudder:B] Stopped
2025-10-26T19:35:05.074Z,1761507305.074 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:35:05.074Z,1761507305.074 [marl:UpdateRudder] Stopped
2025-10-26T19:35:05.074Z,1761507305.074 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:35:05.382Z,1761507305.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316175,-0.922742,-0.220409],[0.948511,-0.302816,-0.092894],[0.018974,-0.238431,0.970974]]
2025-10-26T19:35:05.782Z,1761507305.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311461,-0.923934,-0.222123],[0.950023,-0.297544,-0.094468],[0.021191,-0.240445,0.970432]]
2025-10-26T19:35:06.186Z,1761507306.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306558,-0.925649,-0.221804],[0.951583,-0.292496,-0.094527],[0.022622,-0.240043,0.970499]]
2025-10-26T19:35:06.592Z,1761507306.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301442,-0.927121,-0.222663],[0.953206,-0.287376,-0.093880],[0.023050,-0.240543,0.970365]]
2025-10-26T19:35:06.997Z,1761507306.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296606,-0.928366,-0.223969],[0.954737,-0.282746,-0.092371],[0.022427,-0.241229,0.970209]]
2025-10-26T19:35:07.802Z,1761507307.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284975,-0.930047,-0.231952],[0.958284,-0.270899,-0.091131],[0.021921,-0.248247,0.968449]]
2025-10-26T19:35:07.871Z,1761507307.871 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:35:08.013Z,1761507308.013 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:35:08.014Z,1761507308.014 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:35:08.207Z,1761507308.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276117,-0.928758,-0.247323],[0.960838,-0.260464,-0.094594],[0.023437,-0.263757,0.964305]]
2025-10-26T19:35:08.264Z,1761507308.264 [DAT](INFO): DAT read: user:225>

2025-10-26T19:35:08.265Z,1761507308.265 [DAT](INFO): DAT read: Tx time:19:35:07.3567

2025-10-26T19:35:08.265Z,1761507308.265 [DAT](INFO): Ping request sent.
2025-10-26T19:35:08.266Z,1761507308.266 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:35:08.266Z,1761507308.266 [DAT](INFO): publishing transmit ping time
2025-10-26T19:35:08.267Z,1761507308.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000921
2025-10-26T19:35:08.517Z,1761507308.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251516
2025-10-26T19:35:08.610Z,1761507308.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265971,-0.925286,-0.270380],[0.963620,-0.247525,-0.100832],[0.026372,-0.287362,0.957459]]
2025-10-26T19:35:08.774Z,1761507308.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508241
2025-10-26T19:35:09.021Z,1761507309.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755435
2025-10-26T19:35:09.028Z,1761507309.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254469,-0.920775,-0.295667],[0.966610,-0.232630,-0.107461],[0.030167,-0.313140,0.949228]]
2025-10-26T19:35:09.273Z,1761507309.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006992
2025-10-26T19:35:09.422Z,1761507309.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242285,-0.915492,-0.321204],[0.969587,-0.216660,-0.113839],[0.034627,-0.339017,0.940143]]
2025-10-26T19:35:09.525Z,1761507309.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259784
2025-10-26T19:35:09.776Z,1761507309.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510733
2025-10-26T19:35:09.822Z,1761507309.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230067,-0.910066,-0.344744],[0.972365,-0.200519,-0.119576],[0.039694,-0.362727,0.931050]]
2025-10-26T19:35:10.030Z,1761507310.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764226
2025-10-26T19:35:10.226Z,1761507310.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217916,-0.905244,-0.364754],[0.974904,-0.184461,-0.124646],[0.045552,-0.382763,0.922723]]
2025-10-26T19:35:10.280Z,1761507310.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846
2025-10-26T19:35:10.533Z,1761507310.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267409
2025-10-26T19:35:10.630Z,1761507310.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206641,-0.902245,-0.378489],[0.977018,-0.169607,-0.129107],[0.052292,-0.396470,0.916557]]
2025-10-26T19:35:10.787Z,1761507310.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520554
2025-10-26T19:35:11.037Z,1761507311.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771442
2025-10-26T19:35:11.050Z,1761507311.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195490,-0.900710,-0.387950],[0.978892,-0.155166,-0.133018],[0.059614,-0.405765,0.912031]]
2025-10-26T19:35:11.289Z,1761507311.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022964
2025-10-26T19:35:11.519Z,1761507311.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184186,-0.901043,-0.392679],[0.980599,-0.141181,-0.135993],[0.067097,-0.410108,0.909565]]
2025-10-26T19:35:11.540Z,1761507311.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274714
2025-10-26T19:35:11.796Z,1761507311.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530515
2025-10-26T19:35:11.915Z,1761507311.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171918,-0.902389,-0.395143],[0.982308,-0.126794,-0.137820],[0.074266,-0.411846,0.908222]]
2025-10-26T19:35:12.044Z,1761507312.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778649
2025-10-26T19:35:12.296Z,1761507312.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030733
2025-10-26T19:35:12.333Z,1761507312.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158489,-0.904845,-0.395142],[0.984039,-0.111956,-0.138320],[0.080920,-0.410757,0.908147]]
2025-10-26T19:35:12.549Z,1761507312.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283562
2025-10-26T19:35:12.803Z,1761507312.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537024
2025-10-26T19:35:13.052Z,1761507313.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786669
2025-10-26T19:35:13.217Z,1761507313.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126355,-0.910038,-0.394799],[0.987716,-0.078533,-0.135094],[0.091936,-0.407018,0.908781]]
2025-10-26T19:35:13.304Z,1761507313.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038837
2025-10-26T19:35:13.558Z,1761507313.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292001
2025-10-26T19:35:13.808Z,1761507313.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542709
2025-10-26T19:35:14.060Z,1761507314.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794831
2025-10-26T19:35:14.061Z,1761507314.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089334,-0.914352,-0.394942],[0.990954,-0.041724,-0.127551],[0.100148,-0.402764,0.909808]]
2025-10-26T19:35:14.312Z,1761507314.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046754
2025-10-26T19:35:14.454Z,1761507314.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069532,-0.915781,-0.395615],[0.992204,-0.022372,-0.122599],[0.103423,-0.401056,0.910197]]
2025-10-26T19:35:14.564Z,1761507314.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298717
2025-10-26T19:35:14.821Z,1761507314.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555340
2025-10-26T19:35:14.874Z,1761507314.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048652,-0.916262,-0.397614],[0.993160,-0.002076,-0.116739],[0.106138,-0.400574,0.910096]]
2025-10-26T19:35:15.068Z,1761507315.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802784
2025-10-26T19:35:15.262Z,1761507315.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027624,-0.915605,-0.401128],[0.993709,0.018415,-0.110466],[0.108530,-0.401656,0.909337]]
2025-10-26T19:35:15.321Z,1761507315.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055425
2025-10-26T19:35:15.573Z,1761507315.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307386
2025-10-26T19:35:15.672Z,1761507315.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006766,-0.915143,-0.403072],[0.993851,0.038396,-0.103858],[0.110521,-0.401296,0.909256]]
2025-10-26T19:35:15.824Z,1761507315.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558826
2025-10-26T19:35:16.076Z,1761507316.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810835
2025-10-26T19:35:16.093Z,1761507316.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034320,-0.912241,-0.408215],[0.992905,0.077652,-0.090051],[0.113847,-0.402228,0.908434]]
2025-10-26T19:35:16.328Z,1761507316.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062683
2025-10-26T19:35:16.479Z,1761507316.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054179,-0.910776,-0.409331],[0.991939,0.096119,-0.082576],[0.114553,-0.401558,0.908641]]
2025-10-26T19:35:16.580Z,1761507316.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314860
2025-10-26T19:35:16.835Z,1761507316.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568616
2025-10-26T19:35:16.901Z,1761507316.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073829,-0.908755,-0.410748],[0.990648,0.114218,-0.074637],[0.114742,-0.401397,0.908689]]
2025-10-26T19:35:17.084Z,1761507317.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818741
2025-10-26T19:35:17.302Z,1761507317.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092033,-0.906827,-0.411332],[0.989186,0.130636,-0.066677],[0.114200,-0.400748,0.909043]]
2025-10-26T19:35:17.336Z,1761507317.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070862
2025-10-26T19:35:17.588Z,1761507317.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322703
2025-10-26T19:35:17.714Z,1761507317.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109543,-0.905231,-0.410558],[0.987508,0.146179,-0.058824],[0.113264,-0.398985,0.909935]]
2025-10-26T19:35:17.840Z,1761507317.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574682
2025-10-26T19:35:18.092Z,1761507318.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826793
2025-10-26T19:35:18.121Z,1761507318.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125994,-0.903959,-0.408637],[0.985695,0.160554,-0.051251],[0.111938,-0.396335,0.911257]]
2025-10-26T19:35:18.146Z,1761507318.146 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:35:18.146Z,1761507318.146 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:35:18.146Z,1761507318.146 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:35:18.146Z,1761507318.146 [marl:UpdateRudder:A] Stopped
2025-10-26T19:35:18.146Z,1761507318.146 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:35:18.146Z,1761507318.146 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:35:18.147Z,1761507318.147 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:35:18.147Z,1761507318.147 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:35:18.147Z,1761507318.147 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:35:18.147Z,1761507318.147 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:35:18.147Z,1761507318.147 [marl:UpdateCommandMode] Stopped
2025-10-26T19:35:18.147Z,1761507318.147 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed] Stopped
2025-10-26T19:35:18.148Z,1761507318.148 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:35:18.344Z,1761507318.344 [DAT](INFO): Reached modem response timeout
2025-10-26T19:35:18.528Z,1761507318.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141462,-0.902689,-0.406377],[0.983795,0.173872,-0.043760],[0.110159,-0.393601,0.912657]]
2025-10-26T19:35:18.558Z,1761507318.558 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:35:18.558Z,1761507318.558 [marl:UpdateRudder:B] Stopped
2025-10-26T19:35:18.558Z,1761507318.558 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:35:18.558Z,1761507318.558 [marl:UpdateRudder] Stopped
2025-10-26T19:35:18.559Z,1761507318.559 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:35:18.923Z,1761507318.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156447,-0.901782,-0.402881],[0.981816,0.186397,-0.035959],[0.107523,-0.389929,0.914546]]
2025-10-26T19:35:19.354Z,1761507319.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170744,-0.900097,-0.400839],[0.979817,0.198024,-0.027301],[0.103949,-0.388087,0.915742]]
2025-10-26T19:35:19.795Z,1761507319.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184663,-0.898729,-0.397726],[0.977753,0.208965,-0.018225],[0.099490,-0.385513,0.917323]]
2025-10-26T19:35:20.200Z,1761507320.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197985,-0.897473,-0.394136],[0.975616,0.219289,-0.009256],[0.094736,-0.382693,0.919005]]
2025-10-26T19:35:20.606Z,1761507320.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210278,-0.896284,-0.390459],[0.973471,0.228809,-0.000969],[0.090209,-0.379897,0.920620]]
2025-10-26T19:35:20.613Z,1761507320.613 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:35:20.613Z,1761507320.613 [DAT](INFO): response not received
2025-10-26T19:35:20.613Z,1761507320.613 [DAT](ERROR): No response from remote modem.
2025-10-26T19:35:21.047Z,1761507321.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221728,-0.894658,-0.387846],[0.971296,0.237775,0.006799],[0.086138,-0.378221,0.921699]]
2025-10-26T19:35:21.410Z,1761507321.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232391,-0.893499,-0.384259],[0.969090,0.246349,0.013259],[0.082815,-0.375463,0.923130]]
2025-10-26T19:35:21.814Z,1761507321.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243004,-0.891629,-0.382029],[0.966686,0.255246,0.019171],[0.080419,-0.373961,0.923951]]
2025-10-26T19:35:22.218Z,1761507322.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253818,-0.889318,-0.380382],[0.964049,0.264574,0.024719],[0.078656,-0.372980,0.924499]]
2025-10-26T19:35:22.626Z,1761507322.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265639,-0.886967,-0.377790],[0.960950,0.275119,0.029762],[0.077539,-0.370943,0.925413]]
2025-10-26T19:35:23.030Z,1761507323.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279647,-0.883872,-0.374924],[0.957029,0.287844,0.035240],[0.076772,-0.368668,0.926385]]
2025-10-26T19:35:23.430Z,1761507323.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295588,-0.879370,-0.373278],[0.952254,0.302477,0.041486],[0.076426,-0.367718,0.926792]]
2025-10-26T19:35:23.834Z,1761507323.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314337,-0.873330,-0.372138],[0.946275,0.319583,0.049302],[0.075872,-0.367642,0.926867]]
2025-10-26T19:35:24.238Z,1761507324.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334637,-0.866421,-0.370583],[0.939311,0.338225,0.057432],[0.075580,-0.367312,0.927022]]
2025-10-26T19:35:24.661Z,1761507324.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356247,-0.858297,-0.369344],[0.931358,0.358002,0.066391],[0.075243,-0.367643,0.926918]]
2025-10-26T19:35:25.050Z,1761507325.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378495,-0.849545,-0.367444],[0.922576,0.378337,0.075591],[0.074800,-0.367606,0.926969]]
2025-10-26T19:35:25.144Z,1761507325.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:35:25.462Z,1761507325.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401620,-0.839542,-0.365883],[0.912875,0.398936,0.086654],[0.073214,-0.368807,0.926618]]
2025-10-26T19:35:25.858Z,1761507325.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425339,-0.828754,-0.363668],[0.902293,0.419559,0.099182],[0.070382,-0.370321,0.926234]]
2025-10-26T19:35:26.148Z,1761507326.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:35:26.263Z,1761507326.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449048,-0.817896,-0.359726],[0.891051,0.439754,0.112451],[0.066218,-0.371030,0.926257]]
2025-10-26T19:35:26.667Z,1761507326.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472358,-0.806693,-0.355139],[0.879306,0.459088,0.126722],[0.060814,-0.372134,0.926185]]
2025-10-26T19:35:27.070Z,1761507327.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494983,-0.795166,-0.350290],[0.867211,0.477241,0.142079],[0.054196,-0.374102,0.925803]]
2025-10-26T19:35:27.488Z,1761507327.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516342,-0.784132,-0.344279],[0.855103,0.494043,0.157229],[0.046800,-0.375578,0.925608]]
2025-10-26T19:35:27.884Z,1761507327.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535263,-0.774702,-0.336646],[0.843769,0.508942,0.170386],[0.039335,-0.375253,0.926087]]
2025-10-26T19:35:28.286Z,1761507328.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551468,-0.766459,-0.329278],[0.833573,0.521565,0.182007],[0.032239,-0.374848,0.926525]]
2025-10-26T19:35:28.692Z,1761507328.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565603,-0.758942,-0.322645],[0.824285,0.532339,0.192793],[0.025438,-0.374996,0.926677]]
2025-10-26T19:35:29.094Z,1761507329.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578512,-0.751910,-0.316157],[0.815459,0.542046,0.203009],[0.018727,-0.375256,0.926732]]
2025-10-26T19:35:29.551Z,1761507329.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590730,-0.745369,-0.308972],[0.806776,0.551472,0.212113],[0.012287,-0.374572,0.927116]]
2025-10-26T19:35:29.902Z,1761507329.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602309,-0.738492,-0.303074],[0.798239,0.560165,0.221426],[0.006250,-0.375292,0.926886]]
2025-10-26T19:35:30.306Z,1761507330.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613119,-0.731710,-0.297801],[0.789990,0.568310,0.230086],[0.000887,-0.376330,0.926485]]
2025-10-26T19:35:30.722Z,1761507330.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623267,-0.725250,-0.292491],[0.782000,0.576176,0.237692],[-0.003859,-0.376874,0.926257]]
2025-10-26T19:35:31.117Z,1761507331.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632931,-0.718927,-0.287302],[0.774168,0.583949,0.244269],[-0.007842,-0.377025,0.926170]]
2025-10-26T19:35:31.179Z,1761507331.179 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:35:31.179Z,1761507331.179 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:35:31.179Z,1761507331.179 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:35:31.187Z,1761507331.187 [marl:UpdateRudder:A] Stopped
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode] Stopped
2025-10-26T19:35:31.188Z,1761507331.188 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed] Stopped
2025-10-26T19:35:31.189Z,1761507331.189 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:35:31.518Z,1761507331.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642140,-0.712803,-0.282080],[0.766506,0.591656,0.249824],[-0.011181,-0.376638,0.926293]]
2025-10-26T19:35:31.567Z,1761507331.567 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:35:31.568Z,1761507331.568 [marl:UpdateRudder:B] Stopped
2025-10-26T19:35:31.568Z,1761507331.568 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:35:31.568Z,1761507331.568 [marl:UpdateRudder] Stopped
2025-10-26T19:35:31.568Z,1761507331.568 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:35:31.922Z,1761507331.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650992,-0.706298,-0.278123],[0.758960,0.598971,0.255369],[-0.013779,-0.377328,0.925977]]
2025-10-26T19:35:32.326Z,1761507332.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659507,-0.699973,-0.274022],[0.751535,0.606402,0.259752],[-0.015652,-0.377245,0.925981]]
2025-10-26T19:35:32.744Z,1761507332.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667580,-0.694229,-0.269042],[0.744340,0.613967,0.262683],[-0.017179,-0.375621,0.926614]]
2025-10-26T19:35:33.134Z,1761507333.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674601,-0.690643,-0.260624],[0.737932,0.621744,0.262473],[-0.019233,-0.369387,0.929076]]
2025-10-26T19:35:33.538Z,1761507333.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680053,-0.690066,-0.247663],[0.732803,0.629186,0.259084],[-0.022959,-0.357679,0.933562]]
2025-10-26T19:35:33.953Z,1761507333.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684055,-0.692532,-0.229060],[0.728884,0.636808,0.251403],[-0.028237,-0.338931,0.940387]]
2025-10-26T19:35:34.349Z,1761507334.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687145,-0.696134,-0.207917],[0.725676,0.643846,0.242604],[-0.035018,-0.317585,0.947583]]
2025-10-26T19:35:34.750Z,1761507334.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690033,-0.699352,-0.186440],[0.722517,0.650391,0.234436],[-0.042694,-0.296474,0.954086]]
2025-10-26T19:35:35.154Z,1761507335.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693366,-0.701210,-0.165974],[0.718777,0.656722,0.228202],[-0.051019,-0.277526,0.959363]]
2025-10-26T19:35:35.558Z,1761507335.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696873,-0.702091,-0.146409],[0.714701,0.662820,0.223319],[-0.059747,-0.260264,0.963687]]
2025-10-26T19:35:35.966Z,1761507335.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700596,-0.701885,-0.128541],[0.710237,0.668570,0.220403],[-0.068759,-0.245708,0.966902]]
2025-10-26T19:35:36.366Z,1761507336.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704733,-0.700483,-0.112587],[0.705200,0.674220,0.219366],[-0.077754,-0.233991,0.969125]]
2025-10-26T19:35:36.782Z,1761507336.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708521,-0.698800,-0.098373],[0.700334,0.679137,0.219785],[-0.086777,-0.224616,0.970576]]
2025-10-26T19:35:37.174Z,1761507337.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712507,-0.696266,-0.086875],[0.695114,0.683546,0.222670],[-0.095654,-0.219042,0.971015]]
2025-10-26T19:35:37.581Z,1761507337.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716074,-0.693821,-0.076494],[0.690173,0.687364,0.226257],[-0.104402,-0.214811,0.971059]]
2025-10-26T19:35:37.982Z,1761507337.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719389,-0.691184,-0.068880],[0.685416,0.690292,0.231737],[-0.112626,-0.213920,0.970337]]
2025-10-26T19:35:38.039Z,1761507338.039 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:35:38.260Z,1761507338.260 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:35:38.260Z,1761507338.260 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:35:38.386Z,1761507338.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722852,-0.688269,-0.061403],[0.680398,0.693436,0.237075],[-0.120592,-0.213149,0.969549]]
2025-10-26T19:35:38.512Z,1761507338.512 [DAT](INFO): DAT read: user:226>

2025-10-26T19:35:38.513Z,1761507338.513 [DAT](INFO): DAT read: Tx time:19:35:37.6048

2025-10-26T19:35:38.513Z,1761507338.513 [DAT](INFO): Ping request sent.
2025-10-26T19:35:38.513Z,1761507338.513 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:35:38.514Z,1761507338.514 [DAT](INFO): publishing transmit ping time
2025-10-26T19:35:38.514Z,1761507338.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930
2025-10-26T19:35:38.764Z,1761507338.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250887
2025-10-26T19:35:38.846Z,1761507338.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725601,-0.685830,-0.056040],[0.676110,0.695427,0.243428],[-0.127979,-0.214521,0.968299]]
2025-10-26T19:35:39.017Z,1761507339.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503755
2025-10-26T19:35:39.194Z,1761507339.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728154,-0.683595,-0.049899],[0.672026,0.697717,0.248137],[-0.134810,-0.214216,0.967439]]
2025-10-26T19:35:39.268Z,1761507339.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944
2025-10-26T19:35:39.520Z,1761507339.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006711
2025-10-26T19:35:39.598Z,1761507339.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730229,-0.681665,-0.045812],[0.668492,0.699058,0.253843],[-0.141010,-0.215989,0.966160]]
2025-10-26T19:35:39.773Z,1761507339.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259470
2025-10-26T19:35:40.002Z,1761507340.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732407,-0.679590,-0.041686],[0.664760,0.700500,0.259602],[-0.147222,-0.217846,0.964815]]
2025-10-26T19:35:40.024Z,1761507340.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510978
2025-10-26T19:35:40.276Z,1761507340.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803
2025-10-26T19:35:40.411Z,1761507340.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734618,-0.677363,-0.038925],[0.661089,0.701703,0.265658],[-0.152633,-0.220891,0.963281]]
2025-10-26T19:35:40.532Z,1761507340.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018758
2025-10-26T19:35:40.783Z,1761507340.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269127
2025-10-26T19:35:40.850Z,1761507340.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736552,-0.675394,-0.036534],[0.657744,0.702619,0.271477],[-0.157685,-0.223987,0.961751]]
2025-10-26T19:35:41.033Z,1761507341.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519437
2025-10-26T19:35:41.214Z,1761507341.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738424,-0.673552,-0.032503],[0.654380,0.704099,0.275737],[-0.162838,-0.224880,0.960684]]
2025-10-26T19:35:41.285Z,1761507341.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771517
2025-10-26T19:35:41.536Z,1761507341.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885
2025-10-26T19:35:41.618Z,1761507341.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739635,-0.672372,-0.029257],[0.651764,0.704773,0.280177],[-0.167763,-0.226297,0.959502]]
2025-10-26T19:35:41.788Z,1761507341.788 [DAT](INFO): DAT read: Rx Time:19:35:40.4694

2025-10-26T19:35:41.789Z,1761507341.789 [DAT](INFO): Rx dataTimestamp_ set to:1761507341.788562
2025-10-26T19:35:41.789Z,1761507341.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275918
2025-10-26T19:35:42.024Z,1761507342.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740358,-0.671713,-0.025924],[0.649598,0.704999,0.284604],[-0.172896,-0.227549,0.958295]]
2025-10-26T19:35:42.040Z,1761507342.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526918
2025-10-26T19:35:42.307Z,1761507342.307 [DAT](INFO): DAT read: 19:35:40.4693 LVL= 32752, 32753, 16866, 32755, AGC= 70, IDX= 167, 0.47,-2.054,-2.700,-0.518,-1.231, PHS=-0.721,-1.424, 0.669, RAW= 190.7,  15.8, CAL= 190.6,  21.0, ROT= 319.4, -21.0

2025-10-26T19:35:42.310Z,1761507342.310 [DAT](INFO): got valid direction response:
 19:35:40.4693 LVL= 32752, 32753, 16866, 32755, AGC= 70, IDX= 167, 0.47,-2.054,-2.700,-0.518,-1.231, PHS=-0.721,-1.424, 0.669, RAW= 190.7,  15.8, CAL= 190.6,  21.0, ROT= 319.4, -21.0

2025-10-26T19:35:42.313Z,1761507342.313 [DAT](INFO): DAT read: Bearing 340,  12 (Remote)

2025-10-26T19:35:42.314Z,1761507342.314 [DAT](INFO): Remote Bearing received:Bearing 340,  12 (Remote)

2025-10-26T19:35:42.317Z,1761507342.317 [DAT](INFO): DAT read: Bearing 215.4, -51.3 (Local)

2025-10-26T19:35:42.318Z,1761507342.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.4, -51.3 (Local)

2025-10-26T19:35:42.320Z,1761507342.320 [DAT](INFO): DAT read: Range 11 to 20 : 626.5 m  (Round-trip  835.4 ms) speed  0.2 m/s

2025-10-26T19:35:42.321Z,1761507342.321 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:35:42.322Z,1761507342.322 [DAT](INFO): direction in FSK: [0.708841,-0.607550,0.358368]
2025-10-26T19:35:42.322Z,1761507342.322 [DAT](INFO): publishing direction and range info
2025-10-26T19:35:42.446Z,1761507342.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740568,-0.671609,-0.022390],[0.648071,0.705011,0.288032],[-0.177660,-0.227817,0.957359]]
2025-10-26T19:35:42.514Z,1761507342.514 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507328.00. Resetting abort timer.
2025-10-26T19:35:42.858Z,1761507342.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740579,-0.671668,-0.020136],[0.647087,0.704756,0.290857],[-0.181168,-0.228432,0.956555]]
2025-10-26T19:35:43.167Z,1761507343.167 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:35:43.167Z,1761507343.167 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:35:43.235Z,1761507343.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740184,-0.672132,-0.019107],[0.646803,0.703949,0.293432],[-0.183774,-0.229552,0.955789]]
2025-10-26T19:35:43.639Z,1761507343.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739289,-0.673118,-0.019100],[0.647455,0.702735,0.294899],[-0.185080,-0.230381,0.955338]]
2025-10-26T19:35:44.043Z,1761507344.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738067,-0.674459,-0.019030],[0.648757,0.701628,0.294674],[-0.185394,-0.229834,0.955409]]
2025-10-26T19:35:44.110Z,1761507344.110 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:35:44.110Z,1761507344.110 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:35:44.110Z,1761507344.110 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:35:44.111Z,1761507344.111 [marl:UpdateRudder:A] Stopped
2025-10-26T19:35:44.111Z,1761507344.111 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:35:44.111Z,1761507344.111 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:35:44.111Z,1761507344.111 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:35:44.111Z,1761507344.111 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateCommandMode] Stopped
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:35:44.116Z,1761507344.116 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:35:44.117Z,1761507344.117 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:35:44.117Z,1761507344.117 [marl:UpdateSpeed] Stopped
2025-10-26T19:35:44.117Z,1761507344.117 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:35:44.448Z,1761507344.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736144,-0.676505,-0.020787],[0.651019,0.699344,0.295114],[-0.185108,-0.230779,0.955236]]
2025-10-26T19:35:44.588Z,1761507344.588 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:35:44.589Z,1761507344.589 [marl:UpdateRudder:B] Stopped
2025-10-26T19:35:44.589Z,1761507344.589 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:35:44.589Z,1761507344.589 [marl:UpdateRudder] Stopped
2025-10-26T19:35:44.589Z,1761507344.589 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:35:44.856Z,1761507344.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733621,-0.679157,-0.023368],[0.654108,0.696405,0.295234],[-0.184237,-0.231875,0.955139]]
2025-10-26T19:35:45.254Z,1761507345.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730839,-0.682053,-0.026044],[0.657648,0.693450,0.294324],[-0.182685,-0.232231,0.955351]]
2025-10-26T19:35:45.660Z,1761507345.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727409,-0.685603,-0.028700],[0.661988,0.690113,0.292431],[-0.180685,-0.231716,0.955856]]
2025-10-26T19:35:46.062Z,1761507346.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723475,-0.689604,-0.032088],[0.666975,0.686230,0.290227],[-0.178122,-0.231374,0.956420]]
2025-10-26T19:35:46.466Z,1761507346.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719600,-0.693571,-0.033703],[0.671703,0.682965,0.287008],[-0.176042,-0.229169,0.957335]]
2025-10-26T19:35:46.871Z,1761507346.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715459,-0.697672,-0.037052],[0.677036,0.679253,0.283264],[-0.172457,-0.227749,0.958326]]
2025-10-26T19:35:47.275Z,1761507347.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711065,-0.701892,-0.041644],[0.682811,0.675173,0.279123],[-0.167797,-0.226910,0.959352]]
2025-10-26T19:35:47.678Z,1761507347.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706699,-0.705998,-0.046295],[0.688684,0.671421,0.273694],[-0.162144,-0.225302,0.960702]]
2025-10-26T19:35:48.082Z,1761507348.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702923,-0.709404,-0.051439],[0.694055,0.668305,0.267688],[-0.155522,-0.223865,0.962132]]
2025-10-26T19:35:48.486Z,1761507348.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699773,-0.712089,-0.056990],[0.698816,0.665804,0.261460],[-0.148238,-0.222788,0.963531]]
2025-10-26T19:35:48.903Z,1761507348.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698530,-0.712840,-0.062572],[0.701601,0.665058,0.255839],[-0.140758,-0.222612,0.964692]]
2025-10-26T19:35:49.294Z,1761507349.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699243,-0.711683,-0.067573],[0.702338,0.666265,0.250623],[-0.133343,-0.222705,0.965724]]
2025-10-26T19:35:49.702Z,1761507349.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701801,-0.708623,-0.072994],[0.701046,0.668807,0.247451],[-0.126531,-0.224833,0.966147]]
2025-10-26T19:35:50.108Z,1761507350.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705455,-0.704345,-0.078944],[0.698573,0.672182,0.245287],[-0.119702,-0.228187,0.966231]]
2025-10-26T19:35:50.514Z,1761507350.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709391,-0.699849,-0.083524],[0.695669,0.676222,0.242424],[-0.113180,-0.230078,0.966568]]
2025-10-26T19:35:50.920Z,1761507350.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718105,-0.689964,-0.090963],[0.688527,0.685346,0.237134],[-0.101273,-0.232918,0.967209]]
2025-10-26T19:35:51.320Z,1761507351.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723174,-0.684432,-0.092588],[0.683853,0.690796,0.234831],[-0.096767,-0.233141,0.967616]]
2025-10-26T19:35:51.730Z,1761507351.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728610,-0.678573,-0.093095],[0.678553,0.696626,0.232977],[-0.093240,-0.232919,0.968016]]
2025-10-26T19:35:52.133Z,1761507352.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733861,-0.672865,-0.093274],[0.673220,0.702078,0.232080],[-0.090673,-0.233109,0.968214]]
2025-10-26T19:35:52.529Z,1761507352.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739028,-0.667232,-0.092945],[0.667741,0.707241,0.232235],[-0.089220,-0.233691,0.968209]]
2025-10-26T19:35:52.586Z,1761507352.586 [marl:SendObservationData] Running Loop=1
2025-10-26T19:35:52.586Z,1761507352.586 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T19:35:52.586Z,1761507352.586 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T19:35:52.587Z,1761507352.587 [marl:SendObservationData:A] Running Loop=1
2025-10-26T19:35:52.589Z,1761507352.589 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9e0000000040514000000000004042627448f33810c05e77738df84caa402dd6d6e000000040838e6660000000 n/a str  and temp var is  nan n/a str 
2025-10-26T19:35:52.589Z,1761507352.589 [marl:SendObservationData:A] Stopped
2025-10-26T19:35:52.589Z,1761507352.589 [marl:SendObservationData:B] Running Loop=1
2025-10-26T19:35:52.625Z,1761507352.625 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:35:52.626Z,1761507352.626 [DAT](INFO): #Outgoing data=1
2025-10-26T19:35:52.626Z,1761507352.626 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:35:52.876Z,1761507352.876 [DAT](INFO): setting remote address to 6
2025-10-26T19:35:52.939Z,1761507352.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743833,-0.661973,-0.092213],[0.662493,0.712000,0.232720],[-0.088399,-0.234195,0.968162]]
2025-10-26T19:35:53.003Z,1761507353.003 [marl:SendObservationData:B] Stopped
2025-10-26T19:35:53.004Z,1761507353.004 [marl:SendObservationData:C] Running Loop=1
2025-10-26T19:35:53.128Z,1761507353.128 [DAT](INFO): DAT read: user:227>

2025-10-26T19:35:53.129Z,1761507353.129 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:35:53.129Z,1761507353.129 [DAT](INFO): set remote address to 6
2025-10-26T19:35:53.130Z,1761507353.130 [DAT](INFO): entering online mode
2025-10-26T19:35:53.335Z,1761507353.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748132,-0.657136,-0.092043],[0.657674,0.715918,0.234364],[-0.088114,-0.235869,0.967782]]
2025-10-26T19:35:53.389Z,1761507353.389 [DAT](INFO): DAT read: user:228>

2025-10-26T19:35:53.390Z,1761507353.390 [DAT](INFO): DAT read: 

2025-10-26T19:35:53.392Z,1761507353.392 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:35:53.392Z,1761507353.392 [DAT](INFO): commRate: 600
2025-10-26T19:35:53.392Z,1761507353.392 [DAT](INFO): online mode acknowledged
2025-10-26T19:35:53.393Z,1761507353.393 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:35:53.419Z,1761507353.419 [marl:SendObservationData:C] Stopped
2025-10-26T19:35:53.419Z,1761507353.419 [marl:SendObservationData:E] Running Loop=1
2025-10-26T19:35:53.739Z,1761507353.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750639,-0.654155,-0.092859],[0.654803,0.717787,0.236676],[-0.088170,-0.238462,0.967141]]
2025-10-26T19:35:53.772Z,1761507353.772 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.013726 min 
2025-10-26T19:35:53.773Z,1761507353.773 [marl:SendObservationData:E] Stopped
2025-10-26T19:35:53.773Z,1761507353.773 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T19:35:53.773Z,1761507353.773 [marl:SendObservationData] Stopped
2025-10-26T19:35:53.773Z,1761507353.773 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T19:35:53.774Z,1761507353.774 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T19:35:54.142Z,1761507354.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750375,-0.654249,-0.094317],[0.655244,0.717406,0.236610],[-0.087138,-0.239346,0.967016]]
2025-10-26T19:35:54.556Z,1761507354.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747992,-0.656608,-0.096822],[0.658215,0.715135,0.235233],[-0.085215,-0.239682,0.967104]]
2025-10-26T19:35:54.950Z,1761507354.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744916,-0.659586,-0.100233],[0.662032,0.712212,0.233383],[-0.082548,-0.240208,0.967205]]
2025-10-26T19:35:55.356Z,1761507355.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741584,-0.662589,-0.105015],[0.666168,0.708838,0.231881],[-0.079203,-0.241917,0.967059]]
2025-10-26T19:35:55.758Z,1761507355.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738186,-0.665477,-0.110550],[0.670390,0.705392,0.230217],[-0.075223,-0.244055,0.966840]]
2025-10-26T19:35:56.164Z,1761507356.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734412,-0.668603,-0.116660],[0.675014,0.701649,0.228133],[-0.070676,-0.246290,0.966616]]
2025-10-26T19:35:56.268Z,1761507356.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:35:56.567Z,1761507356.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730196,-0.672093,-0.122906],[0.680099,0.697759,0.224942],[-0.065423,-0.247839,0.966590]]
2025-10-26T19:35:56.665Z,1761507356.665 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:35:55.8036

2025-10-26T19:35:56.666Z,1761507356.666 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:35:56.972Z,1761507356.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726182,-0.675269,-0.129116],[0.684899,0.694231,0.221262],[-0.059775,-0.249108,0.966629]]
2025-10-26T19:35:57.272Z,1761507357.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:35:57.385Z,1761507357.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722879,-0.677655,-0.135018],[0.688877,0.691576,0.217191],[-0.053806,-0.250013,0.966746]]
2025-10-26T19:35:57.413Z,1761507357.413 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:35:57.413Z,1761507357.413 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:35:57.413Z,1761507357.413 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:35:57.413Z,1761507357.413 [marl:UpdateRudder:A] Stopped
2025-10-26T19:35:57.413Z,1761507357.413 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode] Stopped
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:35:57.414Z,1761507357.414 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:35:57.415Z,1761507357.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:35:57.415Z,1761507357.415 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:35:57.415Z,1761507357.415 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:35:57.415Z,1761507357.415 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:35:57.417Z,1761507357.417 [marl:UpdateSpeed] Stopped
2025-10-26T19:35:57.417Z,1761507357.417 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:35:57.778Z,1761507357.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720378,-0.679329,-0.139887],[0.691885,0.689751,0.213396],[-0.048479,-0.250511,0.966899]]
2025-10-26T19:35:57.830Z,1761507357.830 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:35:57.830Z,1761507357.830 [marl:UpdateRudder:B] Stopped
2025-10-26T19:35:57.830Z,1761507357.830 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:35:57.830Z,1761507357.830 [marl:UpdateRudder] Stopped
2025-10-26T19:35:57.830Z,1761507357.830 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:35:58.183Z,1761507358.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718997,-0.679760,-0.144812],[0.693634,0.688698,0.211109],[-0.043771,-0.252233,0.966676]]
2025-10-26T19:35:58.592Z,1761507358.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717677,-0.680392,-0.148348],[0.695239,0.687886,0.208462],[-0.039789,-0.252745,0.966714]]
2025-10-26T19:35:58.990Z,1761507358.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716876,-0.680677,-0.150887],[0.696277,0.687828,0.205158],[-0.035862,-0.252132,0.967028]]
2025-10-26T19:35:59.394Z,1761507359.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715433,-0.681556,-0.153745],[0.697953,0.687125,0.201793],[-0.031891,-0.251676,0.967286]]
2025-10-26T19:35:59.798Z,1761507359.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714460,-0.682155,-0.155603],[0.699116,0.687113,0.197766],[-0.027990,-0.250080,0.967821]]
2025-10-26T19:36:00.205Z,1761507360.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714150,-0.682196,-0.156841],[0.699586,0.687954,0.193126],[-0.023850,-0.247645,0.968557]]
2025-10-26T19:36:00.610Z,1761507360.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713848,-0.682407,-0.157294],[0.700029,0.689091,0.187383],[-0.019481,-0.243874,0.969611]]
2025-10-26T19:36:01.010Z,1761507361.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713301,-0.682863,-0.157793],[0.700689,0.689885,0.181917],[-0.015365,-0.240325,0.970571]]
2025-10-26T19:36:01.414Z,1761507361.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713678,-0.682621,-0.157140],[0.700377,0.691644,0.176355],[-0.011699,-0.235918,0.971703]]
2025-10-26T19:36:01.820Z,1761507361.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714488,-0.681810,-0.156976],[0.699599,0.693586,0.171752],[-0.008226,-0.232535,0.972553]]
2025-10-26T19:36:02.223Z,1761507362.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714875,-0.681417,-0.156926],[0.699234,0.694994,0.167496],[-0.005072,-0.229467,0.973303]]
2025-10-26T19:36:02.626Z,1761507362.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715166,-0.680859,-0.158014],[0.698952,0.695983,0.164541],[-0.002054,-0.228118,0.973631]]
2025-10-26T19:36:03.030Z,1761507363.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715241,-0.680471,-0.159339],[0.698877,0.696600,0.162229],[0.000604,-0.227392,0.973803]]
2025-10-26T19:36:03.439Z,1761507363.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715011,-0.680270,-0.161224],[0.699105,0.696872,0.160066],[0.003465,-0.227161,0.973851]]
2025-10-26T19:36:03.848Z,1761507363.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714417,-0.680356,-0.163474],[0.699691,0.696723,0.158141],[0.006304,-0.227360,0.973790]]
2025-10-26T19:36:04.242Z,1761507364.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714113,-0.680102,-0.165844],[0.699966,0.696926,0.156015],[0.009475,-0.227498,0.973733]]
2025-10-26T19:36:04.646Z,1761507364.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713894,-0.679788,-0.168059],[0.700137,0.697303,0.153552],[0.012806,-0.227284,0.973744]]
2025-10-26T19:36:05.051Z,1761507365.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714486,-0.678626,-0.170225],[0.699475,0.698274,0.152146],[0.015614,-0.227774,0.973589]]
2025-10-26T19:36:05.457Z,1761507365.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715364,-0.677353,-0.171599],[0.698513,0.699637,0.150291],[0.018257,-0.227378,0.973636]]
2025-10-26T19:36:05.862Z,1761507365.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716671,-0.675243,-0.174442],[0.697113,0.700919,0.150819],[0.020431,-0.229693,0.973049]]
2025-10-26T19:36:06.262Z,1761507366.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717975,-0.673427,-0.176091],[0.695725,0.702230,0.151128],[0.021883,-0.231017,0.972704]]
2025-10-26T19:36:06.671Z,1761507366.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719368,-0.671686,-0.177055],[0.694255,0.703605,0.151495],[0.022820,-0.231902,0.972471]]
2025-10-26T19:36:06.747Z,1761507366.747 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:36:06.997Z,1761507366.997 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:36:06.997Z,1761507366.997 [DAT](INFO): #Outgoing data=1
2025-10-26T19:36:06.998Z,1761507366.998 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:36:07.070Z,1761507367.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720172,-0.670482,-0.178343],[0.693379,0.704459,0.151536],[0.024033,-0.232791,0.972230]]
2025-10-26T19:36:07.248Z,1761507367.248 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:36:07.477Z,1761507367.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720484,-0.669785,-0.179696],[0.692996,0.704993,0.150805],[0.025678,-0.233181,0.972094]]
2025-10-26T19:36:07.878Z,1761507367.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720731,-0.669137,-0.181114],[0.692675,0.705463,0.150080],[0.027345,-0.233620,0.971943]]
2025-10-26T19:36:08.284Z,1761507368.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720777,-0.668717,-0.182479],[0.692555,0.705802,0.149036],[0.029131,-0.233799,0.971849]]
2025-10-26T19:36:08.354Z,1761507368.354 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:36:08.508Z,1761507368.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:36:08.559Z,1761507368.559 [DAT](INFO): entering command mode
2025-10-26T19:36:08.686Z,1761507368.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720450,-0.668267,-0.185395],[0.692798,0.705602,0.148848],[0.031345,-0.235679,0.971325]]
2025-10-26T19:36:08.762Z,1761507368.762 [DAT](INFO): DAT read: 

2025-10-26T19:36:08.762Z,1761507368.762 [DAT](INFO): DAT read: user:229>

2025-10-26T19:36:08.763Z,1761507368.763 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:36:08.763Z,1761507368.763 [DAT](INFO): setting remote address to 0
2025-10-26T19:36:09.012Z,1761507369.012 [DAT](INFO): DAT read: user:229>

2025-10-26T19:36:09.013Z,1761507369.013 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:36:09.013Z,1761507369.013 [DAT](INFO): set remote address to 0
2025-10-26T19:36:09.014Z,1761507369.014 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:36:09.014Z,1761507369.014 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:36:09.097Z,1761507369.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720492,-0.667564,-0.187747],[0.692647,0.705899,0.148144],[0.033635,-0.236779,0.970981]]
2025-10-26T19:36:09.265Z,1761507369.265 [DAT](INFO): DAT read: user:230>

2025-10-26T19:36:09.266Z,1761507369.266 [DAT](INFO): DAT read: Tx time:19:36:08.3546

2025-10-26T19:36:09.266Z,1761507369.266 [DAT](INFO): Ping request sent.
2025-10-26T19:36:09.266Z,1761507369.266 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:36:09.266Z,1761507369.266 [DAT](INFO): publishing transmit ping time
2025-10-26T19:36:09.267Z,1761507369.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937
2025-10-26T19:36:09.497Z,1761507369.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720926,-0.666477,-0.189932],[0.692081,0.706591,0.147489],[0.035906,-0.237777,0.970656]]
2025-10-26T19:36:09.517Z,1761507369.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250569
2025-10-26T19:36:09.768Z,1761507369.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502353
2025-10-26T19:36:09.899Z,1761507369.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721425,-0.665397,-0.191815],[0.691431,0.707463,0.146352],[0.038320,-0.238209,0.970458]]
2025-10-26T19:36:10.020Z,1761507370.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754383
2025-10-26T19:36:10.272Z,1761507370.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006432
2025-10-26T19:36:10.302Z,1761507370.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721449,-0.665135,-0.192630],[0.691309,0.707896,0.144825],[0.040034,-0.237651,0.970525]]
2025-10-26T19:36:10.524Z,1761507370.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258373
2025-10-26T19:36:10.711Z,1761507370.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721675,-0.664970,-0.192354],[0.691046,0.708322,0.143996],[0.040495,-0.236843,0.970703]]
2025-10-26T19:36:10.755Z,1761507370.755 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:36:10.755Z,1761507370.755 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:36:10.755Z,1761507370.755 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:36:10.755Z,1761507370.755 [marl:UpdateRudder:A] Stopped
2025-10-26T19:36:10.756Z,1761507370.756 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:36:10.756Z,1761507370.756 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:36:10.756Z,1761507370.756 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:36:10.756Z,1761507370.756 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:36:10.757Z,1761507370.757 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:36:10.758Z,1761507370.758 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:36:10.758Z,1761507370.758 [marl:UpdateCommandMode] Stopped
2025-10-26T19:36:10.759Z,1761507370.759 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:36:10.759Z,1761507370.759 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:36:10.759Z,1761507370.759 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:36:10.760Z,1761507370.760 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:36:10.761Z,1761507370.761 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:36:10.761Z,1761507370.761 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:36:10.761Z,1761507370.761 [marl:UpdateSpeed] Stopped
2025-10-26T19:36:10.762Z,1761507370.762 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:36:10.780Z,1761507370.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513949
2025-10-26T19:36:11.028Z,1761507371.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762399
2025-10-26T19:36:11.110Z,1761507371.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721110,-0.665820,-0.191534],[0.691622,0.708063,0.142497],[0.040741,-0.235225,0.971087]]
2025-10-26T19:36:11.178Z,1761507371.178 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:36:11.178Z,1761507371.178 [marl:UpdateRudder:B] Stopped
2025-10-26T19:36:11.178Z,1761507371.178 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:36:11.178Z,1761507371.178 [marl:UpdateRudder] Stopped
2025-10-26T19:36:11.179Z,1761507371.179 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:36:11.280Z,1761507371.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014312
2025-10-26T19:36:11.514Z,1761507371.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720174,-0.666861,-0.191429],[0.692603,0.707187,0.142087],[0.040624,-0.234911,0.971168]]
2025-10-26T19:36:11.532Z,1761507371.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266474
2025-10-26T19:36:11.784Z,1761507371.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518458
2025-10-26T19:36:11.920Z,1761507371.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718714,-0.668244,-0.192094],[0.694169,0.705402,0.143310],[0.039738,-0.236344,0.970856]]
2025-10-26T19:36:12.036Z,1761507372.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770478
2025-10-26T19:36:12.288Z,1761507372.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022339
2025-10-26T19:36:12.341Z,1761507372.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717033,-0.670025,-0.192175],[0.696000,0.703269,0.144905],[0.038061,-0.237656,0.970603]]
2025-10-26T19:36:12.540Z,1761507372.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274499
2025-10-26T19:36:12.730Z,1761507372.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715095,-0.672269,-0.191557],[0.698102,0.700909,0.146222],[0.035963,-0.238289,0.970528]]
2025-10-26T19:36:12.795Z,1761507372.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528424
2025-10-26T19:36:13.045Z,1761507373.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779033
2025-10-26T19:36:13.130Z,1761507373.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712698,-0.674980,-0.190956],[0.700656,0.698101,0.147430],[0.033795,-0.238867,0.970464]]
2025-10-26T19:36:13.296Z,1761507373.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030450
2025-10-26T19:36:13.534Z,1761507373.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709789,-0.678322,-0.189947],[0.703685,0.695062,0.147367],[0.032063,-0.238263,0.970671]]
2025-10-26T19:36:13.548Z,1761507373.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282425
2025-10-26T19:36:13.802Z,1761507373.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535340
2025-10-26T19:36:13.938Z,1761507373.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706333,-0.681737,-0.190601],[0.707192,0.691452,0.147561],[0.031194,-0.239018,0.970514]]
2025-10-26T19:36:14.053Z,1761507374.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787054
2025-10-26T19:36:14.305Z,1761507374.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039227
2025-10-26T19:36:14.349Z,1761507374.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702461,-0.685629,-0.190949],[0.711029,0.687888,0.145764],[0.031411,-0.238164,0.970717]]
2025-10-26T19:36:14.557Z,1761507374.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291346
2025-10-26T19:36:14.748Z,1761507374.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698411,-0.689483,-0.191927],[0.714927,0.684541,0.142415],[0.033190,-0.236678,0.971021]]
2025-10-26T19:36:14.813Z,1761507374.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545873
2025-10-26T19:36:15.060Z,1761507375.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794462
2025-10-26T19:36:15.150Z,1761507375.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694565,-0.692999,-0.193214],[0.718518,0.681721,0.137800],[0.036223,-0.234539,0.971432]]
2025-10-26T19:36:15.314Z,1761507375.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047943
2025-10-26T19:36:15.554Z,1761507375.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691455,-0.695488,-0.195414],[0.721301,0.679692,0.133206],[0.040178,-0.233059,0.971632]]
2025-10-26T19:36:15.564Z,1761507375.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298471
2025-10-26T19:36:15.817Z,1761507375.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551146
2025-10-26T19:36:15.958Z,1761507375.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689687,-0.696754,-0.197145],[0.722731,0.679150,0.128117],[0.044625,-0.230843,0.971967]]
2025-10-26T19:36:16.068Z,1761507376.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802483
2025-10-26T19:36:16.321Z,1761507376.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054898
2025-10-26T19:36:16.369Z,1761507376.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689685,-0.696186,-0.199147],[0.722447,0.680193,0.124131],[0.049040,-0.229484,0.972076]]
2025-10-26T19:36:16.572Z,1761507376.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306421
2025-10-26T19:36:16.770Z,1761507376.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691706,-0.693576,-0.201233],[0.720236,0.682947,0.121834],[0.052931,-0.229209,0.971937]]
2025-10-26T19:36:16.829Z,1761507376.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562896
2025-10-26T19:36:17.077Z,1761507377.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810895
2025-10-26T19:36:17.170Z,1761507377.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695271,-0.689308,-0.203600],[0.716599,0.686686,0.122263],[0.055533,-0.230905,0.971390]]
2025-10-26T19:36:17.329Z,1761507377.329 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:36:17.329Z,1761507377.329 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:36:17.329Z,1761507377.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063520
2025-10-26T19:36:17.578Z,1761507377.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699855,-0.684362,-0.204577],[0.711993,0.691313,0.123099],[0.057183,-0.231809,0.971079]]
2025-10-26T19:36:17.581Z,1761507377.581 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:36:17.581Z,1761507377.581 [DAT](INFO): #Outgoing data=2
2025-10-26T19:36:17.581Z,1761507377.581 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:36:17.581Z,1761507377.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315390
2025-10-26T19:36:17.832Z,1761507377.832 [DAT](INFO): setting remote address to 6
2025-10-26T19:36:17.833Z,1761507377.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566830
2025-10-26T19:36:17.978Z,1761507377.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704647,-0.679575,-0.204084],[0.707182,0.696129,0.123682],[0.058018,-0.231477,0.971109]]
2025-10-26T19:36:18.084Z,1761507378.084 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:18.084Z,1761507378.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818386
2025-10-26T19:36:18.336Z,1761507378.336 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:18.336Z,1761507378.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070495
2025-10-26T19:36:18.382Z,1761507378.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708949,-0.675095,-0.204052],[0.702868,0.700133,0.125659],[0.058032,-0.232508,0.970862]]
2025-10-26T19:36:18.588Z,1761507378.588 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:18.589Z,1761507378.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322741
2025-10-26T19:36:18.834Z,1761507378.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712345,-0.671522,-0.204019],[0.699474,0.703093,0.128048],[0.057458,-0.233920,0.970557]]
2025-10-26T19:36:18.840Z,1761507378.840 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:18.841Z,1761507378.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574991
2025-10-26T19:36:19.092Z,1761507379.092 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:19.092Z,1761507379.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826477
2025-10-26T19:36:19.190Z,1761507379.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714974,-0.668890,-0.203467],[0.696833,0.705440,0.129533],[0.056890,-0.234395,0.970475]]
2025-10-26T19:36:19.345Z,1761507379.345 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:19.345Z,1761507379.345 [DAT](INFO): Reached modem response timeout
2025-10-26T19:36:19.596Z,1761507379.596 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:19.598Z,1761507379.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717473,-0.666343,-0.203025],[0.694314,0.707604,0.131239],[0.056211,-0.235123,0.970339]]
2025-10-26T19:36:19.848Z,1761507379.848 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:19.998Z,1761507379.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719584,-0.664277,-0.202322],[0.692214,0.709321,0.133059],[0.055123,-0.235797,0.970238]]
2025-10-26T19:36:20.100Z,1761507380.100 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:20.352Z,1761507380.352 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:20.405Z,1761507380.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721333,-0.662720,-0.201198],[0.690542,0.710502,0.135421],[0.053205,-0.236619,0.970145]]
2025-10-26T19:36:20.604Z,1761507380.604 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:20.842Z,1761507380.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722588,-0.661488,-0.200749],[0.689419,0.710879,0.139116],[0.050684,-0.238924,0.969715]]
2025-10-26T19:36:20.856Z,1761507380.856 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:21.108Z,1761507381.108 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:21.210Z,1761507381.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723179,-0.661347,-0.199080],[0.689014,0.710726,0.141872],[0.047664,-0.239768,0.969660]]
2025-10-26T19:36:21.360Z,1761507381.360 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:36:21.613Z,1761507381.613 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:36:21.613Z,1761507381.613 [DAT](INFO): response not received
2025-10-26T19:36:21.613Z,1761507381.613 [DAT](INFO): DAT read: user:231>

2025-10-26T19:36:21.614Z,1761507381.614 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:36:21.614Z,1761507381.614 [DAT](INFO): set remote address to 6
2025-10-26T19:36:21.615Z,1761507381.615 [DAT](INFO): entering online mode
2025-10-26T19:36:21.622Z,1761507381.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723098,-0.661777,-0.197939],[0.689350,0.709580,0.145922],[0.043886,-0.241965,0.969292]]
2025-10-26T19:36:21.864Z,1761507381.864 [DAT](INFO): DAT read: user:232>

2025-10-26T19:36:21.865Z,1761507381.865 [DAT](INFO): DAT read: 

2025-10-26T19:36:21.866Z,1761507381.866 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:36:21.866Z,1761507381.866 [DAT](INFO): commRate: 600
2025-10-26T19:36:21.866Z,1761507381.866 [DAT](INFO): online mode acknowledged
2025-10-26T19:36:21.867Z,1761507381.867 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:36:22.021Z,1761507382.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722395,-0.663254,-0.195549],[0.690354,0.707914,0.149228],[0.039456,-0.242800,0.969274]]
2025-10-26T19:36:22.422Z,1761507382.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721309,-0.665126,-0.193188],[0.691763,0.705654,0.153354],[0.034324,-0.244256,0.969103]]
2025-10-26T19:36:22.846Z,1761507382.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719703,-0.667694,-0.190295],[0.693681,0.702939,0.157109],[0.028865,-0.245075,0.969074]]
2025-10-26T19:36:23.230Z,1761507383.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717329,-0.670788,-0.188370],[0.696338,0.699343,0.161347],[0.023506,-0.246908,0.968754]]
2025-10-26T19:36:23.643Z,1761507383.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714329,-0.674824,-0.185328],[0.699556,0.695706,0.163140],[0.018843,-0.246183,0.969040]]
2025-10-26T19:36:24.038Z,1761507384.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710687,-0.679253,-0.183137],[0.703343,0.691654,0.164080],[0.015216,-0.245418,0.969298]]
2025-10-26T19:36:24.070Z,1761507384.070 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:36:24.070Z,1761507384.070 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:36:24.070Z,1761507384.070 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:36:24.070Z,1761507384.070 [marl:UpdateRudder:A] Stopped
2025-10-26T19:36:24.070Z,1761507384.070 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:36:24.070Z,1761507384.070 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:36:24.071Z,1761507384.071 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:36:24.071Z,1761507384.071 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:36:24.071Z,1761507384.071 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:36:24.071Z,1761507384.071 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:36:24.071Z,1761507384.071 [marl:UpdateCommandMode] Stopped
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed] Stopped
2025-10-26T19:36:24.072Z,1761507384.072 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:36:24.442Z,1761507384.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706839,-0.683862,-0.180863],[0.707260,0.687840,0.163279],[0.012745,-0.243329,0.969860]]
2025-10-26T19:36:24.490Z,1761507384.490 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:36:24.490Z,1761507384.490 [marl:UpdateRudder:B] Stopped
2025-10-26T19:36:24.490Z,1761507384.490 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:36:24.490Z,1761507384.490 [marl:UpdateRudder] Stopped
2025-10-26T19:36:24.491Z,1761507384.491 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:36:24.853Z,1761507384.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702889,-0.688272,-0.179524],[0.711204,0.684174,0.161537],[0.011644,-0.241221,0.970401]]
2025-10-26T19:36:25.141Z,1761507385.141 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:36:24.3034

2025-10-26T19:36:25.142Z,1761507385.142 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:36:25.250Z,1761507385.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698874,-0.692598,-0.178562],[0.715143,0.680870,0.158073],[0.012096,-0.238171,0.971148]]
2025-10-26T19:36:25.658Z,1761507385.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694803,-0.696878,-0.177793],[0.719072,0.677793,0.153405],[0.013602,-0.234432,0.972037]]
2025-10-26T19:36:26.059Z,1761507386.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690802,-0.700722,-0.178271],[0.722866,0.674780,0.148783],[0.016038,-0.231646,0.972668]]
2025-10-26T19:36:26.463Z,1761507386.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687169,-0.704263,-0.178362],[0.726246,0.672375,0.143107],[0.019141,-0.227874,0.973503]]
2025-10-26T19:36:26.866Z,1761507386.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684487,-0.706713,-0.178981],[0.728680,0.670779,0.138134],[0.022436,-0.224971,0.974107]]
2025-10-26T19:36:27.278Z,1761507387.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683089,-0.707813,-0.179973],[0.729911,0.670033,0.135222],[0.024875,-0.223733,0.974333]]
2025-10-26T19:36:27.396Z,1761507387.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:36:27.678Z,1761507387.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683224,-0.707234,-0.181728],[0.729715,0.670428,0.134323],[0.026838,-0.224383,0.974132]]
2025-10-26T19:36:28.080Z,1761507388.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686337,-0.703886,-0.182991],[0.726761,0.673319,0.135871],[0.027573,-0.226243,0.973680]]
2025-10-26T19:36:28.400Z,1761507388.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:36:28.482Z,1761507388.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691025,-0.699067,-0.183820],[0.722305,0.677519,0.138723],[0.027565,-0.228635,0.973122]]
2025-10-26T19:36:28.887Z,1761507388.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695920,-0.694042,-0.184393],[0.717612,0.681757,0.142266],[0.026972,-0.231329,0.972502]]
2025-10-26T19:36:29.293Z,1761507389.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701010,-0.688814,-0.184717],[0.712672,0.686129,0.146031],[0.026152,-0.234012,0.971882]]
2025-10-26T19:36:29.702Z,1761507389.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706833,-0.682600,-0.185593],[0.706933,0.690967,0.151027],[0.025148,-0.237953,0.970951]]
2025-10-26T19:36:30.098Z,1761507390.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712693,-0.676764,-0.184551],[0.701085,0.695992,0.155165],[0.023436,-0.239971,0.970497]]
2025-10-26T19:36:30.502Z,1761507390.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718346,-0.671230,-0.182837],[0.695364,0.700773,0.159330],[0.021180,-0.241592,0.970147]]
2025-10-26T19:36:30.906Z,1761507390.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723405,-0.666283,-0.180973],[0.690176,0.704885,0.163692],[0.018500,-0.243319,0.969770]]
2025-10-26T19:36:31.312Z,1761507391.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727403,-0.662497,-0.178837],[0.686038,0.707937,0.167859],[0.015399,-0.244790,0.969454]]
2025-10-26T19:36:31.741Z,1761507391.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730181,-0.660371,-0.175348],[0.683146,0.710172,0.170196],[0.012135,-0.244063,0.969684]]
2025-10-26T19:36:32.118Z,1761507392.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731214,-0.659780,-0.173255],[0.682093,0.710416,0.173373],[0.008695,-0.244948,0.969497]]
2025-10-26T19:36:32.522Z,1761507392.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731006,-0.660577,-0.171078],[0.682352,0.709516,0.176018],[0.005109,-0.245406,0.969407]]
2025-10-26T19:36:32.926Z,1761507392.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729707,-0.662728,-0.168283],[0.683758,0.707817,0.177397],[0.001547,-0.244513,0.969645]]
2025-10-26T19:36:33.330Z,1761507393.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727696,-0.665370,-0.166559],[0.685898,0.705309,0.179118],[-0.001704,-0.244586,0.969626]]
2025-10-26T19:36:33.752Z,1761507393.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725368,-0.668339,-0.164815],[0.688344,0.702584,0.180436],[-0.004796,-0.244332,0.969680]]
2025-10-26T19:36:34.140Z,1761507394.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722422,-0.671816,-0.163617],[0.691414,0.699352,0.181255],[-0.007344,-0.244069,0.969730]]
2025-10-26T19:36:34.542Z,1761507394.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718952,-0.675797,-0.162504],[0.694998,0.695851,0.181020],[-0.009254,-0.243085,0.969961]]
2025-10-26T19:36:35.228Z,1761507395.228 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:36:35.351Z,1761507395.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711398,-0.684044,-0.161233],[0.702706,0.688825,0.178111],[-0.010774,-0.240007,0.970711]]
2025-10-26T19:36:35.481Z,1761507395.481 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:36:35.481Z,1761507395.481 [DAT](INFO): #Outgoing data=3
2025-10-26T19:36:35.481Z,1761507395.481 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:36:35.733Z,1761507395.733 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:36:35.782Z,1761507395.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703337,-0.692598,-0.160080],[0.710799,0.682343,0.170800],[-0.009066,-0.233915,0.972215]]
2025-10-26T19:36:36.568Z,1761507396.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694562,-0.701089,-0.161421],[0.719416,0.675324,0.162416],[-0.004857,-0.228937,0.973429]]
2025-10-26T19:36:36.972Z,1761507396.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690884,-0.704479,-0.162443],[0.722961,0.672386,0.158822],[-0.002662,-0.227168,0.973852]]
2025-10-26T19:36:37.376Z,1761507397.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689308,-0.705886,-0.163035],[0.724466,0.671002,0.157817],[-0.002004,-0.226898,0.973917]]
2025-10-26T19:36:37.419Z,1761507397.419 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:36:37.419Z,1761507397.419 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:36:37.419Z,1761507397.419 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:36:37.419Z,1761507397.419 [marl:UpdateRudder:A] Stopped
2025-10-26T19:36:37.436Z,1761507397.436 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:36:37.436Z,1761507397.436 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:36:37.436Z,1761507397.436 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:36:37.436Z,1761507397.436 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateCommandMode] Stopped
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:36:37.437Z,1761507397.437 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:36:37.438Z,1761507397.438 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:36:37.438Z,1761507397.438 [marl:UpdateSpeed] Stopped
2025-10-26T19:36:37.438Z,1761507397.438 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:36:37.780Z,1761507397.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689061,-0.706110,-0.163104],[0.724699,0.670576,0.158556],[-0.002585,-0.227456,0.973785]]
2025-10-26T19:36:37.856Z,1761507397.856 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:36:37.856Z,1761507397.856 [marl:UpdateRudder:B] Stopped
2025-10-26T19:36:37.856Z,1761507397.856 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:36:37.856Z,1761507397.856 [marl:UpdateRudder] Stopped
2025-10-26T19:36:37.856Z,1761507397.856 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:36:38.178Z,1761507398.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689562,-0.705589,-0.163240],[0.724219,0.670780,0.159878],[-0.003310,-0.228467,0.973546]]
2025-10-26T19:36:38.583Z,1761507398.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689695,-0.705558,-0.162817],[0.724089,0.670758,0.160559],[-0.004072,-0.228631,0.973505]]
2025-10-26T19:36:38.608Z,1761507398.608 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:36:38.788Z,1761507398.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:36:38.844Z,1761507398.844 [DAT](INFO): entering command mode
2025-10-26T19:36:38.986Z,1761507398.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689825,-0.705408,-0.162912],[0.723960,0.670623,0.161699],[-0.004811,-0.229486,0.973300]]
2025-10-26T19:36:39.040Z,1761507399.040 [DAT](INFO): DAT read: 

2025-10-26T19:36:39.041Z,1761507399.041 [DAT](INFO): DAT read: user:233>

2025-10-26T19:36:39.041Z,1761507399.041 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:36:39.042Z,1761507399.042 [DAT](INFO): setting remote address to 0
2025-10-26T19:36:39.292Z,1761507399.292 [DAT](INFO): DAT read: user:233>

2025-10-26T19:36:39.293Z,1761507399.293 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:36:39.293Z,1761507399.293 [DAT](INFO): set remote address to 0
2025-10-26T19:36:39.294Z,1761507399.294 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:36:39.294Z,1761507399.294 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:36:39.390Z,1761507399.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689882,-0.705498,-0.162282],[0.723903,0.670699,0.161640],[-0.005195,-0.228989,0.973415]]
2025-10-26T19:36:39.544Z,1761507399.544 [DAT](INFO): DAT read: user:234>

2025-10-26T19:36:39.545Z,1761507399.545 [DAT](INFO): DAT read: Tx time:19:36:38.6044

2025-10-26T19:36:39.545Z,1761507399.545 [DAT](INFO): Ping request sent.
2025-10-26T19:36:39.545Z,1761507399.545 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:36:39.546Z,1761507399.546 [DAT](INFO): publishing transmit ping time
2025-10-26T19:36:39.546Z,1761507399.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000954
2025-10-26T19:36:39.796Z,1761507399.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250939
2025-10-26T19:36:39.799Z,1761507399.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690077,-0.705422,-0.161783],[0.723719,0.671061,0.160960],[-0.004978,-0.228160,0.973611]]
2025-10-26T19:36:40.048Z,1761507400.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502900
2025-10-26T19:36:40.200Z,1761507400.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691026,-0.704362,-0.162349],[0.722817,0.672015,0.161030],[-0.004322,-0.228624,0.973505]]
2025-10-26T19:36:40.300Z,1761507400.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754797
2025-10-26T19:36:40.552Z,1761507400.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922
2025-10-26T19:36:40.602Z,1761507400.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692277,-0.703044,-0.162733],[0.721623,0.673298,0.161028],[-0.003642,-0.228908,0.973441]]
2025-10-26T19:36:40.808Z,1761507400.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261624
2025-10-26T19:36:41.006Z,1761507401.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694366,-0.700916,-0.163008],[0.719614,0.675252,0.161834],[-0.003360,-0.229675,0.973261]]
2025-10-26T19:36:41.057Z,1761507401.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511521
2025-10-26T19:36:41.308Z,1761507401.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762925
2025-10-26T19:36:41.410Z,1761507401.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696884,-0.698384,-0.163134],[0.717178,0.677652,0.162618],[-0.003022,-0.230321,0.973110]]
2025-10-26T19:36:41.560Z,1761507401.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014969
2025-10-26T19:36:41.812Z,1761507401.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266863
2025-10-26T19:36:41.836Z,1761507401.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700289,-0.694866,-0.163573],[0.713855,0.680856,0.163851],[-0.002485,-0.231511,0.972829]]
2025-10-26T19:36:42.064Z,1761507402.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518913
2025-10-26T19:36:42.237Z,1761507402.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704576,-0.690640,-0.163064],[0.709626,0.685075,0.164628],[-0.001988,-0.231707,0.972784]]
2025-10-26T19:36:42.317Z,1761507402.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771706
2025-10-26T19:36:42.569Z,1761507402.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023508
2025-10-26T19:36:42.630Z,1761507402.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709378,-0.685724,-0.162989],[0.704826,0.689501,0.166760],[-0.001970,-0.233175,0.972433]]
2025-10-26T19:36:42.823Z,1761507402.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277128
2025-10-26T19:36:43.034Z,1761507403.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714631,-0.680564,-0.161662],[0.699499,0.694641,0.167856],[-0.001940,-0.233038,0.972466]]
2025-10-26T19:36:43.072Z,1761507403.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527016
2025-10-26T19:36:43.180Z,1761507403.180 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:36:43.180Z,1761507403.180 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:36:43.325Z,1761507403.325 [DAT](INFO): DAT read: Rx Time:19:36:41.8342

2025-10-26T19:36:43.326Z,1761507403.326 [DAT](INFO): Rx dataTimestamp_ set to:1761507403.325240
2025-10-26T19:36:43.326Z,1761507403.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780635
2025-10-26T19:36:43.438Z,1761507403.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719617,-0.675495,-0.160802],[0.694367,0.699238,0.170063],[-0.002438,-0.234036,0.972225]]
2025-10-26T19:36:43.576Z,1761507403.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030996
2025-10-26T19:36:43.834Z,1761507403.834 [DAT](INFO): DAT read: 19:36:41.8342 LVL= 32752, 32753, 23442, 32755, AGC= 72, IDX= 500, 0.07,-2.191,-2.921,-0.797,-1.540, PHS=-0.549,-1.337, 0.699, RAW= 187.4,  13.3, CAL= 187.4,  16.9, ROT= 322.6, -16.9

2025-10-26T19:36:43.835Z,1761507403.835 [DAT](INFO): got valid direction response:
 19:36:41.8342 LVL= 32752, 32753, 23442, 32755, AGC= 72, IDX= 500, 0.07,-2.191,-2.921,-0.797,-1.540, PHS=-0.549,-1.337, 0.699, RAW= 187.4,  13.3, CAL= 187.4,  16.9, ROT= 322.6, -16.9

2025-10-26T19:36:43.840Z,1761507403.840 [DAT](INFO): DAT read: Bearing 204.8, -39.1 (Local)

2025-10-26T19:36:43.840Z,1761507403.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.8, -39.1 (Local)

2025-10-26T19:36:43.841Z,1761507403.841 [DAT](INFO): DAT read: Range 11 to 20 : 619.2 m  (Round-trip  825.7 ms) speed -0.4 m/s

2025-10-26T19:36:43.842Z,1761507403.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:36:43.843Z,1761507403.843 [DAT](INFO): direction in FSK: [0.760107,-0.581145,0.290702]
2025-10-26T19:36:43.843Z,1761507403.843 [DAT](INFO): publishing direction and range info
2025-10-26T19:36:43.862Z,1761507403.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724657,-0.670004,-0.161141],[0.689103,0.703548,0.173659],[-0.002982,-0.236886,0.971533]]
2025-10-26T19:36:43.985Z,1761507403.985 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507456.00. Resetting abort timer.
2025-10-26T19:36:44.266Z,1761507404.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729189,-0.665320,-0.160105],[0.684301,0.707564,0.176312],[-0.004020,-0.238125,0.971226]]
2025-10-26T19:36:45.074Z,1761507405.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735848,-0.658573,-0.157511],[0.677098,0.712829,0.182793],[-0.008104,-0.241158,0.970452]]
2025-10-26T19:36:45.480Z,1761507405.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737468,-0.657256,-0.155422],[0.675292,0.713814,0.185610],[-0.011051,-0.241836,0.970254]]
2025-10-26T19:36:45.846Z,1761507405.846 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:36:45.846Z,1761507405.846 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:36:45.882Z,1761507405.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738002,-0.657369,-0.152379],[0.674638,0.713847,0.187844],[-0.014707,-0.241430,0.970307]]
2025-10-26T19:36:46.100Z,1761507406.100 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:36:46.286Z,1761507406.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737717,-0.658313,-0.149660],[0.674847,0.712888,0.190713],[-0.018858,-0.241690,0.970170]]
2025-10-26T19:36:46.352Z,1761507406.352 [DAT](INFO): setting remote address to 6
2025-10-26T19:36:46.604Z,1761507406.604 [DAT](INFO): DAT read: user:235>

2025-10-26T19:36:46.605Z,1761507406.605 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:36:46.606Z,1761507406.606 [DAT](INFO): set remote address to 6
2025-10-26T19:36:46.606Z,1761507406.606 [DAT](INFO): entering online mode
2025-10-26T19:36:46.690Z,1761507406.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736825,-0.659789,-0.147538],[0.675687,0.711178,0.194094],[-0.023135,-0.242702,0.969825]]
2025-10-26T19:36:46.856Z,1761507406.856 [DAT](INFO): DAT read: user:236>

2025-10-26T19:36:46.857Z,1761507406.857 [DAT](INFO): DAT read: 

2025-10-26T19:36:46.858Z,1761507406.858 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:36:46.858Z,1761507406.858 [DAT](INFO): commRate: 600
2025-10-26T19:36:46.859Z,1761507406.859 [DAT](INFO): online mode acknowledged
2025-10-26T19:36:46.859Z,1761507406.859 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:36:47.096Z,1761507407.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735443,-0.661860,-0.145139],[0.677033,0.709127,0.196887],[-0.027389,-0.243063,0.969624]]
2025-10-26T19:36:47.498Z,1761507407.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733625,-0.664213,-0.143581],[0.678845,0.706657,0.199514],[-0.031058,-0.243837,0.969319]]
2025-10-26T19:36:47.903Z,1761507407.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731576,-0.666474,-0.143560],[0.680907,0.703746,0.202752],[-0.034099,-0.246079,0.968650]]
2025-10-26T19:36:48.306Z,1761507408.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729167,-0.669062,-0.143773],[0.683400,0.700934,0.204100],[-0.035780,-0.247077,0.968335]]
2025-10-26T19:36:48.721Z,1761507408.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726502,-0.671565,-0.145589],[0.686214,0.697889,0.205089],[-0.036125,-0.248903,0.967854]]
2025-10-26T19:36:49.114Z,1761507409.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723543,-0.674178,-0.148224],[0.689384,0.694810,0.204912],[-0.035160,-0.250445,0.967492]]
2025-10-26T19:36:49.518Z,1761507409.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720847,-0.676453,-0.150965],[0.692302,0.692329,0.203465],[-0.033117,-0.251181,0.967373]]
2025-10-26T19:36:49.929Z,1761507409.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718286,-0.678354,-0.154600],[0.695107,0.690151,0.201291],[-0.029849,-0.252048,0.967254]]
2025-10-26T19:36:50.133Z,1761507410.133 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:36:49.3032

2025-10-26T19:36:50.133Z,1761507410.133 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:36:50.326Z,1761507410.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715633,-0.680414,-0.157816],[0.697990,0.688211,0.197929],[-0.026063,-0.251798,0.967429]]
2025-10-26T19:36:50.733Z,1761507410.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712797,-0.682697,-0.160768],[0.701032,0.686364,0.193543],[-0.021786,-0.250660,0.967830]]
2025-10-26T19:36:50.816Z,1761507410.816 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:36:50.817Z,1761507410.817 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:36:50.817Z,1761507410.817 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:36:50.818Z,1761507410.818 [marl:UpdateRudder:A] Stopped
2025-10-26T19:36:50.818Z,1761507410.818 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:36:50.818Z,1761507410.818 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:36:50.819Z,1761507410.819 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:36:50.819Z,1761507410.819 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:36:50.830Z,1761507410.830 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:36:50.830Z,1761507410.830 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:36:50.831Z,1761507410.831 [marl:UpdateCommandMode] Stopped
2025-10-26T19:36:50.836Z,1761507410.836 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:36:50.836Z,1761507410.836 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:36:50.836Z,1761507410.836 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:36:50.837Z,1761507410.837 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:36:50.837Z,1761507410.837 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:36:50.838Z,1761507410.838 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:36:50.838Z,1761507410.838 [marl:UpdateSpeed] Stopped
2025-10-26T19:36:50.839Z,1761507410.839 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:36:51.135Z,1761507411.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710046,-0.684930,-0.163420],[0.703931,0.684586,0.189268],[-0.017760,-0.249425,0.968231]]
2025-10-26T19:36:51.191Z,1761507411.191 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:36:51.192Z,1761507411.192 [marl:UpdateRudder:B] Stopped
2025-10-26T19:36:51.192Z,1761507411.192 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:36:51.192Z,1761507411.192 [marl:UpdateRudder] Stopped
2025-10-26T19:36:51.192Z,1761507411.192 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:36:51.538Z,1761507411.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707785,-0.686965,-0.164679],[0.706294,0.683631,0.183837],[-0.013710,-0.246429,0.969064]]
2025-10-26T19:36:51.946Z,1761507411.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706267,-0.688255,-0.165805],[0.707877,0.683309,0.178882],[-0.009821,-0.243708,0.969799]]
2025-10-26T19:36:52.348Z,1761507412.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706551,-0.687858,-0.166243],[0.707626,0.684359,0.175836],[-0.007181,-0.241875,0.970281]]
2025-10-26T19:36:52.750Z,1761507412.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707614,-0.687280,-0.164099],[0.706571,0.686184,0.172942],[-0.006257,-0.238324,0.971165]]
2025-10-26T19:36:53.154Z,1761507413.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709008,-0.686061,-0.163181],[0.705176,0.687808,0.172185],[-0.005892,-0.237151,0.971455]]
2025-10-26T19:36:53.560Z,1761507413.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710747,-0.684506,-0.162142],[0.703427,0.689823,0.171276],[-0.005390,-0.235788,0.971789]]
2025-10-26T19:36:53.962Z,1761507413.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712540,-0.683103,-0.160178],[0.701615,0.692100,0.169512],[-0.004935,-0.233167,0.972424]]
2025-10-26T19:36:54.366Z,1761507414.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713835,-0.682022,-0.159011],[0.700300,0.693765,0.168139],[-0.004358,-0.231379,0.972854]]
2025-10-26T19:36:54.784Z,1761507414.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715267,-0.680691,-0.158279],[0.698841,0.695446,0.167259],[-0.003777,-0.230246,0.973125]]
2025-10-26T19:36:55.184Z,1761507415.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716680,-0.679152,-0.158502],[0.697394,0.696857,0.167426],[-0.003254,-0.230529,0.973060]]
2025-10-26T19:36:55.578Z,1761507415.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718428,-0.677270,-0.158641],[0.695595,0.698469,0.168193],[-0.003106,-0.231184,0.972905]]
2025-10-26T19:36:55.982Z,1761507415.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720493,-0.674945,-0.159182],[0.693456,0.700303,0.169396],[-0.002857,-0.232435,0.972608]]
2025-10-26T19:36:56.386Z,1761507416.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722464,-0.672441,-0.160837],[0.691403,0.701719,0.171906],[-0.002734,-0.235399,0.971895]]
2025-10-26T19:36:56.844Z,1761507416.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724562,-0.669751,-0.162612],[0.689203,0.703134,0.174931],[-0.002822,-0.238821,0.971059]]
2025-10-26T19:36:57.201Z,1761507417.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726287,-0.667620,-0.163681],[0.687385,0.704313,0.177328],[-0.003105,-0.241303,0.970445]]
2025-10-26T19:36:57.598Z,1761507417.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727524,-0.666005,-0.164763],[0.686074,0.705004,0.179643],[-0.003484,-0.243734,0.969836]]
2025-10-26T19:36:58.002Z,1761507418.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727771,-0.665594,-0.165330],[0.685808,0.704901,0.181057],[-0.003969,-0.245153,0.969476]]
2025-10-26T19:36:58.406Z,1761507418.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727277,-0.665997,-0.165878],[0.686328,0.704052,0.182388],[-0.004683,-0.246494,0.969133]]
2025-10-26T19:36:58.520Z,1761507418.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:36:58.847Z,1761507418.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725991,-0.667562,-0.165222],[0.687681,0.702717,0.182439],[-0.005685,-0.246069,0.969236]]
2025-10-26T19:36:59.217Z,1761507419.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724246,-0.669822,-0.163724],[0.689505,0.701060,0.181926],[-0.007078,-0.244648,0.969586]]
2025-10-26T19:36:59.524Z,1761507419.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:36:59.618Z,1761507419.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721928,-0.672502,-0.162973],[0.691914,0.698623,0.182155],[-0.008642,-0.244266,0.969670]]
2025-10-26T19:37:00.022Z,1761507420.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719367,-0.675623,-0.161382],[0.694553,0.696142,0.181611],[-0.010355,-0.242733,0.970038]]
2025-10-26T19:37:00.212Z,1761507420.212 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:37:00.428Z,1761507420.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716428,-0.678894,-0.160729],[0.697558,0.693096,0.181744],[-0.011984,-0.242324,0.970121]]
2025-10-26T19:37:00.464Z,1761507420.464 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:37:00.716Z,1761507420.716 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:37:00.858Z,1761507420.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713149,-0.682465,-0.160189],[0.700892,0.689923,0.180989],[-0.013000,-0.241347,0.970352]]
2025-10-26T19:37:01.235Z,1761507421.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709444,-0.686332,-0.160116],[0.704640,0.686556,0.179228],[-0.013081,-0.239976,0.970691]]
2025-10-26T19:37:01.638Z,1761507421.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705547,-0.690078,-0.161232],[0.708568,0.683221,0.176469],[-0.011620,-0.238751,0.971011]]
2025-10-26T19:37:02.044Z,1761507422.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701585,-0.693510,-0.163776],[0.712534,0.679982,0.172973],[-0.008594,-0.238051,0.971215]]
2025-10-26T19:37:02.446Z,1761507422.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698105,-0.696371,-0.166485],[0.715982,0.677550,0.168213],[-0.004337,-0.236631,0.971590]]
2025-10-26T19:37:02.857Z,1761507422.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696115,-0.697885,-0.168465],[0.717931,0.676818,0.162765],[0.000429,-0.234250,0.972176]]
2025-10-26T19:37:03.254Z,1761507423.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696875,-0.696448,-0.171249],[0.717178,0.678243,0.160133],[0.004624,-0.234408,0.972127]]
2025-10-26T19:37:03.667Z,1761507423.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700106,-0.692766,-0.172995],[0.713998,0.681799,0.159240],[0.007632,-0.235003,0.971965]]
2025-10-26T19:37:03.728Z,1761507423.728 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:37:03.728Z,1761507423.728 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:37:03.728Z,1761507423.728 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateRudder:A] Stopped
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:37:03.729Z,1761507423.729 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateCommandMode] Stopped
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:37:03.730Z,1761507423.730 [marl:UpdateSpeed] Stopped
2025-10-26T19:37:03.731Z,1761507423.731 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:37:03.993Z,1761507423.993 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:37:03.1531

2025-10-26T19:37:03.993Z,1761507423.993 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:37:04.064Z,1761507424.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704733,-0.688224,-0.172335],[0.709411,0.686776,0.158350],[0.009376,-0.233851,0.972227]]
2025-10-26T19:37:04.094Z,1761507424.094 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:37:04.094Z,1761507424.094 [marl:UpdateRudder:B] Stopped
2025-10-26T19:37:04.094Z,1761507424.094 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:37:04.094Z,1761507424.094 [marl:UpdateRudder] Stopped
2025-10-26T19:37:04.094Z,1761507424.094 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:37:04.466Z,1761507424.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709185,-0.683932,-0.171152],[0.704948,0.691418,0.158082],[0.010220,-0.232763,0.972480]]
2025-10-26T19:37:04.873Z,1761507424.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712508,-0.680973,-0.169138],[0.701588,0.694971,0.157451],[0.010326,-0.230850,0.972935]]
2025-10-26T19:37:05.276Z,1761507425.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714163,-0.679595,-0.167696],[0.699911,0.696640,0.157534],[0.009765,-0.229878,0.973170]]
2025-10-26T19:37:05.678Z,1761507425.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714964,-0.678955,-0.166874],[0.699106,0.697259,0.158371],[0.008827,-0.229892,0.973176]]
2025-10-26T19:37:06.082Z,1761507426.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714826,-0.679237,-0.166315],[0.699263,0.696812,0.159640],[0.007457,-0.230412,0.973065]]
2025-10-26T19:37:06.486Z,1761507426.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713935,-0.680304,-0.165780],[0.700185,0.695687,0.160500],[0.006143,-0.230664,0.973014]]
2025-10-26T19:37:06.895Z,1761507426.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712352,-0.681936,-0.165886],[0.701805,0.693843,0.161406],[0.005030,-0.231398,0.972846]]
2025-10-26T19:37:07.294Z,1761507427.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710203,-0.683510,-0.168597],[0.703985,0.690915,0.164445],[0.004087,-0.235479,0.971871]]
2025-10-26T19:37:07.700Z,1761507427.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707436,-0.685679,-0.171403],[0.706766,0.687708,0.165952],[0.004085,-0.238543,0.971123]]
2025-10-26T19:37:08.102Z,1761507428.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704165,-0.688510,-0.173510],[0.710019,0.684536,0.165177],[0.005048,-0.239507,0.970881]]
2025-10-26T19:37:08.507Z,1761507428.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701450,-0.690510,-0.176536],[0.712687,0.681920,0.164507],[0.006789,-0.241208,0.970450]]
2025-10-26T19:37:08.910Z,1761507428.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701003,-0.690361,-0.178876],[0.713101,0.681721,0.163533],[0.009047,-0.242193,0.970186]]
2025-10-26T19:37:08.965Z,1761507428.965 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:37:09.041Z,1761507429.041 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:37:09.092Z,1761507429.092 [DAT](INFO): entering command mode
2025-10-26T19:37:09.292Z,1761507429.292 [DAT](INFO): DAT read: 

2025-10-26T19:37:09.293Z,1761507429.293 [DAT](INFO): DAT read: user:237>

2025-10-26T19:37:09.293Z,1761507429.293 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:37:09.293Z,1761507429.293 [DAT](INFO): setting remote address to 0
2025-10-26T19:37:09.314Z,1761507429.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702021,-0.689065,-0.179880],[0.712070,0.683117,0.162197],[0.011115,-0.241953,0.970224]]
2025-10-26T19:37:09.544Z,1761507429.544 [DAT](INFO): DAT read: user:237>

2025-10-26T19:37:09.545Z,1761507429.545 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:37:09.545Z,1761507429.545 [DAT](INFO): set remote address to 0
2025-10-26T19:37:09.546Z,1761507429.546 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:37:09.546Z,1761507429.546 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:37:09.725Z,1761507429.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704545,-0.686178,-0.181041],[0.709544,0.685725,0.162263],[0.012803,-0.242778,0.969997]]
2025-10-26T19:37:09.798Z,1761507429.798 [DAT](INFO): DAT read: user:238>

2025-10-26T19:37:09.799Z,1761507429.799 [DAT](INFO): DAT read: Tx time:19:37:08.8542

2025-10-26T19:37:09.800Z,1761507429.800 [DAT](INFO): Ping request sent.
2025-10-26T19:37:09.800Z,1761507429.800 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:37:09.800Z,1761507429.800 [DAT](INFO): publishing transmit ping time
2025-10-26T19:37:09.801Z,1761507429.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001294
2025-10-26T19:37:10.048Z,1761507430.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248369
2025-10-26T19:37:10.126Z,1761507430.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708427,-0.682227,-0.180822],[0.705635,0.689893,0.161637],[0.014475,-0.242103,0.970143]]
2025-10-26T19:37:10.300Z,1761507430.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500297
2025-10-26T19:37:10.526Z,1761507430.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713128,-0.677473,-0.180219],[0.700859,0.694728,0.161709],[0.015650,-0.241627,0.970243]]
2025-10-26T19:37:10.552Z,1761507430.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752342
2025-10-26T19:37:10.807Z,1761507430.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006808
2025-10-26T19:37:10.931Z,1761507430.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718058,-0.672748,-0.178335],[0.695798,0.699820,0.161608],[0.016081,-0.240129,0.970608]]
2025-10-26T19:37:11.056Z,1761507431.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256417
2025-10-26T19:37:11.309Z,1761507431.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508948
2025-10-26T19:37:11.338Z,1761507431.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722050,-0.669176,-0.175637],[0.691658,0.704048,0.161013],[0.015911,-0.237740,0.971198]]
2025-10-26T19:37:11.560Z,1761507431.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760416
2025-10-26T19:37:11.739Z,1761507431.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724608,-0.666919,-0.173672],[0.688997,0.706553,0.161449],[0.015036,-0.236647,0.971479]]
2025-10-26T19:37:11.812Z,1761507431.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012292
2025-10-26T19:37:12.064Z,1761507432.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264370
2025-10-26T19:37:12.148Z,1761507432.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726227,-0.666013,-0.170354],[0.687319,0.708362,0.160671],[0.013663,-0.233771,0.972196]]
2025-10-26T19:37:12.316Z,1761507432.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516318
2025-10-26T19:37:12.546Z,1761507432.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726852,-0.665934,-0.167981],[0.686692,0.708894,0.161007],[0.011861,-0.232379,0.972553]]
2025-10-26T19:37:12.569Z,1761507432.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768564
2025-10-26T19:37:12.823Z,1761507432.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022116
2025-10-26T19:37:12.957Z,1761507432.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726459,-0.666443,-0.167667],[0.687140,0.707931,0.163320],[0.009853,-0.233856,0.972221]]
2025-10-26T19:37:13.075Z,1761507433.075 [DAT](INFO): DAT read: Rx Time:19:37:11.7024

2025-10-26T19:37:13.075Z,1761507433.075 [DAT](INFO): Rx dataTimestamp_ set to:1761507433.074743
2025-10-26T19:37:13.076Z,1761507433.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275820
2025-10-26T19:37:13.328Z,1761507433.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528329
2025-10-26T19:37:13.354Z,1761507433.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725499,-0.667482,-0.167688],[0.688179,0.706374,0.165668],[0.007870,-0.235591,0.971820]]
2025-10-26T19:37:13.587Z,1761507433.587 [DAT](INFO): DAT read: 19:37:11.7024 LVL= 12704, 17601,  8770, 14131, AGC= 70, IDX=  47, 0.28,-0.726,-1.424, 0.748,-0.067, PHS=-0.557,-1.312, 0.771, RAW= 189.0,  12.0, CAL= 189.0,  14.8, ROT= 321.0, -14.8

2025-10-26T19:37:13.589Z,1761507433.589 [DAT](INFO): got valid direction response:
 19:37:11.7024 LVL= 12704, 17601,  8770, 14131, AGC= 70, IDX=  47, 0.28,-0.726,-1.424, 0.748,-0.067, PHS=-0.557,-1.312, 0.771, RAW= 189.0,  12.0, CAL= 189.0,  14.8, ROT= 321.0, -14.8

2025-10-26T19:37:13.590Z,1761507433.590 [DAT](INFO): DAT read: Bearing 345, -11 (Remote)

2025-10-26T19:37:13.590Z,1761507433.590 [DAT](INFO): Remote Bearing received:Bearing 345, -11 (Remote)

2025-10-26T19:37:13.591Z,1761507433.591 [DAT](INFO): DAT read: Bearing 198.7, -39.4 (Local)

2025-10-26T19:37:13.591Z,1761507433.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.7, -39.4 (Local)

2025-10-26T19:37:13.593Z,1761507433.593 [DAT](INFO): DAT read: Range 11 to 20 : 614.2 m  (Round-trip  819.0 ms) speed -0.1 m/s

2025-10-26T19:37:13.593Z,1761507433.593 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:37:13.594Z,1761507433.594 [DAT](INFO): direction in FSK: [0.751363,-0.608442,0.255446]
2025-10-26T19:37:13.595Z,1761507433.595 [DAT](INFO): publishing direction and range info
2025-10-26T19:37:13.758Z,1761507433.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724033,-0.668884,-0.168434],[0.689739,0.704224,0.168311],[0.006034,-0.238038,0.971237]]
2025-10-26T19:37:13.923Z,1761507433.923 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507456.00. Resetting abort timer.
2025-10-26T19:37:14.084Z,1761507434.084 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:37:14.084Z,1761507434.084 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:37:14.163Z,1761507434.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721957,-0.670588,-0.170560],[0.691924,0.701271,0.171641],[0.004508,-0.241932,0.970283]]
2025-10-26T19:37:14.336Z,1761507434.336 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:37:14.566Z,1761507434.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719473,-0.672687,-0.172776],[0.694511,0.698152,0.173890],[0.003650,-0.245104,0.969490]]
2025-10-26T19:37:14.597Z,1761507434.597 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:37:14.840Z,1761507434.840 [DAT](INFO): setting remote address to 6
2025-10-26T19:37:15.092Z,1761507435.092 [DAT](INFO): DAT read: user:239>

2025-10-26T19:37:15.093Z,1761507435.093 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:37:15.093Z,1761507435.093 [DAT](INFO): set remote address to 6
2025-10-26T19:37:15.094Z,1761507435.094 [DAT](INFO): entering online mode
2025-10-26T19:37:15.345Z,1761507435.345 [DAT](INFO): DAT read: user:240>

2025-10-26T19:37:15.345Z,1761507435.345 [DAT](INFO): DAT read: 

2025-10-26T19:37:15.347Z,1761507435.347 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:37:15.347Z,1761507435.347 [DAT](INFO): commRate: 600
2025-10-26T19:37:15.347Z,1761507435.347 [DAT](INFO): online mode acknowledged
2025-10-26T19:37:15.347Z,1761507435.347 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:37:15.386Z,1761507435.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712859,-0.678342,-0.177999],[0.701295,0.691027,0.175121],[0.004210,-0.249666,0.968323]]
2025-10-26T19:37:15.778Z,1761507435.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709397,-0.681487,-0.179809],[0.704786,0.687942,0.173240],[0.005638,-0.249623,0.968327]]
2025-10-26T19:37:16.182Z,1761507436.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706182,-0.684605,-0.180616],[0.707987,0.685603,0.169421],[0.007844,-0.247516,0.968852]]
2025-10-26T19:37:16.590Z,1761507436.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703301,-0.687403,-0.181230],[0.710812,0.683795,0.164835],[0.010616,-0.244749,0.969528]]
2025-10-26T19:37:16.990Z,1761507436.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701288,-0.689287,-0.181873],[0.712747,0.682853,0.160326],[0.013682,-0.242064,0.970164]]
2025-10-26T19:37:17.394Z,1761507437.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701213,-0.689149,-0.182685],[0.712759,0.683583,0.157126],[0.016597,-0.240390,0.970535]]
2025-10-26T19:37:17.502Z,1761507437.502 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:37:17.502Z,1761507437.502 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:37:17.502Z,1761507437.502 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:37:17.503Z,1761507437.503 [marl:UpdateRudder:A] Stopped
2025-10-26T19:37:17.503Z,1761507437.503 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:37:17.503Z,1761507437.503 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:37:17.503Z,1761507437.503 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:37:17.503Z,1761507437.503 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:37:17.503Z,1761507437.503 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateCommandMode] Stopped
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:37:17.504Z,1761507437.504 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:37:17.505Z,1761507437.505 [marl:UpdateSpeed] Stopped
2025-10-26T19:37:17.505Z,1761507437.505 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:37:17.798Z,1761507437.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703432,-0.686877,-0.182709],[0.710511,0.686391,0.155056],[0.018906,-0.238888,0.970863]]
2025-10-26T19:37:17.846Z,1761507437.846 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:37:17.846Z,1761507437.846 [marl:UpdateRudder:B] Stopped
2025-10-26T19:37:17.846Z,1761507437.846 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:37:17.846Z,1761507437.846 [marl:UpdateRudder] Stopped
2025-10-26T19:37:17.846Z,1761507437.846 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:37:18.209Z,1761507438.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712143,-0.678499,-0.180256],[0.701704,0.695820,0.153120],[0.021534,-0.235529,0.971629]]
2025-10-26T19:37:18.622Z,1761507438.622 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:37:17.7530

2025-10-26T19:37:18.622Z,1761507438.622 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:37:18.628Z,1761507438.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716540,-0.674361,-0.178347],[0.697207,0.700350,0.153008],[0.021722,-0.233981,0.971998]]
2025-10-26T19:37:19.015Z,1761507439.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720056,-0.671178,-0.176179],[0.693589,0.703924,0.153051],[0.021292,-0.232401,0.972387]]
2025-10-26T19:37:19.419Z,1761507439.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722092,-0.669296,-0.175004],[0.691487,0.705859,0.153649],[0.020692,-0.231961,0.972505]]
2025-10-26T19:37:19.824Z,1761507439.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723136,-0.668439,-0.173961],[0.690420,0.706779,0.154222],[0.019864,-0.231630,0.972601]]
2025-10-26T19:37:20.223Z,1761507440.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723417,-0.668212,-0.173670],[0.690164,0.706640,0.155990],[0.018488,-0.232707,0.972371]]
2025-10-26T19:37:20.631Z,1761507440.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722897,-0.668681,-0.174031],[0.690758,0.705430,0.158815],[0.016570,-0.235019,0.971850]]
2025-10-26T19:37:21.031Z,1761507441.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721702,-0.669875,-0.174392],[0.692053,0.703532,0.161575],[0.014455,-0.237298,0.971329]]
2025-10-26T19:37:21.434Z,1761507441.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720009,-0.671505,-0.175124],[0.693858,0.701029,0.164681],[0.012183,-0.240083,0.970676]]
2025-10-26T19:37:21.838Z,1761507441.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717742,-0.673887,-0.175278],[0.696232,0.698298,0.166257],[0.010358,-0.241364,0.970379]]
2025-10-26T19:37:22.242Z,1761507442.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715086,-0.676490,-0.176107],[0.698975,0.695311,0.167263],[0.009298,-0.242702,0.970056]]
2025-10-26T19:37:22.650Z,1761507442.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711942,-0.679518,-0.177182],[0.702176,0.692189,0.166803],[0.009298,-0.243167,0.969940]]
2025-10-26T19:37:23.050Z,1761507443.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708033,-0.683069,-0.179180],[0.706100,0.688586,0.165145],[0.010575,-0.243447,0.969857]]
2025-10-26T19:37:23.454Z,1761507443.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703796,-0.687070,-0.180569],[0.710282,0.685241,0.161074],[0.013064,-0.241619,0.970283]]
2025-10-26T19:37:23.858Z,1761507443.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699192,-0.691416,-0.181862],[0.714743,0.681884,0.155487],[0.016503,-0.238700,0.970953]]
2025-10-26T19:37:24.262Z,1761507444.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694867,-0.695190,-0.184038],[0.718850,0.678707,0.150372],[0.020371,-0.236784,0.971349]]
2025-10-26T19:37:24.679Z,1761507444.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692131,-0.697631,-0.185110],[0.721377,0.677103,0.145420],[0.023889,-0.234183,0.971899]]
2025-10-26T19:37:25.072Z,1761507445.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692158,-0.697385,-0.185934],[0.721278,0.677640,0.143395],[0.025995,-0.233363,0.972042]]
2025-10-26T19:37:25.474Z,1761507445.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694268,-0.695093,-0.186650],[0.719220,0.679690,0.144031],[0.026749,-0.234239,0.971811]]
2025-10-26T19:37:25.880Z,1761507445.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696783,-0.692882,-0.185495],[0.716783,0.682255,0.144048],[0.026746,-0.233330,0.972030]]
2025-10-26T19:37:26.282Z,1761507446.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700135,-0.689284,-0.186275],[0.713524,0.685053,0.146919],[0.026340,-0.235775,0.971451]]
2025-10-26T19:37:26.686Z,1761507446.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703266,-0.686018,-0.186538],[0.710459,0.687699,0.149393],[0.025795,-0.237591,0.971023]]
2025-10-26T19:37:27.097Z,1761507447.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706264,-0.683281,-0.185253],[0.707505,0.690497,0.150505],[0.025079,-0.237364,0.971097]]
2025-10-26T19:37:27.496Z,1761507447.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708842,-0.680745,-0.184741],[0.704957,0.692633,0.152627],[0.024058,-0.238423,0.970863]]
2025-10-26T19:37:27.898Z,1761507447.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711534,-0.677763,-0.185359],[0.702271,0.694642,0.155847],[0.023131,-0.241062,0.970234]]
2025-10-26T19:37:28.302Z,1761507448.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713970,-0.675254,-0.185147],[0.699812,0.696728,0.157583],[0.022589,-0.242078,0.969994]]
2025-10-26T19:37:28.713Z,1761507448.713 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:37:28.717Z,1761507448.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716057,-0.673198,-0.184574],[0.697711,0.698390,0.159533],[0.021508,-0.243014,0.969784]]
2025-10-26T19:37:28.964Z,1761507448.964 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:37:29.110Z,1761507449.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717983,-0.671487,-0.183320],[0.695761,0.700073,0.160670],[0.020450,-0.242906,0.969834]]
2025-10-26T19:37:29.217Z,1761507449.217 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:37:29.514Z,1761507449.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719337,-0.670436,-0.181849],[0.694393,0.701256,0.161427],[0.019296,-0.242395,0.969986]]
2025-10-26T19:37:29.652Z,1761507449.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:37:29.920Z,1761507449.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720259,-0.670106,-0.179403],[0.693487,0.702020,0.161999],[0.017388,-0.241095,0.970346]]
2025-10-26T19:37:30.322Z,1761507450.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720627,-0.670681,-0.175739],[0.693153,0.702538,0.161180],[0.015363,-0.237965,0.971152]]
2025-10-26T19:37:30.656Z,1761507450.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:37:30.732Z,1761507450.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720497,-0.671606,-0.172714],[0.693335,0.702374,0.161113],[0.013105,-0.235830,0.971706]]
2025-10-26T19:37:30.944Z,1761507450.944 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:37:30.944Z,1761507450.944 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:37:30.944Z,1761507450.944 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:37:30.944Z,1761507450.944 [marl:UpdateRudder:A] Stopped
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode] Stopped
2025-10-26T19:37:30.945Z,1761507450.945 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed] Stopped
2025-10-26T19:37:30.946Z,1761507450.946 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:37:31.130Z,1761507451.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720043,-0.673006,-0.169117],[0.693848,0.701985,0.160600],[0.010633,-0.232981,0.972423]]
2025-10-26T19:37:31.225Z,1761507451.225 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:37:31.225Z,1761507451.225 [marl:UpdateRudder:B] Stopped
2025-10-26T19:37:31.225Z,1761507451.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:37:31.225Z,1761507451.225 [marl:UpdateRudder] Stopped
2025-10-26T19:37:31.225Z,1761507451.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:37:31.537Z,1761507451.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719181,-0.674529,-0.166704],[0.694779,0.700838,0.161580],[0.007843,-0.232028,0.972678]]
2025-10-26T19:37:32.345Z,1761507452.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717359,-0.677464,-0.162601],[0.696702,0.698073,0.165229],[0.001571,-0.231813,0.972759]]
2025-10-26T19:37:32.497Z,1761507452.497 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:37:31.6530

2025-10-26T19:37:32.497Z,1761507452.497 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:37:32.746Z,1761507452.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716098,-0.679173,-0.161019],[0.697998,0.696301,0.167224],[-0.001456,-0.232139,0.972681]]
2025-10-26T19:37:33.151Z,1761507453.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714398,-0.681130,-0.160304],[0.699727,0.694025,0.169444],[-0.004158,-0.233220,0.972415]]
2025-10-26T19:37:33.565Z,1761507453.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712821,-0.682425,-0.161811],[0.701319,0.691525,0.173048],[-0.006196,-0.236833,0.971531]]
2025-10-26T19:37:33.958Z,1761507453.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713267,-0.680494,-0.167862],[0.700861,0.690216,0.179987],[-0.006619,-0.246027,0.969240]]
2025-10-26T19:37:34.362Z,1761507454.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716195,-0.674141,-0.180552],[0.697882,0.689941,0.192204],[-0.005002,-0.263660,0.964603]]
2025-10-26T19:37:35.170Z,1761507455.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727483,-0.651261,-0.215935],[0.686123,0.691486,0.226016],[0.002121,-0.312581,0.949889]]
2025-10-26T19:37:35.578Z,1761507455.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735015,-0.636639,-0.233332],[0.678011,0.693810,0.242754],[0.007341,-0.336629,0.941609]]
2025-10-26T19:37:35.978Z,1761507455.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743549,-0.621501,-0.246720],[0.668551,0.698235,0.255945],[0.013198,-0.355253,0.934677]]
2025-10-26T19:37:36.383Z,1761507456.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753222,-0.605459,-0.257051],[0.657491,0.704333,0.267621],[0.019016,-0.370587,0.928603]]
2025-10-26T19:37:36.843Z,1761507456.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764469,-0.588183,-0.263871],[0.644201,0.712447,0.278252],[0.024331,-0.382701,0.923552]]
2025-10-26T19:37:37.190Z,1761507457.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777738,-0.569112,-0.266899],[0.627913,0.723073,0.287908],[0.029136,-0.391507,0.919714]]
2025-10-26T19:37:37.594Z,1761507457.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792112,-0.549086,-0.266576],[0.609491,0.735046,0.297033],[0.032849,-0.397759,0.916902]]
2025-10-26T19:37:38.010Z,1761507458.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806432,-0.529458,-0.263329],[0.590250,0.747611,0.304439],[0.035680,-0.400940,0.915409]]
2025-10-26T19:37:38.404Z,1761507458.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819990,-0.510386,-0.259080],[0.571110,0.759669,0.311024],[0.038073,-0.403000,0.914408]]
2025-10-26T19:37:38.861Z,1761507458.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832517,-0.492711,-0.253280],[0.552549,0.771534,0.315318],[0.040054,-0.402457,0.914562]]
2025-10-26T19:37:39.258Z,1761507459.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843870,-0.475985,-0.247635],[0.534933,0.782152,0.319508],[0.041607,-0.402091,0.914654]]
2025-10-26T19:37:39.309Z,1761507459.309 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:37:39.552Z,1761507459.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:37:39.603Z,1761507459.603 [DAT](INFO): entering command mode
2025-10-26T19:37:39.681Z,1761507459.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854032,-0.460391,-0.242218],[0.518447,0.791642,0.323288],[0.042911,-0.401675,0.914776]]
2025-10-26T19:37:39.808Z,1761507459.808 [DAT](INFO): DAT read: 

2025-10-26T19:37:39.809Z,1761507459.809 [DAT](INFO): DAT read: user:241>

2025-10-26T19:37:39.809Z,1761507459.809 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:37:39.809Z,1761507459.809 [DAT](INFO): setting remote address to 0
2025-10-26T19:37:40.061Z,1761507460.061 [DAT](INFO): DAT read: user:241>

2025-10-26T19:37:40.062Z,1761507460.062 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:37:40.062Z,1761507460.062 [DAT](INFO): set remote address to 0
2025-10-26T19:37:40.062Z,1761507460.062 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:37:40.063Z,1761507460.063 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:37:40.119Z,1761507460.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863008,-0.446507,-0.236322],[0.503284,0.800477,0.325487],[0.043838,-0.399836,0.915538]]
2025-10-26T19:37:40.312Z,1761507460.312 [DAT](INFO): DAT read: user:242>

2025-10-26T19:37:40.313Z,1761507460.313 [DAT](INFO): DAT read: Tx time:19:37:39.4041

2025-10-26T19:37:40.313Z,1761507460.313 [DAT](INFO): Ping request sent.
2025-10-26T19:37:40.313Z,1761507460.313 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:37:40.314Z,1761507460.314 [DAT](INFO): publishing transmit ping time
2025-10-26T19:37:40.314Z,1761507460.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000967
2025-10-26T19:37:40.506Z,1761507460.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870810,-0.434202,-0.230561],[0.489626,0.808174,0.327292],[0.044223,-0.397898,0.916363]]
2025-10-26T19:37:40.564Z,1761507460.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251004
2025-10-26T19:37:40.819Z,1761507460.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504921
2025-10-26T19:37:40.910Z,1761507460.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877526,-0.422846,-0.226162],[0.477462,0.814202,0.330310],[0.044471,-0.397839,0.916377]]
2025-10-26T19:37:41.068Z,1761507461.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754893
2025-10-26T19:37:41.320Z,1761507461.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006959
2025-10-26T19:37:41.324Z,1761507461.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883801,-0.412282,-0.221175],[0.465704,0.820572,0.331332],[0.044888,-0.395834,0.917224]]
2025-10-26T19:37:41.572Z,1761507461.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258899
2025-10-26T19:37:41.725Z,1761507461.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889434,-0.401785,-0.217889],[0.454768,0.825655,0.333886],[0.045751,-0.396058,0.917085]]
2025-10-26T19:37:41.824Z,1761507461.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888
2025-10-26T19:37:42.076Z,1761507462.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762842
2025-10-26T19:37:42.122Z,1761507462.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894899,-0.391274,-0.214614],[0.443843,0.830424,0.336747],[0.046460,-0.396610,0.916811]]
2025-10-26T19:37:42.329Z,1761507462.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015477
2025-10-26T19:37:42.536Z,1761507462.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900115,-0.380761,-0.211694],[0.433083,0.834759,0.340025],[0.047245,-0.397743,0.916280]]
2025-10-26T19:37:42.580Z,1761507462.580 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:37:42.580Z,1761507462.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266888
2025-10-26T19:37:42.838Z,1761507462.838 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:37:42.838Z,1761507462.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524939
2025-10-26T19:37:42.931Z,1761507462.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904788,-0.371099,-0.208912],[0.423138,0.838796,0.342602],[0.048095,-0.398381,0.915958]]
2025-10-26T19:37:43.084Z,1761507463.084 [DAT](INFO): setting remote address to 6
2025-10-26T19:37:43.085Z,1761507463.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771237
2025-10-26T19:37:43.268Z,1761507463.268 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:37:43.268Z,1761507463.268 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:37:43.336Z,1761507463.336 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:37:43.336Z,1761507463.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023021
2025-10-26T19:37:43.589Z,1761507463.589 [DAT](INFO): DAT read: Rx Time:19:37:42.2528

2025-10-26T19:37:43.590Z,1761507463.590 [DAT](INFO): Rx dataTimestamp_ set to:1761507463.589541
2025-10-26T19:37:43.590Z,1761507463.590 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:37:43.591Z,1761507463.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277356
2025-10-26T19:37:43.840Z,1761507463.840 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:37:43.841Z,1761507463.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527142
2025-10-26T19:37:43.844Z,1761507463.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920300,-0.337695,-0.197509],[0.387825,0.853822,0.347246],[0.051374,-0.396169,0.916739]]
2025-10-26T19:37:44.117Z,1761507464.117 [DAT](INFO): DAT read: 19:37:42.2528 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 374,-0.42,-1.470,-2.510,-1.054,-1.821, PHS= 0.453,-0.645, 0.722, RAW= 160.7,  -8.5, CAL= 161.4, -10.2, ROT= 348.6,  10.2

2025-10-26T19:37:44.119Z,1761507464.119 [DAT](INFO): got valid direction response:
 19:37:42.2528 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 374,-0.42,-1.470,-2.510,-1.054,-1.821, PHS= 0.453,-0.645, 0.722, RAW= 160.7,  -8.5, CAL= 161.4, -10.2, ROT= 348.6,  10.2

2025-10-26T19:37:44.121Z,1761507464.121 [DAT](INFO): DAT read: Bearing 347, -12 (Remote)

2025-10-26T19:37:44.121Z,1761507464.121 [DAT](INFO): Remote Bearing received:Bearing 347, -12 (Remote)

2025-10-26T19:37:44.122Z,1761507464.122 [DAT](INFO): DAT read: Bearing 153.5,  -2.8 (Local)

2025-10-26T19:37:44.122Z,1761507464.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.5,  -2.8 (Local)

2025-10-26T19:37:44.124Z,1761507464.124 [DAT](INFO): DAT read: Range 11 to 20 : 614.7 m  (Round-trip  819.6 ms) speed  0.3 m/s

2025-10-26T19:37:44.125Z,1761507464.125 [DAT](INFO): DAT read: user:243>

2025-10-26T19:37:44.126Z,1761507464.126 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:37:44.126Z,1761507464.126 [DAT](INFO): set remote address to 6
2025-10-26T19:37:44.128Z,1761507464.128 [DAT](INFO): entering online mode
2025-10-26T19:37:44.245Z,1761507464.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927288,-0.321518,-0.191737],[0.370668,0.860236,0.350141],[0.052363,-0.395753,0.916863]]
2025-10-26T19:37:44.344Z,1761507464.344 [DAT](INFO): DAT read: user:244>

2025-10-26T19:37:44.345Z,1761507464.345 [DAT](INFO): DAT read: 

2025-10-26T19:37:44.346Z,1761507464.346 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:37:44.346Z,1761507464.346 [DAT](INFO): commRate: 600
2025-10-26T19:37:44.346Z,1761507464.346 [DAT](INFO): online mode acknowledged
2025-10-26T19:37:44.347Z,1761507464.347 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:37:44.348Z,1761507464.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033656
2025-10-26T19:37:44.464Z,1761507464.464 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:37:44.464Z,1761507464.464 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:37:44.464Z,1761507464.464 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateRudder:A] Stopped
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:37:44.465Z,1761507464.465 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateCommandMode] Stopped
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed] Stopped
2025-10-26T19:37:44.466Z,1761507464.466 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:37:44.597Z,1761507464.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283396
2025-10-26T19:37:44.848Z,1761507464.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534946
2025-10-26T19:37:44.994Z,1761507464.994 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:37:44.994Z,1761507464.994 [marl:UpdateRudder:B] Stopped
2025-10-26T19:37:44.995Z,1761507464.995 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:37:44.995Z,1761507464.995 [marl:UpdateRudder] Stopped
2025-10-26T19:37:44.995Z,1761507464.995 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:37:45.100Z,1761507465.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786891
2025-10-26T19:37:45.351Z,1761507465.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942175,-0.285617,-0.175299],[0.331138,0.873868,0.355953],[0.051522,-0.393418,0.917915]]
2025-10-26T19:37:45.352Z,1761507465.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039017
2025-10-26T19:37:45.604Z,1761507465.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290837
2025-10-26T19:37:45.755Z,1761507465.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949253,-0.267523,-0.165381],[0.310525,0.880665,0.357774],[0.049933,-0.390973,0.919047]]
2025-10-26T19:37:45.857Z,1761507465.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543081
2025-10-26T19:37:46.108Z,1761507466.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794842
2025-10-26T19:37:46.158Z,1761507466.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955532,-0.250901,-0.154944],[0.290952,0.887707,0.356823],[0.048018,-0.386037,0.921233]]
2025-10-26T19:37:46.360Z,1761507466.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046796
2025-10-26T19:37:46.562Z,1761507466.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960763,-0.236822,-0.144397],[0.273677,0.894064,0.354614],[0.045120,-0.380218,0.923796]]
2025-10-26T19:37:46.613Z,1761507466.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298982
2025-10-26T19:37:46.864Z,1761507466.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550930
2025-10-26T19:37:46.966Z,1761507466.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964496,-0.228058,-0.133183],[0.260951,0.900572,0.347669],[0.040652,-0.370080,0.928110]]
2025-10-26T19:37:47.117Z,1761507467.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803302
2025-10-26T19:37:47.368Z,1761507467.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054941
2025-10-26T19:37:47.383Z,1761507467.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966551,-0.225973,-0.121307],[0.254154,0.907381,0.334762],[0.034424,-0.354395,0.934462]]
2025-10-26T19:37:47.621Z,1761507467.621 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:37:46.7529

2025-10-26T19:37:47.622Z,1761507467.622 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:37:47.622Z,1761507467.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308637
2025-10-26T19:37:47.778Z,1761507467.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967521,-0.227934,-0.109315],[0.251338,0.913678,0.319409],[0.027075,-0.336510,0.941291]]
2025-10-26T19:37:47.873Z,1761507467.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559252
2025-10-26T19:37:48.124Z,1761507468.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810879
2025-10-26T19:37:48.182Z,1761507468.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967813,-0.231786,-0.098052],[0.250926,0.918671,0.305090],[0.019362,-0.319874,0.947262]]
2025-10-26T19:37:48.376Z,1761507468.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062900
2025-10-26T19:37:48.587Z,1761507468.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967668,-0.236610,-0.087375],[0.251959,0.922778,0.291544],[0.011646,-0.304133,0.952558]]
2025-10-26T19:37:48.628Z,1761507468.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314969
2025-10-26T19:37:48.881Z,1761507468.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567614
2025-10-26T19:37:48.990Z,1761507468.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967272,-0.241522,-0.077792],[0.253708,0.925520,0.281148],[0.004095,-0.291683,0.956506]]
2025-10-26T19:37:49.133Z,1761507469.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819689
2025-10-26T19:37:49.385Z,1761507469.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071834
2025-10-26T19:37:49.404Z,1761507469.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966606,-0.246748,-0.069192],[0.256245,0.927199,0.273205],[-0.003258,-0.281812,0.959464]]
2025-10-26T19:37:49.637Z,1761507469.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323483
2025-10-26T19:37:49.798Z,1761507469.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965854,-0.251815,-0.060954],[0.258885,0.928719,0.265442],[-0.010234,-0.272159,0.962198]]
2025-10-26T19:37:49.889Z,1761507469.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575024
2025-10-26T19:37:50.140Z,1761507470.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826862
2025-10-26T19:37:50.202Z,1761507470.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965056,-0.256413,-0.054024],[0.261519,0.929403,0.260418],[-0.016564,-0.265446,0.963983]]
2025-10-26T19:37:50.392Z,1761507470.392 [DAT](INFO): Reached modem response timeout
2025-10-26T19:37:50.606Z,1761507470.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964254,-0.260630,-0.047817],[0.264064,0.930148,0.255137],[-0.022020,-0.258643,0.965722]]
2025-10-26T19:37:51.020Z,1761507471.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963472,-0.264427,-0.042415],[0.266476,0.930810,0.250165],[-0.026670,-0.252330,0.967274]]
2025-10-26T19:37:51.415Z,1761507471.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962936,-0.267070,-0.037798],[0.268012,0.931559,0.245698],[-0.030408,-0.246721,0.968609]]
2025-10-26T19:37:51.818Z,1761507471.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962766,-0.268308,-0.033065],[0.268219,0.932766,0.240845],[-0.033778,-0.240746,0.970000]]
2025-10-26T19:37:52.222Z,1761507472.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963230,-0.267182,-0.028309],[0.266157,0.934482,0.236441],[-0.036719,-0.235282,0.971233]]
2025-10-26T19:37:52.627Z,1761507472.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964756,-0.262134,-0.023067],[0.260104,0.936637,0.234641],[-0.039902,-0.232371,0.971808]]
2025-10-26T19:37:53.030Z,1761507473.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967080,-0.253937,-0.016484],[0.250635,0.939292,0.234333],[-0.044023,-0.230750,0.972017]]
2025-10-26T19:37:53.435Z,1761507473.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969441,-0.245155,-0.009140],[0.240370,0.941748,0.235228],[-0.049060,-0.230237,0.971897]]
2025-10-26T19:37:53.838Z,1761507473.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971514,-0.236982,-0.000867],[0.230536,0.944226,0.235140],[-0.054905,-0.228642,0.971961]]
2025-10-26T19:37:54.250Z,1761507474.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974676,-0.223111,0.015079],[0.213325,0.947915,0.236537],[-0.067068,-0.227331,0.971505]]
2025-10-26T19:37:54.667Z,1761507474.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975653,-0.218097,0.023151],[0.206602,0.949359,0.236711],[-0.073604,-0.226165,0.971304]]
2025-10-26T19:37:55.056Z,1761507475.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976117,-0.215102,0.030426],[0.201965,0.950119,0.237662],[-0.080030,-0.225841,0.970871]]
2025-10-26T19:37:55.464Z,1761507475.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976156,-0.213943,0.036716],[0.199288,0.950324,0.239101],[-0.086046,-0.226083,0.970300]]
2025-10-26T19:37:55.863Z,1761507475.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975917,-0.213948,0.042562],[0.197955,0.950564,0.239253],[-0.091646,-0.225066,0.970024]]
2025-10-26T19:37:56.262Z,1761507476.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975460,-0.215040,0.047287],[0.197780,0.950161,0.240993],[-0.096754,-0.225727,0.969374]]
2025-10-26T19:37:56.666Z,1761507476.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974979,-0.216407,0.050825],[0.197989,0.949327,0.244087],[-0.101072,-0.227917,0.968421]]
2025-10-26T19:37:57.070Z,1761507477.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974486,-0.218081,0.053077],[0.198664,0.948125,0.248178],[-0.104447,-0.231301,0.967259]]
2025-10-26T19:37:57.495Z,1761507477.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974007,-0.219907,0.054330],[0.199551,0.946500,0.253607],[-0.107194,-0.236173,0.965780]]
2025-10-26T19:37:57.540Z,1761507477.540 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:37:57.540Z,1761507477.540 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:37:57.540Z,1761507477.540 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateRudder:A] Stopped
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode] Stopped
2025-10-26T19:37:57.541Z,1761507477.541 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed] Stopped
2025-10-26T19:37:57.542Z,1761507477.542 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:37:57.704Z,1761507477.704 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:37:57.878Z,1761507477.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973534,-0.221929,0.054576],[0.200727,0.944488,0.260097],[-0.109269,-0.242258,0.964039]]
2025-10-26T19:37:57.956Z,1761507477.956 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:37:58.015Z,1761507478.015 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:37:58.015Z,1761507478.015 [marl:UpdateRudder:B] Stopped
2025-10-26T19:37:58.015Z,1761507478.015 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:37:58.015Z,1761507478.015 [marl:UpdateRudder] Stopped
2025-10-26T19:37:58.015Z,1761507478.015 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:37:58.208Z,1761507478.208 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:37:58.282Z,1761507478.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973094,-0.223969,0.054092],[0.202009,0.942224,0.267219],[-0.110816,-0.249102,0.962116]]
2025-10-26T19:37:58.686Z,1761507478.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972605,-0.226277,0.053268],[0.203618,0.939810,0.274402],[-0.112153,-0.256039,0.960138]]
2025-10-26T19:37:59.091Z,1761507479.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972076,-0.228825,0.052035],[0.205617,0.937399,0.281077],[-0.113095,-0.262529,0.958274]]
2025-10-26T19:37:59.498Z,1761507479.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971437,-0.231839,0.050597],[0.208240,0.935119,0.286686],[-0.113779,-0.267961,0.956688]]
2025-10-26T19:37:59.898Z,1761507479.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970741,-0.235067,0.049038],[0.211278,0.933167,0.290792],[-0.114117,-0.271923,0.955529]]
2025-10-26T19:38:00.302Z,1761507480.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969962,-0.238533,0.047700],[0.214780,0.931852,0.292441],[-0.114206,-0.273411,0.955093]]
2025-10-26T19:38:00.718Z,1761507480.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968992,-0.242741,0.046172],[0.219182,0.930666,0.292950],[-0.114081,-0.273746,0.955012]]
2025-10-26T19:38:00.813Z,1761507480.813 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:38:01.114Z,1761507481.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967836,-0.247632,0.044412],[0.224771,0.930408,0.289514],[-0.113015,-0.270220,0.956143]]
2025-10-26T19:38:01.489Z,1761507481.489 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:38:00.6028

2025-10-26T19:38:01.489Z,1761507481.489 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:38:01.517Z,1761507481.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966627,-0.252648,0.042438],[0.230808,0.930721,0.283700],[-0.111174,-0.264437,0.957974]]
2025-10-26T19:38:01.816Z,1761507481.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:38:01.919Z,1761507481.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965801,-0.256191,0.039931],[0.235482,0.931132,0.278462],[-0.108521,-0.259536,0.959617]]
2025-10-26T19:38:02.324Z,1761507482.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965838,-0.256305,0.038271],[0.236489,0.932119,0.274274],[-0.105971,-0.255854,0.960890]]
2025-10-26T19:38:02.730Z,1761507482.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966871,-0.252443,0.037855],[0.233074,0.933533,0.272384],[-0.104101,-0.254537,0.961444]]
2025-10-26T19:38:03.135Z,1761507483.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968137,-0.247445,0.038482],[0.228247,0.935153,0.270911],[-0.103022,-0.253495,0.961835]]
2025-10-26T19:38:03.538Z,1761507483.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969386,-0.242257,0.040031],[0.223262,0.937491,0.266954],[-0.102200,-0.249844,0.962878]]
2025-10-26T19:38:03.944Z,1761507483.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970552,-0.237296,0.041474],[0.218463,0.939584,0.263546],[-0.101506,-0.246725,0.963755]]
2025-10-26T19:38:04.346Z,1761507484.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971596,-0.232772,0.042653],[0.214145,0.941519,0.260163],[-0.100717,-0.243639,0.964622]]
2025-10-26T19:38:05.154Z,1761507485.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972815,-0.227279,0.044454],[0.209405,0.945260,0.250266],[-0.098901,-0.234154,0.967156]]
2025-10-26T19:38:05.973Z,1761507485.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973443,-0.224466,0.044979],[0.207361,0.947802,0.242225],[-0.097003,-0.226465,0.969177]]
2025-10-26T19:38:06.366Z,1761507486.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973487,-0.224352,0.044596],[0.207628,0.948487,0.239297],[-0.095985,-0.223693,0.969922]]
2025-10-26T19:38:06.789Z,1761507486.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973435,-0.224861,0.043145],[0.208574,0.948599,0.238025],[-0.094450,-0.222703,0.970300]]
2025-10-26T19:38:07.180Z,1761507487.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973348,-0.225650,0.040932],[0.209898,0.948466,0.237391],[-0.092390,-0.222472,0.970552]]
2025-10-26T19:38:07.579Z,1761507487.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973133,-0.227065,0.038131],[0.211840,0.947863,0.238076],[-0.090202,-0.223602,0.970498]]
2025-10-26T19:38:07.982Z,1761507487.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972868,-0.228712,0.034899],[0.214026,0.946969,0.239674],[-0.087865,-0.225702,0.970226]]
2025-10-26T19:38:08.387Z,1761507488.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972454,-0.231009,0.031129],[0.216910,0.945715,0.242019],[-0.085347,-0.228600,0.969772]]
2025-10-26T19:38:08.834Z,1761507488.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972041,-0.233229,0.027206],[0.219734,0.944351,0.244780],[-0.082782,-0.231958,0.969197]]
2025-10-26T19:38:09.194Z,1761507489.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971678,-0.235204,0.022813],[0.222489,0.943112,0.247059],[-0.079624,-0.234987,0.968732]]
2025-10-26T19:38:09.598Z,1761507489.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971377,-0.236819,0.018517],[0.224934,0.942079,0.248780],[-0.076360,-0.237494,0.968383]]
2025-10-26T19:38:09.680Z,1761507489.680 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:38:09.808Z,1761507489.808 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:38:09.860Z,1761507489.860 [DAT](INFO): entering command mode
2025-10-26T19:38:10.002Z,1761507490.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971150,-0.238055,0.014019],[0.227085,0.941143,0.250365],[-0.072795,-0.239958,0.968050]]
2025-10-26T19:38:10.060Z,1761507490.060 [DAT](INFO): DAT read: 

2025-10-26T19:38:10.061Z,1761507490.061 [DAT](INFO): DAT read: user:245>

2025-10-26T19:38:10.061Z,1761507490.061 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:38:10.061Z,1761507490.061 [DAT](INFO): setting remote address to 0
2025-10-26T19:38:10.312Z,1761507490.312 [DAT](INFO): DAT read: user:245>

2025-10-26T19:38:10.313Z,1761507490.313 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:38:10.314Z,1761507490.314 [DAT](INFO): set remote address to 0
2025-10-26T19:38:10.314Z,1761507490.314 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:38:10.314Z,1761507490.314 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:38:10.407Z,1761507490.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970955,-0.239074,0.009451],[0.229165,0.940612,0.250466],[-0.068769,-0.241025,0.968079]]
2025-10-26T19:38:10.576Z,1761507490.576 [DAT](INFO): DAT read: user:246>

2025-10-26T19:38:10.576Z,1761507490.576 [DAT](INFO): DAT read: Tx time:19:38:09.6539

2025-10-26T19:38:10.577Z,1761507490.577 [DAT](INFO): Ping request sent.
2025-10-26T19:38:10.577Z,1761507490.577 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:38:10.577Z,1761507490.577 [DAT](INFO): publishing transmit ping time
2025-10-26T19:38:10.578Z,1761507490.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000973
2025-10-26T19:38:10.832Z,1761507490.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254090
2025-10-26T19:38:10.844Z,1761507490.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970724,-0.240147,0.004922],[0.231365,0.940337,0.249473],[-0.064539,-0.241031,0.968369]]
2025-10-26T19:38:10.910Z,1761507490.910 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:38:10.910Z,1761507490.910 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:38:10.910Z,1761507490.910 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:38:10.910Z,1761507490.910 [marl:UpdateRudder:A] Stopped
2025-10-26T19:38:10.911Z,1761507490.911 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:38:10.911Z,1761507490.911 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:38:10.911Z,1761507490.911 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:38:10.911Z,1761507490.911 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:38:10.911Z,1761507490.911 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:38:10.911Z,1761507490.911 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateCommandMode] Stopped
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:38:10.912Z,1761507490.912 [marl:UpdateSpeed] Stopped
2025-10-26T19:38:10.913Z,1761507490.913 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:38:11.085Z,1761507491.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507636
2025-10-26T19:38:11.214Z,1761507491.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970561,-0.240855,0.000223],[0.233232,0.940074,0.248724],[-0.060116,-0.241350,0.968574]]
2025-10-26T19:38:11.321Z,1761507491.321 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:38:11.321Z,1761507491.321 [marl:UpdateRudder:B] Stopped
2025-10-26T19:38:11.321Z,1761507491.321 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:38:11.321Z,1761507491.321 [marl:UpdateRudder] Stopped
2025-10-26T19:38:11.321Z,1761507491.321 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:38:11.336Z,1761507491.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759533
2025-10-26T19:38:11.588Z,1761507491.588 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:38:11.588Z,1761507491.588 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:38:11.589Z,1761507491.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011730
2025-10-26T19:38:11.630Z,1761507491.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970405,-0.241449,-0.003978],[0.234915,0.940069,0.247154],[-0.055935,-0.240774,0.968968]]
2025-10-26T19:38:11.840Z,1761507491.840 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:38:11.841Z,1761507491.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263667
2025-10-26T19:38:12.022Z,1761507492.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970414,-0.241308,-0.008239],[0.235831,0.939966,0.246675],[-0.051780,-0.241319,0.969063]]
2025-10-26T19:38:12.092Z,1761507492.092 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:38:12.093Z,1761507492.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515676
2025-10-26T19:38:12.344Z,1761507492.344 [DAT](INFO): setting remote address to 6
2025-10-26T19:38:12.345Z,1761507492.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767811
2025-10-26T19:38:12.432Z,1761507492.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970469,-0.240955,-0.011438],[0.236401,0.940549,0.243889],[-0.048008,-0.239390,0.969736]]
2025-10-26T19:38:12.596Z,1761507492.596 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:12.596Z,1761507492.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019647
2025-10-26T19:38:12.847Z,1761507492.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970406,-0.241053,-0.014369],[0.237373,0.941278,0.240104],[-0.044352,-0.236409,0.970641]]
2025-10-26T19:38:12.848Z,1761507492.848 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:12.849Z,1761507492.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271706
2025-10-26T19:38:13.101Z,1761507493.101 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:13.101Z,1761507493.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524202
2025-10-26T19:38:13.235Z,1761507493.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970412,-0.240840,-0.017218],[0.237963,0.941861,0.237217],[-0.040914,-0.234296,0.971304]]
2025-10-26T19:38:13.352Z,1761507493.352 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:13.353Z,1761507493.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775751
2025-10-26T19:38:13.604Z,1761507493.604 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:13.604Z,1761507493.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027600
2025-10-26T19:38:13.638Z,1761507493.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970557,-0.240077,-0.019525],[0.237879,0.942617,0.234279],[-0.037840,-0.232026,0.971973]]
2025-10-26T19:38:13.856Z,1761507493.856 [DAT](INFO): DAT read: Rx Time:19:38:12.4911

2025-10-26T19:38:13.857Z,1761507493.857 [DAT](INFO): Rx dataTimestamp_ set to:1761507493.856589
2025-10-26T19:38:13.857Z,1761507493.857 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:13.858Z,1761507493.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280698
2025-10-26T19:38:14.042Z,1761507494.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970622,-0.239650,-0.021482],[0.238031,0.943335,0.231215],[-0.035146,-0.229535,0.972666]]
2025-10-26T19:38:14.108Z,1761507494.108 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:14.109Z,1761507494.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531783
2025-10-26T19:38:14.367Z,1761507494.367 [DAT](INFO): DAT read: 19:38:12.4911 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 254, 0.08,-0.558,-2.033,-0.086,-0.921, PHS= 0.465,-1.066, 0.791, RAW= 159.5,  -2.2, CAL= 158.8,  -3.9, ROT= 351.2,   3.9

2025-10-26T19:38:14.368Z,1761507494.368 [DAT](INFO): got valid direction response:
 19:38:12.4911 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 254, 0.08,-0.558,-2.033,-0.086,-0.921, PHS= 0.465,-1.066, 0.791, RAW= 159.5,  -2.2, CAL= 158.8,  -3.9, ROT= 351.2,   3.9

2025-10-26T19:38:14.369Z,1761507494.369 [DAT](INFO): DAT read: Bearing 348,   1 (Remote)

2025-10-26T19:38:14.369Z,1761507494.369 [DAT](INFO): Remote Bearing received:Bearing 348,   1 (Remote)

2025-10-26T19:38:14.370Z,1761507494.370 [DAT](INFO): DAT read: Bearing 154.3, -10.0 (Local)

2025-10-26T19:38:14.370Z,1761507494.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.3, -10.0 (Local)

2025-10-26T19:38:14.372Z,1761507494.372 [DAT](INFO): DAT read: Range 11 to 20 : 606.0 m  (Round-trip  808.1 ms) speed  0.2 m/s

2025-10-26T19:38:14.373Z,1761507494.373 [DAT](INFO): DAT read: user:247>

2025-10-26T19:38:14.374Z,1761507494.374 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:38:14.374Z,1761507494.374 [DAT](INFO): set remote address to 6
2025-10-26T19:38:14.375Z,1761507494.375 [DAT](INFO): entering online mode
2025-10-26T19:38:14.454Z,1761507494.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970626,-0.239398,-0.023964],[0.238448,0.943905,0.228443],[-0.032070,-0.227447,0.973262]]
2025-10-26T19:38:14.612Z,1761507494.612 [DAT](INFO): DAT read: user:248>

2025-10-26T19:38:14.613Z,1761507494.613 [DAT](INFO): DAT read: 

2025-10-26T19:38:14.614Z,1761507494.614 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:38:14.614Z,1761507494.614 [DAT](INFO): commRate: 600
2025-10-26T19:38:14.614Z,1761507494.614 [DAT](INFO): online mode acknowledged
2025-10-26T19:38:14.615Z,1761507494.615 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:38:14.616Z,1761507494.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038254
2025-10-26T19:38:14.852Z,1761507494.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970545,-0.239456,-0.026518],[0.239175,0.944441,0.225447],[-0.028940,-0.225149,0.973895]]
2025-10-26T19:38:14.864Z,1761507494.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287623
2025-10-26T19:38:15.116Z,1761507495.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539477
2025-10-26T19:38:15.254Z,1761507495.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970396,-0.239724,-0.029399],[0.240118,0.944495,0.224216],[-0.025983,-0.224637,0.974096]]
2025-10-26T19:38:15.369Z,1761507495.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792549
2025-10-26T19:38:15.620Z,1761507495.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043536
2025-10-26T19:38:15.665Z,1761507495.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970071,-0.240653,-0.032382],[0.241743,0.944581,0.222097],[-0.022861,-0.223278,0.974487]]
2025-10-26T19:38:15.872Z,1761507495.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295526
2025-10-26T19:38:16.062Z,1761507496.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969803,-0.241192,-0.036176],[0.243089,0.943920,0.223432],[-0.019743,-0.225479,0.974048]]
2025-10-26T19:38:16.124Z,1761507496.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547467
2025-10-26T19:38:16.377Z,1761507496.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799883
2025-10-26T19:38:16.466Z,1761507496.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969523,-0.241595,-0.040712],[0.244472,0.943061,0.225541],[-0.016095,-0.228620,0.973383]]
2025-10-26T19:38:16.628Z,1761507496.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051466
2025-10-26T19:38:16.870Z,1761507496.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969374,-0.241429,-0.045007],[0.245263,0.942285,0.227916],[-0.012616,-0.231975,0.972640]]
2025-10-26T19:38:16.881Z,1761507496.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304068
2025-10-26T19:38:17.132Z,1761507497.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555554
2025-10-26T19:38:17.275Z,1761507497.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969211,-0.241201,-0.049521],[0.246069,0.941456,0.230458],[-0.008965,-0.235548,0.971821]]
2025-10-26T19:38:17.385Z,1761507497.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808280
2025-10-26T19:38:17.636Z,1761507497.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059496
2025-10-26T19:38:17.684Z,1761507497.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969408,-0.239481,-0.053822],[0.245396,0.940809,0.233792],[-0.005352,-0.239848,0.970796]]
2025-10-26T19:38:17.889Z,1761507497.889 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:38:17.0527

2025-10-26T19:38:17.889Z,1761507497.889 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:38:17.890Z,1761507497.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312771
2025-10-26T19:38:18.082Z,1761507498.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969724,-0.237202,-0.058051],[0.244195,0.940167,0.237600],[-0.001781,-0.244583,0.969627]]
2025-10-26T19:38:18.140Z,1761507498.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563551
2025-10-26T19:38:18.392Z,1761507498.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815535
2025-10-26T19:38:18.486Z,1761507498.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970326,-0.233870,-0.061421],[0.241797,0.939901,0.241081],[0.001348,-0.248778,0.968560]]
2025-10-26T19:38:18.644Z,1761507498.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067561
2025-10-26T19:38:18.890Z,1761507498.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971128,-0.229762,-0.064180],[0.238515,0.940254,0.242968],[0.004521,-0.251261,0.967909]]
2025-10-26T19:38:18.897Z,1761507498.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320531
2025-10-26T19:38:19.149Z,1761507499.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572138
2025-10-26T19:38:19.295Z,1761507499.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971853,-0.225990,-0.066560],[0.235479,0.940449,0.245163],[0.007192,-0.253936,0.967194]]
2025-10-26T19:38:19.402Z,1761507499.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824857
2025-10-26T19:38:19.654Z,1761507499.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077458
2025-10-26T19:38:19.701Z,1761507499.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972492,-0.222882,-0.067691],[0.232755,0.941210,0.244844],[0.009140,-0.253864,0.967197]]
2025-10-26T19:38:19.905Z,1761507499.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327909
2025-10-26T19:38:20.102Z,1761507500.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972977,-0.220336,-0.069053],[0.230640,0.941670,0.245078],[0.011025,-0.254381,0.967041]]
2025-10-26T19:38:20.156Z,1761507500.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579644
2025-10-26T19:38:20.409Z,1761507500.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832261
2025-10-26T19:38:20.507Z,1761507500.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973121,-0.219468,-0.069785],[0.229957,0.942430,0.242786],[0.012484,-0.252307,0.967567]]
2025-10-26T19:38:20.660Z,1761507500.660 [DAT](INFO): Reached modem response timeout
2025-10-26T19:38:20.924Z,1761507500.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972988,-0.219891,-0.070297],[0.230464,0.942916,0.240406],[0.013421,-0.250113,0.968124]]
2025-10-26T19:38:21.314Z,1761507501.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972594,-0.221527,-0.070618],[0.232081,0.943384,0.236990],[0.014120,-0.246884,0.968942]]
2025-10-26T19:38:21.724Z,1761507501.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971842,-0.224669,-0.071035],[0.235160,0.943843,0.232080],[0.014905,-0.242250,0.970099]]
2025-10-26T19:38:22.126Z,1761507502.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970874,-0.228535,-0.071934],[0.239059,0.943995,0.227431],[0.015930,-0.238003,0.971134]]
2025-10-26T19:38:22.528Z,1761507502.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969562,-0.233678,-0.073104],[0.244226,0.944227,0.220882],[0.017412,-0.232013,0.972557]]
2025-10-26T19:38:22.932Z,1761507502.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968106,-0.239160,-0.074657],[0.249847,0.943735,0.216657],[0.018641,-0.228400,0.973389]]
2025-10-26T19:38:23.334Z,1761507503.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966725,-0.244072,-0.076621],[0.255002,0.943291,0.212547],[0.020399,-0.225013,0.974142]]
2025-10-26T19:38:23.740Z,1761507503.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965307,-0.248749,-0.079419],[0.260153,0.942315,0.210625],[0.022445,-0.223979,0.974335]]
2025-10-26T19:38:24.144Z,1761507504.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964050,-0.252671,-0.082245],[0.264601,0.941220,0.209978],[0.024355,-0.224191,0.974241]]
2025-10-26T19:38:24.191Z,1761507504.191 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:38:24.191Z,1761507504.191 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:38:24.192Z,1761507504.192 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:38:24.192Z,1761507504.192 [marl:UpdateRudder:A] Stopped
2025-10-26T19:38:24.192Z,1761507504.192 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:38:24.192Z,1761507504.192 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:38:24.192Z,1761507504.192 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateCommandMode] Stopped
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:38:24.193Z,1761507504.193 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:38:24.194Z,1761507504.194 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:38:24.194Z,1761507504.194 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:38:24.194Z,1761507504.194 [marl:UpdateSpeed] Stopped
2025-10-26T19:38:24.194Z,1761507504.194 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:38:24.546Z,1761507504.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962897,-0.256095,-0.085114],[0.268587,0.940114,0.209872],[0.026270,-0.224946,0.974017]]
2025-10-26T19:38:24.663Z,1761507504.663 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:38:24.664Z,1761507504.664 [marl:UpdateRudder:B] Stopped
2025-10-26T19:38:24.666Z,1761507504.666 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:38:24.667Z,1761507504.667 [marl:UpdateRudder] Stopped
2025-10-26T19:38:24.667Z,1761507504.667 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:38:24.953Z,1761507504.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961949,-0.258633,-0.088113],[0.271801,0.938736,0.211895],[0.027911,-0.227781,0.973312]]
2025-10-26T19:38:25.354Z,1761507505.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961306,-0.259984,-0.091104],[0.273869,0.937651,0.214023],[0.029782,-0.230692,0.972571]]
2025-10-26T19:38:25.758Z,1761507505.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961213,-0.259223,-0.094191],[0.273989,0.936602,0.218419],[0.031600,-0.235755,0.971299]]
2025-10-26T19:38:26.165Z,1761507506.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961526,-0.257246,-0.096400],[0.272688,0.936288,0.221372],[0.033312,-0.239142,0.970413]]
2025-10-26T19:38:26.568Z,1761507506.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962089,-0.254537,-0.097957],[0.270497,0.936445,0.223387],[0.034871,-0.241415,0.969795]]
2025-10-26T19:38:26.975Z,1761507506.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962831,-0.251414,-0.098730],[0.267677,0.937046,0.224264],[0.036131,-0.242356,0.969514]]
2025-10-26T19:38:27.381Z,1761507507.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962934,-0.251136,-0.098432],[0.267184,0.938134,0.220268],[0.037025,-0.238403,0.970460]]
2025-10-26T19:38:27.778Z,1761507507.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961771,-0.256999,-0.094593],[0.271367,0.940825,0.202998],[0.036826,-0.220907,0.974599]]
2025-10-26T19:38:27.969Z,1761507507.969 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:38:28.186Z,1761507508.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958854,-0.270228,-0.087035],[0.281620,0.944120,0.171251],[0.035895,-0.188716,0.981375]]
2025-10-26T19:38:28.220Z,1761507508.220 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:38:28.472Z,1761507508.472 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:38:28.586Z,1761507508.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954162,-0.288948,-0.078001],[0.297309,0.945027,0.136126],[0.034380,-0.153077,0.987616]]
2025-10-26T19:38:28.993Z,1761507508.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948124,-0.310628,-0.067611],[0.316157,0.943598,0.098324],[0.033255,-0.114599,0.992855]]
2025-10-26T19:38:29.399Z,1761507509.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941052,-0.333429,-0.056980],[0.336734,0.939408,0.064203],[0.032120,-0.079605,0.996309]]
2025-10-26T19:38:29.799Z,1761507509.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933515,-0.355388,-0.047435],[0.357149,0.933361,0.035811],[0.031547,-0.050372,0.998232]]
2025-10-26T19:38:30.211Z,1761507510.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925617,-0.376399,-0.039444],[0.377139,0.926064,0.013085],[0.031603,-0.026988,0.999136]]
2025-10-26T19:38:30.606Z,1761507510.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917420,-0.396461,-0.034039],[0.396632,0.917976,-0.001834],[0.031974,-0.011819,0.999419]]
2025-10-26T19:38:31.010Z,1761507511.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909134,-0.415440,-0.029766],[0.415214,0.909621,-0.013680],[0.032759,0.000078,0.999463]]
2025-10-26T19:38:31.414Z,1761507511.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900735,-0.433528,-0.027009],[0.433035,0.901101,-0.022329],[0.034018,0.008417,0.999386]]
2025-10-26T19:38:31.749Z,1761507511.749 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:38:30.9040

2025-10-26T19:38:31.749Z,1761507511.749 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:38:31.819Z,1761507511.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892345,-0.450600,-0.026079],[0.449949,0.892637,-0.027308],[0.035584,0.012634,0.999287]]
2025-10-26T19:38:31.948Z,1761507511.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:38:32.222Z,1761507512.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883951,-0.466844,-0.026196],[0.466073,0.884213,-0.030710],[0.037500,0.014936,0.999185]]
2025-10-26T19:38:32.626Z,1761507512.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875385,-0.482665,-0.027126],[0.481807,0.875667,-0.032703],[0.039538,0.015558,0.999097]]
2025-10-26T19:38:32.952Z,1761507512.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:38:33.030Z,1761507513.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867029,-0.497448,-0.028406],[0.496542,0.867364,-0.033544],[0.041325,0.014979,0.999034]]
2025-10-26T19:38:33.436Z,1761507513.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858638,-0.511745,-0.029303],[0.510749,0.858997,-0.035485],[0.043330,0.015502,0.998941]]
2025-10-26T19:38:33.839Z,1761507513.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850127,-0.525653,-0.031208],[0.524596,0.850575,-0.036358],[0.045656,0.014537,0.998851]]
2025-10-26T19:38:34.242Z,1761507514.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842148,-0.538139,-0.034545],[0.537114,0.842786,-0.034928],[0.047910,0.010860,0.998793]]
2025-10-26T19:38:34.646Z,1761507514.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834701,-0.549450,-0.037139],[0.548475,0.835491,-0.033618],[0.049501,0.007692,0.998744]]
2025-10-26T19:38:35.057Z,1761507515.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827575,-0.559902,-0.040358],[0.558977,0.828548,-0.032456],[0.051610,0.004301,0.998658]]
2025-10-26T19:38:35.454Z,1761507515.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820835,-0.569554,-0.042867],[0.568651,0.821952,-0.032123],[0.053530,0.001991,0.998564]]
2025-10-26T19:38:35.866Z,1761507515.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814182,-0.578804,-0.045758],[0.577947,0.815466,-0.031494],[0.055543,-0.000803,0.998456]]
2025-10-26T19:38:36.268Z,1761507516.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807534,-0.587869,-0.047942],[0.587027,0.808951,-0.031562],[0.057337,-0.002655,0.998351]]
2025-10-26T19:38:36.668Z,1761507516.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800689,-0.597038,-0.049426],[0.596215,0.802202,-0.031611],[0.058523,-0.004158,0.998277]]
2025-10-26T19:38:37.070Z,1761507517.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793454,-0.606568,-0.050057],[0.605745,0.795016,-0.031979],[0.059194,-0.004948,0.998234]]
2025-10-26T19:38:37.474Z,1761507517.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785391,-0.617010,-0.049592],[0.616127,0.786943,-0.033292],[0.059567,-0.004407,0.998214]]
2025-10-26T19:38:37.526Z,1761507517.526 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:38:37.526Z,1761507517.526 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:38:37.526Z,1761507517.526 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:38:37.527Z,1761507517.527 [marl:UpdateRudder:A] Stopped
2025-10-26T19:38:37.527Z,1761507517.527 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:38:37.527Z,1761507517.527 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:38:37.527Z,1761507517.527 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:38:37.527Z,1761507517.527 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateCommandMode] Stopped
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:38:37.528Z,1761507517.528 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:38:37.529Z,1761507517.529 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:38:37.529Z,1761507517.529 [marl:UpdateSpeed] Stopped
2025-10-26T19:38:37.529Z,1761507517.529 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:38:37.879Z,1761507517.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776568,-0.628180,-0.048300],[0.627211,0.778062,-0.035017],[0.059577,-0.003102,0.998219]]
2025-10-26T19:38:37.986Z,1761507517.986 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:38:37.986Z,1761507517.986 [marl:UpdateRudder:B] Stopped
2025-10-26T19:38:37.987Z,1761507517.987 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:38:37.987Z,1761507517.987 [marl:UpdateRudder] Stopped
2025-10-26T19:38:37.987Z,1761507517.987 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:38:38.300Z,1761507518.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755411,-0.653618,-0.046249],[0.652553,0.756822,-0.037333],[0.059404,-0.001978,0.998232]]
2025-10-26T19:38:39.095Z,1761507519.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743045,-0.667753,-0.044601],[0.666599,0.744382,-0.039260],[0.059416,-0.000559,0.998233]]
2025-10-26T19:38:39.500Z,1761507519.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715212,-0.697728,-0.040580],[0.696335,0.716355,-0.044190],[0.059902,0.003348,0.998199]]
2025-10-26T19:38:39.904Z,1761507519.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700406,-0.712634,-0.039803],[0.711140,0.701523,-0.046308],[0.060923,0.004129,0.998134]]
2025-10-26T19:38:39.936Z,1761507519.936 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:38:40.080Z,1761507520.080 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:38:40.131Z,1761507520.131 [DAT](INFO): entering command mode
2025-10-26T19:38:40.306Z,1761507520.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685407,-0.727052,-0.040146],[0.725484,0.686572,-0.047876],[0.062372,0.003689,0.998046]]
2025-10-26T19:38:40.333Z,1761507520.333 [DAT](INFO): DAT read: 

2025-10-26T19:38:40.334Z,1761507520.334 [DAT](INFO): DAT read: user:249>

2025-10-26T19:38:40.335Z,1761507520.335 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:38:40.335Z,1761507520.335 [DAT](INFO): setting remote address to 0
2025-10-26T19:38:40.584Z,1761507520.584 [DAT](INFO): DAT read: user:249>

2025-10-26T19:38:40.585Z,1761507520.585 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:38:40.586Z,1761507520.586 [DAT](INFO): set remote address to 0
2025-10-26T19:38:40.586Z,1761507520.586 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:38:40.586Z,1761507520.586 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:38:40.714Z,1761507520.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670449,-0.740872,-0.040086],[0.739176,0.671634,-0.050266],[0.064164,0.004070,0.997931]]
2025-10-26T19:38:40.838Z,1761507520.838 [DAT](INFO): DAT read: user:250>

2025-10-26T19:38:40.840Z,1761507520.840 [DAT](INFO): DAT read: Tx time:19:38:39.9037

2025-10-26T19:38:40.840Z,1761507520.840 [DAT](INFO): Ping request sent.
2025-10-26T19:38:40.840Z,1761507520.840 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:38:40.840Z,1761507520.840 [DAT](INFO): publishing transmit ping time
2025-10-26T19:38:40.842Z,1761507520.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001263
2025-10-26T19:38:41.089Z,1761507521.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248791
2025-10-26T19:38:41.111Z,1761507521.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655630,-0.753995,-0.040509],[0.752171,0.656868,-0.052567],[0.066244,0.003995,0.997795]]
2025-10-26T19:38:41.341Z,1761507521.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501174
2025-10-26T19:38:41.514Z,1761507521.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641814,-0.765783,-0.040626],[0.763849,0.643086,-0.054542],[0.067893,0.003974,0.997685]]
2025-10-26T19:38:41.593Z,1761507521.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752390
2025-10-26T19:38:41.844Z,1761507521.844 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:38:41.845Z,1761507521.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004685
2025-10-26T19:38:41.919Z,1761507521.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629229,-0.776156,-0.040649],[0.774139,0.630529,-0.056048],[0.069132,0.003799,0.997600]]
2025-10-26T19:38:42.096Z,1761507522.096 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:38:42.097Z,1761507522.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256329
2025-10-26T19:38:42.342Z,1761507522.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617705,-0.785313,-0.041524],[0.783290,0.619095,-0.056380],[0.069983,0.002300,0.997545]]
2025-10-26T19:38:42.348Z,1761507522.348 [DAT](INFO): setting remote address to 6
2025-10-26T19:38:42.350Z,1761507522.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509369
2025-10-26T19:38:42.600Z,1761507522.600 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:42.600Z,1761507522.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760296
2025-10-26T19:38:42.730Z,1761507522.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606361,-0.794063,-0.042306],[0.792038,0.607834,-0.056681],[0.070723,0.000861,0.997496]]
2025-10-26T19:38:42.852Z,1761507522.852 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:42.853Z,1761507522.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012481
2025-10-26T19:38:43.104Z,1761507523.104 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:43.104Z,1761507523.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264279
2025-10-26T19:38:43.137Z,1761507523.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595199,-0.802401,-0.043478],[0.800417,0.596784,-0.056408],[0.071209,-0.001226,0.997461]]
2025-10-26T19:38:43.356Z,1761507523.356 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:43.356Z,1761507523.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516312
2025-10-26T19:38:43.534Z,1761507523.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583746,-0.810796,-0.043006],[0.808799,0.585326,-0.056901],[0.071308,-0.001567,0.997453]]
2025-10-26T19:38:43.608Z,1761507523.608 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:43.609Z,1761507523.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768414
2025-10-26T19:38:43.648Z,1761507523.648 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:38:43.649Z,1761507523.649 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:38:43.860Z,1761507523.860 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:43.860Z,1761507523.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020244
2025-10-26T19:38:43.938Z,1761507523.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571955,-0.819144,-0.043255],[0.817201,0.573580,-0.056463],[0.071061,-0.003054,0.997467]]
2025-10-26T19:38:44.112Z,1761507524.112 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:44.112Z,1761507524.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272286
2025-10-26T19:38:44.355Z,1761507524.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559622,-0.827615,-0.043317],[0.825744,0.561278,-0.055796],[0.070490,-0.004544,0.997502]]
2025-10-26T19:38:44.364Z,1761507524.364 [DAT](INFO): DAT read: Rx Time:19:38:43.0944

2025-10-26T19:38:44.365Z,1761507524.365 [DAT](INFO): Rx dataTimestamp_ set to:1761507524.364635
2025-10-26T19:38:44.365Z,1761507524.365 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:44.366Z,1761507524.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525390
2025-10-26T19:38:44.435Z,1761507524.435 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T19:38:44.436Z,1761507524.436 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T19:38:44.437Z,1761507524.437 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.
2025-10-26T19:38:44.438Z,1761507524.438 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T19:38:44.438Z,1761507524.438 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T19:38:44.439Z,1761507524.439 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T19:38:44.440Z,1761507524.440 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-10-26T19:38:44.441Z,1761507524.441 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T19:38:44.441Z,1761507524.441 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-26T19:38:44.442Z,1761507524.442 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-10-26T19:38:44.443Z,1761507524.443 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1.
2025-10-26T19:38:44.446Z,1761507524.446 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-10-26T19:38:44.616Z,1761507524.616 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:44.616Z,1761507524.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776258
2025-10-26T19:38:44.748Z,1761507524.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545805,-0.836873,-0.041723],[0.834970,0.547382,-0.056541],[0.070156,-0.003977,0.997528]]
2025-10-26T19:38:44.868Z,1761507524.868 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:38:44.869Z,1761507524.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028975
2025-10-26T19:38:45.126Z,1761507525.126 [DAT](INFO): DAT read: 19:38:43.0944 LVL= 32752, 32753, 23842, 32755, AGC= 69, IDX= 366, 0.05, 2.889, 2.568,-1.630,-2.287, PHS=-1.005,-1.384, 0.613, RAW= 199.7,  18.9, CAL= 199.1,  26.2, ROT= 310.9, -26.2

2025-10-26T19:38:45.128Z,1761507525.128 [DAT](INFO): got valid direction response:
 19:38:43.0944 LVL= 32752, 32753, 23842, 32755, AGC= 69, IDX= 366, 0.05, 2.889, 2.568,-1.630,-2.287, PHS=-1.005,-1.384, 0.613, RAW= 199.7,  18.9, CAL= 199.1,  26.2, ROT= 310.9, -26.2

2025-10-26T19:38:45.129Z,1761507525.129 [DAT](INFO): DAT read: Bearing 234.6, -40.1 (Local)

2025-10-26T19:38:45.129Z,1761507525.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.6, -40.1 (Local)

2025-10-26T19:38:45.130Z,1761507525.130 [DAT](INFO): DAT read: Range 11 to 20 : 589.9 m  (Round-trip  786.6 ms) speed  0.0 m/s

2025-10-26T19:38:45.131Z,1761507525.131 [DAT](INFO): DAT read: user:251>

2025-10-26T19:38:45.132Z,1761507525.132 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:38:45.132Z,1761507525.132 [DAT](INFO): set remote address to 6
2025-10-26T19:38:45.133Z,1761507525.133 [DAT](INFO): entering online mode
2025-10-26T19:38:45.150Z,1761507525.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531405,-0.846173,-0.040009],[0.844238,0.532899,-0.057287],[0.069796,-0.003334,0.997556]]
2025-10-26T19:38:45.372Z,1761507525.372 [DAT](INFO): DAT read: user:252>

2025-10-26T19:38:45.373Z,1761507525.373 [DAT](INFO): DAT read: 

2025-10-26T19:38:45.374Z,1761507525.374 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:38:45.374Z,1761507525.374 [DAT](INFO): commRate: 600
2025-10-26T19:38:45.374Z,1761507525.374 [DAT](INFO): online mode acknowledged
2025-10-26T19:38:45.375Z,1761507525.375 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:38:45.376Z,1761507525.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534977
2025-10-26T19:38:45.554Z,1761507525.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516064,-0.855709,-0.037943],[0.853740,0.517452,-0.058064],[0.069320,-0.002429,0.997591]]
2025-10-26T19:38:45.625Z,1761507525.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784506
2025-10-26T19:38:45.876Z,1761507525.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036208
2025-10-26T19:38:45.958Z,1761507525.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500479,-0.864991,-0.036200],[0.863002,0.501783,-0.058660],[0.068905,-0.001883,0.997621]]
2025-10-26T19:38:46.129Z,1761507526.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288913
2025-10-26T19:38:46.362Z,1761507526.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484531,-0.874072,-0.035038],[0.872082,0.485792,-0.058978],[0.068572,-0.001979,0.997644]]
2025-10-26T19:38:46.380Z,1761507526.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540084
2025-10-26T19:38:46.632Z,1761507526.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792214
2025-10-26T19:38:46.774Z,1761507526.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468740,-0.882675,-0.034169],[0.880708,0.469977,-0.058941],[0.068085,-0.002465,0.997676]]
2025-10-26T19:38:46.887Z,1761507526.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046386
2025-10-26T19:38:47.137Z,1761507527.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296745
2025-10-26T19:38:47.177Z,1761507527.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453413,-0.890653,-0.033962],[0.888715,0.454670,-0.058831],[0.067839,-0.003508,0.997690]]
2025-10-26T19:38:47.388Z,1761507527.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548198
2025-10-26T19:38:47.575Z,1761507527.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438887,-0.897930,-0.033179],[0.896021,0.440121,-0.058651],[0.067267,-0.003988,0.997727]]
2025-10-26T19:38:47.640Z,1761507527.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800218
2025-10-26T19:38:47.892Z,1761507527.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052134
2025-10-26T19:38:47.978Z,1761507527.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424679,-0.904731,-0.033312],[0.902845,0.425952,-0.058618],[0.067223,-0.005182,0.997725]]
2025-10-26T19:38:48.144Z,1761507528.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304176
2025-10-26T19:38:48.386Z,1761507528.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411603,-0.910702,-0.034727],[0.908921,0.412989,-0.057461],[0.066672,-0.007913,0.997744]]
2025-10-26T19:38:48.396Z,1761507528.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556214
2025-10-26T19:38:48.649Z,1761507528.649 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:38:47.8025

2025-10-26T19:38:48.649Z,1761507528.649 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:38:48.650Z,1761507528.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809344
2025-10-26T19:38:48.840Z,1761507528.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399240,-0.916203,-0.034332],[0.914476,0.400619,-0.056899],[0.065885,-0.008679,0.997789]]
2025-10-26T19:38:48.901Z,1761507528.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060352
2025-10-26T19:38:49.152Z,1761507529.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312136
2025-10-26T19:38:49.190Z,1761507529.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387392,-0.921310,-0.033411],[0.919628,0.388728,-0.056346],[0.064899,-0.008898,0.997852]]
2025-10-26T19:38:49.405Z,1761507529.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565216
2025-10-26T19:38:49.594Z,1761507529.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375931,-0.926065,-0.032853],[0.924474,0.377241,-0.055120],[0.063438,-0.009651,0.997939]]
2025-10-26T19:38:49.656Z,1761507529.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816233
2025-10-26T19:38:49.908Z,1761507529.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068207
2025-10-26T19:38:49.998Z,1761507529.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364832,-0.930528,-0.031861],[0.929047,0.366081,-0.053454],[0.061404,-0.010098,0.998062]]
2025-10-26T19:38:50.161Z,1761507530.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320321
2025-10-26T19:38:50.409Z,1761507530.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353368,-0.935027,-0.029250],[0.933627,0.354464,-0.051928],[0.058922,-0.008959,0.998222]]
2025-10-26T19:38:50.413Z,1761507530.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572332
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateRudder:A] Stopped
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:38:50.481Z,1761507530.481 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateCommandMode] Stopped
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:38:50.482Z,1761507530.482 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:38:50.483Z,1761507530.483 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:38:50.483Z,1761507530.483 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:38:50.483Z,1761507530.483 [marl:UpdateSpeed] Stopped
2025-10-26T19:38:50.483Z,1761507530.483 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:38:50.664Z,1761507530.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824154
2025-10-26T19:38:50.842Z,1761507530.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340505,-0.939792,-0.029104],[0.938550,0.341585,-0.049434],[0.056399,-0.010483,0.998353]]
2025-10-26T19:38:50.898Z,1761507530.898 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:38:50.898Z,1761507530.898 [marl:UpdateRudder:B] Stopped
2025-10-26T19:38:50.898Z,1761507530.898 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:38:50.898Z,1761507530.898 [marl:UpdateRudder] Stopped
2025-10-26T19:38:50.898Z,1761507530.898 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:38:50.928Z,1761507530.928 [DAT](INFO): Reached modem response timeout
2025-10-26T19:38:51.210Z,1761507531.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326383,-0.944841,-0.027387],[0.943710,0.327365,-0.047360],[0.053713,-0.010388,0.998502]]
2025-10-26T19:38:51.614Z,1761507531.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311032,-0.950020,-0.026856],[0.949046,0.311973,-0.044558],[0.050709,-0.011629,0.998646]]
2025-10-26T19:38:52.019Z,1761507532.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293986,-0.955481,-0.025066],[0.954611,0.294830,-0.042349],[0.047854,-0.011478,0.998788]]
2025-10-26T19:38:52.422Z,1761507532.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275749,-0.960989,-0.021515],[0.960178,0.276425,-0.040591],[0.044954,-0.009466,0.998944]]
2025-10-26T19:38:52.844Z,1761507532.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256225,-0.966420,-0.019501],[0.965699,0.256809,-0.038403],[0.042121,-0.008992,0.999072]]
2025-10-26T19:38:53.230Z,1761507533.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235601,-0.971682,-0.018064],[0.971042,0.236122,-0.036387],[0.039622,-0.008969,0.999175]]
2025-10-26T19:38:53.634Z,1761507533.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214655,-0.976594,-0.013716],[0.975949,0.215018,-0.035920],[0.038028,-0.005676,0.999261]]
2025-10-26T19:38:54.039Z,1761507534.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193527,-0.981031,-0.011205],[0.980381,0.193809,-0.035927],[0.037417,-0.004032,0.999292]]
2025-10-26T19:38:54.443Z,1761507534.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172885,-0.984896,-0.009534],[0.984222,0.173120,-0.036549],[0.037648,-0.003065,0.999286]]
2025-10-26T19:38:54.850Z,1761507534.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153412,-0.988139,-0.006758],[0.987414,0.153558,-0.037862],[0.038451,-0.000865,0.999260]]
2025-10-26T19:38:55.251Z,1761507535.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136257,-0.990666,-0.003953],[0.989895,0.136307,-0.039097],[0.039271,0.001414,0.999228]]
2025-10-26T19:38:55.654Z,1761507535.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120963,-0.992647,-0.004379],[0.991854,0.121041,-0.039692],[0.039930,0.000458,0.999202]]
2025-10-26T19:38:56.058Z,1761507536.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107689,-0.994174,-0.004611],[0.993369,0.107787,-0.039999],[0.040263,-0.000273,0.999189]]
2025-10-26T19:38:56.462Z,1761507536.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095529,-0.995410,-0.005752],[0.994620,0.095682,-0.039705],[0.040073,-0.001928,0.999195]]
2025-10-26T19:38:56.868Z,1761507536.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084132,-0.996421,-0.008165],[0.995684,0.084386,-0.038629],[0.039180,-0.004880,0.999220]]
2025-10-26T19:38:57.270Z,1761507537.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072868,-0.997306,-0.008375],[0.996645,0.073128,-0.036749],[0.037262,-0.005669,0.999289]]
2025-10-26T19:38:57.675Z,1761507537.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060335,-0.998150,-0.007548],[0.997570,0.060561,-0.034438],[0.034831,-0.005452,0.999378]]
2025-10-26T19:38:58.078Z,1761507538.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046130,-0.998917,-0.006048],[0.998425,0.046299,-0.031687],[0.031932,-0.004577,0.999480]]
2025-10-26T19:38:58.489Z,1761507538.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029432,-0.999553,-0.005307],[0.999144,0.029574,-0.028914],[0.029058,-0.004452,0.999568]]
2025-10-26T19:38:58.758Z,1761507538.758 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:38:58.962Z,1761507538.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011002,-0.999926,-0.005229],[0.999599,0.011135,-0.026046],[0.026102,-0.004941,0.999647]]
2025-10-26T19:38:59.008Z,1761507539.008 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:38:59.261Z,1761507539.261 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:38:59.298Z,1761507539.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008724,-0.999952,-0.004419],[0.999687,-0.008618,-0.023471],[0.023432,-0.004623,0.999715]]
2025-10-26T19:38:59.731Z,1761507539.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029559,-0.999558,-0.003227],[0.999331,-0.029482,-0.021659],[0.021554,-0.003865,0.999760]]
2025-10-26T19:39:00.100Z,1761507540.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050820,-0.998708,-0.000769],[0.998505,-0.050794,-0.020176],[0.020111,-0.001793,0.999796]]
2025-10-26T19:39:00.502Z,1761507540.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071911,-0.997411,0.001001],[0.997219,-0.071917,-0.019548],[0.019569,-0.000408,0.999808]]
2025-10-26T19:39:00.906Z,1761507540.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092193,-0.995737,0.002924],[0.995542,-0.092233,-0.019717],[0.019903,0.001094,0.999801]]
2025-10-26T19:39:01.311Z,1761507541.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111022,-0.993812,0.003540],[0.993604,-0.111071,-0.020344],[0.020612,0.001259,0.999787]]
2025-10-26T19:39:01.721Z,1761507541.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128593,-0.991679,0.005990],[0.991460,-0.128692,-0.021104],[0.021700,0.003225,0.999759]]
2025-10-26T19:39:02.119Z,1761507542.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144006,-0.989560,0.005846],[0.989324,-0.144100,-0.021741],[0.022357,0.002653,0.999747]]
2025-10-26T19:39:02.522Z,1761507542.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158496,-0.987345,0.005276],[0.987090,-0.158576,-0.022507],[0.023059,0.001640,0.999733]]
2025-10-26T19:39:02.537Z,1761507542.537 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:39:01.7024

2025-10-26T19:39:02.537Z,1761507542.537 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:39:02.926Z,1761507542.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171549,-0.985169,0.003632],[0.984904,-0.171587,-0.022852],[0.023136,-0.000343,0.999732]]
2025-10-26T19:39:03.073Z,1761507543.073 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:39:03.330Z,1761507543.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182909,-0.983124,0.003428],[0.982867,-0.182940,-0.022503],[0.022750,-0.000747,0.999741]]
2025-10-26T19:39:03.738Z,1761507543.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193767,-0.981045,0.002300],[0.980801,-0.193771,-0.021973],[0.022002,-0.002001,0.999756]]
2025-10-26T19:39:03.803Z,1761507543.803 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:39:03.804Z,1761507543.804 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:39:03.804Z,1761507543.804 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:39:03.804Z,1761507543.804 [marl:UpdateRudder:A] Stopped
2025-10-26T19:39:03.804Z,1761507543.804 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:39:03.804Z,1761507543.804 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateCommandMode] Stopped
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:39:03.805Z,1761507543.805 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:39:03.806Z,1761507543.806 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:39:03.806Z,1761507543.806 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:39:03.806Z,1761507543.806 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:39:03.806Z,1761507543.806 [marl:UpdateSpeed] Stopped
2025-10-26T19:39:03.806Z,1761507543.806 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:39:04.076Z,1761507544.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:39:04.138Z,1761507544.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204474,-0.978872,-0.000133],[0.978652,-0.204426,-0.021209],[0.020733,-0.004467,0.999775]]
2025-10-26T19:39:04.167Z,1761507544.167 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:39:04.167Z,1761507544.167 [marl:UpdateRudder:B] Stopped
2025-10-26T19:39:04.168Z,1761507544.168 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:39:04.168Z,1761507544.168 [marl:UpdateRudder] Stopped
2025-10-26T19:39:04.168Z,1761507544.168 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:39:04.543Z,1761507544.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215039,-0.976603,-0.001988],[0.976424,-0.214959,-0.019731],[0.018842,-0.006184,0.999803]]
2025-10-26T19:39:04.946Z,1761507544.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226526,-0.973996,-0.004182],[0.973865,-0.226418,-0.017955],[0.016541,-0.008140,0.999830]]
2025-10-26T19:39:05.352Z,1761507545.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238705,-0.971068,-0.006819],[0.970992,-0.238574,-0.016011],[0.013921,-0.010443,0.999849]]
2025-10-26T19:39:05.763Z,1761507545.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252438,-0.967577,-0.008334],[0.967548,-0.252311,-0.013794],[0.011244,-0.011546,0.999870]]
2025-10-26T19:39:06.158Z,1761507546.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267325,-0.963578,-0.007432],[0.963568,-0.267237,-0.010996],[0.008609,-0.010100,0.999912]]
2025-10-26T19:39:06.562Z,1761507546.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283457,-0.958965,-0.006133],[0.958968,-0.283408,-0.007792],[0.005734,-0.008090,0.999951]]
2025-10-26T19:39:06.966Z,1761507546.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300368,-0.953811,-0.004806],[0.953819,-0.300349,-0.004352],[0.002707,-0.005891,0.999979]]
2025-10-26T19:39:07.372Z,1761507547.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317935,-0.948107,-0.003176],[0.948113,-0.317933,-0.001060],[-0.000004,-0.003349,0.999994]]
2025-10-26T19:39:07.777Z,1761507547.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336215,-0.941778,-0.003573],[0.941782,-0.336222,0.001486],[-0.002601,-0.002865,0.999992]]
2025-10-26T19:39:08.179Z,1761507548.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354519,-0.935049,-0.000662],[0.935035,-0.354517,0.005197],[-0.005094,0.001224,0.999986]]
2025-10-26T19:39:08.594Z,1761507548.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373107,-0.927786,0.002184],[0.927761,-0.373077,0.008520],[-0.007090,0.005205,0.999961]]
2025-10-26T19:39:08.988Z,1761507548.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391313,-0.920253,0.003080],[0.920218,-0.391263,0.010601],[-0.008551,0.006983,0.999939]]
2025-10-26T19:39:09.390Z,1761507549.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408951,-0.912548,0.003760],[0.912504,-0.408880,0.012404],[-0.009782,0.008503,0.999916]]
2025-10-26T19:39:09.794Z,1761507549.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426235,-0.904594,0.005771],[0.904548,-0.426120,0.014663],[-0.010805,0.011470,0.999876]]
2025-10-26T19:39:10.199Z,1761507550.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442794,-0.896606,0.005670],[0.896546,-0.442663,0.015967],[-0.011806,0.012153,0.999856]]
2025-10-26T19:39:10.223Z,1761507550.223 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:39:10.348Z,1761507550.348 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:39:10.399Z,1761507550.399 [DAT](INFO): entering command mode
2025-10-26T19:39:10.600Z,1761507550.600 [DAT](INFO): DAT read: 

2025-10-26T19:39:10.601Z,1761507550.601 [DAT](INFO): DAT read: user:253>

2025-10-26T19:39:10.601Z,1761507550.601 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:39:10.601Z,1761507550.601 [DAT](INFO): setting remote address to 0
2025-10-26T19:39:10.610Z,1761507550.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458500,-0.888691,0.002385],[0.888598,-0.458410,0.015940],[-0.013072,0.009428,0.999870]]
2025-10-26T19:39:10.852Z,1761507550.852 [DAT](INFO): DAT read: user:253>

2025-10-26T19:39:10.853Z,1761507550.853 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:39:10.854Z,1761507550.854 [DAT](INFO): set remote address to 0
2025-10-26T19:39:10.854Z,1761507550.854 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:39:10.854Z,1761507550.854 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:39:11.006Z,1761507551.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474085,-0.880479,-0.000377],[0.880365,-0.474031,0.015863],[-0.014146,0.007188,0.999874]]
2025-10-26T19:39:11.104Z,1761507551.104 [DAT](INFO): DAT read: user:254>

2025-10-26T19:39:11.105Z,1761507551.105 [DAT](INFO): DAT read: Tx time:19:39:10.1536

2025-10-26T19:39:11.105Z,1761507551.105 [DAT](INFO): Ping request sent.
2025-10-26T19:39:11.105Z,1761507551.105 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:39:11.106Z,1761507551.106 [DAT](INFO): publishing transmit ping time
2025-10-26T19:39:11.106Z,1761507551.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000961
2025-10-26T19:39:11.357Z,1761507551.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251481
2025-10-26T19:39:11.415Z,1761507551.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489019,-0.872271,-0.001957],[0.872131,-0.488979,0.016970],[-0.015759,0.006592,0.999854]]
2025-10-26T19:39:11.608Z,1761507551.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502930
2025-10-26T19:39:11.815Z,1761507551.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504170,-0.863589,-0.005239],[0.863426,-0.504179,0.017285],[-0.017568,0.004191,0.999837]]
2025-10-26T19:39:11.865Z,1761507551.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759170
2025-10-26T19:39:12.116Z,1761507552.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010831
2025-10-26T19:39:12.218Z,1761507552.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518928,-0.854772,-0.008881],[0.854586,-0.519001,0.017901],[-0.019911,0.001700,0.999800]]
2025-10-26T19:39:12.368Z,1761507552.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262932
2025-10-26T19:39:12.620Z,1761507552.620 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:39:12.620Z,1761507552.620 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:39:12.621Z,1761507552.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515063
2025-10-26T19:39:12.624Z,1761507552.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533560,-0.845687,-0.011248],[0.845458,-0.533678,0.019690],[-0.022654,0.000996,0.999743]]
2025-10-26T19:39:12.872Z,1761507552.872 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:39:12.872Z,1761507552.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766987
2025-10-26T19:39:13.026Z,1761507553.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548045,-0.836348,-0.012986],[0.836053,-0.548198,0.022254],[-0.025730,0.001339,0.999668]]
2025-10-26T19:39:13.125Z,1761507553.125 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:39:13.125Z,1761507553.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019522
2025-10-26T19:39:13.376Z,1761507553.376 [DAT](INFO): setting remote address to 6
2025-10-26T19:39:13.377Z,1761507553.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271118
2025-10-26T19:39:13.444Z,1761507553.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562490,-0.826655,-0.015684],[0.826312,-0.562709,0.023800],[-0.028500,0.000427,0.999594]]
2025-10-26T19:39:13.630Z,1761507553.630 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:13.630Z,1761507553.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524884
2025-10-26T19:39:13.834Z,1761507553.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576518,-0.816872,-0.018611],[0.816492,-0.576818,0.024950],[-0.031116,-0.000812,0.999515]]
2025-10-26T19:39:13.880Z,1761507553.880 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:13.881Z,1761507553.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775172
2025-10-26T19:39:14.132Z,1761507554.132 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:14.132Z,1761507554.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026974
2025-10-26T19:39:14.258Z,1761507554.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589173,-0.807751,-0.020357],[0.807301,-0.589524,0.026955],[-0.033773,-0.000553,0.999429]]
2025-10-26T19:39:14.384Z,1761507554.384 [DAT](INFO): DAT read: Rx Time:19:39:12.9466

2025-10-26T19:39:14.385Z,1761507554.385 [DAT](INFO): Rx dataTimestamp_ set to:1761507554.384577
2025-10-26T19:39:14.385Z,1761507554.385 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:14.386Z,1761507554.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280050
2025-10-26T19:39:14.636Z,1761507554.636 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:14.637Z,1761507554.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531043
2025-10-26T19:39:14.644Z,1761507554.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601958,-0.798227,-0.021934],[0.797731,-0.602357,0.028134],[-0.035670,-0.000562,0.999363]]
2025-10-26T19:39:14.895Z,1761507554.895 [DAT](INFO): DAT read: 19:39:12.9466 LVL= 32752, 22561, 27826, 32755, AGC= 68, IDX= 395, 0.50,-1.593, 0.370,-0.177,-0.248, PHS=-1.243, 0.663, 0.027, RAW= 289.1,   6.6, CAL= 287.1,   4.3, ROT= 222.9,  -4.3

2025-10-26T19:39:14.896Z,1761507554.896 [DAT](INFO): got valid direction response:
 19:39:12.9466 LVL= 32752, 22561, 27826, 32755, AGC= 68, IDX= 395, 0.50,-1.593, 0.370,-0.177,-0.248, PHS=-1.243, 0.663, 0.027, RAW= 289.1,   6.6, CAL= 287.1,   4.3, ROT= 222.9,  -4.3

2025-10-26T19:39:14.897Z,1761507554.897 [DAT](INFO): DAT read: Bearing 350, -17 (Remote)

2025-10-26T19:39:14.897Z,1761507554.897 [DAT](INFO): Remote Bearing received:Bearing 350, -17 (Remote)

2025-10-26T19:39:14.898Z,1761507554.898 [DAT](INFO): DAT read: Bearing  87.6, -40.1 (Local)

2025-10-26T19:39:14.899Z,1761507554.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6, -40.1 (Local)

2025-10-26T19:39:14.900Z,1761507554.900 [DAT](INFO): DAT read: Range 11 to 20 : 573.0 m  (Round-trip  764.0 ms) speed -1.1 m/s

2025-10-26T19:39:14.901Z,1761507554.901 [DAT](INFO): DAT read: user:255>

2025-10-26T19:39:14.902Z,1761507554.902 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:39:14.902Z,1761507554.902 [DAT](INFO): set remote address to 6
2025-10-26T19:39:14.903Z,1761507554.903 [DAT](INFO): entering online mode
2025-10-26T19:39:15.046Z,1761507555.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614628,-0.788490,-0.022730],[0.787951,-0.615048,0.029150],[-0.036964,0.000007,0.999317]]
2025-10-26T19:39:15.140Z,1761507555.140 [DAT](INFO): DAT read: user:256>

2025-10-26T19:39:15.141Z,1761507555.141 [DAT](INFO): DAT read: 

2025-10-26T19:39:15.142Z,1761507555.142 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:39:15.142Z,1761507555.142 [DAT](INFO): commRate: 600
2025-10-26T19:39:15.142Z,1761507555.142 [DAT](INFO): online mode acknowledged
2025-10-26T19:39:15.143Z,1761507555.143 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:39:15.144Z,1761507555.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037742
2025-10-26T19:39:15.392Z,1761507555.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286925
2025-10-26T19:39:15.450Z,1761507555.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626308,-0.779235,-0.023042],[0.778663,-0.626731,0.029878],[-0.037723,0.000771,0.999288]]
2025-10-26T19:39:15.646Z,1761507555.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540798
2025-10-26T19:39:15.854Z,1761507555.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637535,-0.770071,-0.023228],[0.769469,-0.637956,0.030486],[-0.038295,0.001563,0.999265]]
2025-10-26T19:39:15.896Z,1761507555.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790995
2025-10-26T19:39:16.148Z,1761507556.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042888
2025-10-26T19:39:16.258Z,1761507556.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648679,-0.760724,-0.022687],[0.760081,-0.649069,0.031406],[-0.038616,0.003129,0.999249]]
2025-10-26T19:39:16.401Z,1761507556.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295051
2025-10-26T19:39:16.652Z,1761507556.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546840
2025-10-26T19:39:16.669Z,1761507556.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659266,-0.751557,-0.023029],[0.750915,-0.659660,0.031231],[-0.038663,0.003296,0.999247]]
2025-10-26T19:39:16.904Z,1761507556.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798935
2025-10-26T19:39:17.066Z,1761507557.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669968,-0.742022,-0.023370],[0.741388,-0.670368,0.030841],[-0.038551,0.003336,0.999251]]
2025-10-26T19:39:17.151Z,1761507557.151 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:39:17.151Z,1761507557.151 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:39:17.151Z,1761507557.151 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:39:17.156Z,1761507557.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050926
2025-10-26T19:39:17.157Z,1761507557.157 [marl:UpdateRudder:A] Stopped
2025-10-26T19:39:17.157Z,1761507557.157 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:39:17.157Z,1761507557.157 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:39:17.157Z,1761507557.157 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:39:17.157Z,1761507557.157 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateCommandMode] Stopped
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:39:17.158Z,1761507557.158 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:39:17.159Z,1761507557.159 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:39:17.159Z,1761507557.159 [marl:UpdateSpeed] Stopped
2025-10-26T19:39:17.159Z,1761507557.159 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:39:17.409Z,1761507557.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303484
2025-10-26T19:39:17.470Z,1761507557.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680441,-0.732446,-0.022870],[0.731777,-0.680808,0.031663],[-0.038762,0.004810,0.999237]]
2025-10-26T19:39:17.521Z,1761507557.521 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:39:17.521Z,1761507557.521 [marl:UpdateRudder:B] Stopped
2025-10-26T19:39:17.521Z,1761507557.521 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:39:17.521Z,1761507557.521 [marl:UpdateRudder] Stopped
2025-10-26T19:39:17.521Z,1761507557.521 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:39:17.660Z,1761507557.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554915
2025-10-26T19:39:17.874Z,1761507557.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690795,-0.722720,-0.021846],[0.721999,-0.691105,0.033035],[-0.038973,0.007048,0.999215]]
2025-10-26T19:39:17.912Z,1761507557.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806898
2025-10-26T19:39:18.164Z,1761507558.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058793
2025-10-26T19:39:18.279Z,1761507558.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700883,-0.712961,-0.021203],[0.712184,-0.701145,0.034500],[-0.039464,0.009081,0.999180]]
2025-10-26T19:39:18.417Z,1761507558.417 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:39:17.5523

2025-10-26T19:39:18.417Z,1761507558.417 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:39:18.418Z,1761507558.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312077
2025-10-26T19:39:18.668Z,1761507558.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562828
2025-10-26T19:39:18.690Z,1761507558.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710904,-0.702960,-0.021512],[0.702140,-0.711158,0.035404],[-0.040186,0.010064,0.999142]]
2025-10-26T19:39:18.920Z,1761507558.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814902
2025-10-26T19:39:19.086Z,1761507559.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721068,-0.692493,-0.022666],[0.691638,-0.721352,0.035878],[-0.041195,0.010193,0.999099]]
2025-10-26T19:39:19.172Z,1761507559.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067005
2025-10-26T19:39:19.424Z,1761507559.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318850
2025-10-26T19:39:19.491Z,1761507559.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731001,-0.681976,-0.023375],[0.681054,-0.731288,0.037197],[-0.042461,0.011271,0.999035]]
2025-10-26T19:39:19.676Z,1761507559.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570837
2025-10-26T19:39:19.896Z,1761507559.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741259,-0.670703,-0.026309],[0.669773,-0.741665,0.036562],[-0.044035,0.009481,0.998985]]
2025-10-26T19:39:19.929Z,1761507559.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823035
2025-10-26T19:39:20.180Z,1761507560.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074851
2025-10-26T19:39:20.298Z,1761507560.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751726,-0.658866,-0.028358],[0.657885,-0.752204,0.037095],[-0.045772,0.009229,0.998909]]
2025-10-26T19:39:20.432Z,1761507560.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326877
2025-10-26T19:39:20.684Z,1761507560.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578935
2025-10-26T19:39:20.709Z,1761507560.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762815,-0.645875,-0.030967],[0.644855,-0.763396,0.037248],[-0.047698,0.008444,0.998826]]
2025-10-26T19:39:20.936Z,1761507560.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830855
2025-10-26T19:39:21.108Z,1761507561.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774024,-0.632227,-0.034278],[0.631153,-0.774747,0.037599],[-0.050328,0.007469,0.998705]]
2025-10-26T19:39:21.188Z,1761507561.188 [DAT](INFO): Reached modem response timeout
2025-10-26T19:39:21.510Z,1761507561.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785845,-0.617297,-0.037326],[0.616198,-0.786705,0.037350],[-0.052421,0.006351,0.998605]]
2025-10-26T19:39:21.914Z,1761507561.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797638,-0.601785,-0.040357],[0.600672,-0.798641,0.036957],[-0.054471,0.005237,0.998502]]
2025-10-26T19:39:22.318Z,1761507562.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809553,-0.585489,-0.042738],[0.584385,-0.810669,0.036200],[-0.055841,0.004330,0.998430]]
2025-10-26T19:39:22.730Z,1761507562.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821106,-0.569034,-0.044554],[0.567933,-0.822304,0.035607],[-0.056898,0.003934,0.998372]]
2025-10-26T19:39:23.126Z,1761507563.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832424,-0.552307,-0.045031],[0.551193,-0.833628,0.035369],[-0.057074,0.004621,0.998359]]
2025-10-26T19:39:23.530Z,1761507563.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843573,-0.535146,-0.044755],[0.534063,-0.844744,0.034406],[-0.056218,0.005122,0.998405]]
2025-10-26T19:39:23.934Z,1761507563.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854082,-0.518286,-0.043862],[0.517253,-0.855189,0.033184],[-0.054709,0.005654,0.998486]]
2025-10-26T19:39:24.345Z,1761507564.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863822,-0.502007,-0.042440],[0.501044,-0.864842,0.031675],[-0.052605,0.006097,0.998597]]
2025-10-26T19:39:24.781Z,1761507564.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880844,-0.471914,-0.037559],[0.471080,-0.881608,0.029167],[-0.046877,0.007999,0.998869]]
2025-10-26T19:39:25.150Z,1761507565.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887946,-0.458604,-0.035122],[0.457843,-0.888599,0.027760],[-0.043940,0.008569,0.998997]]
2025-10-26T19:39:25.554Z,1761507565.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894088,-0.446688,-0.032819],[0.445964,-0.894637,0.027204],[-0.041512,0.009686,0.999091]]
2025-10-26T19:39:25.960Z,1761507565.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899769,-0.435310,-0.030356],[0.434611,-0.900211,0.027073],[-0.039112,0.011166,0.999172]]
2025-10-26T19:39:26.362Z,1761507566.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905168,-0.424106,-0.028357],[0.423443,-0.905532,0.026592],[-0.036956,0.012063,0.999244]]
2025-10-26T19:39:26.766Z,1761507566.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910307,-0.413075,-0.026652],[0.412454,-0.910610,0.025906],[-0.034971,0.012589,0.999309]]
2025-10-26T19:39:27.166Z,1761507567.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915258,-0.402067,-0.025379],[0.401464,-0.915512,0.025780],[-0.033600,0.013407,0.999345]]
2025-10-26T19:39:27.572Z,1761507567.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920155,-0.390815,-0.024036],[0.390201,-0.920346,0.026587],[-0.032512,0.015085,0.999358]]
2025-10-26T19:39:27.974Z,1761507567.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924953,-0.379358,-0.023436],[0.378771,-0.925126,0.025968],[-0.031532,0.015142,0.999388]]
2025-10-26T19:39:28.378Z,1761507568.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929851,-0.367242,-0.022569],[0.366673,-0.929993,0.025766],[-0.030452,0.015683,0.999413]]
2025-10-26T19:39:28.496Z,1761507568.496 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:39:28.749Z,1761507568.749 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:39:28.825Z,1761507568.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934940,-0.354175,-0.021145],[0.353599,-0.935015,0.026711],[-0.029232,0.017496,0.999420]]
2025-10-26T19:39:29.000Z,1761507569.000 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:39:29.198Z,1761507569.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940290,-0.339772,-0.020254],[0.339221,-0.940338,0.026347],[-0.027997,0.017903,0.999448]]
2025-10-26T19:39:29.592Z,1761507569.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945734,-0.324356,-0.019495],[0.323823,-0.945755,0.026186],[-0.026931,0.018452,0.999467]]
2025-10-26T19:39:29.994Z,1761507569.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951313,-0.307586,-0.019868],[0.307113,-0.951379,0.023660],[-0.026180,0.016406,0.999523]]
2025-10-26T19:39:30.398Z,1761507570.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956974,-0.289504,-0.019715],[0.289057,-0.957043,0.022695],[-0.025439,0.016020,0.999548]]
2025-10-26T19:39:30.446Z,1761507570.446 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:39:30.446Z,1761507570.446 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:39:30.446Z,1761507570.446 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:39:30.447Z,1761507570.447 [marl:UpdateRudder:A] Stopped
2025-10-26T19:39:30.447Z,1761507570.447 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:39:30.447Z,1761507570.447 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:39:30.447Z,1761507570.447 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:39:30.451Z,1761507570.451 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateCommandMode] Stopped
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:39:30.452Z,1761507570.452 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:39:30.453Z,1761507570.453 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:39:30.453Z,1761507570.453 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:39:30.453Z,1761507570.453 [marl:UpdateSpeed] Stopped
2025-10-26T19:39:30.453Z,1761507570.453 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:39:30.838Z,1761507570.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962609,-0.270156,-0.019991],[0.269763,-0.962713,0.020305],[-0.024731,0.014153,0.999594]]
2025-10-26T19:39:30.917Z,1761507570.917 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:39:30.917Z,1761507570.917 [marl:UpdateRudder:B] Stopped
2025-10-26T19:39:30.917Z,1761507570.917 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:39:30.917Z,1761507570.917 [marl:UpdateRudder] Stopped
2025-10-26T19:39:30.918Z,1761507570.918 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:39:31.216Z,1761507571.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968027,-0.250028,-0.020259],[0.249681,-0.968157,0.018192],[-0.024162,0.012552,0.999629]]
2025-10-26T19:39:31.610Z,1761507571.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973166,-0.229253,-0.019786],[0.228930,-0.973289,0.017323],[-0.023229,0.012328,0.999654]]
2025-10-26T19:39:32.014Z,1761507572.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977941,-0.207988,-0.019295],[0.207700,-0.978063,0.015916],[-0.022182,0.011558,0.999687]]
2025-10-26T19:39:32.277Z,1761507572.277 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:39:31.4022

2025-10-26T19:39:32.277Z,1761507572.277 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:39:32.419Z,1761507572.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982317,-0.186299,-0.018615],[0.186047,-0.982434,0.014476],[-0.020985,0.010757,0.999722]]
2025-10-26T19:39:32.846Z,1761507572.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986225,-0.164522,-0.017124],[0.164290,-0.986310,0.014181],[-0.019222,0.011173,0.999753]]
2025-10-26T19:39:33.230Z,1761507573.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989400,-0.144423,-0.015153],[0.144269,-0.989479,0.010821],[-0.016556,0.008520,0.999827]]
2025-10-26T19:39:33.631Z,1761507573.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991282,-0.131057,-0.013559],[0.131039,-0.991375,0.002151],[-0.013724,0.000355,0.999906]]
2025-10-26T19:39:34.043Z,1761507574.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992058,-0.125114,-0.012929],[0.125297,-0.992014,-0.014474],[-0.011015,-0.015979,0.999812]]
2025-10-26T19:39:34.212Z,1761507574.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:39:34.439Z,1761507574.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992153,-0.124305,-0.013432],[0.124761,-0.991325,-0.041358],[-0.008175,-0.042710,0.999054]]
2025-10-26T19:39:34.848Z,1761507574.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991876,-0.126315,-0.015065],[0.127096,-0.989033,-0.075231],[-0.005397,-0.076535,0.997052]]
2025-10-26T19:39:35.216Z,1761507575.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:39:35.249Z,1761507575.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991341,-0.130249,-0.016652],[0.131288,-0.985474,-0.107721],[-0.002379,-0.108974,0.994042]]
2025-10-26T19:39:35.655Z,1761507575.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990712,-0.134701,-0.018566],[0.135974,-0.981033,-0.138152],[0.000396,-0.139393,0.990237]]
2025-10-26T19:39:36.054Z,1761507576.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990014,-0.139523,-0.020139],[0.140935,-0.976452,-0.163340],[0.003125,-0.164547,0.986364]]
2025-10-26T19:39:36.458Z,1761507576.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989378,-0.143836,-0.021051],[0.145260,-0.972638,-0.181316],[0.005604,-0.182448,0.983200]]
2025-10-26T19:39:36.862Z,1761507576.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988729,-0.148071,-0.022137],[0.149539,-0.969490,-0.194234],[0.007299,-0.195355,0.980705]]
2025-10-26T19:39:37.276Z,1761507577.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988075,-0.152262,-0.022898],[0.153739,-0.967399,-0.201257],[0.008492,-0.202377,0.979271]]
2025-10-26T19:39:37.677Z,1761507577.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987492,-0.155921,-0.023430],[0.157395,-0.966002,-0.205104],[0.009347,-0.206226,0.978460]]
2025-10-26T19:39:38.075Z,1761507578.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987002,-0.158996,-0.023383],[0.160396,-0.965583,-0.204749],[0.009976,-0.205839,0.978535]]
2025-10-26T19:39:38.478Z,1761507578.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986643,-0.161212,-0.023361],[0.162572,-0.965474,-0.203542],[0.010259,-0.204621,0.978787]]
2025-10-26T19:39:38.883Z,1761507578.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986444,-0.162394,-0.023595],[0.163784,-0.965417,-0.202844],[0.010162,-0.203958,0.978927]]
2025-10-26T19:39:39.292Z,1761507579.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986445,-0.162417,-0.023397],[0.163796,-0.966022,-0.199931],[0.009870,-0.201053,0.979531]]
2025-10-26T19:39:39.690Z,1761507579.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986742,-0.160592,-0.023481],[0.162034,-0.966501,-0.199048],[0.009272,-0.200214,0.979708]]
2025-10-26T19:39:40.096Z,1761507580.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987295,-0.157209,-0.023118],[0.158661,-0.967357,-0.197605],[0.008702,-0.198763,0.980009]]
2025-10-26T19:39:40.498Z,1761507580.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988153,-0.151851,-0.022236],[0.153241,-0.968355,-0.196993],[0.008381,-0.198067,0.980153]]
2025-10-26T19:39:40.571Z,1761507580.571 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:39:40.592Z,1761507580.592 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:39:40.643Z,1761507580.643 [DAT](INFO): entering command mode
2025-10-26T19:39:40.844Z,1761507580.844 [DAT](INFO): DAT read: 

2025-10-26T19:39:40.845Z,1761507580.845 [DAT](INFO): DAT read: user:257>

2025-10-26T19:39:40.845Z,1761507580.845 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:39:40.845Z,1761507580.845 [DAT](INFO): setting remote address to 0
2025-10-26T19:39:40.908Z,1761507580.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989181,-0.145235,-0.020706],[0.146453,-0.969351,-0.197257],[0.008577,-0.198156,0.980133]]
2025-10-26T19:39:41.096Z,1761507581.096 [DAT](INFO): DAT read: user:257>

2025-10-26T19:39:41.097Z,1761507581.097 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:39:41.098Z,1761507581.098 [DAT](INFO): set remote address to 0
2025-10-26T19:39:41.098Z,1761507581.098 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:39:41.098Z,1761507581.098 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:39:41.306Z,1761507581.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990280,-0.137844,-0.018551],[0.138786,-0.970542,-0.196943],[0.009143,-0.197603,0.980240]]
2025-10-26T19:39:41.348Z,1761507581.348 [DAT](INFO): DAT read: user:258>

2025-10-26T19:39:41.349Z,1761507581.349 [DAT](INFO): DAT read: Tx time:19:39:40.4033

2025-10-26T19:39:41.349Z,1761507581.349 [DAT](INFO): Ping request sent.
2025-10-26T19:39:41.349Z,1761507581.349 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:39:41.350Z,1761507581.350 [DAT](INFO): publishing transmit ping time
2025-10-26T19:39:41.350Z,1761507581.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000980
2025-10-26T19:39:41.601Z,1761507581.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251460
2025-10-26T19:39:41.714Z,1761507581.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991311,-0.130579,-0.015875],[0.131150,-0.971848,-0.195733],[0.010131,-0.196114,0.980529]]
2025-10-26T19:39:41.853Z,1761507581.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502996
2025-10-26T19:39:42.104Z,1761507582.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829
2025-10-26T19:39:42.121Z,1761507582.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992182,-0.124127,-0.012952],[0.124256,-0.972824,-0.195383],[0.011652,-0.195464,0.980642]]
2025-10-26T19:39:42.356Z,1761507582.356 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:39:42.356Z,1761507582.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006995
2025-10-26T19:39:42.518Z,1761507582.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992831,-0.119102,-0.010029],[0.118783,-0.973873,-0.193550],[0.013285,-0.193354,0.981039]]
2025-10-26T19:39:42.609Z,1761507582.609 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:39:42.610Z,1761507582.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260042
2025-10-26T19:39:42.860Z,1761507582.860 [DAT](INFO): setting remote address to 6
2025-10-26T19:39:42.861Z,1761507582.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511114
2025-10-26T19:39:42.922Z,1761507582.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993278,-0.115539,-0.007010],[0.114720,-0.974545,-0.192620],[0.015423,-0.192129,0.981248]]
2025-10-26T19:39:43.112Z,1761507583.112 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:43.112Z,1761507583.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762964
2025-10-26T19:39:43.326Z,1761507583.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993460,-0.114076,-0.004825],[0.112884,-0.974979,-0.191504],[0.017142,-0.190797,0.981480]]
2025-10-26T19:39:43.364Z,1761507583.364 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:43.365Z,1761507583.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015129
2025-10-26T19:39:43.616Z,1761507583.616 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:43.616Z,1761507583.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266959
2025-10-26T19:39:43.734Z,1761507583.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993372,-0.114891,-0.003361],[0.113442,-0.975298,-0.189539],[0.018498,-0.188664,0.981867]]
2025-10-26T19:39:43.738Z,1761507583.738 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T19:39:43.738Z,1761507583.738 [NAL9602] Data Fault, FailCount= 1
2025-10-26T19:39:43.738Z,1761507583.738 [NAL9602](ERROR): Data Fault
2025-10-26T19:39:43.758Z,1761507583.758 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:39:43.758Z,1761507583.758 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:39:43.759Z,1761507583.759 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:39:43.759Z,1761507583.759 [marl:UpdateRudder:A] Stopped
2025-10-26T19:39:43.759Z,1761507583.759 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:39:43.759Z,1761507583.759 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateCommandMode] Stopped
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:39:43.760Z,1761507583.760 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:39:43.761Z,1761507583.761 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:39:43.761Z,1761507583.761 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:39:43.761Z,1761507583.761 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:39:43.761Z,1761507583.761 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:39:43.761Z,1761507583.761 [marl:UpdateSpeed] Stopped
2025-10-26T19:39:43.761Z,1761507583.761 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:39:43.762Z,1761507583.762 [marl:NeedComms] Running Loop=1
2025-10-26T19:39:43.762Z,1761507583.762 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T19:39:43.762Z,1761507583.762 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T19:39:43.762Z,1761507583.762 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T19:39:43.763Z,1761507583.763 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T19:39:43.763Z,1761507583.763 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T19:39:43.764Z,1761507583.764 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T19:39:43.764Z,1761507583.764 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T19:39:43.764Z,1761507583.764 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T19:39:43.765Z,1761507583.765 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T19:39:43.765Z,1761507583.765 [marl:NeedComms:A] Running Loop=1
2025-10-26T19:39:43.766Z,1761507583.766 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T19:39:43.767Z,1761507583.767 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T19:39:43.767Z,1761507583.767 [marl:NeedComms:A] Stopped
2025-10-26T19:39:43.871Z,1761507583.871 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T19:39:43.873Z,1761507583.873 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:43.873Z,1761507583.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523679
2025-10-26T19:39:43.888Z,1761507583.888 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:39:43.889Z,1761507583.889 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:39:44.125Z,1761507584.125 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:44.126Z,1761507584.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776109
2025-10-26T19:39:44.146Z,1761507584.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993164,-0.116694,-0.002704],[0.115119,-0.975407,-0.187958],[0.019296,-0.186985,0.982173]]
2025-10-26T19:39:44.151Z,1761507584.151 [NAL9602](INFO): Powering down
2025-10-26T19:39:44.189Z,1761507584.189 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:39:44.189Z,1761507584.189 [marl:UpdateRudder:B] Stopped
2025-10-26T19:39:44.189Z,1761507584.189 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:39:44.189Z,1761507584.189 [marl:UpdateRudder] Stopped
2025-10-26T19:39:44.189Z,1761507584.189 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:39:44.376Z,1761507584.376 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:44.376Z,1761507584.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026966
2025-10-26T19:39:44.543Z,1761507584.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992982,-0.118239,-0.002646],[0.116630,-0.975271,-0.187735],[0.019617,-0.186726,0.982216]]
2025-10-26T19:39:44.629Z,1761507584.629 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:44.629Z,1761507584.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279812
2025-10-26T19:39:44.880Z,1761507584.880 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:44.881Z,1761507584.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531005
2025-10-26T19:39:44.942Z,1761507584.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992955,-0.118457,-0.002852],[0.116846,-0.974888,-0.189579],[0.019676,-0.188577,0.981861]]
2025-10-26T19:39:45.133Z,1761507585.133 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:45.134Z,1761507585.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783618
2025-10-26T19:39:45.328Z,1761507585.328 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T19:39:45.328Z,1761507585.328 [NAL9602] No Fault, FailCount= 1
2025-10-26T19:39:45.350Z,1761507585.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993128,-0.116987,-0.003122],[0.115408,-0.974600,-0.191925],[0.019410,-0.190966,0.981405]]
2025-10-26T19:39:45.385Z,1761507585.385 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:45.385Z,1761507585.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035723
2025-10-26T19:39:45.637Z,1761507585.637 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:45.638Z,1761507585.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288059
2025-10-26T19:39:45.754Z,1761507585.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993438,-0.114319,-0.003513],[0.112816,-0.974398,-0.194476],[0.018809,-0.193596,0.980901]]
2025-10-26T19:39:45.888Z,1761507585.888 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:45.888Z,1761507585.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538965
2025-10-26T19:39:46.141Z,1761507586.141 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:46.142Z,1761507586.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792142
2025-10-26T19:39:46.160Z,1761507586.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993957,-0.109677,-0.004605],[0.108451,-0.974631,-0.195788],[0.016985,-0.195104,0.980635]]
2025-10-26T19:39:46.392Z,1761507586.392 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:46.393Z,1761507586.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043042
2025-10-26T19:39:46.566Z,1761507586.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994482,-0.104430,-0.010003],[0.104381,-0.975439,-0.193967],[0.010499,-0.193941,0.980957]]
2025-10-26T19:39:46.644Z,1761507586.644 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:46.645Z,1761507586.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295433
2025-10-26T19:39:46.896Z,1761507586.896 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:46.896Z,1761507586.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546957
2025-10-26T19:39:46.968Z,1761507586.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994856,-0.099150,-0.020759],[0.101287,-0.976839,-0.188487],[-0.001590,-0.189620,0.981856]]
2025-10-26T19:39:47.148Z,1761507587.148 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:47.149Z,1761507587.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799016
2025-10-26T19:39:47.371Z,1761507587.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994868,-0.094557,-0.036000],[0.099562,-0.978257,-0.181938],[-0.018014,-0.184589,0.982651]]
2025-10-26T19:39:47.400Z,1761507587.400 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:47.401Z,1761507587.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051048
2025-10-26T19:39:47.653Z,1761507587.653 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:47.653Z,1761507587.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303557
2025-10-26T19:39:47.774Z,1761507587.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994368,-0.091214,-0.053966],[0.099337,-0.979613,-0.174612],[-0.036939,-0.178990,0.983157]]
2025-10-26T19:39:47.905Z,1761507587.905 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:47.906Z,1761507587.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556013
2025-10-26T19:39:48.156Z,1761507588.156 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:48.156Z,1761507588.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806949
2025-10-26T19:39:48.180Z,1761507588.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993314,-0.088616,-0.073990],[0.100116,-0.980365,-0.169889],[-0.057482,-0.176161,0.982682]]
2025-10-26T19:39:48.408Z,1761507588.408 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:48.409Z,1761507588.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059007
2025-10-26T19:39:48.589Z,1761507588.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991650,-0.086910,-0.095270],[0.101990,-0.980673,-0.166972],[-0.078917,-0.175294,0.981348]]
2025-10-26T19:39:48.660Z,1761507588.660 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:48.661Z,1761507588.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311147
2025-10-26T19:39:48.912Z,1761507588.912 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:48.912Z,1761507588.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562930
2025-10-26T19:39:48.986Z,1761507588.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989389,-0.085423,-0.117523],[0.104367,-0.980610,-0.165864],[-0.101076,-0.176370,0.979121]]
2025-10-26T19:39:49.164Z,1761507589.164 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:49.166Z,1761507589.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815970
2025-10-26T19:39:49.390Z,1761507589.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986580,-0.084324,-0.139819],[0.107115,-0.980552,-0.164452],[-0.123232,-0.177222,0.976425]]
2025-10-26T19:39:49.416Z,1761507589.416 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:49.417Z,1761507589.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067055
2025-10-26T19:39:49.668Z,1761507589.668 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:49.668Z,1761507589.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318922
2025-10-26T19:39:49.797Z,1761507589.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983286,-0.083292,-0.161901],[0.109844,-0.980547,-0.162673],[-0.145202,-0.177738,0.973307]]
2025-10-26T19:39:49.920Z,1761507589.920 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:49.920Z,1761507589.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570963
2025-10-26T19:39:50.172Z,1761507590.172 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:50.172Z,1761507590.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822942
2025-10-26T19:39:50.205Z,1761507590.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979624,-0.081638,-0.183501],[0.111924,-0.980543,-0.161271],[-0.166765,-0.178523,0.969701]]
2025-10-26T19:39:50.424Z,1761507590.424 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:50.424Z,1761507590.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074955
2025-10-26T19:39:50.608Z,1761507590.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975622,-0.079827,-0.204425],[0.113404,-0.980875,-0.158192],[-0.187887,-0.177518,0.966015]]
2025-10-26T19:39:50.676Z,1761507590.676 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:50.677Z,1761507590.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327416
2025-10-26T19:39:50.928Z,1761507590.928 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:50.928Z,1761507590.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578948
2025-10-26T19:39:51.180Z,1761507591.180 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:51.180Z,1761507591.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830937
2025-10-26T19:39:51.416Z,1761507591.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966712,-0.077411,-0.243877],[0.116372,-0.981871,-0.149624],[-0.227873,-0.173024,0.958195]]
2025-10-26T19:39:51.432Z,1761507591.432 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:51.432Z,1761507591.432 [DAT](INFO): Reached modem response timeout
2025-10-26T19:39:51.684Z,1761507591.684 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:51.814Z,1761507591.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961925,-0.077218,-0.262180],[0.118060,-0.982543,-0.143772],[-0.246501,-0.169250,0.954249]]
2025-10-26T19:39:51.936Z,1761507591.936 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:52.189Z,1761507592.189 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:52.218Z,1761507592.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956999,-0.077074,-0.279665],[0.119265,-0.983349,-0.137114],[-0.264440,-0.164572,0.950257]]
2025-10-26T19:39:52.442Z,1761507592.442 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:52.629Z,1761507592.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951989,-0.077756,-0.296092],[0.120708,-0.984186,-0.129645],[-0.281329,-0.159161,0.946320]]
2025-10-26T19:39:52.697Z,1761507592.697 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:52.948Z,1761507592.948 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:53.027Z,1761507593.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946919,-0.078512,-0.311739],[0.122178,-0.984847,-0.123084],[-0.297351,-0.154638,0.942162]]
2025-10-26T19:39:53.204Z,1761507593.204 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:53.437Z,1761507593.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941854,-0.079302,-0.326529],[0.123714,-0.985332,-0.117544],[-0.312418,-0.151105,0.937850]]
2025-10-26T19:39:53.452Z,1761507593.452 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:39:53.706Z,1761507593.706 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:39:53.707Z,1761507593.707 [DAT](INFO): response not received
2025-10-26T19:39:53.707Z,1761507593.707 [DAT](INFO): DAT read: user:259>

2025-10-26T19:39:53.709Z,1761507593.709 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:39:53.709Z,1761507593.709 [DAT](INFO): set remote address to 6
2025-10-26T19:39:53.709Z,1761507593.709 [DAT](INFO): entering online mode
2025-10-26T19:39:53.834Z,1761507593.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936905,-0.079641,-0.340391],[0.125085,-0.985611,-0.113686],[-0.326439,-0.149091,0.933386]]
2025-10-26T19:39:53.956Z,1761507593.956 [DAT](INFO): DAT read: user:260>

2025-10-26T19:39:53.957Z,1761507593.957 [DAT](INFO): DAT read: 

2025-10-26T19:39:53.958Z,1761507593.958 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:39:53.958Z,1761507593.958 [DAT](INFO): commRate: 600
2025-10-26T19:39:53.958Z,1761507593.958 [DAT](INFO): online mode acknowledged
2025-10-26T19:39:53.959Z,1761507593.959 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:39:54.239Z,1761507594.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932049,-0.080096,-0.353368],[0.126714,-0.985733,-0.110791],[-0.339452,-0.148039,0.928901]]
2025-10-26T19:39:54.646Z,1761507594.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927111,-0.080368,-0.366068],[0.128570,-0.985668,-0.109221],[-0.352044,-0.148325,0.924156]]
2025-10-26T19:39:55.048Z,1761507595.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922079,-0.080957,-0.378440],[0.130964,-0.985456,-0.108286],[-0.364169,-0.149410,0.919270]]
2025-10-26T19:39:55.450Z,1761507595.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917099,-0.081351,-0.390272],[0.133206,-0.985224,-0.107654],[-0.375748,-0.150716,0.914384]]
2025-10-26T19:39:55.873Z,1761507595.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912318,-0.080094,-0.401574],[0.134883,-0.984733,-0.110031],[-0.386630,-0.154548,0.909193]]
2025-10-26T19:39:56.274Z,1761507596.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908008,-0.075897,-0.412020],[0.135049,-0.983982,-0.116364],[-0.396589,-0.161303,0.903714]]
2025-10-26T19:39:56.678Z,1761507596.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904497,-0.071584,-0.420429],[0.134110,-0.983544,-0.121057],[-0.404845,-0.165879,0.899213]]
2025-10-26T19:39:57.092Z,1761507597.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902287,-0.067249,-0.425859],[0.131810,-0.983493,-0.123965],[-0.410493,-0.167985,0.896257]]
2025-10-26T19:39:57.162Z,1761507597.162 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:39:57.162Z,1761507597.162 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:39:57.163Z,1761507597.163 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:39:57.163Z,1761507597.163 [marl:UpdateRudder:A] Stopped
2025-10-26T19:39:57.163Z,1761507597.163 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:39:57.163Z,1761507597.163 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:39:57.171Z,1761507597.171 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:39:57.171Z,1761507597.171 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:39:57.176Z,1761507597.176 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:39:57.177Z,1761507597.177 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:39:57.177Z,1761507597.177 [marl:UpdateCommandMode] Stopped
2025-10-26T19:39:57.178Z,1761507597.178 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:39:57.178Z,1761507597.178 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:39:57.179Z,1761507597.179 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:39:57.179Z,1761507597.179 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:39:57.179Z,1761507597.179 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:39:57.180Z,1761507597.180 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:39:57.180Z,1761507597.180 [marl:UpdateSpeed] Stopped
2025-10-26T19:39:57.180Z,1761507597.180 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:39:57.233Z,1761507597.233 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:39:56.4020

2025-10-26T19:39:57.233Z,1761507597.233 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:39:57.487Z,1761507597.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901345,-0.063389,-0.428439],[0.128298,-0.983910,-0.124340],[-0.413664,-0.167042,0.894975]]
2025-10-26T19:39:57.520Z,1761507597.520 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:39:57.520Z,1761507597.520 [marl:UpdateRudder:B] Stopped
2025-10-26T19:39:57.520Z,1761507597.520 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:39:57.520Z,1761507597.520 [marl:UpdateRudder] Stopped
2025-10-26T19:39:57.520Z,1761507597.520 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:39:57.891Z,1761507597.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901575,-0.059265,-0.428544],[0.123667,-0.984544,-0.124017],[-0.414570,-0.164807,0.894969]]
2025-10-26T19:39:58.296Z,1761507598.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902595,-0.054889,-0.426976],[0.118334,-0.985265,-0.123490],[-0.413907,-0.161987,0.895791]]
2025-10-26T19:39:58.702Z,1761507598.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904149,-0.049924,-0.424291],[0.112294,-0.985998,-0.123278],[-0.412195,-0.159107,0.897095]]
2025-10-26T19:39:59.108Z,1761507599.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906148,-0.043381,-0.420731],[0.105259,-0.986560,-0.124976],[-0.409655,-0.157532,0.898536]]
2025-10-26T19:39:59.507Z,1761507599.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908360,-0.036443,-0.416597],[0.097533,-0.987185,-0.126307],[-0.406655,-0.155364,0.900274]]
2025-10-26T19:39:59.910Z,1761507599.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910557,-0.028074,-0.412430],[0.088975,-0.987617,-0.129213],[-0.403695,-0.154352,0.901779]]
2025-10-26T19:40:00.316Z,1761507600.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912832,-0.019227,-0.407883],[0.080160,-0.987892,-0.132829],[-0.400390,-0.153946,0.903321]]
2025-10-26T19:40:00.728Z,1761507600.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915161,-0.010980,-0.402940],[0.071794,-0.988086,-0.136135],[-0.396644,-0.153514,0.905045]]
2025-10-26T19:40:01.122Z,1761507601.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917522,-0.005042,-0.397653],[0.065204,-0.988295,-0.137916],[-0.392303,-0.152469,0.907112]]
2025-10-26T19:40:01.528Z,1761507601.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919700,-0.003426,-0.392607],[0.061615,-0.988831,-0.135706],[-0.387758,-0.148999,0.909639]]
2025-10-26T19:40:01.931Z,1761507601.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921607,-0.002872,-0.388114],[0.060530,-0.988801,-0.136414],[-0.383376,-0.149213,0.911460]]
2025-10-26T19:40:02.335Z,1761507602.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923423,-0.003084,-0.383772],[0.061414,-0.988269,-0.139831],[-0.378839,-0.152693,0.912779]]
2025-10-26T19:40:02.739Z,1761507602.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925095,-0.003955,-0.379716],[0.064272,-0.987150,-0.146302],[-0.374258,-0.159748,0.913461]]
2025-10-26T19:40:03.143Z,1761507603.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926795,-0.006108,-0.375518],[0.068358,-0.985909,-0.152676],[-0.369294,-0.167169,0.914153]]
2025-10-26T19:40:03.549Z,1761507603.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928415,-0.008555,-0.371446],[0.072785,-0.984552,-0.159248],[-0.364345,-0.174884,0.914696]]
2025-10-26T19:40:03.950Z,1761507603.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930077,-0.007967,-0.367279],[0.075266,-0.982689,-0.169285],[-0.359572,-0.185092,0.914576]]
2025-10-26T19:40:04.354Z,1761507604.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932016,-0.004946,-0.362383],[0.074959,-0.980916,-0.179399],[-0.354580,-0.194367,0.914601]]
2025-10-26T19:40:04.825Z,1761507604.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936537,0.002834,-0.350557],[0.069055,-0.978884,-0.192399],[-0.343700,-0.204397,0.916566]]
2025-10-26T19:40:05.340Z,1761507605.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:40:05.586Z,1761507605.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938971,0.005234,-0.343956],[0.064636,-0.979391,-0.191353],[-0.337869,-0.201907,0.919281]]
2025-10-26T19:40:05.970Z,1761507605.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941467,0.006805,-0.337035],[0.059971,-0.980467,-0.187317],[-0.331727,-0.196565,0.922670]]
2025-10-26T19:40:06.344Z,1761507606.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:40:06.374Z,1761507606.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943859,0.006244,-0.330288],[0.055965,-0.982347,-0.178502],[-0.325572,-0.186965,0.926848]]
2025-10-26T19:40:06.815Z,1761507606.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947968,0.005304,-0.318322],[0.048305,-0.985889,-0.160279],[-0.314680,-0.167316,0.934335]]
2025-10-26T19:40:07.324Z,1761507607.324 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:40:07.579Z,1761507607.579 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:40:07.596Z,1761507607.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950179,0.006014,-0.311648],[0.041325,-0.988558,-0.145073],[-0.308955,-0.150724,0.939058]]
2025-10-26T19:40:07.832Z,1761507607.832 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:40:07.995Z,1761507607.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950343,0.006257,-0.311141],[0.038715,-0.989654,-0.138152],[-0.308787,-0.143338,0.940269]]
2025-10-26T19:40:08.401Z,1761507608.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949943,0.006627,-0.312354],[0.037301,-0.990218,-0.134448],[-0.310190,-0.139369,0.940404]]
2025-10-26T19:40:08.837Z,1761507608.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949055,0.006062,-0.315051],[0.037419,-0.990572,-0.131780],[-0.312880,-0.136856,0.939881]]
2025-10-26T19:40:09.206Z,1761507609.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947793,0.005306,-0.318841],[0.038400,-0.990686,-0.130637],[-0.316565,-0.136060,0.938762]]
2025-10-26T19:40:09.610Z,1761507609.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946471,0.004877,-0.322751],[0.039608,-0.990575,-0.131120],[-0.320348,-0.136885,0.937358]]
2025-10-26T19:40:10.011Z,1761507610.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945317,0.005324,-0.326110],[0.039851,-0.990490,-0.131689],[-0.323710,-0.137484,0.936114]]
2025-10-26T19:40:10.041Z,1761507610.041 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:40:10.041Z,1761507610.041 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:40:10.041Z,1761507610.041 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:40:10.042Z,1761507610.042 [marl:UpdateRudder:A] Stopped
2025-10-26T19:40:10.042Z,1761507610.042 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:40:10.042Z,1761507610.042 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:40:10.043Z,1761507610.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:40:10.043Z,1761507610.043 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:40:10.044Z,1761507610.044 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:40:10.044Z,1761507610.044 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:40:10.044Z,1761507610.044 [marl:UpdateCommandMode] Stopped
2025-10-26T19:40:10.044Z,1761507610.044 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:40:10.045Z,1761507610.045 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:40:10.045Z,1761507610.045 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:40:10.045Z,1761507610.045 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:40:10.045Z,1761507610.045 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:40:10.046Z,1761507610.046 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:40:10.046Z,1761507610.046 [marl:UpdateSpeed] Stopped
2025-10-26T19:40:10.046Z,1761507610.046 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:40:10.416Z,1761507610.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944557,0.008561,-0.328237],[0.038300,-0.989963,-0.136035],[-0.326107,-0.141064,0.934749]]
2025-10-26T19:40:10.438Z,1761507610.438 [marl:UpdateRudder:B](INFO): Updating rudder angle  -6.875493 arcdeg 
2025-10-26T19:40:10.438Z,1761507610.438 [marl:UpdateRudder:B] Stopped
2025-10-26T19:40:10.438Z,1761507610.438 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:40:10.438Z,1761507610.438 [marl:UpdateRudder] Stopped
2025-10-26T19:40:10.438Z,1761507610.438 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:40:10.842Z,1761507610.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944271,0.013329,-0.328900],[0.034565,-0.989641,-0.139342],[-0.327350,-0.142945,0.934028]]
2025-10-26T19:40:10.908Z,1761507610.908 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:40:11.109Z,1761507611.109 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:40:10.2519

2025-10-26T19:40:11.109Z,1761507611.109 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:40:11.109Z,1761507611.109 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:40:11.164Z,1761507611.164 [DAT](INFO): entering command mode
2025-10-26T19:40:11.222Z,1761507611.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944412,0.018992,-0.328214],[0.029103,-0.989581,-0.141003],[-0.327473,-0.142717,0.934020]]
2025-10-26T19:40:11.360Z,1761507611.360 [DAT](INFO): DAT read: 

2025-10-26T19:40:11.361Z,1761507611.361 [DAT](INFO): DAT read: user:261>

2025-10-26T19:40:11.361Z,1761507611.361 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:40:11.361Z,1761507611.361 [DAT](INFO): setting remote address to 0
2025-10-26T19:40:11.612Z,1761507611.612 [DAT](INFO): DAT read: user:261>

2025-10-26T19:40:11.613Z,1761507611.613 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:40:11.613Z,1761507611.613 [DAT](INFO): set remote address to 0
2025-10-26T19:40:11.614Z,1761507611.614 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:40:11.614Z,1761507611.614 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:40:11.644Z,1761507611.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944863,0.026083,-0.326425],[0.021911,-0.989553,-0.142493],[-0.326732,-0.141789,0.934421]]
2025-10-26T19:40:11.865Z,1761507611.865 [DAT](INFO): DAT read: user:262>

2025-10-26T19:40:11.866Z,1761507611.866 [DAT](INFO): DAT read: Tx time:19:40:10.9531

2025-10-26T19:40:11.866Z,1761507611.866 [DAT](INFO): Ping request sent.
2025-10-26T19:40:11.866Z,1761507611.866 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:40:11.866Z,1761507611.866 [DAT](INFO): publishing transmit ping time
2025-10-26T19:40:11.867Z,1761507611.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952
2025-10-26T19:40:12.060Z,1761507612.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945513,0.033040,-0.323903],[0.013566,-0.989976,-0.140585],[-0.325301,-0.137319,0.935587]]
2025-10-26T19:40:12.117Z,1761507612.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250484
2025-10-26T19:40:12.368Z,1761507612.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502310
2025-10-26T19:40:12.446Z,1761507612.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946217,0.040939,-0.320931],[0.004686,-0.990124,-0.140119],[-0.323498,-0.134087,0.936680]]
2025-10-26T19:40:12.620Z,1761507612.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754469
2025-10-26T19:40:12.851Z,1761507612.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946904,0.050028,-0.317599],[-0.004880,-0.989943,-0.141386],[-0.321478,-0.132329,0.937625]]
2025-10-26T19:40:12.880Z,1761507612.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014475
2025-10-26T19:40:13.132Z,1761507613.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266322
2025-10-26T19:40:13.255Z,1761507613.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947350,0.059153,-0.314688],[-0.017033,-0.990706,-0.134950],[-0.319746,-0.122485,0.939553]]
2025-10-26T19:40:13.384Z,1761507613.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518376
2025-10-26T19:40:13.636Z,1761507613.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770388
2025-10-26T19:40:13.664Z,1761507613.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947425,0.069283,-0.312387],[-0.033872,-0.992508,-0.117394],[-0.318180,-0.100640,0.942673]]
2025-10-26T19:40:13.888Z,1761507613.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022376
2025-10-26T19:40:14.071Z,1761507614.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946970,0.081573,-0.310796],[-0.055142,-0.994146,-0.092914],[-0.316556,-0.070849,0.945924]]
2025-10-26T19:40:14.141Z,1761507614.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274499
2025-10-26T19:40:14.396Z,1761507614.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529585
2025-10-26T19:40:14.466Z,1761507614.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945877,0.096647,-0.309800],[-0.078897,-0.994467,-0.069353],[-0.314789,-0.041157,0.948269]]
2025-10-26T19:40:14.477Z,1761507614.477 [NAL9602](INFO): Powering up NAL9602
2025-10-26T19:40:14.645Z,1761507614.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778704
2025-10-26T19:40:14.870Z,1761507614.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943882,0.113640,-0.310117],[-0.103509,-0.993421,-0.048990],[-0.313644,-0.014141,0.949435]]
2025-10-26T19:40:14.896Z,1761507614.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030454
2025-10-26T19:40:15.148Z,1761507615.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282388
2025-10-26T19:40:15.276Z,1761507615.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940862,0.131835,-0.312088],[-0.128061,-0.991229,-0.032654],[-0.313655,0.009243,0.949492]]
2025-10-26T19:40:15.400Z,1761507615.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534435
2025-10-26T19:40:15.652Z,1761507615.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786334
2025-10-26T19:40:15.678Z,1761507615.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937027,0.148952,-0.315901],[-0.150410,-0.988423,-0.019910],[-0.315210,0.028859,0.948583]]
2025-10-26T19:40:15.904Z,1761507615.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038444
2025-10-26T19:40:16.082Z,1761507616.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932815,0.163227,-0.321267],[-0.169107,-0.985550,-0.009719],[-0.318211,0.045262,0.946939]]
2025-10-26T19:40:16.156Z,1761507616.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290478
2025-10-26T19:40:16.408Z,1761507616.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542360
2025-10-26T19:40:16.486Z,1761507616.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928136,0.177058,-0.327436],[-0.185594,-0.982612,-0.005261],[-0.322674,0.055887,0.944859]]
2025-10-26T19:40:16.661Z,1761507616.661 [DAT](INFO): DAT read: Rx Time:19:40:15.1861

2025-10-26T19:40:16.661Z,1761507616.661 [DAT](INFO): Rx dataTimestamp_ set to:1761507616.660744
2025-10-26T19:40:16.662Z,1761507616.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795619
2025-10-26T19:40:16.892Z,1761507616.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923550,0.189564,-0.333347],[-0.199463,-0.979894,-0.004615],[-0.327520,0.062228,0.942793]]
2025-10-26T19:40:16.912Z,1761507616.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046435
2025-10-26T19:40:17.170Z,1761507617.170 [DAT](INFO): DAT read: 19:40:15.1861 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 450, 0.14, 1.473,-3.119, 1.322, 1.881, PHS=-0.306, 1.328,-0.603, RAW= 338.2,  -4.7, CAL= 337.8,  -7.7, ROT= 172.2,   7.7

2025-10-26T19:40:17.171Z,1761507617.171 [DAT](INFO): got valid direction response:
 19:40:15.1861 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 450, 0.14, 1.473,-3.119, 1.322, 1.881, PHS=-0.306, 1.328,-0.603, RAW= 338.2,  -4.7, CAL= 337.8,  -7.7, ROT= 172.2,   7.7

2025-10-26T19:40:17.172Z,1761507617.172 [DAT](INFO): DAT read: $Error in header

2025-10-26T19:40:17.172Z,1761507617.172 [DAT](INFO): Received a bad header
2025-10-26T19:40:17.183Z,1761507617.183 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T19:40:17.184Z,1761507617.184 [DAT](INFO): direction in FSK: [-0.981814,0.134492,-0.133986]
2025-10-26T19:40:17.294Z,1761507617.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919305,0.202301,-0.337569],[-0.211874,-0.977259,-0.008662],[-0.331644,0.063559,0.941261]]
2025-10-26T19:40:17.330Z,1761507617.330 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507584.00. Resetting abort timer.
2025-10-26T19:40:17.705Z,1761507617.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915696,0.215317,-0.339322],[-0.223247,-0.974631,-0.015996],[-0.334158,0.061105,0.940534]]
2025-10-26T19:40:18.106Z,1761507618.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912853,0.227514,-0.339023],[-0.233736,-0.972029,-0.022958],[-0.334764,0.058285,0.940498]]
2025-10-26T19:40:18.507Z,1761507618.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910264,0.239421,-0.337782],[-0.244696,-0.969208,-0.027565],[-0.333980,0.057562,0.940821]]
2025-10-26T19:40:18.910Z,1761507618.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907184,0.251699,-0.337143],[-0.256669,-0.966017,-0.030549],[-0.333375,0.058820,0.940958]]
2025-10-26T19:40:19.314Z,1761507619.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903186,0.265371,-0.337393],[-0.269759,-0.962301,-0.034748],[-0.333895,0.059631,0.940722]]
2025-10-26T19:40:19.726Z,1761507619.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898114,0.279497,-0.339518],[-0.283524,-0.958180,-0.038796],[-0.336163,0.061418,0.939799]]
2025-10-26T19:40:20.132Z,1761507620.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892182,0.293727,-0.343125],[-0.297070,-0.953837,-0.044087],[-0.340235,0.062598,0.938254]]
2025-10-26T19:40:20.539Z,1761507620.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885762,0.307345,-0.347801],[-0.309344,-0.949566,-0.051292],[-0.346024,0.062158,0.936164]]
2025-10-26T19:40:20.930Z,1761507620.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879078,0.319986,-0.353315],[-0.320047,-0.945499,-0.060004],[-0.353259,0.060329,0.933578]]
2025-10-26T19:40:21.196Z,1761507621.196 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:40:21.197Z,1761507621.197 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:40:21.334Z,1761507621.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872370,0.331774,-0.359022],[-0.329000,-0.941673,-0.070785],[-0.361566,0.056368,0.930641]]
2025-10-26T19:40:21.448Z,1761507621.448 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:40:21.750Z,1761507621.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865903,0.343235,-0.363870],[-0.336393,-0.937946,-0.084239],[-0.370204,0.049461,0.927633]]
2025-10-26T19:40:21.952Z,1761507621.952 [DAT](INFO): Reached modem response timeout
2025-10-26T19:40:22.145Z,1761507622.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859657,0.354983,-0.367392],[-0.343154,-0.933994,-0.099504],[-0.378464,0.040533,0.924728]]
2025-10-26T19:40:22.552Z,1761507622.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853402,0.368059,-0.369104],[-0.350879,-0.929284,-0.115389],[-0.385472,0.031038,0.922197]]
2025-10-26T19:40:22.950Z,1761507622.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846901,0.382769,-0.369116],[-0.360929,-0.923546,-0.129588],[-0.390498,0.023477,0.920304]]
2025-10-26T19:40:23.356Z,1761507623.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840133,0.398080,-0.368387],[-0.373424,-0.917123,-0.139425],[-0.393359,0.020429,0.919158]]
2025-10-26T19:40:23.378Z,1761507623.378 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:40:23.378Z,1761507623.378 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:40:23.379Z,1761507623.379 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:40:23.379Z,1761507623.379 [marl:UpdateRudder:A] Stopped
2025-10-26T19:40:23.379Z,1761507623.379 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:40:23.379Z,1761507623.379 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:40:23.379Z,1761507623.379 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateCommandMode] Stopped
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:40:23.380Z,1761507623.380 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:40:23.381Z,1761507623.381 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:40:23.381Z,1761507623.381 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:40:23.381Z,1761507623.381 [marl:UpdateSpeed] Stopped
2025-10-26T19:40:23.381Z,1761507623.381 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:40:23.758Z,1761507623.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832885,0.414044,-0.367248],[-0.388458,-0.909993,-0.144959],[-0.394212,0.021927,0.918758]]
2025-10-26T19:40:23.817Z,1761507623.817 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:40:23.817Z,1761507623.817 [marl:UpdateRudder:B] Stopped
2025-10-26T19:40:23.817Z,1761507623.817 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:40:23.817Z,1761507623.817 [marl:UpdateRudder] Stopped
2025-10-26T19:40:23.817Z,1761507623.817 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:40:24.220Z,1761507624.220 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:40:24.221Z,1761507624.221 [DAT](INFO): response not received
2025-10-26T19:40:24.221Z,1761507624.221 [DAT](ERROR): No response from remote modem.
2025-10-26T19:40:24.566Z,1761507624.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816089,0.445565,-0.368062],[-0.424405,-0.894327,-0.141632],[-0.392274,0.040623,0.918951]]
2025-10-26T19:40:25.006Z,1761507625.006 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,   0.06, 637.51,
2025-10-26T19:40:25.374Z,1761507625.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797176,0.475663,-0.371826],[-0.462370,-0.877012,-0.130628],[-0.388231,0.067788,0.919066]]
2025-10-26T19:40:25.377Z,1761507625.377 [NAL9602](INFO): NAL9602 initialized
2025-10-26T19:40:26.189Z,1761507626.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777141,0.510632,-0.367841],[-0.500527,-0.855818,-0.130567],[-0.381476,0.082645,0.920677]]
2025-10-26T19:40:26.586Z,1761507626.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767919,0.530005,-0.359716],[-0.517217,-0.844342,-0.139902],[-0.377872,0.078618,0.922514]]
2025-10-26T19:40:27.394Z,1761507627.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759314,0.559427,-0.332392],[-0.531325,-0.827904,-0.179636],[-0.375682,0.040208,0.925876]]
2025-10-26T19:40:27.800Z,1761507627.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760826,0.567150,-0.315412],[-0.527660,-0.823575,-0.208085],[-0.377780,0.008114,0.925860]]
2025-10-26T19:40:28.606Z,1761507628.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768695,0.575826,-0.278445],[-0.511087,-0.814719,-0.273903],[-0.384575,-0.068238,0.920568]]
2025-10-26T19:40:29.017Z,1761507629.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772861,0.579571,-0.258425],[-0.503309,-0.807880,-0.306611],[-0.386479,-0.106900,0.916082]]
2025-10-26T19:40:29.415Z,1761507629.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776623,0.583686,-0.236998],[-0.498411,-0.799388,-0.335506],[-0.385284,-0.142439,0.911739]]
2025-10-26T19:40:29.818Z,1761507629.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779173,0.589187,-0.213890],[-0.498225,-0.789218,-0.359035],[-0.380344,-0.173185,0.908485]]
2025-10-26T19:40:30.222Z,1761507630.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778571,0.597193,-0.192841],[-0.503830,-0.778030,-0.375266],[-0.374143,-0.195012,0.906635]]
2025-10-26T19:40:30.626Z,1761507630.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773179,0.607612,-0.181663],[-0.513767,-0.768056,-0.382274],[-0.371802,-0.202234,0.906016]]
2025-10-26T19:40:31.434Z,1761507631.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762746,0.616687,-0.194720],[-0.525957,-0.766744,-0.368065],[-0.376282,-0.178326,0.909182]]
2025-10-26T19:40:31.838Z,1761507631.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764269,0.610575,-0.207583],[-0.526456,-0.776611,-0.346004],[-0.372473,-0.155157,0.914981]]
2025-10-26T19:40:32.242Z,1761507632.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765722,0.606053,-0.215338],[-0.527957,-0.783493,-0.327720],[-0.367331,-0.137253,0.919907]]
2025-10-26T19:40:32.647Z,1761507632.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766906,0.602794,-0.220217],[-0.527692,-0.787595,-0.318174],[-0.365235,-0.127803,0.922101]]
2025-10-26T19:40:33.051Z,1761507633.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768544,0.598137,-0.227093],[-0.522141,-0.791497,-0.317649],[-0.369742,-0.125553,0.920613]]
2025-10-26T19:40:33.454Z,1761507633.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771071,0.593080,-0.231743],[-0.513801,-0.794490,-0.323719],[-0.376109,-0.130541,0.917334]]
2025-10-26T19:40:33.858Z,1761507633.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773979,0.590956,-0.227436],[-0.508022,-0.793926,-0.334060],[-0.377982,-0.143013,0.914700]]
2025-10-26T19:40:34.666Z,1761507634.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782687,0.593166,-0.188560],[-0.510614,-0.785157,-0.350432],[-0.355913,-0.177997,0.917411]]
2025-10-26T19:40:35.100Z,1761507635.100 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050223285291,35.0, +13.1,   0.0,1500

2025-10-26T19:40:35.475Z,1761507635.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779807,0.609258,-0.143897],[-0.534857,-0.767856,-0.352597],[-0.325315,-0.197993,0.924645]]
2025-10-26T19:40:35.880Z,1761507635.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770349,0.622105,-0.139816],[-0.551445,-0.760104,-0.343729],[-0.320110,-0.187690,0.928602]]
2025-10-26T19:40:36.282Z,1761507636.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763281,0.627602,-0.153357],[-0.561310,-0.761725,-0.323583],[-0.319897,-0.160904,0.933689]]
2025-10-26T19:40:36.360Z,1761507636.360 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:40:36.360Z,1761507636.360 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:40:36.360Z,1761507636.360 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateRudder:A] Stopped
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode] Stopped
2025-10-26T19:40:36.361Z,1761507636.361 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed] Stopped
2025-10-26T19:40:36.362Z,1761507636.362 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:40:36.472Z,1761507636.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:40:36.686Z,1761507636.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764049,0.619903,-0.178743],[-0.555536,-0.773027,-0.306282],[-0.328038,-0.134716,0.935009]]
2025-10-26T19:40:36.749Z,1761507636.749 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:40:36.749Z,1761507636.749 [marl:UpdateRudder:B] Stopped
2025-10-26T19:40:36.749Z,1761507636.749 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:40:36.749Z,1761507636.749 [marl:UpdateRudder] Stopped
2025-10-26T19:40:36.749Z,1761507636.749 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:40:37.173Z,1761507637.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768151,0.610586,-0.192689],[-0.544550,-0.781318,-0.304973],[-0.336764,-0.129337,0.932664]]
2025-10-26T19:40:37.476Z,1761507637.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:40:37.575Z,1761507637.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769552,0.611463,-0.184127],[-0.542309,-0.778021,-0.317152],[-0.337181,-0.144211,0.930329]]
2025-10-26T19:40:37.978Z,1761507637.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768253,0.618674,-0.164411],[-0.549958,-0.769319,-0.325107],[-0.327620,-0.159345,0.931276]]
2025-10-26T19:40:38.384Z,1761507638.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763586,0.629801,-0.142436],[-0.564253,-0.758073,-0.327022],[-0.313936,-0.169340,0.934221]]
2025-10-26T19:40:38.415Z,1761507638.415 [marl:NeedComms:C] Running Loop=1
2025-10-26T19:40:38.808Z,1761507638.808 [Radio_Surface](INFO): Powering up
2025-10-26T19:40:38.862Z,1761507638.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754129,0.644739,-0.124904],[-0.585513,-0.746218,-0.316754],[-0.297429,-0.165741,0.940248]]
2025-10-26T19:40:39.238Z,1761507639.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751706,0.645516,-0.135084],[-0.589730,-0.749622,-0.300476],[-0.295224,-0.146206,0.944175]]
2025-10-26T19:40:39.639Z,1761507639.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749888,0.641024,-0.163575],[-0.589887,-0.759816,-0.273337],[-0.299503,-0.108481,0.947908]]
2025-10-26T19:40:40.040Z,1761507640.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764516,0.625126,-0.157270],[-0.582517,-0.774473,-0.246710],[-0.276026,-0.097001,0.956243]]
2025-10-26T19:40:40.442Z,1761507640.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789576,0.607286,-0.088170],[-0.578245,-0.784397,-0.224399],[-0.205435,-0.126196,0.970500]]
2025-10-26T19:40:40.889Z,1761507640.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804262,0.594264,-0.003631],[-0.582977,-0.790143,-0.189240],[-0.115328,-0.150081,0.981924]]
2025-10-26T19:40:40.940Z,1761507640.940 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:40:41.108Z,1761507641.108 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:40:41.108Z,1761507641.108 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:40:41.266Z,1761507641.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799929,0.599651,0.023074],[-0.595946,-0.789298,-0.147844],[-0.070443,-0.132016,0.988742]]
2025-10-26T19:40:41.361Z,1761507641.361 [DAT](INFO): DAT read: 

2025-10-26T19:40:41.361Z,1761507641.361 [DAT](INFO): DAT read: Tx time:19:40:40.4529

2025-10-26T19:40:41.362Z,1761507641.362 [DAT](INFO): Ping request sent.
2025-10-26T19:40:41.362Z,1761507641.362 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:40:41.362Z,1761507641.362 [DAT](INFO): publishing transmit ping time
2025-10-26T19:40:41.363Z,1761507641.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000895
2025-10-26T19:40:41.612Z,1761507641.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250467
2025-10-26T19:40:41.669Z,1761507641.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797926,0.602427,0.019894],[-0.600891,-0.792430,-0.104810],[-0.047376,-0.095585,0.994293]]
2025-10-26T19:40:41.864Z,1761507641.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502381
2025-10-26T19:40:42.078Z,1761507642.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802458,0.595588,0.036540],[-0.596675,-0.800269,-0.059562],[-0.006232,-0.069599,0.997556]]
2025-10-26T19:40:42.116Z,1761507642.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754497
2025-10-26T19:40:42.368Z,1761507642.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006386
2025-10-26T19:40:42.477Z,1761507642.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809895,0.583167,0.063136],[-0.586249,-0.808332,-0.053965],[0.019564,-0.080719,0.996545]]
2025-10-26T19:40:42.620Z,1761507642.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258376
2025-10-26T19:40:42.872Z,1761507642.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510389
2025-10-26T19:40:42.881Z,1761507642.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812888,0.579898,0.054145],[-0.582109,-0.805899,-0.108053],[-0.019024,-0.119353,0.992670]]
2025-10-26T19:40:43.124Z,1761507643.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762480
2025-10-26T19:40:43.290Z,1761507643.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809465,0.586203,0.033663],[-0.585393,-0.801234,-0.123849],[-0.045629,-0.119958,0.991730]]
2025-10-26T19:40:43.376Z,1761507643.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014473
2025-10-26T19:40:43.630Z,1761507643.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267751
2025-10-26T19:40:43.700Z,1761507643.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802261,0.595154,0.046584],[-0.596700,-0.797084,-0.092766],[-0.018078,-0.102220,0.994598]]
2025-10-26T19:40:43.880Z,1761507643.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518463
2025-10-26T19:40:44.060Z,1761507644.060 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T19:40:44.060Z,1761507644.060 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T19:40:44.122Z,1761507644.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796106,0.603717,0.041723],[-0.605046,-0.792746,-0.073981],[-0.011588,-0.084140,0.996387]]
2025-10-26T19:40:44.132Z,1761507644.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770545
2025-10-26T19:40:44.243Z,1761507644.243 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:40:44.243Z,1761507644.243 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:40:44.385Z,1761507644.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023040
2025-10-26T19:40:44.502Z,1761507644.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793460,0.607733,0.032882],[-0.608230,-0.789851,-0.078687],[-0.021849,-0.082435,0.996357]]
2025-10-26T19:40:44.636Z,1761507644.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274456
2025-10-26T19:40:44.893Z,1761507644.893 [DAT](INFO): DAT read: Rx Time:19:40:43.3931

2025-10-26T19:40:44.893Z,1761507644.893 [DAT](INFO): Rx dataTimestamp_ set to:1761507644.892955
2025-10-26T19:40:44.894Z,1761507644.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531851
2025-10-26T19:40:44.922Z,1761507644.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795084,0.605940,0.026034],[-0.605580,-0.790785,-0.089058],[-0.033376,-0.086575,0.995686]]
2025-10-26T19:40:45.144Z,1761507645.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782396
2025-10-26T19:40:45.322Z,1761507645.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796541,0.604420,0.014103],[-0.602822,-0.792223,-0.094802],[-0.046127,-0.084015,0.995396]]
2025-10-26T19:40:45.397Z,1761507645.397 [DAT](INFO): DAT read: Bearing 350, -10 (Remote)

2025-10-26T19:40:45.397Z,1761507645.397 [DAT](INFO): Remote Bearing received:Bearing 350, -10 (Remote)

2025-10-26T19:40:45.398Z,1761507645.398 [DAT](INFO): DAT read: Range 11 to 20 : 683.3 m  (Round-trip  911.1 ms) speed -0.4 m/s

2025-10-26T19:40:45.399Z,1761507645.399 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T19:40:45.735Z,1761507645.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800818,0.598500,0.022094],[-0.597398,-0.795638,-0.100382],[-0.042500,-0.093586,0.994704]]
2025-10-26T19:40:45.798Z,1761507645.798 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507584.00. Resetting abort timer.
2025-10-26T19:40:46.121Z,1761507646.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812912,0.580886,0.041787],[-0.581179,-0.804514,-0.122427],[-0.037498,-0.123808,0.991598]]
2025-10-26T19:40:46.531Z,1761507646.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829585,0.556958,0.039833],[-0.555967,-0.817268,-0.151574],[-0.051866,-0.147889,0.987643]]
2025-10-26T19:40:47.330Z,1761507647.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826128,0.562708,0.029539],[-0.563402,-0.823990,-0.060157],[-0.009511,-0.066340,0.997752]]
2025-10-26T19:40:47.736Z,1761507647.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821611,0.567568,0.053111],[-0.566923,-0.823295,0.027973],[0.059603,-0.007127,0.998197]]
2025-10-26T19:40:48.134Z,1761507648.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815681,0.576167,0.051918],[-0.574642,-0.817319,0.042137],[0.066712,0.004536,0.997762]]
2025-10-26T19:40:48.538Z,1761507648.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821922,0.566027,0.063698],[-0.567187,-0.823589,-0.000162],[0.052369,-0.036261,0.997969]]
2025-10-26T19:40:48.942Z,1761507648.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831164,0.544696,0.111678],[-0.553170,-0.830378,-0.066902],[0.056294,-0.117384,0.991490]]
2025-10-26T19:40:49.348Z,1761507649.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841000,0.515867,0.163096],[-0.535436,-0.836837,-0.114075],[0.077637,-0.183264,0.979993]]
2025-10-26T19:40:49.409Z,1761507649.409 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateRudder:A] Stopped
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:40:49.410Z,1761507649.410 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:40:49.411Z,1761507649.411 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:40:49.411Z,1761507649.411 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:40:49.411Z,1761507649.411 [marl:UpdateCommandMode] Stopped
2025-10-26T19:40:49.411Z,1761507649.411 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:40:49.411Z,1761507649.411 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:40:49.415Z,1761507649.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:40:49.415Z,1761507649.415 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:40:49.416Z,1761507649.416 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:40:49.416Z,1761507649.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:40:49.416Z,1761507649.416 [marl:UpdateSpeed] Stopped
2025-10-26T19:40:49.416Z,1761507649.416 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:40:49.750Z,1761507649.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840750,0.509337,0.183617],[-0.533258,-0.837674,-0.118062],[0.093678,-0.197176,0.975882]]
2025-10-26T19:40:49.822Z,1761507649.822 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:40:49.822Z,1761507649.822 [marl:UpdateRudder:B] Stopped
2025-10-26T19:40:49.822Z,1761507649.822 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:40:49.822Z,1761507649.822 [marl:UpdateRudder] Stopped
2025-10-26T19:40:49.822Z,1761507649.822 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:40:50.152Z,1761507650.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826636,0.530055,0.188982],[-0.549779,-0.832351,-0.070250],[0.120063,-0.161970,0.979465]]
2025-10-26T19:40:50.556Z,1761507650.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803099,0.568653,0.177946],[-0.578488,-0.815680,-0.004185],[0.142767,-0.106300,0.984031]]
2025-10-26T19:40:51.373Z,1761507651.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793173,0.597301,0.118778],[-0.596308,-0.801338,0.047693],[0.123668,-0.033000,0.991775]]
2025-10-26T19:40:51.769Z,1761507651.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794646,0.593629,0.127055],[-0.595858,-0.802736,0.023852],[0.116151,-0.056753,0.991609]]
2025-10-26T19:40:52.172Z,1761507652.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796799,0.591731,0.122333],[-0.598045,-0.801220,-0.019739],[0.086335,-0.088888,0.992293]]
2025-10-26T19:40:52.576Z,1761507652.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802236,0.585912,0.114563],[-0.594031,-0.802539,-0.055307],[0.059536,-0.112423,0.991875]]
2025-10-26T19:40:52.993Z,1761507652.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807414,0.576310,0.126292],[-0.586323,-0.807618,-0.063079],[0.065642,-0.124978,0.989986]]
2025-10-26T19:40:53.387Z,1761507653.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810718,0.566419,0.148008],[-0.578194,-0.814322,-0.050711],[0.091803,-0.126689,0.987685]]
2025-10-26T19:40:53.788Z,1761507653.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809093,0.561880,0.172221],[-0.575494,-0.816900,-0.038489],[0.119062,-0.130253,0.984306]]
2025-10-26T19:40:54.197Z,1761507654.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802426,0.564939,0.192241],[-0.579728,-0.814376,-0.026614],[0.141521,-0.132803,0.980987]]
2025-10-26T19:40:54.626Z,1761507654.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794164,0.574889,0.196996],[-0.588507,-0.808381,-0.013409],[0.151539,-0.126582,0.980313]]
2025-10-26T19:40:55.017Z,1761507655.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788718,0.591330,0.168089],[-0.601822,-0.798492,-0.014849],[0.125437,-0.112872,0.985660]]
2025-10-26T19:40:55.055Z,1761507655.055 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,+7.40,     +3444.71,    ,  20.00,  0.00
2025-10-26T19:40:55.415Z,1761507655.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787082,0.605595,0.117288],[-0.609414,-0.792841,0.004110],[0.095479,-0.068242,0.993089]]
2025-10-26T19:40:55.809Z,1761507655.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789839,0.605880,0.095208],[-0.603838,-0.795391,0.052275],[0.107400,-0.016201,0.994084]]
2025-10-26T19:40:56.217Z,1761507656.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796672,0.595762,0.101888],[-0.591621,-0.803150,0.070252],[0.123684,-0.004311,0.992312]]
2025-10-26T19:40:56.616Z,1761507656.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796688,0.593095,0.116301],[-0.594025,-0.803876,0.030294],[0.111459,-0.044951,0.992752]]
2025-10-26T19:40:57.021Z,1761507657.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797160,0.589997,0.128216],[-0.597101,-0.801847,-0.022604],[0.089474,-0.094577,0.991489]]
2025-10-26T19:40:57.437Z,1761507657.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802825,0.579043,0.142060],[-0.589537,-0.806531,-0.044199],[0.088983,-0.119233,0.988871]]
2025-10-26T19:40:57.836Z,1761507657.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809895,0.565319,0.156474],[-0.575524,-0.817379,-0.025781],[0.113324,-0.110934,0.987346]]
2025-10-26T19:40:58.267Z,1761507658.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810983,0.559118,0.172317],[-0.568195,-0.822883,-0.004108],[0.139500,-0.101241,0.985033]]
2025-10-26T19:40:58.636Z,1761507658.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807510,0.562308,0.178150],[-0.572041,-0.820215,-0.004017],[0.143862,-0.105153,0.983995]]
2025-10-26T19:40:59.051Z,1761507659.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802981,0.570295,0.173162],[-0.579834,-0.814715,-0.005586],[0.137892,-0.104891,0.984878]]
2025-10-26T19:40:59.465Z,1761507659.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802744,0.572852,0.165661],[-0.579996,-0.814595,0.006360],[0.138590,-0.090977,0.986162]]
2025-10-26T19:40:59.882Z,1761507659.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811062,0.562269,0.161343],[-0.567867,-0.823010,0.013501],[0.140378,-0.080672,0.986806]]
2025-10-26T19:41:00.262Z,1761507660.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814385,0.556002,0.166250],[-0.562499,-0.826743,0.009500],[0.142728,-0.085779,0.986038]]
2025-10-26T19:41:00.665Z,1761507660.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811893,0.552980,0.187200],[-0.562375,-0.826875,0.003508],[0.156730,-0.102428,0.982316]]
2025-10-26T19:41:01.068Z,1761507661.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804580,0.557462,0.204664],[-0.567877,-0.823060,0.009389],[0.173685,-0.108670,0.978787]]
2025-10-26T19:41:01.485Z,1761507661.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800256,0.567315,0.194278],[-0.573985,-0.818463,0.025692],[0.173585,-0.090952,0.980610]]
2025-10-26T19:41:01.878Z,1761507661.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802843,0.573869,0.161607],[-0.576848,-0.816199,0.032631],[0.150629,-0.067025,0.986316]]
2025-10-26T19:41:02.274Z,1761507662.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809370,0.568312,0.148128],[-0.571101,-0.820429,0.027193],[0.136983,-0.062586,0.988594]]
2025-10-26T19:41:02.735Z,1761507662.735 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:41:02.735Z,1761507662.735 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:41:02.735Z,1761507662.735 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:41:02.736Z,1761507662.736 [marl:UpdateRudder:A] Stopped
2025-10-26T19:41:02.736Z,1761507662.736 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:41:02.736Z,1761507662.736 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:41:02.736Z,1761507662.736 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:41:02.736Z,1761507662.736 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:41:02.736Z,1761507662.736 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateCommandMode] Stopped
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:41:02.737Z,1761507662.737 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:41:02.738Z,1761507662.738 [marl:UpdateSpeed] Stopped
2025-10-26T19:41:02.738Z,1761507662.738 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:41:03.082Z,1761507663.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831663,0.521301,0.191265],[-0.528483,-0.848803,0.015488],[0.170421,-0.088200,0.981416]]
2025-10-26T19:41:03.143Z,1761507663.143 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:41:03.144Z,1761507663.144 [marl:UpdateRudder:B] Stopped
2025-10-26T19:41:03.144Z,1761507663.144 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:41:03.144Z,1761507663.144 [marl:UpdateRudder] Stopped
2025-10-26T19:41:03.144Z,1761507663.144 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:41:03.495Z,1761507663.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841303,0.498194,0.209789],[-0.511331,-0.859327,-0.009882],[0.175354,-0.115585,0.977697]]
2025-10-26T19:41:03.893Z,1761507663.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847828,0.482139,0.220749],[-0.501172,-0.864577,-0.036522],[0.173246,-0.141597,0.974647]]
2025-10-26T19:41:04.292Z,1761507664.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854172,0.464238,0.234251],[-0.488406,-0.870881,-0.055014],[0.178465,-0.161401,0.970618]]
2025-10-26T19:41:04.700Z,1761507664.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859053,0.439762,0.261988],[-0.469192,-0.881089,-0.059512],[0.204664,-0.174047,0.963234]]
2025-10-26T19:41:05.100Z,1761507665.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857999,0.418787,0.297413],[-0.451894,-0.890700,-0.049462],[0.244192,-0.176838,0.953467]]
2025-10-26T19:41:05.113Z,1761507665.113 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -537,  -32,A
2025-10-26T19:41:05.511Z,1761507665.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851741,0.416120,0.318405],[-0.451650,-0.891131,-0.043566],[0.265612,-0.180914,0.946953]]
2025-10-26T19:41:05.913Z,1761507665.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845420,0.433727,0.311682],[-0.467591,-0.883063,-0.039474],[0.258114,-0.179112,0.949366]]
2025-10-26T19:41:06.312Z,1761507666.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839398,0.461283,0.287451],[-0.481975,-0.876184,-0.001392],[0.251218,-0.139712,0.957794]]
2025-10-26T19:41:06.721Z,1761507666.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832215,0.484808,0.269035],[-0.485857,-0.871433,0.067427],[0.267135,-0.074598,0.960767]]
2025-10-26T19:41:07.121Z,1761507667.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824055,0.500320,0.265731],[-0.485458,-0.865425,0.123980],[0.291999,-0.026835,0.956042]]
2025-10-26T19:41:07.532Z,1761507667.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818678,0.510580,0.262818],[-0.490040,-0.859759,0.143791],[0.299377,-0.011073,0.954071]]
2025-10-26T19:41:07.596Z,1761507667.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:41:07.928Z,1761507667.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816345,0.521617,0.247984],[-0.502249,-0.853129,0.141128],[0.285177,-0.009340,0.958429]]
2025-10-26T19:41:08.337Z,1761507668.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814203,0.531731,0.233100],[-0.514158,-0.846864,0.135881],[0.269656,-0.009216,0.962913]]
2025-10-26T19:41:08.600Z,1761507668.600 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T19:41:08.600Z,1761507668.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:41:08.760Z,1761507668.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819193,0.523473,0.234305],[-0.507945,-0.851916,0.127398],[0.266298,-0.014650,0.963779]]
2025-10-26T19:41:09.150Z,1761507669.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829521,0.498301,0.252172],[-0.490714,-0.865918,0.096882],[0.266637,-0.043378,0.962820]]
2025-10-26T19:41:09.546Z,1761507669.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838909,0.463302,0.285627],[-0.469368,-0.881512,0.051288],[0.275546,-0.091038,0.956967]]
2025-10-26T19:41:09.966Z,1761507669.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837219,0.439327,0.325664],[-0.460539,-0.887539,0.013352],[0.294905,-0.138802,0.945391]]
2025-10-26T19:41:10.361Z,1761507670.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830030,0.432554,0.352061],[-0.463259,-0.886217,-0.003357],[0.310550,-0.165882,0.935971]]
2025-10-26T19:41:10.760Z,1761507670.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826106,0.432325,0.361448],[-0.459046,-0.888312,0.013332],[0.326842,-0.154908,0.932297]]
2025-10-26T19:41:11.160Z,1761507671.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821366,0.437966,0.365435],[-0.450581,-0.891031,0.055138],[0.349763,-0.119370,0.929202]]
2025-10-26T19:41:11.232Z,1761507671.232 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:41:11.368Z,1761507671.368 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:41:11.368Z,1761507671.368 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:41:11.577Z,1761507671.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815525,0.453573,0.359431],[-0.455182,-0.886272,0.085627],[0.357392,-0.093776,0.929235]]
2025-10-26T19:41:11.637Z,1761507671.637 [DAT](INFO): DAT read: user:264>

2025-10-26T19:41:11.638Z,1761507671.638 [DAT](INFO): DAT read: Tx time:19:41:10.7027

2025-10-26T19:41:11.638Z,1761507671.638 [DAT](INFO): Ping request sent.
2025-10-26T19:41:11.638Z,1761507671.638 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:41:11.639Z,1761507671.639 [DAT](INFO): publishing transmit ping time
2025-10-26T19:41:11.640Z,1761507671.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001054
2025-10-26T19:41:11.889Z,1761507671.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250068
2025-10-26T19:41:11.980Z,1761507671.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808801,0.480850,0.338562],[-0.476447,-0.873259,0.102065],[0.344730,-0.078756,0.935392]]
2025-10-26T19:41:12.141Z,1761507672.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502203
2025-10-26T19:41:12.392Z,1761507672.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753764
2025-10-26T19:41:12.408Z,1761507672.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795640,0.517176,0.315414],[-0.502649,-0.854241,0.132730],[0.338084,-0.052937,0.939626]]
2025-10-26T19:41:12.644Z,1761507672.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005904
2025-10-26T19:41:12.797Z,1761507672.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784234,0.548662,0.289738],[-0.518813,-0.835983,0.178787],[0.340309,-0.010109,0.940259]]
2025-10-26T19:41:12.896Z,1761507672.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258001
2025-10-26T19:41:13.148Z,1761507673.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509822
2025-10-26T19:41:13.195Z,1761507673.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787260,0.558922,0.260437],[-0.520020,-0.828771,0.206681],[0.331361,0.027280,0.943110]]
2025-10-26T19:41:13.400Z,1761507673.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761922
2025-10-26T19:41:13.598Z,1761507673.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795685,0.550541,0.252569],[-0.514052,-0.834317,0.199163],[0.320370,0.028637,0.946859]]
2025-10-26T19:41:13.665Z,1761507673.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026634
2025-10-26T19:41:13.917Z,1761507673.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278523
2025-10-26T19:41:14.006Z,1761507674.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802109,0.529335,0.276451],[-0.503758,-0.848368,0.162783],[0.320699,-0.008694,0.947141]]
2025-10-26T19:41:14.168Z,1761507674.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529934
2025-10-26T19:41:14.402Z,1761507674.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812146,0.490490,0.315971],[-0.483578,-0.868879,0.105836],[0.326452,-0.066842,0.942847]]
2025-10-26T19:41:14.420Z,1761507674.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781975
2025-10-26T19:41:14.672Z,1761507674.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033865
2025-10-26T19:41:14.869Z,1761507674.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828512,0.384928,0.406693],[-0.432593,-0.901143,-0.028358],[0.355573,-0.199427,0.913125]]
2025-10-26T19:41:14.926Z,1761507674.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287127
2025-10-26T19:41:15.176Z,1761507675.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537813
2025-10-26T19:41:15.430Z,1761507675.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790838
2025-10-26T19:41:15.615Z,1761507675.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825720,0.351429,0.441230],[-0.419354,-0.905600,-0.063494],[0.377264,-0.237460,0.895145]]
2025-10-26T19:41:15.673Z,1761507675.673 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:41:15.673Z,1761507675.673 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:41:15.673Z,1761507675.673 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:41:15.673Z,1761507675.673 [marl:UpdateRudder:A] Stopped
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode] Stopped
2025-10-26T19:41:15.674Z,1761507675.674 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:41:15.675Z,1761507675.675 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:41:15.675Z,1761507675.675 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:41:15.675Z,1761507675.675 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:41:15.675Z,1761507675.675 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:41:15.675Z,1761507675.675 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:41:15.675Z,1761507675.675 [marl:UpdateSpeed] Stopped
2025-10-26T19:41:15.676Z,1761507675.676 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:41:15.680Z,1761507675.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042033
2025-10-26T19:41:15.933Z,1761507675.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294994
2025-10-26T19:41:16.012Z,1761507676.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822218,0.341835,0.455090],[-0.412589,-0.908747,-0.062837],[0.392082,-0.239431,0.888226]]
2025-10-26T19:41:16.089Z,1761507676.089 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:41:16.089Z,1761507676.089 [marl:UpdateRudder:B] Stopped
2025-10-26T19:41:16.089Z,1761507676.089 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:41:16.089Z,1761507676.089 [marl:UpdateRudder] Stopped
2025-10-26T19:41:16.089Z,1761507676.089 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:41:16.184Z,1761507676.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545855
2025-10-26T19:41:16.413Z,1761507676.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818724,0.352981,0.452875],[-0.414148,-0.909332,-0.039958],[0.397709,-0.220272,0.890678]]
2025-10-26T19:41:16.437Z,1761507676.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798333
2025-10-26T19:41:16.688Z,1761507676.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049790
2025-10-26T19:41:16.843Z,1761507676.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815377,0.375834,0.440351],[-0.419141,-0.907920,-0.001206],[0.399351,-0.185553,0.897825]]
2025-10-26T19:41:16.941Z,1761507676.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302711
2025-10-26T19:41:17.192Z,1761507677.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553933
2025-10-26T19:41:17.228Z,1761507677.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814133,0.399878,0.421052],[-0.417172,-0.907167,0.054915],[0.403924,-0.130943,0.905373]]
2025-10-26T19:41:17.445Z,1761507677.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806364
2025-10-26T19:41:17.633Z,1761507677.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814204,0.424018,0.396586],[-0.415776,-0.902613,0.111446],[0.405219,-0.074151,0.911207]]
2025-10-26T19:41:17.697Z,1761507677.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.059013
2025-10-26T19:41:17.949Z,1761507677.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310256
2025-10-26T19:41:18.029Z,1761507678.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814468,0.447449,0.369367],[-0.422602,-0.893689,0.150757],[0.397555,-0.033309,0.916974]]
2025-10-26T19:41:18.200Z,1761507678.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561864
2025-10-26T19:41:18.441Z,1761507678.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810959,0.470605,0.347672],[-0.442444,-0.882057,0.161923],[0.382869,-0.022512,0.923528]]
2025-10-26T19:41:18.452Z,1761507678.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813946
2025-10-26T19:41:18.705Z,1761507678.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066356
2025-10-26T19:41:18.848Z,1761507678.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810588,0.480944,0.334125],[-0.455498,-0.876384,0.156438],[0.368059,-0.025386,0.929456]]
2025-10-26T19:41:18.957Z,1761507678.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318184
2025-10-26T19:41:19.208Z,1761507679.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569818
2025-10-26T19:41:19.242Z,1761507679.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812521,0.483164,0.326132],[-0.458105,-0.875223,0.155322],[0.360484,-0.023200,0.932477]]
2025-10-26T19:41:19.460Z,1761507679.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821928
2025-10-26T19:41:19.645Z,1761507679.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814210,0.476818,0.331219],[-0.452188,-0.878648,0.153312],[0.364127,-0.024945,0.931015]]
2025-10-26T19:41:19.713Z,1761507679.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074415
2025-10-26T19:41:19.965Z,1761507679.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326457
2025-10-26T19:41:20.048Z,1761507680.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814674,0.461623,0.351013],[-0.444456,-0.885812,0.133397],[0.372511,-0.047335,0.926820]]
2025-10-26T19:41:20.216Z,1761507680.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577917
2025-10-26T19:41:20.457Z,1761507680.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816154,0.436124,0.379062],[-0.432186,-0.896163,0.100531],[0.383546,-0.081777,0.919894]]
2025-10-26T19:41:20.470Z,1761507680.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831071
2025-10-26T19:41:20.721Z,1761507680.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082194
2025-10-26T19:41:20.856Z,1761507680.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819901,0.410240,0.399332],[-0.419076,-0.905282,0.069571],[0.390049,-0.110309,0.914163]]
2025-10-26T19:41:20.972Z,1761507680.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333990
2025-10-26T19:41:21.224Z,1761507681.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585844
2025-10-26T19:41:21.382Z,1761507681.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801327,0.445873,0.398839],[-0.448165,-0.889051,0.093465],[0.396261,-0.103850,0.912246]]
2025-10-26T19:41:21.476Z,1761507681.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837933
2025-10-26T19:41:21.729Z,1761507681.729 [DAT](INFO): Reached modem response timeout
2025-10-26T19:41:22.075Z,1761507682.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817936,0.486393,0.307250],[-0.440677,-0.873020,0.208903],[0.369844,0.035471,0.928416]]
2025-10-26T19:41:22.479Z,1761507682.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829249,0.477612,0.290230],[-0.438119,-0.877955,0.192994],[0.346985,0.032885,0.937294]]
2025-10-26T19:41:22.885Z,1761507682.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831449,0.453760,0.320616],[-0.434372,-0.890692,0.134122],[0.346429,-0.027751,0.937666]]
2025-10-26T19:41:23.302Z,1761507683.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833135,0.420471,0.359292],[-0.426254,-0.902097,0.067296],[0.352413,-0.097083,0.930796]]
2025-10-26T19:41:23.720Z,1761507683.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834167,0.399671,0.380037],[-0.421027,-0.906575,0.029272],[0.356232,-0.135588,0.924508]]
2025-10-26T19:41:23.996Z,1761507683.996 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:41:23.997Z,1761507683.997 [DAT](INFO): response not received
2025-10-26T19:41:23.997Z,1761507683.997 [DAT](ERROR): No response from remote modem.
2025-10-26T19:41:24.091Z,1761507684.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828751,0.409298,0.381638],[-0.430667,-0.901940,0.032091],[0.357349,-0.137763,0.923755]]
2025-10-26T19:41:24.493Z,1761507684.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819288,0.446642,0.359553],[-0.456616,-0.887500,0.062009],[0.346799,-0.113374,0.931062]]
2025-10-26T19:41:24.901Z,1761507684.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818208,0.485894,0.307315],[-0.478511,-0.871846,0.104463],[0.318689,-0.061581,0.945857]]
2025-10-26T19:41:25.301Z,1761507685.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832049,0.498009,0.244297],[-0.482147,-0.867068,0.125410],[0.274277,-0.013440,0.961557]]
2025-10-26T19:41:25.710Z,1761507685.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851808,0.477002,0.216548],[-0.468807,-0.878579,0.091206],[0.233760,-0.023829,0.972002]]
2025-10-26T19:41:26.114Z,1761507686.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861722,0.443731,0.246044],[-0.454051,-0.890826,0.016345],[0.226435,-0.097631,0.969121]]
2025-10-26T19:41:26.521Z,1761507686.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858414,0.417378,0.298195],[-0.452029,-0.890298,-0.055123],[0.242475,-0.182111,0.952912]]
2025-10-26T19:41:26.946Z,1761507686.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852413,0.408876,0.325901],[-0.456990,-0.885460,-0.084385],[0.254069,-0.220864,0.941630]]
2025-10-26T19:41:27.320Z,1761507687.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857468,0.416851,0.301636],[-0.455577,-0.887557,-0.068503],[0.239164,-0.196157,0.950959]]
2025-10-26T19:41:27.740Z,1761507687.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865684,0.431503,0.253766],[-0.449300,-0.893274,-0.013799],[0.220728,-0.125962,0.967167]]
2025-10-26T19:41:28.142Z,1761507688.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869323,0.440438,0.224256],[-0.441485,-0.895969,0.048274],[0.222188,-0.057040,0.973334]]
2025-10-26T19:41:28.543Z,1761507688.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875576,0.435444,0.209178],[-0.431308,-0.899677,0.067486],[0.217579,-0.031131,0.975546]]
2025-10-26T19:41:29.019Z,1761507689.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882325,0.421001,0.210382],[-0.423420,-0.905230,0.035690],[0.205470,-0.057590,0.976968]]
2025-10-26T19:41:29.074Z,1761507689.074 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:41:29.075Z,1761507689.075 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:41:29.075Z,1761507689.075 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:41:29.075Z,1761507689.075 [marl:UpdateRudder:A] Stopped
2025-10-26T19:41:29.075Z,1761507689.075 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:41:29.075Z,1761507689.075 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:41:29.075Z,1761507689.075 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateCommandMode] Stopped
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:41:29.076Z,1761507689.076 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:41:29.077Z,1761507689.077 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:41:29.077Z,1761507689.077 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:41:29.077Z,1761507689.077 [marl:UpdateSpeed] Stopped
2025-10-26T19:41:29.077Z,1761507689.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:41:29.350Z,1761507689.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879789,0.418056,0.226276],[-0.431020,-0.902299,-0.008818],[0.200482,-0.105287,0.974023]]
2025-10-26T19:41:29.378Z,1761507689.378 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:41:29.378Z,1761507689.378 [marl:UpdateRudder:B] Stopped
2025-10-26T19:41:29.378Z,1761507689.378 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:41:29.378Z,1761507689.378 [marl:UpdateRudder] Stopped
2025-10-26T19:41:29.379Z,1761507689.379 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:41:29.752Z,1761507689.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873389,0.434552,0.219898],[-0.452024,-0.891362,-0.033877],[0.181288,-0.128987,0.974934]]
2025-10-26T19:41:30.151Z,1761507690.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874120,0.454120,0.172306],[-0.465649,-0.884414,-0.031355],[0.138151,-0.107642,0.984544]]
2025-10-26T19:41:30.554Z,1761507690.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870666,0.472792,0.135675],[-0.476605,-0.879104,0.004934],[0.121605,-0.060368,0.990741]]
2025-10-26T19:41:30.957Z,1761507690.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861753,0.488345,0.137485],[-0.484345,-0.872570,0.063496],[0.150973,-0.011872,0.988467]]
2025-10-26T19:41:31.362Z,1761507691.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854900,0.499968,0.138485],[-0.493429,-0.866044,0.080598],[0.160230,0.000571,0.987079]]
2025-10-26T19:41:31.766Z,1761507691.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855225,0.505064,0.116190],[-0.504816,-0.862567,0.033742],[0.117264,-0.029798,0.992654]]
2025-10-26T19:41:32.169Z,1761507692.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862327,0.495675,0.103437],[-0.502566,-0.862765,-0.055349],[0.061807,-0.099713,0.993095]]
2025-10-26T19:41:32.573Z,1761507692.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876323,0.467119,0.117722],[-0.480358,-0.865737,-0.140552],[0.036262,-0.179718,0.983050]]
2025-10-26T19:41:32.976Z,1761507692.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888850,0.439158,0.130712],[-0.457123,-0.869449,-0.187342],[0.031374,-0.226270,0.973559]]
2025-10-26T19:41:33.380Z,1761507693.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884469,0.451026,0.119541],[-0.465707,-0.869147,-0.166433],[0.028833,-0.202876,0.978780]]
2025-10-26T19:41:33.785Z,1761507693.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869940,0.487731,0.072966],[-0.492343,-0.867447,-0.071650],[0.028348,-0.098255,0.994757]]
2025-10-26T19:41:34.192Z,1761507694.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859731,0.510732,0.003914],[-0.510009,-0.858876,0.047137],[0.027436,0.038529,0.998881]]
2025-10-26T19:41:34.593Z,1761507694.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858013,0.512299,-0.036916],[-0.512487,-0.849108,0.127956],[0.034206,0.128707,0.991093]]
2025-10-26T19:41:34.996Z,1761507694.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860268,0.508900,-0.030966],[-0.508100,-0.850732,0.134496],[0.042101,0.131436,0.990430]]
2025-10-26T19:41:35.035Z,1761507695.035 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,98.47,     +3261.8-12.38,  77.00,  0.00
2025-10-26T19:41:35.409Z,1761507695.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855286,0.518155,-0.001347],[-0.517464,-0.854006,0.053894],[0.026775,0.046792,0.998546]]
2025-10-26T19:41:35.805Z,1761507695.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841330,0.538504,0.046658],[-0.540464,-0.839361,-0.058067],[0.007893,-0.074071,0.997222]]
2025-10-26T19:41:36.208Z,1761507696.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825773,0.554954,0.100626],[-0.563911,-0.815613,-0.129536],[0.010185,-0.163711,0.986456]]
2025-10-26T19:41:36.613Z,1761507696.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814933,0.561655,0.142923],[-0.578287,-0.804340,-0.136461],[0.038315,-0.193857,0.980281]]
2025-10-26T19:41:37.025Z,1761507697.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813394,0.567802,0.126456],[-0.580392,-0.806779,-0.110687],[0.039174,-0.163426,0.985777]]
2025-10-26T19:41:37.457Z,1761507697.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816930,0.573193,0.063842],[-0.576730,-0.811349,-0.095370],[-0.002867,-0.114730,0.993393]]
2025-10-26T19:41:37.842Z,1761507697.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824688,0.564454,0.035804],[-0.565239,-0.820301,-0.087248],[-0.019877,-0.092190,0.995543]]
2025-10-26T19:41:38.232Z,1761507698.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829711,0.552440,0.079940],[-0.557841,-0.825729,-0.083575],[0.019839,-0.113937,0.993290]]
2025-10-26T19:41:38.635Z,1761507698.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827527,0.544601,0.136414],[-0.557732,-0.825272,-0.088657],[0.064296,-0.149449,0.986677]]
2025-10-26T19:41:38.720Z,1761507698.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:41:39.046Z,1761507699.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811402,0.565563,0.147531],[-0.580391,-0.809461,-0.088994],[0.069089,-0.157836,0.985045]]
2025-10-26T19:41:39.444Z,1761507699.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797477,0.589790,0.127195],[-0.599234,-0.798819,-0.052986],[0.070355,-0.118475,0.990461]]
2025-10-26T19:41:39.724Z,1761507699.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:41:39.861Z,1761507699.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791625,0.601981,0.104637],[-0.605322,-0.795980,-0.000228],[0.083152,-0.063519,0.994510]]
2025-10-26T19:41:40.258Z,1761507700.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787561,0.609082,0.093630],[-0.609556,-0.792290,0.026780],[0.090493,-0.035982,0.995247]]
2025-10-26T19:41:40.664Z,1761507700.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795592,0.600268,0.081927],[-0.602710,-0.797933,-0.006559],[0.061435,-0.054596,0.996617]]
2025-10-26T19:41:41.082Z,1761507701.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805823,0.586903,0.078705],[-0.591811,-0.802748,-0.073185],[0.020228,-0.105553,0.994208]]
2025-10-26T19:41:41.463Z,1761507701.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802664,0.583297,0.124478],[-0.595088,-0.797220,-0.101538],[0.040010,-0.155576,0.987013]]
2025-10-26T19:41:41.504Z,1761507701.504 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:41:41.645Z,1761507701.645 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:41:41.645Z,1761507701.645 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:41:41.882Z,1761507701.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785656,0.592803,0.176999],[-0.610841,-0.788649,-0.070043],[0.098068,-0.163148,0.981715]]
2025-10-26T19:41:41.897Z,1761507701.897 [DAT](INFO): DAT read: user:265>

2025-10-26T19:41:41.898Z,1761507701.898 [DAT](INFO): DAT read: Tx time:19:41:40.9525

2025-10-26T19:41:41.899Z,1761507701.899 [DAT](INFO): Ping request sent.
2025-10-26T19:41:41.899Z,1761507701.899 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:41:41.899Z,1761507701.899 [DAT](INFO): publishing transmit ping time
2025-10-26T19:41:41.900Z,1761507701.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001069
2025-10-26T19:41:42.148Z,1761507702.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249467
2025-10-26T19:41:42.297Z,1761507702.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771823,0.618121,0.149053],[-0.627267,-0.778562,-0.019413],[0.104047,-0.108480,0.988639]]
2025-10-26T19:41:42.320Z,1761507702.320 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:41:42.321Z,1761507702.321 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:41:42.321Z,1761507702.321 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:41:42.321Z,1761507702.321 [marl:UpdateRudder:A] Stopped
2025-10-26T19:41:42.321Z,1761507702.321 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:41:42.321Z,1761507702.321 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateCommandMode] Stopped
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:41:42.322Z,1761507702.322 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:41:42.323Z,1761507702.323 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:41:42.323Z,1761507702.323 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:41:42.323Z,1761507702.323 [marl:UpdateSpeed] Stopped
2025-10-26T19:41:42.323Z,1761507702.323 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:41:42.401Z,1761507702.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502551
2025-10-26T19:41:42.652Z,1761507702.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753408
2025-10-26T19:41:42.690Z,1761507702.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764710,0.638409,0.087477],[-0.639603,-0.768511,0.017296],[0.078269,-0.042724,0.996016]]
2025-10-26T19:41:42.776Z,1761507702.776 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:41:42.776Z,1761507702.776 [marl:UpdateRudder:B] Stopped
2025-10-26T19:41:42.777Z,1761507702.777 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:41:42.777Z,1761507702.777 [marl:UpdateRudder] Stopped
2025-10-26T19:41:42.777Z,1761507702.777 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:41:42.905Z,1761507702.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005788
2025-10-26T19:41:43.092Z,1761507703.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772123,0.631713,0.069021],[-0.631029,-0.775010,0.034075],[0.075017,-0.017244,0.997033]]
2025-10-26T19:41:43.156Z,1761507703.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257480
2025-10-26T19:41:43.408Z,1761507703.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509460
2025-10-26T19:41:43.494Z,1761507703.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785223,0.611984,0.094342],[-0.614985,-0.788531,-0.003514],[0.072241,-0.060779,0.995534]]
2025-10-26T19:41:43.660Z,1761507703.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761462
2025-10-26T19:41:43.909Z,1761507703.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789271,0.595224,0.150865],[-0.608958,-0.790301,-0.067788],[0.078880,-0.145374,0.986227]]
2025-10-26T19:41:43.912Z,1761507703.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013487
2025-10-26T19:41:44.165Z,1761507704.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265980
2025-10-26T19:41:44.300Z,1761507704.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779081,0.592439,0.205061],[-0.617760,-0.781186,-0.090121],[0.106800,-0.196890,0.974591]]
2025-10-26T19:41:44.416Z,1761507704.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517451
2025-10-26T19:41:44.516Z,1761507704.516 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:41:44.516Z,1761507704.516 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:41:44.668Z,1761507704.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769359
2025-10-26T19:41:44.708Z,1761507704.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759111,0.617920,0.204756],[-0.639412,-0.766784,-0.056519],[0.122080,-0.173828,0.977180]]
2025-10-26T19:41:44.920Z,1761507704.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021389
2025-10-26T19:41:45.102Z,1761507705.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740272,0.657839,0.138729],[-0.663185,-0.748389,0.009962],[0.110376,-0.084629,0.990280]]
2025-10-26T19:41:45.173Z,1761507705.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273845
2025-10-26T19:41:45.424Z,1761507705.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525375
2025-10-26T19:41:45.506Z,1761507705.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727555,0.683984,0.053190],[-0.679631,-0.729159,0.080180],[0.093625,0.022186,0.995360]]
2025-10-26T19:41:45.676Z,1761507705.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777386
2025-10-26T19:41:45.915Z,1761507705.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714100,0.700027,-0.004729],[-0.695051,-0.708186,0.124002],[0.083456,0.091836,0.992271]]
2025-10-26T19:41:45.928Z,1761507705.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029441
2025-10-26T19:41:46.180Z,1761507706.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281320
2025-10-26T19:41:46.324Z,1761507706.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707158,0.707047,-0.003503],[-0.702274,-0.701791,0.119587],[0.082095,0.087027,0.992817]]
2025-10-26T19:41:46.433Z,1761507706.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533869
2025-10-26T19:41:46.684Z,1761507706.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785475
2025-10-26T19:41:46.742Z,1761507706.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709480,0.702784,0.052282],[-0.700933,-0.711403,0.050979],[0.073021,-0.000477,0.997330]]
2025-10-26T19:41:46.936Z,1761507706.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037403
2025-10-26T19:41:47.120Z,1761507707.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711881,0.693167,0.112890],[-0.700969,-0.711183,-0.053485],[0.043212,-0.117208,0.992167]]
2025-10-26T19:41:47.188Z,1761507707.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289508
2025-10-26T19:41:47.440Z,1761507707.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541425
2025-10-26T19:41:47.525Z,1761507707.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706596,0.691114,0.151935],[-0.707150,-0.697466,-0.116107],[0.025726,-0.189481,0.981547]]
2025-10-26T19:41:47.696Z,1761507707.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796045
2025-10-26T19:41:47.928Z,1761507707.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695729,0.700597,0.158509],[-0.716942,-0.690875,-0.093194],[0.044218,-0.178479,0.982950]]
2025-10-26T19:41:47.945Z,1761507707.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046053
2025-10-26T19:41:48.196Z,1761507708.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297393
2025-10-26T19:41:48.336Z,1761507708.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684811,0.719706,0.114273],[-0.726784,-0.685967,-0.035139],[0.053098,-0.107115,0.992828]]
2025-10-26T19:41:48.448Z,1761507708.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549403
2025-10-26T19:41:48.701Z,1761507708.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801603
2025-10-26T19:41:48.740Z,1761507708.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669447,0.741813,0.039425],[-0.742183,-0.670160,0.007117],[0.031701,-0.024496,0.999197]]
2025-10-26T19:41:48.952Z,1761507708.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053459
2025-10-26T19:41:49.204Z,1761507709.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305560
2025-10-26T19:41:49.456Z,1761507709.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557338
2025-10-26T19:41:49.544Z,1761507709.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680741,0.732251,0.020007],[-0.731409,-0.680957,0.036577],[0.040408,0.010266,0.999131]]
2025-10-26T19:41:49.709Z,1761507709.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810197
2025-10-26T19:41:49.948Z,1761507709.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686096,0.723819,0.073202],[-0.725833,-0.687869,-0.001343],[0.049381,-0.054054,0.997316]]
2025-10-26T19:41:49.960Z,1761507709.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061494
2025-10-26T19:41:50.213Z,1761507710.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314024
2025-10-26T19:41:50.365Z,1761507710.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678694,0.722295,0.132908],[-0.732163,-0.679617,-0.045377],[0.057551,-0.128108,0.990089]]
2025-10-26T19:41:50.464Z,1761507710.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565553
2025-10-26T19:41:50.717Z,1761507710.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817685
2025-10-26T19:41:50.760Z,1761507710.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655215,0.733395,0.181178],[-0.753149,-0.652835,-0.081071],[0.058822,-0.189573,0.980103]]
2025-10-26T19:41:50.968Z,1761507710.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069346
2025-10-26T19:41:51.164Z,1761507711.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655247,0.734358,0.177115],[-0.755163,-0.642820,-0.128494],[0.019493,-0.217946,0.975766]]
2025-10-26T19:41:51.244Z,1761507711.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.345561
2025-10-26T19:41:51.472Z,1761507711.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573367
2025-10-26T19:41:51.587Z,1761507711.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668268,0.731891,0.133241],[-0.743010,-0.647800,-0.168198],[-0.036789,-0.211400,0.976707]]
2025-10-26T19:41:51.725Z,1761507711.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825761
2025-10-26T19:41:51.976Z,1761507711.976 [DAT](INFO): Reached modem response timeout
2025-10-26T19:41:51.986Z,1761507711.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677669,0.730746,0.082305],[-0.732149,-0.660007,-0.168366],[-0.068711,-0.174356,0.982282]]
2025-10-26T19:41:52.387Z,1761507712.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683766,0.727516,0.056426],[-0.727844,-0.674470,-0.123828],[-0.052029,-0.125739,0.990698]]
2025-10-26T19:41:52.804Z,1761507712.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687750,0.721309,0.081936],[-0.725903,-0.684570,-0.066556],[0.008084,-0.105251,0.994413]]
2025-10-26T19:41:53.186Z,1761507713.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690672,0.713879,0.115539],[-0.720877,-0.692348,-0.031482],[0.057519,-0.105033,0.992804]]
2025-10-26T19:41:53.584Z,1761507713.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678765,0.725747,0.112114],[-0.731843,-0.681132,-0.021589],[0.060696,-0.096704,0.993461]]
2025-10-26T19:41:53.988Z,1761507713.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656954,0.749851,0.078325],[-0.752691,-0.658280,-0.011125],[0.043217,-0.066263,0.996866]]
2025-10-26T19:41:54.244Z,1761507714.244 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:41:54.245Z,1761507714.245 [DAT](INFO): response not received
2025-10-26T19:41:54.245Z,1761507714.245 [DAT](ERROR): No response from remote modem.
2025-10-26T19:41:54.407Z,1761507714.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652383,0.756164,0.051106],[-0.757055,-0.653345,0.002847],[0.035543,-0.036833,0.998689]]
2025-10-26T19:41:54.876Z,1761507714.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660462,0.748816,0.055359],[-0.750121,-0.661286,-0.004422],[0.033297,-0.044446,0.998457]]
2025-10-26T19:41:55.214Z,1761507715.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660912,0.745282,0.088039],[-0.749140,-0.662155,-0.018431],[0.044559,-0.078135,0.995946]]
2025-10-26T19:41:55.297Z,1761507715.297 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:41:55.297Z,1761507715.297 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:41:55.297Z,1761507715.297 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:41:55.297Z,1761507715.297 [marl:UpdateRudder:A] Stopped
2025-10-26T19:41:55.297Z,1761507715.297 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:41:55.297Z,1761507715.297 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateCommandMode] Stopped
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:41:55.298Z,1761507715.298 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:41:55.299Z,1761507715.299 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:41:55.299Z,1761507715.299 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:41:55.299Z,1761507715.299 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:41:55.299Z,1761507715.299 [marl:UpdateSpeed] Stopped
2025-10-26T19:41:55.299Z,1761507715.299 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:41:55.603Z,1761507715.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658482,0.743132,0.118982],[-0.749883,-0.661269,-0.019958],[0.063848,-0.102365,0.992696]]
2025-10-26T19:41:55.668Z,1761507715.668 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:41:55.668Z,1761507715.668 [marl:UpdateRudder:B] Stopped
2025-10-26T19:41:55.669Z,1761507715.669 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:41:55.669Z,1761507715.669 [marl:UpdateRudder] Stopped
2025-10-26T19:41:55.669Z,1761507715.669 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:41:56.021Z,1761507716.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653210,0.746658,0.125770],[-0.754813,-0.655239,-0.030314],[0.059775,-0.114735,0.991596]]
2025-10-26T19:41:56.426Z,1761507716.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648921,0.752701,0.111100],[-0.758689,-0.651151,-0.019862],[0.057392,-0.097179,0.993611]]
2025-10-26T19:41:56.867Z,1761507716.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629143,0.773087,0.080719],[-0.774300,-0.632434,0.022069],[0.068111,-0.048617,0.996493]]
2025-10-26T19:41:57.232Z,1761507717.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616861,0.786145,0.038192],[-0.784700,-0.618042,0.047656],[0.061068,-0.000572,0.998133]]
2025-10-26T19:41:57.634Z,1761507717.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626103,0.779723,0.005290],[-0.779485,-0.626057,0.021368],[0.019973,0.009255,0.999758]]
2025-10-26T19:41:58.038Z,1761507718.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627259,0.778810,0.001098],[-0.778652,-0.627103,-0.021033],[-0.015692,-0.014048,0.999778]]
2025-10-26T19:41:58.439Z,1761507718.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615825,0.787404,0.027467],[-0.787844,-0.615765,-0.011583],[0.007792,-0.028773,0.999556]]
2025-10-26T19:41:58.853Z,1761507718.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610586,0.788503,0.073807],[-0.789472,-0.613393,0.021981],[0.062605,-0.044848,0.997030]]
2025-10-26T19:41:59.242Z,1761507719.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607272,0.787084,0.108256],[-0.791703,-0.610906,0.000510],[0.066536,-0.085397,0.994123]]
2025-10-26T19:41:59.646Z,1761507719.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599674,0.794255,0.097726],[-0.800186,-0.596622,-0.061200],[0.009697,-0.114899,0.993330]]
2025-10-26T19:42:00.051Z,1761507720.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592104,0.802536,0.073139],[-0.804941,-0.584648,-0.101272],[-0.038514,-0.118837,0.992167]]
2025-10-26T19:42:00.462Z,1761507720.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585583,0.807917,0.066058],[-0.810068,-0.580255,-0.084229],[-0.029720,-0.102834,0.994254]]
2025-10-26T19:42:00.870Z,1761507720.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586221,0.806861,0.072949],[-0.809931,-0.585779,-0.029558],[0.018883,-0.076411,0.996898]]
2025-10-26T19:42:01.260Z,1761507721.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594928,0.799519,0.082638],[-0.801811,-0.597517,0.008541],[0.056206,-0.061178,0.996543]]
2025-10-26T19:42:01.264Z,1761507721.264 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194200.00,A,3646.15765,N,12151.91954,W,1.458,0.00,261025,,,A*79
2025-10-26T19:42:01.266Z,1761507721.266 [NAL9602](INFO): GPS fix at 20251026T194200: (36.769294, -121.865326)
2025-10-26T19:42:01.301Z,1761507721.301 [UniversalFixResidualReporter](INFO): Fix residual: 2.7 %DT, over the last 628.9 m. Residual distance 16.7 m at bearing -55.1 degrees. Fix at (36.7693, -121.8653) with 200.6 m made good.
2025-10-26T19:42:01.323Z,1761507721.323 [marl:NeedComms:C] Stopped
2025-10-26T19:42:01.323Z,1761507721.323 [marl:NeedComms:D] Running Loop=1
2025-10-26T19:42:01.329Z,1761507721.329 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507712.00. Resetting abort timer.
2025-10-26T19:42:01.665Z,1761507721.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605910,0.792388,0.070667],[-0.794249,-0.607585,0.002826],[0.045176,-0.054415,0.997496]]
2025-10-26T19:42:02.074Z,1761507722.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612813,0.787341,0.067486],[-0.790014,-0.612394,-0.029166],[0.018365,-0.071188,0.997294]]
2025-10-26T19:42:02.521Z,1761507722.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592262,0.800141,0.094865],[-0.805529,-0.590710,-0.046739],[0.018640,-0.104098,0.994392]]
2025-10-26T19:42:03.284Z,1761507723.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600190,0.793902,0.097431],[-0.799249,-0.600020,-0.034321],[0.031213,-0.098470,0.994650]]
2025-10-26T19:42:03.685Z,1761507723.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621755,0.774245,0.118174],[-0.781819,-0.622538,-0.034720],[0.046686,-0.113978,0.992386]]
2025-10-26T19:42:04.094Z,1761507724.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643269,0.751764,0.145107],[-0.764217,-0.641988,-0.061837],[0.046670,-0.150671,0.987482]]
2025-10-26T19:42:04.496Z,1761507724.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653440,0.740562,0.156793],[-0.756226,-0.647865,-0.091617],[0.033733,-0.178437,0.983373]]
2025-10-26T19:42:04.900Z,1761507724.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641768,0.753361,0.143458],[-0.766298,-0.637349,-0.081082],[0.030348,-0.161967,0.986329]]
2025-10-26T19:42:05.306Z,1761507725.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616588,0.781318,0.096754],[-0.785911,-0.618106,-0.017015],[0.046510,-0.086531,0.995163]]
2025-10-26T19:42:05.729Z,1761507725.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630906,0.775713,0.015063],[-0.771431,-0.629258,0.094492],[0.082777,0.047995,0.995412]]
2025-10-26T19:42:06.133Z,1761507726.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633230,0.773053,0.037526],[-0.770288,-0.634202,0.066670],[0.075339,0.013312,0.997069]]
2025-10-26T19:42:06.527Z,1761507726.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633301,0.770001,0.077641],[-0.772585,-0.634888,-0.005330],[0.045189,-0.063360,0.996967]]
2025-10-26T19:42:06.932Z,1761507726.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635305,0.763097,0.118619],[-0.772017,-0.631430,-0.072699],[0.019423,-0.137763,0.990275]]
2025-10-26T19:42:07.347Z,1761507727.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633362,0.758279,0.154485],[-0.772449,-0.631516,-0.067159],[0.046634,-0.161867,0.985710]]
2025-10-26T19:42:07.750Z,1761507727.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626129,0.765606,0.147684],[-0.774598,-0.632430,-0.005457],[0.089222,-0.117812,0.989020]]
2025-10-26T19:42:08.147Z,1761507728.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618552,0.779803,0.096434],[-0.779474,-0.624451,0.049814],[0.099063,-0.044355,0.994092]]
2025-10-26T19:42:08.213Z,1761507728.213 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateRudder:A] Stopped
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:42:08.214Z,1761507728.214 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:42:08.215Z,1761507728.215 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:42:08.215Z,1761507728.215 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:42:08.215Z,1761507728.215 [marl:UpdateCommandMode] Stopped
2025-10-26T19:42:08.215Z,1761507728.215 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:42:08.215Z,1761507728.215 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:42:08.219Z,1761507728.219 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:42:08.220Z,1761507728.220 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:42:08.220Z,1761507728.220 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:42:08.220Z,1761507728.220 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:42:08.220Z,1761507728.220 [marl:UpdateSpeed] Stopped
2025-10-26T19:42:08.220Z,1761507728.220 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:42:08.557Z,1761507728.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617245,0.785448,0.045616],[-0.781168,-0.618725,0.083399],[0.093729,0.015843,0.995472]]
2025-10-26T19:42:08.876Z,1761507728.876 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:42:08.876Z,1761507728.876 [marl:UpdateRudder:B] Stopped
2025-10-26T19:42:08.877Z,1761507728.877 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:42:08.877Z,1761507728.877 [marl:UpdateRudder] Stopped
2025-10-26T19:42:08.877Z,1761507728.877 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:42:08.962Z,1761507728.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613728,0.789381,0.014702],[-0.785512,-0.612381,0.089219],[0.079431,0.043208,0.995904]]
2025-10-26T19:42:09.852Z,1761507729.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:42:10.856Z,1761507730.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:42:11.114Z,1761507731.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607481,0.768620,0.200473],[-0.792971,-0.601585,-0.096397],[0.046509,-0.217528,0.974945]]
2025-10-26T19:42:11.495Z,1761507731.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597472,0.782648,0.174612],[-0.799656,-0.597753,-0.056936],[0.059815,-0.173647,0.982990]]
2025-10-26T19:42:11.538Z,1761507731.538 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:42:11.660Z,1761507731.660 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:42:11.660Z,1761507731.660 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:42:11.898Z,1761507731.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585046,0.805796,0.091729],[-0.808283,-0.588595,0.015309],[0.066327,-0.065187,0.995666]]
2025-10-26T19:42:11.912Z,1761507731.912 [DAT](INFO): DAT read: user:266>

2025-10-26T19:42:11.913Z,1761507731.913 [DAT](INFO): DAT read: Tx time:19:42:11.0023

2025-10-26T19:42:11.913Z,1761507731.913 [DAT](INFO): Ping request sent.
2025-10-26T19:42:11.914Z,1761507731.914 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:42:11.914Z,1761507731.914 [DAT](INFO): publishing transmit ping time
2025-10-26T19:42:11.915Z,1761507731.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000929
2025-10-26T19:42:12.164Z,1761507732.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250777
2025-10-26T19:42:12.303Z,1761507732.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596116,0.802841,0.009556],[-0.800537,-0.595234,0.069547],[0.061523,0.033809,0.997533]]
2025-10-26T19:42:12.417Z,1761507732.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503372
2025-10-26T19:42:12.668Z,1761507732.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754801
2025-10-26T19:42:12.711Z,1761507732.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616292,0.787403,-0.013433],[-0.786039,-0.614000,0.071737],[0.048238,0.054770,0.997333]]
2025-10-26T19:42:12.925Z,1761507732.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010314
2025-10-26T19:42:13.110Z,1761507733.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614331,0.788416,0.031585],[-0.787927,-0.615100,0.028701],[0.042056,-0.007255,0.999089]]
2025-10-26T19:42:13.172Z,1761507733.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258882
2025-10-26T19:42:13.424Z,1761507733.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510792
2025-10-26T19:42:13.514Z,1761507733.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601039,0.791468,0.111042],[-0.796941,-0.603996,-0.008542],[0.060308,-0.093629,0.993779]]
2025-10-26T19:42:13.677Z,1761507733.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763599
2025-10-26T19:42:13.929Z,1761507733.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014983
2025-10-26T19:42:14.180Z,1761507734.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266787
2025-10-26T19:42:14.342Z,1761507734.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572879,0.806482,0.146274],[-0.819181,-0.569339,-0.069252],[0.027429,-0.159498,0.986817]]
2025-10-26T19:42:14.432Z,1761507734.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518740
2025-10-26T19:42:14.684Z,1761507734.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770744
2025-10-26T19:42:14.731Z,1761507734.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574273,0.815639,0.070312],[-0.818441,-0.569988,-0.072585],[-0.019126,-0.099230,0.994881]]
2025-10-26T19:42:14.936Z,1761507734.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831
2025-10-26T19:42:15.136Z,1761507735.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604990,0.796115,0.013701],[-0.795310,-0.603371,-0.058534],[-0.038333,-0.046309,0.998191]]
2025-10-26T19:42:15.192Z,1761507735.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278248
2025-10-26T19:42:15.441Z,1761507735.441 [DAT](INFO): DAT read: Rx Time:19:42:13.9567

2025-10-26T19:42:15.441Z,1761507735.441 [DAT](INFO): Rx dataTimestamp_ set to:1761507735.441167
2025-10-26T19:42:15.442Z,1761507735.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528408
2025-10-26T19:42:15.535Z,1761507735.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623006,0.782203,0.004778],[-0.781690,-0.622350,-0.040502],[-0.028707,-0.028967,0.999168]]
2025-10-26T19:42:15.693Z,1761507735.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779884
2025-10-26T19:42:15.938Z,1761507735.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614320,0.788670,0.024725],[-0.789054,-0.613924,-0.022166],[-0.002302,-0.033126,0.999449]]
2025-10-26T19:42:15.950Z,1761507735.950 [DAT](INFO): DAT read: 19:42:13.9567 LVL= 13488, 16161, 17970, 10995, AGC= 69, IDX= 512,-0.40,-1.637,-1.837,-2.809,-2.656, PHS= 1.121, 0.864,-0.197, RAW=  40.6, -27.6, CAL=  43.2, -27.8, ROT= 106.8,  27.8

2025-10-26T19:42:15.955Z,1761507735.955 [DAT](INFO): got valid direction response:
 19:42:13.9567 LVL= 13488, 16161, 17970, 10995, AGC= 69, IDX= 512,-0.40,-1.637,-1.837,-2.809,-2.656, PHS= 1.121, 0.864,-0.197, RAW=  40.6, -27.6, CAL=  43.2, -27.8, ROT= 106.8,  27.8

2025-10-26T19:42:15.956Z,1761507735.956 [DAT](INFO): DAT read: $Error in header

2025-10-26T19:42:15.956Z,1761507735.956 [DAT](INFO): Received a bad header
2025-10-26T19:42:15.968Z,1761507735.968 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T19:42:15.969Z,1761507735.969 [DAT](INFO): direction in FSK: [-0.255672,0.846827,-0.466387]
2025-10-26T19:42:16.022Z,1761507736.022 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507712.00. Resetting abort timer.
2025-10-26T19:42:16.347Z,1761507736.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602275,0.795102,0.071257],[-0.797215,-0.603693,-0.002042],[0.041393,-0.058037,0.997456]]
2025-10-26T19:42:16.747Z,1761507736.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594538,0.797195,0.104902],[-0.801832,-0.597540,-0.003460],[0.059925,-0.086171,0.994476]]
2025-10-26T19:42:17.156Z,1761507737.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580143,0.808964,0.094928],[-0.813942,-0.580154,-0.030337],[0.030532,-0.094866,0.995022]]
2025-10-26T19:42:17.554Z,1761507737.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568147,0.820150,0.067541],[-0.822920,-0.566554,-0.042651],[0.003285,-0.079813,0.996804]]
2025-10-26T19:42:17.958Z,1761507737.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578872,0.813653,0.053630],[-0.815419,-0.577591,-0.038491],[-0.000342,-0.066012,0.997819]]
2025-10-26T19:42:18.363Z,1761507738.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597783,0.799180,0.062980],[-0.801623,-0.596643,-0.037657],[0.007482,-0.072997,0.997304]]
2025-10-26T19:42:18.785Z,1761507738.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604451,0.791160,0.093296],[-0.795843,-0.604934,-0.026241],[0.035677,-0.090111,0.995293]]
2025-10-26T19:42:19.170Z,1761507739.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595284,0.793096,0.128979],[-0.799114,-0.601124,0.008138],[0.083986,-0.098225,0.991614]]
2025-10-26T19:42:19.574Z,1761507739.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583292,0.798883,0.146820],[-0.803991,-0.593572,0.035639],[0.115619,-0.097254,0.988521]]
2025-10-26T19:42:19.981Z,1761507739.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585186,0.801433,0.123543],[-0.806069,-0.591514,0.019086],[0.088374,-0.088415,0.992156]]
2025-10-26T19:42:19.990Z,1761507739.990 [NAL9602](INFO): SBD MO Status=1, MOMSN=2972, MT Status=0, MTMSN=0
2025-10-26T19:42:20.048Z,1761507740.048 [NAL9602](INFO): Sent 94 bytes from file Logs/20251026T180417/Courier0024.lzma
2025-10-26T19:42:20.048Z,1761507740.048 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:42:20.382Z,1761507740.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584592,0.806334,0.089873],[-0.809539,-0.587065,0.001342],[0.053843,-0.071972,0.995952]]
2025-10-26T19:42:21.073Z,1761507741.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557429,0.828549,0.052718],[-0.826947,-0.559745,0.053330],[0.073695,-0.013867,0.997184]]
2025-10-26T19:42:21.454Z,1761507741.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546601,0.836901,0.028692],[-0.834694,-0.547269,0.061509],[0.067179,0.009672,0.997694]]
2025-10-26T19:42:21.992Z,1761507741.992 [DAT](INFO): Reached modem response timeout
2025-10-26T19:42:23.729Z,1761507743.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563434,0.808744,0.168748],[-0.825382,-0.559904,-0.072470],[0.035873,-0.180114,0.982992]]
2025-10-26T19:42:24.114Z,1761507744.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561796,0.809811,0.169092],[-0.826193,-0.559671,-0.064605],[0.042318,-0.175998,0.983481]]
2025-10-26T19:42:24.260Z,1761507744.260 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:42:24.261Z,1761507744.261 [DAT](INFO): response not received
2025-10-26T19:42:24.261Z,1761507744.261 [DAT](ERROR): No response from remote modem.
2025-10-26T19:42:24.520Z,1761507744.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549163,0.826857,0.121354],[-0.834673,-0.549913,-0.030264],[0.041710,-0.117911,0.992148]]
2025-10-26T19:42:24.927Z,1761507744.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539927,0.840337,0.048101],[-0.840358,-0.541417,0.025811],[0.047733,-0.026486,0.998509]]
2025-10-26T19:42:25.332Z,1761507745.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543437,0.839446,-0.002489],[-0.837911,-0.542259,0.062128],[0.050803,0.035848,0.998065]]
2025-10-26T19:42:25.366Z,1761507745.366 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:42:25.366Z,1761507745.366 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:42:25.366Z,1761507745.366 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:42:25.367Z,1761507745.367 [marl:UpdateRudder:A] Stopped
2025-10-26T19:42:25.367Z,1761507745.367 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:42:25.367Z,1761507745.367 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:42:25.367Z,1761507745.367 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:42:25.367Z,1761507745.367 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateCommandMode] Stopped
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:42:25.368Z,1761507745.368 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:42:25.369Z,1761507745.369 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:42:25.369Z,1761507745.369 [marl:UpdateSpeed] Stopped
2025-10-26T19:42:25.369Z,1761507745.369 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:42:25.736Z,1761507745.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563855,0.825787,0.011964],[-0.824848,-0.563818,0.041669],[0.041156,0.013627,0.999060]]
2025-10-26T19:42:25.785Z,1761507745.785 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:42:25.785Z,1761507745.785 [marl:UpdateRudder:B] Stopped
2025-10-26T19:42:25.785Z,1761507745.785 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:42:25.785Z,1761507745.785 [marl:UpdateRudder] Stopped
2025-10-26T19:42:25.785Z,1761507745.785 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:42:26.137Z,1761507746.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576747,0.813516,0.074525],[-0.816653,-0.576498,-0.026985],[0.021011,-0.076425,0.996854]]
2025-10-26T19:42:26.547Z,1761507746.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591866,0.789507,0.162396],[-0.805921,-0.583047,-0.102700],[0.013602,-0.191663,0.981367]]
2025-10-26T19:42:26.946Z,1761507746.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596443,0.786759,0.158950],[-0.802010,-0.592098,-0.078736],[0.032168,-0.174441,0.984142]]
2025-10-26T19:42:27.350Z,1761507747.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587550,0.801099,0.114131],[-0.808101,-0.588204,-0.031453],[0.041935,-0.110709,0.992968]]
2025-10-26T19:42:27.759Z,1761507747.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578410,0.814949,0.036063],[-0.814507,-0.579402,0.029522],[0.044954,-0.012298,0.998913]]
2025-10-26T19:42:28.158Z,1761507748.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572709,0.819619,-0.015125],[-0.816921,-0.569095,0.093654],[0.068153,0.065992,0.995490]]
2025-10-26T19:42:28.560Z,1761507748.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573321,0.819222,-0.013383],[-0.814952,-0.568494,0.112554],[0.084598,0.075436,0.993556]]
2025-10-26T19:42:28.962Z,1761507748.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569546,0.821530,0.026579],[-0.819070,-0.569956,0.065387],[0.068867,0.015471,0.997506]]
2025-10-26T19:42:29.366Z,1761507749.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563213,0.820525,0.097625],[-0.824435,-0.565956,0.000494],[0.055657,-0.080207,0.995223]]
2025-10-26T19:42:29.771Z,1761507749.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558873,0.810957,0.173233],[-0.826605,-0.561479,-0.038283],[0.066221,-0.164591,0.984137]]
2025-10-26T19:42:30.174Z,1761507750.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548190,0.815521,0.185509],[-0.833153,-0.551877,-0.035895],[0.073105,-0.174235,0.981987]]
2025-10-26T19:42:30.579Z,1761507750.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535678,0.835447,0.122790],[-0.841244,-0.540594,0.008153],[0.073191,-0.098929,0.992399]]
2025-10-26T19:42:30.982Z,1761507750.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539454,0.839923,0.059324],[-0.837472,-0.542519,0.065684],[0.087354,-0.014249,0.996075]]
2025-10-26T19:42:31.388Z,1761507751.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543591,0.839046,0.022602],[-0.836084,-0.543653,0.073517],[0.073972,0.021066,0.997038]]
2025-10-26T19:42:31.798Z,1761507751.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531200,0.847239,0.003606],[-0.846996,-0.531141,0.022065],[0.020609,0.008667,0.999750]]
2025-10-26T19:42:32.194Z,1761507752.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512058,0.858493,0.028028],[-0.858947,-0.511690,-0.019561],[-0.002451,-0.034091,0.999416]]
2025-10-26T19:42:32.598Z,1761507752.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516404,0.852280,0.083339],[-0.855953,-0.516662,-0.020108],[0.025920,-0.081718,0.996318]]
2025-10-26T19:42:33.003Z,1761507753.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546068,0.827970,0.127577],[-0.836665,-0.546722,-0.032971],[0.042450,-0.124744,0.991280]]
2025-10-26T19:42:33.407Z,1761507753.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561374,0.816229,0.136489],[-0.827280,-0.557803,-0.066806],[0.021605,-0.150418,0.988386]]
2025-10-26T19:42:33.816Z,1761507753.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556711,0.821859,0.120916],[-0.830391,-0.554581,-0.053758],[0.022876,-0.130336,0.991206]]
2025-10-26T19:42:34.214Z,1761507754.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546884,0.829062,0.116511],[-0.834516,-0.550973,0.003499],[0.067095,-0.095317,0.993183]]
2025-10-26T19:42:34.620Z,1761507754.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545878,0.831887,0.099906],[-0.832924,-0.551717,0.042959],[0.090857,-0.059764,0.994069]]
2025-10-26T19:42:35.022Z,1761507755.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558103,0.827662,0.059133],[-0.828648,-0.559637,0.012178],[0.043172,-0.042204,0.998176]]
2025-10-26T19:42:35.426Z,1761507755.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562033,0.826194,0.039033],[-0.826871,-0.560092,-0.050810],[-0.020117,-0.060832,0.997945]]
2025-10-26T19:42:35.830Z,1761507755.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558261,0.827341,0.062068],[-0.829561,-0.555436,-0.057621],[-0.013198,-0.083657,0.996407]]
2025-10-26T19:42:36.234Z,1761507756.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570439,0.815581,0.097097],[-0.820326,-0.571611,-0.018030],[0.040797,-0.089936,0.995112]]
2025-10-26T19:42:36.639Z,1761507756.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584069,0.805973,0.096287],[-0.810404,-0.585727,-0.012997],[0.045923,-0.085622,0.995269]]
2025-10-26T19:42:37.042Z,1761507757.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590109,0.803183,0.081660],[-0.807155,-0.589031,-0.039300],[0.016535,-0.089104,0.995885]]
2025-10-26T19:42:37.446Z,1761507757.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594924,0.798510,0.091910],[-0.803780,-0.591316,-0.065447],[0.002088,-0.112811,0.993614]]
2025-10-26T19:42:37.850Z,1761507757.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599191,0.795122,0.093545],[-0.800569,-0.593945,-0.079488],[-0.007642,-0.122518,0.992437]]
2025-10-26T19:42:37.862Z,1761507757.862 [NAL9602](INFO): SBD MO Status=2, MOMSN=2973, MT Status=2, MTMSN=0
2025-10-26T19:42:37.862Z,1761507757.862 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:42:38.255Z,1761507758.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597514,0.797666,0.081896],[-0.801789,-0.595687,-0.047878],[0.010594,-0.094271,0.995490]]
2025-10-26T19:42:38.291Z,1761507758.291 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:42:38.291Z,1761507758.291 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:42:38.307Z,1761507758.307 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:42:38.308Z,1761507758.308 [marl:UpdateRudder:A] Stopped
2025-10-26T19:42:38.308Z,1761507758.308 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:42:38.308Z,1761507758.308 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:42:38.308Z,1761507758.308 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:42:38.308Z,1761507758.308 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:42:38.308Z,1761507758.308 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateCommandMode] Stopped
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:42:38.309Z,1761507758.309 [marl:UpdateSpeed] Stopped
2025-10-26T19:42:38.310Z,1761507758.310 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:42:38.659Z,1761507758.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610762,0.788909,0.067759],[-0.789417,-0.613333,0.025352],[0.061560,-0.038006,0.997379]]
2025-10-26T19:42:38.740Z,1761507758.740 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T19:42:38.740Z,1761507758.740 [marl:UpdateRudder:B] Stopped
2025-10-26T19:42:38.740Z,1761507758.740 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:42:38.740Z,1761507758.740 [marl:UpdateRudder] Stopped
2025-10-26T19:42:38.740Z,1761507758.740 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:42:39.062Z,1761507759.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626150,0.777861,0.053550],[-0.773418,-0.628339,0.083750],[0.098793,0.011024,0.995047]]
2025-10-26T19:42:39.075Z,1761507759.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194238.00,A,3646.15725,N,12151.92532,W,0.972,181.38,261025,,,A*7E
2025-10-26T19:42:39.085Z,1761507759.085 [NAL9602](INFO): GPS fix at 20251026T194238: (36.769287, -121.865422)
2025-10-26T19:42:39.436Z,1761507759.436 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507712.00. Resetting abort timer.
2025-10-26T19:42:39.653Z,1761507759.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630320,0.775519,0.035586],[-0.769379,-0.630139,0.104791],[0.103691,0.038673,0.993857]]
2025-10-26T19:42:40.025Z,1761507760.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628690,0.777301,0.023495],[-0.773409,-0.628124,0.085430],[0.081163,0.035538,0.996067]]
2025-10-26T19:42:40.426Z,1761507760.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611987,0.788959,0.054919],[-0.788288,-0.614122,0.038149],[0.063825,-0.019945,0.997762]]
2025-10-26T19:42:40.845Z,1761507760.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596442,0.794292,0.115574],[-0.798989,-0.601278,0.008996],[0.076638,-0.086977,0.993258]]
2025-10-26T19:42:40.976Z,1761507760.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:42:41.236Z,1761507761.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592068,0.790011,0.159181],[-0.799510,-0.600611,0.007068],[0.101189,-0.123082,0.987224]]
2025-10-26T19:42:41.638Z,1761507761.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601670,0.783490,0.155361],[-0.793180,-0.608987,-0.000626],[0.094122,-0.123606,0.987858]]
2025-10-26T19:42:41.679Z,1761507761.679 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:42:41.908Z,1761507761.908 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:42:41.908Z,1761507761.908 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:42:41.980Z,1761507761.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:42:42.043Z,1761507762.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606915,0.785215,0.122848],[-0.791625,-0.610980,-0.005683],[0.070595,-0.100699,0.992409]]
2025-10-26T19:42:42.160Z,1761507762.160 [DAT](INFO): DAT read: 

2025-10-26T19:42:42.161Z,1761507762.161 [DAT](INFO): DAT read: Tx time:19:42:41.2521

2025-10-26T19:42:42.161Z,1761507762.161 [DAT](INFO): Ping request sent.
2025-10-26T19:42:42.161Z,1761507762.161 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:42:42.161Z,1761507762.161 [DAT](INFO): publishing transmit ping time
2025-10-26T19:42:42.162Z,1761507762.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939
2025-10-26T19:42:42.412Z,1761507762.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251055
2025-10-26T19:42:42.447Z,1761507762.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619068,0.780539,0.086681],[-0.783376,-0.621545,0.002032],[0.055462,-0.066646,0.996234]]
2025-10-26T19:42:42.664Z,1761507762.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503008
2025-10-26T19:42:42.850Z,1761507762.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636983,0.768224,0.063911],[-0.769962,-0.638075,-0.004191],[0.037561,-0.051879,0.997947]]
2025-10-26T19:42:42.918Z,1761507762.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756244
2025-10-26T19:42:43.169Z,1761507763.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007216
2025-10-26T19:42:43.420Z,1761507763.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024
2025-10-26T19:42:43.494Z,1761507763.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656187,0.747645,0.102205],[-0.754015,-0.654963,-0.049848],[0.029672,-0.109774,0.993514]]
2025-10-26T19:42:43.672Z,1761507763.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511085
2025-10-26T19:42:43.890Z,1761507763.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655049,0.746300,0.118100],[-0.754041,-0.655666,-0.039037],[0.048301,-0.114623,0.992234]]
2025-10-26T19:42:43.924Z,1761507763.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763175
2025-10-26T19:42:44.176Z,1761507764.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015006
2025-10-26T19:42:44.299Z,1761507764.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645885,0.756541,0.102361],[-0.760797,-0.648978,-0.004002],[0.063403,-0.080461,0.994739]]
2025-10-26T19:42:44.314Z,1761507764.314 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194243.00,A,3646.15727,N,12151.92563,W,0.758,237.82,261025,,,A*7D
2025-10-26T19:42:44.317Z,1761507764.317 [NAL9602](INFO): GPS fix at 20251026T194243: (36.769288, -121.865427)
2025-10-26T19:42:44.392Z,1761507764.392 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507712.00. Resetting abort timer.
2025-10-26T19:42:44.429Z,1761507764.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267414
2025-10-26T19:42:44.544Z,1761507764.544 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:42:44.544Z,1761507764.544 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:42:44.680Z,1761507764.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519082
2025-10-26T19:42:44.705Z,1761507764.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633648,0.770747,0.066631],[-0.770502,-0.636475,0.035017],[0.069398,-0.029151,0.997163]]
2025-10-26T19:42:44.932Z,1761507764.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771007
2025-10-26T19:42:45.103Z,1761507765.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641978,0.765852,0.036538],[-0.764691,-0.643016,0.042172],[0.055792,-0.000867,0.998442]]
2025-10-26T19:42:45.185Z,1761507765.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023130
2025-10-26T19:42:45.436Z,1761507765.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275054
2025-10-26T19:42:45.507Z,1761507765.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658959,0.751968,0.017832],[-0.751980,-0.659145,0.007386],[0.017308,-0.008542,0.999814]]
2025-10-26T19:42:45.689Z,1761507765.689 [DAT](INFO): DAT read: Rx Time:19:42:44.2002

2025-10-26T19:42:45.689Z,1761507765.689 [DAT](INFO): Rx dataTimestamp_ set to:1761507765.689140
2025-10-26T19:42:45.690Z,1761507765.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528688
2025-10-26T19:42:45.910Z,1761507765.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675694,0.735823,0.044757],[-0.737143,-0.675039,-0.030693],[0.007628,-0.053732,0.998526]]
2025-10-26T19:42:45.940Z,1761507765.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779169
2025-10-26T19:42:46.193Z,1761507766.193 [DAT](INFO): DAT read: $Error in header

2025-10-26T19:42:46.193Z,1761507766.193 [DAT](INFO): Received a bad header
2025-10-26T19:42:46.204Z,1761507766.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042491
2025-10-26T19:42:46.319Z,1761507766.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673671,0.732764,0.096043],[-0.738687,-0.671611,-0.057267],[0.022541,-0.109525,0.993728]]
2025-10-26T19:42:46.444Z,1761507766.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283013
2025-10-26T19:42:46.698Z,1761507766.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536209
2025-10-26T19:42:46.805Z,1761507766.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661317,0.741533,0.113085],[-0.749459,-0.659457,-0.058547],[0.031160,-0.123470,0.991859]]
2025-10-26T19:42:46.948Z,1761507766.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787188
2025-10-26T19:42:47.122Z,1761507767.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657492,0.749362,0.078495],[-0.753265,-0.656124,-0.045744],[0.017224,-0.089204,0.995864]]
2025-10-26T19:42:47.200Z,1761507767.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038905
2025-10-26T19:42:47.452Z,1761507767.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291014
2025-10-26T19:42:47.526Z,1761507767.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664944,0.745932,0.037879],[-0.746887,-0.664289,-0.029656],[0.003041,-0.048011,0.998842]]
2025-10-26T19:42:47.706Z,1761507767.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544266
2025-10-26T19:42:47.930Z,1761507767.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667557,0.743153,0.045736],[-0.744223,-0.667840,-0.011010],[0.022362,-0.041388,0.998893]]
2025-10-26T19:42:47.957Z,1761507767.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795650
2025-10-26T19:42:48.208Z,1761507768.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047022
2025-10-26T19:42:48.339Z,1761507768.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674290,0.733976,0.081311],[-0.737196,-0.675492,-0.015853],[0.043289,-0.070632,0.996563]]
2025-10-26T19:42:48.460Z,1761507768.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299074
2025-10-26T19:42:48.713Z,1761507768.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551388
2025-10-26T19:42:48.739Z,1761507768.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686591,0.719993,0.101008],[-0.726580,-0.684463,-0.059936],[0.025983,-0.114542,0.993079]]
2025-10-26T19:42:48.966Z,1761507768.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804387
2025-10-26T19:42:49.142Z,1761507769.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690295,0.715632,0.106596],[-0.723505,-0.683921,-0.093775],[0.005795,-0.141855,0.989870]]
2025-10-26T19:42:49.217Z,1761507769.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055864
2025-10-26T19:42:49.468Z,1761507769.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307020
2025-10-26T19:42:49.546Z,1761507769.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702219,0.702602,0.115061],[-0.711664,-0.697369,-0.084917],[0.020577,-0.141515,0.989722]]
2025-10-26T19:42:49.726Z,1761507769.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563715
2025-10-26T19:42:49.953Z,1761507769.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726638,0.675699,0.124210],[-0.685147,-0.726058,-0.058428],[0.050704,-0.127558,0.990534]]
2025-10-26T19:42:49.973Z,1761507769.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811221
2025-10-26T19:42:50.224Z,1761507770.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062983
2025-10-26T19:42:50.354Z,1761507770.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735406,0.667903,0.114384],[-0.674660,-0.737458,-0.031460],[0.063342,-0.100306,0.992938]]
2025-10-26T19:42:50.477Z,1761507770.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315693
2025-10-26T19:42:50.729Z,1761507770.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567424
2025-10-26T19:42:50.766Z,1761507770.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733934,0.672342,0.096418],[-0.675846,-0.737025,-0.005116],[0.067623,-0.068919,0.995328]]
2025-10-26T19:42:50.981Z,1761507770.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819360
2025-10-26T19:42:51.163Z,1761507771.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736711,0.668460,0.102064],[-0.670059,-0.741957,0.022818],[0.090980,-0.051579,0.994516]]
2025-10-26T19:42:51.232Z,1761507771.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071161
2025-10-26T19:42:51.484Z,1761507771.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323059
2025-10-26T19:42:51.567Z,1761507771.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736883,0.664044,0.126681],[-0.664818,-0.745808,0.042282],[0.122557,-0.053063,0.991042]]
2025-10-26T19:42:51.736Z,1761507771.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575137
2025-10-26T19:42:51.989Z,1761507771.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827591
2025-10-26T19:42:52.239Z,1761507772.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719060,0.688558,0.094022],[-0.686439,-0.724832,0.058476],[0.108414,-0.022492,0.993851]]
2025-10-26T19:42:52.240Z,1761507772.240 [DAT](INFO): Reached modem response timeout
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateRudder:A] Stopped
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:42:52.288Z,1761507772.288 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateCommandMode] Stopped
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:42:52.289Z,1761507772.289 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:42:52.290Z,1761507772.290 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:42:52.290Z,1761507772.290 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:42:52.290Z,1761507772.290 [marl:UpdateSpeed] Stopped
2025-10-26T19:42:52.290Z,1761507772.290 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:42:52.638Z,1761507772.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723009,0.689085,0.049203],[-0.687782,-0.724674,0.042466],[0.064919,-0.003137,0.997886]]
2025-10-26T19:42:54.508Z,1761507774.508 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:42:54.509Z,1761507774.509 [DAT](INFO): response not received
2025-10-26T19:42:54.509Z,1761507774.509 [DAT](ERROR): No response from remote modem.
2025-10-26T19:42:54.732Z,1761507774.732 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:42:54.732Z,1761507774.732 [marl:UpdateRudder:B] Stopped
2025-10-26T19:42:54.732Z,1761507774.732 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:42:54.732Z,1761507774.732 [marl:UpdateRudder] Stopped
2025-10-26T19:42:54.732Z,1761507774.732 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:42:54.942Z,1761507774.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711037,0.700964,0.055472],[-0.702289,-0.711861,-0.006575],[0.034880,-0.043632,0.998439]]
2025-10-26T19:42:55.326Z,1761507775.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727376,0.682726,0.069354],[-0.686135,-0.725299,-0.056208],[0.011928,-0.088471,0.996007]]
2025-10-26T19:42:55.733Z,1761507775.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745650,0.658111,0.104385],[-0.666183,-0.739645,-0.095524],[0.014343,-0.140767,0.989939]]
2025-10-26T19:42:56.134Z,1761507776.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750005,0.646387,0.140277],[-0.660282,-0.744175,-0.101155],[0.039006,-0.168489,0.984931]]
2025-10-26T19:42:56.540Z,1761507776.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730179,0.667734,0.144809],[-0.679994,-0.730870,-0.058633],[0.066685,-0.141281,0.987721]]
2025-10-26T19:42:56.942Z,1761507776.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721176,0.683641,0.111983],[-0.687624,-0.726055,0.004135],[0.084133,-0.074020,0.993702]]
2025-10-26T19:42:57.346Z,1761507777.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725413,0.683301,0.082917],[-0.681968,-0.729811,0.047906],[0.093248,-0.021795,0.995404]]
2025-10-26T19:42:57.757Z,1761507777.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728739,0.681421,0.067854],[-0.679353,-0.731857,0.053522],[0.086130,-0.007093,0.996259]]
2025-10-26T19:42:58.155Z,1761507778.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734567,0.674733,0.071742],[-0.675798,-0.736991,0.011884],[0.060892,-0.039754,0.997352]]
2025-10-26T19:42:58.558Z,1761507778.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740614,0.663572,0.105655],[-0.670416,-0.740305,-0.049918],[0.045093,-0.107803,0.993149]]
2025-10-26T19:42:58.962Z,1761507778.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746248,0.650106,0.143096],[-0.664725,-0.739208,-0.108222],[0.035422,-0.175880,0.983774]]
2025-10-26T19:42:59.376Z,1761507779.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757545,0.637644,0.139770],[-0.652394,-0.746925,-0.128392],[0.022530,-0.188448,0.981825]]
2025-10-26T19:42:59.781Z,1761507779.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761758,0.645975,0.049406],[-0.647632,-0.761303,-0.031486],[0.017273,-0.055981,0.998282]]
2025-10-26T19:43:00.179Z,1761507780.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753977,0.656895,0.003002],[-0.655876,-0.753047,0.052412],[0.036690,0.037549,0.998621]]
2025-10-26T19:43:00.583Z,1761507780.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754012,0.656625,-0.017571],[-0.655319,-0.750142,0.088570],[0.044977,0.078298,0.995915]]
2025-10-26T19:43:00.992Z,1761507780.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755079,0.655535,0.011418],[-0.653841,-0.754187,0.060778],[0.048453,0.038426,0.998086]]
2025-10-26T19:43:01.395Z,1761507781.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756654,0.647869,0.087982],[-0.649117,-0.760487,0.017496],[0.078244,-0.043872,0.995968]]
2025-10-26T19:43:01.792Z,1761507781.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760426,0.630612,0.155176],[-0.642660,-0.765105,-0.040024],[0.093486,-0.130160,0.987076]]
2025-10-26T19:43:02.194Z,1761507782.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762224,0.627002,0.160885],[-0.644630,-0.757855,-0.100543],[0.058887,-0.180348,0.981839]]
2025-10-26T19:43:02.598Z,1761507782.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756488,0.641182,0.128886],[-0.653207,-0.750490,-0.100422],[0.032339,-0.160158,0.986562]]
2025-10-26T19:43:03.006Z,1761507783.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751126,0.653435,0.093980],[-0.658197,-0.752233,-0.030370],[0.050851,-0.084669,0.995111]]
2025-10-26T19:43:03.406Z,1761507783.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749888,0.659728,0.049269],[-0.658829,-0.751479,0.034988],[0.060107,-0.006223,0.998173]]
2025-10-26T19:43:03.810Z,1761507783.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755950,0.654624,0.002558],[-0.653898,-0.755285,0.044292],[0.030926,0.031810,0.999015]]
2025-10-26T19:43:04.214Z,1761507784.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756269,0.654259,0.001480],[-0.654115,-0.756147,0.019374],[0.013795,0.013684,0.999811]]
2025-10-26T19:43:04.619Z,1761507784.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754872,0.652087,0.070364],[-0.654276,-0.756169,-0.011474],[0.045725,-0.054699,0.997455]]
2025-10-26T19:43:05.022Z,1761507785.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759605,0.634301,0.143749],[-0.646955,-0.759581,-0.066974],[0.066707,-0.143873,0.987345]]
2025-10-26T19:43:05.426Z,1761507785.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764336,0.626910,0.150913],[-0.644032,-0.753760,-0.130652],[0.031845,-0.197055,0.979875]]
2025-10-26T19:43:05.830Z,1761507785.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767168,0.629905,0.121135],[-0.641439,-0.754272,-0.140108],[0.003114,-0.185187,0.982698]]
2025-10-26T19:43:06.242Z,1761507786.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772162,0.628966,0.090370],[-0.635001,-0.768999,-0.073583],[0.023213,-0.114204,0.993186]]
2025-10-26T19:43:06.638Z,1761507786.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765035,0.640815,0.063859],[-0.641862,-0.766802,0.005187],[0.052291,-0.037020,0.997945]]
2025-10-26T19:43:07.042Z,1761507787.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757047,0.653245,0.012283],[-0.651927,-0.756498,0.051978],[0.043247,0.031342,0.998573]]
2025-10-26T19:43:07.100Z,1761507787.100 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:43:07.100Z,1761507787.100 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:43:07.100Z,1761507787.100 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:43:07.100Z,1761507787.100 [marl:UpdateRudder:A] Stopped
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode] Stopped
2025-10-26T19:43:07.101Z,1761507787.101 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed] Stopped
2025-10-26T19:43:07.102Z,1761507787.102 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:43:07.446Z,1761507787.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765563,0.642997,-0.021635],[-0.642894,-0.763292,0.063813],[0.024518,0.062762,0.997727]]
2025-10-26T19:43:07.472Z,1761507787.472 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:43:07.472Z,1761507787.472 [marl:UpdateRudder:B] Stopped
2025-10-26T19:43:07.473Z,1761507787.473 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:43:07.473Z,1761507787.473 [marl:UpdateRudder] Stopped
2025-10-26T19:43:07.473Z,1761507787.473 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:43:07.851Z,1761507787.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782335,0.622675,0.015105],[-0.622035,-0.782317,0.032433],[0.032013,0.015978,0.999360]]
2025-10-26T19:43:08.257Z,1761507788.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783605,0.613694,0.096660],[-0.617698,-0.786261,-0.015594],[0.066430,-0.071926,0.995195]]
2025-10-26T19:43:08.658Z,1761507788.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772390,0.613043,0.166108],[-0.627224,-0.777390,-0.047492],[0.100016,-0.140869,0.984963]]
2025-10-26T19:43:09.064Z,1761507789.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762941,0.622826,0.173231],[-0.638175,-0.768395,-0.047988],[0.103221,-0.147164,0.983711]]
2025-10-26T19:43:09.469Z,1761507789.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756251,0.642270,0.124796],[-0.649224,-0.760299,-0.021307],[0.081197,-0.097134,0.991954]]
2025-10-26T19:43:09.871Z,1761507789.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748306,0.659966,0.066949],[-0.660279,-0.750740,0.020493],[0.063786,-0.028870,0.997546]]
2025-10-26T19:43:10.274Z,1761507790.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758954,0.649511,0.046099],[-0.647752,-0.760322,0.048241],[0.066383,0.006752,0.997771]]
2025-10-26T19:43:10.678Z,1761507790.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781450,0.620210,0.068380],[-0.620736,-0.783860,0.015839],[0.063424,-0.030069,0.997534]]
2025-10-26T19:43:11.088Z,1761507791.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784874,0.607898,0.120137],[-0.616700,-0.785222,-0.055749],[0.060445,-0.117845,0.991191]]
2025-10-26T19:43:11.099Z,1761507791.099 [NAL9602](INFO): SBD MO Status=1, MOMSN=2973, MT Status=0, MTMSN=0
2025-10-26T19:43:11.156Z,1761507791.156 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0025.lzma
2025-10-26T19:43:11.156Z,1761507791.156 [NAL9602](INFO): Packets left to send: 2
2025-10-26T19:43:11.486Z,1761507791.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763945,0.624067,0.164097],[-0.642010,-0.760658,-0.096032],[0.064891,-0.178715,0.981759]]
2025-10-26T19:43:11.955Z,1761507791.955 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:43:12.018Z,1761507792.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748178,0.643966,0.159804],[-0.660267,-0.746357,-0.083659],[0.065397,-0.168105,0.983597]]
2025-10-26T19:43:12.100Z,1761507792.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:43:12.152Z,1761507792.152 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:43:12.152Z,1761507792.152 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:43:12.408Z,1761507792.408 [DAT](INFO): DAT read: 

2025-10-26T19:43:12.409Z,1761507792.409 [DAT](INFO): DAT read: Tx time:19:43:11.5019

2025-10-26T19:43:12.409Z,1761507792.409 [DAT](INFO): Ping request sent.
2025-10-26T19:43:12.409Z,1761507792.409 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:43:12.409Z,1761507792.409 [DAT](INFO): publishing transmit ping time
2025-10-26T19:43:12.410Z,1761507792.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000924
2025-10-26T19:43:12.423Z,1761507792.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744113,0.657197,0.119951],[-0.664397,-0.746774,-0.030084],[0.069805,-0.102081,0.992324]]
2025-10-26T19:43:12.656Z,1761507792.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247141
2025-10-26T19:43:12.908Z,1761507792.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499145
2025-10-26T19:43:13.104Z,1761507793.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:43:13.161Z,1761507793.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751511
2025-10-26T19:43:13.412Z,1761507793.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003205
2025-10-26T19:43:13.664Z,1761507793.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255132
2025-10-26T19:43:13.916Z,1761507793.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507182
2025-10-26T19:43:14.168Z,1761507794.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759143
2025-10-26T19:43:14.420Z,1761507794.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011184
2025-10-26T19:43:14.675Z,1761507794.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266101
2025-10-26T19:43:14.840Z,1761507794.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772439,0.625047,0.112495],[-0.635035,-0.757845,-0.149674],[-0.008300,-0.187052,0.982315]]
2025-10-26T19:43:14.848Z,1761507794.848 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050223313291,35.0, +140,1505.0,  0
2025-10-26T19:43:14.925Z,1761507794.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516242
2025-10-26T19:43:15.176Z,1761507795.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767224
2025-10-26T19:43:15.182Z,1761507795.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791095,0.594651,0.143381],[-0.611672,-0.767060,-0.193589],[-0.005136,-0.240849,0.970549]]
2025-10-26T19:43:15.429Z,1761507795.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019840
2025-10-26T19:43:15.586Z,1761507795.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798235,0.591105,0.115827],[-0.601790,-0.790878,-0.111181],[0.025885,-0.158452,0.987027]]
2025-10-26T19:43:15.680Z,1761507795.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271158
2025-10-26T19:43:15.933Z,1761507795.933 [DAT](INFO): DAT read: Rx Time:19:43:14.4375

2025-10-26T19:43:15.934Z,1761507795.934 [DAT](INFO): Rx dataTimestamp_ set to:1761507795.933343
2025-10-26T19:43:15.934Z,1761507795.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525011
2025-10-26T19:43:15.987Z,1761507795.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798985,0.598845,0.054839],[-0.599777,-0.800167,-0.000658],[0.043487,-0.033417,0.998495]]
2025-10-26T19:43:16.184Z,1761507796.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775133
2025-10-26T19:43:16.390Z,1761507796.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782588,0.622461,-0.009915],[-0.620974,-0.779390,0.083323],[0.044137,0.071364,0.996473]]
2025-10-26T19:43:16.442Z,1761507796.442 [DAT](INFO): DAT read: 19:43:14.4374 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 340,-0.14,-1.626, 3.001,-2.229,-2.242, PHS= 0.718,-0.995,-0.031, RAW= 124.1,   4.2, CAL= 125.3,   5.4, ROT=  24.7,  -5.4

2025-10-26T19:43:16.444Z,1761507796.444 [DAT](INFO): got valid direction response:
 19:43:14.4374 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 340,-0.14,-1.626, 3.001,-2.229,-2.242, PHS= 0.718,-0.995,-0.031, RAW= 124.1,   4.2, CAL= 125.3,   5.4, ROT=  24.7,  -5.4

2025-10-26T19:43:16.444Z,1761507796.444 [DAT](INFO): DAT read: Bearing 352, -13 (Remote)

2025-10-26T19:43:16.445Z,1761507796.445 [DAT](INFO): Remote Bearing received:Bearing 352, -13 (Remote)

2025-10-26T19:43:16.446Z,1761507796.446 [DAT](INFO): DAT read: Bearing  11.9,  24.5 (Local)

2025-10-26T19:43:16.446Z,1761507796.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.9,  24.5 (Local)

2025-10-26T19:43:16.447Z,1761507796.447 [DAT](INFO): DAT read: Range 11 to 20 : 679.8 m  (Round-trip  906.4 ms) speed  0.0 m/s

2025-10-26T19:43:16.448Z,1761507796.448 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:43:16.449Z,1761507796.449 [DAT](INFO): direction in FSK: [0.904476,0.416013,0.094108]
2025-10-26T19:43:16.449Z,1761507796.449 [DAT](INFO): publishing direction and range info
2025-10-26T19:43:16.474Z,1761507796.474 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507840.00. Resetting abort timer.
2025-10-26T19:43:16.842Z,1761507796.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769794,0.636316,-0.050185],[-0.637500,-0.762544,0.110092],[0.031785,0.116741,0.992654]]
2025-10-26T19:43:17.201Z,1761507797.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775560,0.630639,-0.028312],[-0.630699,-0.772159,0.077397],[0.026948,0.077883,0.996598]]
2025-10-26T19:43:17.613Z,1761507797.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786677,0.613809,0.066164],[-0.614722,-0.788704,0.007941],[0.057058,-0.034425,0.997777]]
2025-10-26T19:43:18.006Z,1761507798.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794130,0.582310,0.173989],[-0.599418,-0.797699,-0.066139],[0.100278,-0.156815,0.982524]]
2025-10-26T19:43:18.412Z,1761507798.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787827,0.572557,0.226953],[-0.605431,-0.787587,-0.114719],[0.113062,-0.227783,0.967126]]
2025-10-26T19:43:18.840Z,1761507798.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774387,0.605850,0.182402],[-0.628218,-0.770543,-0.107730],[0.075280,-0.198013,0.977304]]
2025-10-26T19:43:19.230Z,1761507799.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759170,0.647148,0.069725],[-0.650578,-0.757769,-0.050347],[0.020253,-0.083583,0.996295]]
2025-10-26T19:43:19.626Z,1761507799.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750272,0.661059,-0.009642],[-0.660820,-0.749395,0.041525],[0.020225,0.037526,0.999091]]
2025-10-26T19:43:20.027Z,1761507800.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763564,0.645551,-0.015300],[-0.642894,-0.757775,0.111644],[0.060478,0.095083,0.993630]]
2025-10-26T19:43:20.431Z,1761507800.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778653,0.627422,0.006472],[-0.625521,-0.777020,0.070447],[0.049228,0.050806,0.997495]]
2025-10-26T19:43:20.845Z,1761507800.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777143,0.628571,0.030792],[-0.629244,-0.775331,-0.053983],[-0.010059,-0.061328,0.998067]]
2025-10-26T19:43:21.243Z,1761507801.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772523,0.628526,0.090349],[-0.634488,-0.758428,-0.149035],[-0.025149,-0.172458,0.984696]]
2025-10-26T19:43:21.646Z,1761507801.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784613,0.600377,0.154693],[-0.619984,-0.759324,-0.197601],[-0.001173,-0.250948,0.968000]]
2025-10-26T19:43:22.048Z,1761507802.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799631,0.574594,0.174445],[-0.600331,-0.771654,-0.210125],[0.013875,-0.272748,0.961985]]
2025-10-26T19:43:22.451Z,1761507802.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782143,0.601165,0.163870],[-0.622527,-0.765185,-0.164172],[0.026696,-0.230420,0.972725]]
2025-10-26T19:43:22.478Z,1761507802.478 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:43:22.478Z,1761507802.478 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:43:22.478Z,1761507802.478 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:43:22.479Z,1761507802.479 [marl:UpdateRudder:A] Stopped
2025-10-26T19:43:22.479Z,1761507802.479 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:43:22.479Z,1761507802.479 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:43:22.479Z,1761507802.479 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:43:22.496Z,1761507802.496 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:43:22.499Z,1761507802.499 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateCommandMode] Stopped
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:43:22.500Z,1761507802.500 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:43:22.501Z,1761507802.501 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:43:22.501Z,1761507802.501 [marl:UpdateSpeed] Stopped
2025-10-26T19:43:22.501Z,1761507802.501 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:43:22.854Z,1761507802.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762287,0.637016,0.114583],[-0.644468,-0.763399,-0.043396],[0.059829,-0.106925,0.992465]]
2025-10-26T19:43:22.926Z,1761507802.926 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:43:22.926Z,1761507802.926 [marl:UpdateRudder:B] Stopped
2025-10-26T19:43:22.926Z,1761507802.926 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:43:22.926Z,1761507802.926 [marl:UpdateRudder] Stopped
2025-10-26T19:43:22.926Z,1761507802.926 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:43:23.260Z,1761507803.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774848,0.631481,0.029013],[-0.629956,-0.775167,0.047673],[0.052594,0.018663,0.998442]]
2025-10-26T19:43:23.663Z,1761507803.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803218,0.594993,-0.028705],[-0.595685,-0.802230,0.039825],[0.000668,0.049087,0.998794]]
2025-10-26T19:43:24.067Z,1761507804.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818087,0.574961,-0.012399],[-0.574802,-0.818168,-0.014250],[-0.018338,-0.004531,0.999822]]
2025-10-26T19:43:24.483Z,1761507804.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815359,0.576797,0.049955],[-0.578956,-0.812195,-0.071766],[-0.000821,-0.087437,0.996170]]
2025-10-26T19:43:24.874Z,1761507804.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806929,0.583913,0.088944],[-0.590580,-0.799925,-0.106472],[0.008978,-0.138444,0.990330]]
2025-10-26T19:43:25.280Z,1761507805.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809723,0.578451,0.098712],[-0.586529,-0.803029,-0.105489],[0.018249,-0.143314,0.989509]]
2025-10-26T19:43:25.697Z,1761507805.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820392,0.561689,0.107064],[-0.568830,-0.820759,-0.052790],[0.058222,-0.104210,0.992850]]
2025-10-26T19:43:26.088Z,1761507806.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821976,0.560625,0.100274],[-0.561132,-0.827326,0.025748],[0.097394,-0.035103,0.994627]]
2025-10-26T19:43:26.490Z,1761507806.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814536,0.576352,0.065950],[-0.573018,-0.817084,0.063437],[0.090448,0.013881,0.995804]]
2025-10-26T19:43:26.895Z,1761507806.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806110,0.590937,0.031296],[-0.589884,-0.806637,0.037059],[0.047144,0.011413,0.998823]]
2025-10-26T19:43:27.300Z,1761507807.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795838,0.604157,0.040456],[-0.604929,-0.796224,-0.009407],[0.026529,-0.031959,0.999137]]
2025-10-26T19:43:27.721Z,1761507807.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801033,0.592830,0.083063],[-0.597768,-0.799558,-0.058144],[0.031944,-0.096227,0.994847]]
2025-10-26T19:43:28.107Z,1761507808.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817102,0.565485,0.112119],[-0.575972,-0.809043,-0.117075],[0.024504,-0.160240,0.986774]]
2025-10-26T19:43:28.511Z,1761507808.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822947,0.552665,0.131605],[-0.567361,-0.811456,-0.140148],[0.029336,-0.190002,0.981345]]
2025-10-26T19:43:28.916Z,1761507808.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820790,0.552039,0.146818],[-0.567626,-0.817036,-0.101257],[0.064058,-0.166449,0.983967]]
2025-10-26T19:43:29.325Z,1761507809.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822500,0.555078,0.124022],[-0.564259,-0.823742,-0.055329],[0.071450,-0.115489,0.990736]]
2025-10-26T19:43:29.732Z,1761507809.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839119,0.538456,0.077103],[-0.542297,-0.839160,-0.041523],[0.042344,-0.076655,0.996158]]
2025-10-26T19:43:30.127Z,1761507810.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850688,0.520319,0.074813],[-0.524242,-0.850226,-0.047823],[0.038725,-0.079903,0.996050]]
2025-10-26T19:43:30.535Z,1761507810.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844480,0.521707,0.121144],[-0.529810,-0.846854,-0.046263],[0.078455,-0.103252,0.991556]]
2025-10-26T19:43:30.936Z,1761507810.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827903,0.536360,0.163997],[-0.546417,-0.837271,-0.020130],[0.126513,-0.106277,0.986255]]
2025-10-26T19:43:31.338Z,1761507811.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812198,0.559491,0.165240],[-0.564440,-0.825236,0.019818],[0.147450,-0.077172,0.986054]]
2025-10-26T19:43:31.743Z,1761507811.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802905,0.587240,0.102436],[-0.585253,-0.809203,0.051675],[0.113237,-0.018461,0.993397]]
2025-10-26T19:43:32.149Z,1761507812.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794894,0.606446,0.019162],[-0.604686,-0.794398,0.057329],[0.049989,0.033984,0.998171]]
2025-10-26T19:43:32.550Z,1761507812.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793712,0.608292,0.001200],[-0.607585,-0.792882,0.046672],[0.029341,0.036315,0.998910]]
2025-10-26T19:43:32.955Z,1761507812.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800511,0.597238,0.049887],[-0.596897,-0.801985,0.023123],[0.053818,-0.011267,0.998487]]
2025-10-26T19:43:33.359Z,1761507813.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804905,0.588309,0.077596],[-0.592653,-0.803561,-0.055249],[0.029849,-0.090458,0.995453]]
2025-10-26T19:43:33.770Z,1761507813.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808195,0.582115,0.089236],[-0.588815,-0.795934,-0.140661],[-0.010855,-0.166225,0.986028]]
2025-10-26T19:43:34.166Z,1761507814.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820474,0.558879,0.120322],[-0.571559,-0.806321,-0.152204],[0.011954,-0.193651,0.980998]]
2025-10-26T19:43:34.571Z,1761507814.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826033,0.546096,0.139460],[-0.559983,-0.823251,-0.093148],[0.063943,-0.155039,0.985837]]
2025-10-26T19:43:34.975Z,1761507814.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819385,0.560892,0.118357],[-0.565665,-0.824592,-0.008364],[0.092905,-0.073804,0.992936]]
2025-10-26T19:43:35.381Z,1761507815.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803982,0.592939,0.045122],[-0.591342,-0.805197,0.044404],[0.062661,0.009018,0.997994]]
2025-10-26T19:43:35.405Z,1761507815.405 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:43:35.405Z,1761507815.405 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateRudder:A] Stopped
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:43:35.406Z,1761507815.406 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:43:35.407Z,1761507815.407 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:43:35.407Z,1761507815.407 [marl:UpdateCommandMode] Stopped
2025-10-26T19:43:35.407Z,1761507815.407 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:43:35.407Z,1761507815.407 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:43:35.407Z,1761507815.407 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:43:35.407Z,1761507815.407 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:43:35.408Z,1761507815.408 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:43:35.408Z,1761507815.408 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:43:35.408Z,1761507815.408 [marl:UpdateSpeed] Stopped
2025-10-26T19:43:35.409Z,1761507815.409 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:43:35.783Z,1761507815.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784713,0.619557,-0.019356],[-0.619569,-0.783006,0.055096],[0.018979,0.055227,0.998293]]
2025-10-26T19:43:35.825Z,1761507815.825 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:43:35.825Z,1761507815.825 [marl:UpdateRudder:B] Stopped
2025-10-26T19:43:35.825Z,1761507815.825 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:43:35.825Z,1761507815.825 [marl:UpdateRudder] Stopped
2025-10-26T19:43:35.826Z,1761507815.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:43:36.193Z,1761507816.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779745,0.625965,-0.012843],[-0.625855,-0.778709,0.043794],[0.017412,0.042186,0.998958]]
2025-10-26T19:43:36.591Z,1761507816.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787273,0.614589,0.049821],[-0.615367,-0.788241,-0.000349],[0.039057,-0.030933,0.998758]]
2025-10-26T19:43:36.995Z,1761507816.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791860,0.600461,0.111373],[-0.609247,-0.789308,-0.076228],[0.042136,-0.128216,0.990851]]
2025-10-26T19:43:37.398Z,1761507817.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785302,0.606287,0.125363],[-0.618611,-0.776557,-0.119498],[0.024901,-0.171393,0.984888]]
2025-10-26T19:43:37.803Z,1761507817.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766689,0.632719,0.108874],[-0.641435,-0.762125,-0.087897],[0.027362,-0.137225,0.990162]]
2025-10-26T19:43:37.818Z,1761507817.818 [NAL9602](INFO): SBD MO Status=2, MOMSN=2974, MT Status=2, MTMSN=0
2025-10-26T19:43:37.818Z,1761507817.818 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:43:38.210Z,1761507818.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754360,0.653434,0.062965],[-0.655847,-0.754326,-0.029259],[0.028377,-0.063367,0.997587]]
2025-10-26T19:43:38.618Z,1761507818.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759172,0.650130,0.031445],[-0.650672,-0.759281,-0.010831],[0.016834,-0.028683,0.999447]]
2025-10-26T19:43:39.021Z,1761507819.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776866,0.614441,0.137631],[-0.627560,-0.773408,-0.089491],[0.051458,-0.155894,0.986432]]
2025-10-26T19:43:39.034Z,1761507819.034 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194338.00,A,3646.15587,N,12151.93422,W,2.002,276.70,261025,,,A*7F
2025-10-26T19:43:39.037Z,1761507819.037 [NAL9602](INFO): GPS fix at 20251026T194338: (36.769264, -121.865570)
2025-10-26T19:43:39.098Z,1761507819.098 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:43:39.424Z,1761507819.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783468,0.595982,0.176023],[-0.618571,-0.775073,-0.128966],[0.059570,-0.209923,0.975901]]
2025-10-26T19:43:39.830Z,1761507819.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789136,0.592105,0.163325],[-0.612195,-0.779784,-0.130974],[0.049808,-0.203344,0.977840]]
2025-10-26T19:43:40.235Z,1761507820.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787295,0.604371,0.122073],[-0.614817,-0.784453,-0.081448],[0.046536,-0.139176,0.989174]]
2025-10-26T19:43:40.634Z,1761507820.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782359,0.618151,0.076177],[-0.619777,-0.784772,0.002879],[0.061562,-0.044960,0.997090]]
2025-10-26T19:43:41.035Z,1761507821.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770138,0.636532,0.041401],[-0.632254,-0.770339,0.082660],[0.084509,0.037483,0.995717]]
2025-10-26T19:43:41.440Z,1761507821.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761408,0.647603,0.029482],[-0.641553,-0.759266,0.109197],[0.093101,0.064229,0.993583]]
2025-10-26T19:43:41.843Z,1761507821.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767219,0.639474,0.049471],[-0.637172,-0.768735,0.055296],[0.073390,0.010903,0.997244]]
2025-10-26T19:43:42.247Z,1761507822.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763820,0.636034,0.109727],[-0.641531,-0.766811,-0.020929],[0.070828,-0.086379,0.993741]]
2025-10-26T19:43:42.299Z,1761507822.299 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:43:42.408Z,1761507822.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:43:42.408Z,1761507822.408 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:43:42.651Z,1761507822.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748619,0.638472,0.178673],[-0.654769,-0.754306,-0.047959],[0.104154,-0.152893,0.982739]]
2025-10-26T19:43:42.661Z,1761507822.661 [DAT](INFO): DAT read: user:269>

2025-10-26T19:43:42.662Z,1761507822.662 [DAT](INFO): DAT read: Tx time:19:43:41.7517

2025-10-26T19:43:42.663Z,1761507822.663 [DAT](INFO): Ping request sent.
2025-10-26T19:43:42.663Z,1761507822.663 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:43:42.663Z,1761507822.663 [DAT](INFO): publishing transmit ping time
2025-10-26T19:43:42.664Z,1761507822.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001273
2025-10-26T19:43:42.912Z,1761507822.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249776
2025-10-26T19:43:43.165Z,1761507823.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502336
2025-10-26T19:43:43.240Z,1761507823.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:43:43.321Z,1761507823.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740734,0.646774,0.181652],[-0.663433,-0.746800,-0.046334],[0.105690,-0.154835,0.982271]]
2025-10-26T19:43:43.416Z,1761507823.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753606
2025-10-26T19:43:43.669Z,1761507823.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005952
2025-10-26T19:43:43.710Z,1761507823.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733935,0.668626,0.119494],[-0.675659,-0.736690,-0.027783],[0.069454,-0.101128,0.992446]]
2025-10-26T19:43:43.920Z,1761507823.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257653
2025-10-26T19:43:44.173Z,1761507824.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510312
2025-10-26T19:43:44.244Z,1761507824.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:43:44.424Z,1761507824.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761750
2025-10-26T19:43:44.677Z,1761507824.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014072
2025-10-26T19:43:44.929Z,1761507824.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266466
2025-10-26T19:43:45.181Z,1761507825.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518174
2025-10-26T19:43:45.432Z,1761507825.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769702
2025-10-26T19:43:45.684Z,1761507825.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021779
2025-10-26T19:43:45.804Z,1761507825.804 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:43:45.805Z,1761507825.805 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:43:45.860Z,1761507825.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750965,0.647828,0.127946],[-0.659217,-0.746783,-0.088022],[0.038525,-0.150446,0.987867]]
2025-10-26T19:43:45.938Z,1761507825.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275194
2025-10-26T19:43:46.188Z,1761507826.188 [DAT](INFO): DAT read: Rx Time:19:43:44.6701

2025-10-26T19:43:46.189Z,1761507826.189 [DAT](INFO): Rx dataTimestamp_ set to:1761507826.188602
2025-10-26T19:43:46.189Z,1761507826.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526764
2025-10-26T19:43:46.236Z,1761507826.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737155,0.649743,0.185570],[-0.669263,-0.739921,-0.067855],[0.093219,-0.174214,0.980285]]
2025-10-26T19:43:46.440Z,1761507826.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777606
2025-10-26T19:43:46.638Z,1761507826.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730748,0.675098,0.101245],[-0.678814,-0.734304,-0.003113],[0.072243,-0.071001,0.994857]]
2025-10-26T19:43:46.700Z,1761507826.700 [DAT](INFO): DAT read: 19:43:44.6701 LVL= 20624, 15425, 32754, 23059, AGC= 72, IDX= 258,-0.05,-1.612, 0.069,-2.048,-0.881, PHS=-0.628, 0.995,-1.210, RAW= 344.7,   8.6, CAL= 344.7,   8.9, ROT= 165.3,  -8.9

2025-10-26T19:43:46.702Z,1761507826.702 [DAT](INFO): got valid direction response:
 19:43:44.6701 LVL= 20624, 15425, 32754, 23059, AGC= 72, IDX= 258,-0.05,-1.612, 0.069,-2.048,-0.881, PHS=-0.628, 0.995,-1.210, RAW= 344.7,   8.6, CAL= 344.7,   8.9, ROT= 165.3,  -8.9

2025-10-26T19:43:46.703Z,1761507826.703 [DAT](INFO): DAT read: Bearing 344, -11 (Remote)

2025-10-26T19:43:46.703Z,1761507826.703 [DAT](INFO): Remote Bearing received:Bearing 344, -11 (Remote)

2025-10-26T19:43:46.704Z,1761507826.704 [DAT](INFO): DAT read: Bearing 173.0,   9.7 (Local)

2025-10-26T19:43:46.705Z,1761507826.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.0,   9.7 (Local)

2025-10-26T19:43:46.707Z,1761507826.707 [DAT](INFO): DAT read: Range 11 to 20 : 666.9 m  (Round-trip  889.3 ms) speed  0.3 m/s

2025-10-26T19:43:46.712Z,1761507826.712 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:43:46.713Z,1761507826.713 [DAT](INFO): direction in FSK: [-0.955622,0.250703,0.154710]
2025-10-26T19:43:46.713Z,1761507826.713 [DAT](INFO): publishing direction and range info
2025-10-26T19:43:46.743Z,1761507826.743 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507840.00. Resetting abort timer.
2025-10-26T19:43:47.041Z,1761507827.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729402,0.684024,0.009191],[-0.682613,-0.728647,0.055795],[0.044862,0.034423,0.998400]]
2025-10-26T19:43:47.443Z,1761507827.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730839,0.682458,-0.011222],[-0.681628,-0.728899,0.063952],[0.035465,0.054388,0.997890]]
2025-10-26T19:43:47.846Z,1761507827.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723352,0.689455,0.037591],[-0.688361,-0.724325,0.038902],[0.054049,0.002263,0.998536]]
2025-10-26T19:43:48.250Z,1761507828.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721082,0.684057,0.110029],[-0.688079,-0.725634,0.001940],[0.081168,-0.074310,0.993927]]
2025-10-26T19:43:48.660Z,1761507828.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724108,0.673424,0.148887],[-0.685797,-0.725940,-0.051889],[0.073140,-0.139680,0.987492]]
2025-10-26T19:43:49.116Z,1761507829.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713674,0.683867,0.151641],[-0.698636,-0.710609,-0.083326],[0.050773,-0.165410,0.984917]]
2025-10-26T19:43:49.597Z,1761507829.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701962,0.699010,0.136506],[-0.709743,-0.702511,-0.052379],[0.059283,-0.133652,0.989254]]
2025-10-26T19:43:49.868Z,1761507829.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689691,0.716968,0.101405],[-0.719754,-0.694119,0.012361],[0.079249,-0.064462,0.994768]]
2025-10-26T19:43:50.271Z,1761507830.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683649,0.728604,0.041962],[-0.727493,-0.684929,0.040316],[0.058115,-0.002965,0.998305]]
2025-10-26T19:43:50.679Z,1761507830.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696634,0.717387,-0.007547],[-0.717325,-0.696320,0.024150],[0.012070,0.022238,0.999680]]
2025-10-26T19:43:50.707Z,1761507830.707 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:43:50.707Z,1761507830.707 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:43:50.708Z,1761507830.708 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:43:50.708Z,1761507830.708 [marl:UpdateRudder:A] Stopped
2025-10-26T19:43:50.709Z,1761507830.709 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:43:50.709Z,1761507830.709 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:43:50.709Z,1761507830.709 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:43:50.709Z,1761507830.709 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:43:50.709Z,1761507830.709 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:43:50.710Z,1761507830.710 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:43:50.710Z,1761507830.710 [marl:UpdateCommandMode] Stopped
2025-10-26T19:43:50.710Z,1761507830.710 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:43:50.710Z,1761507830.710 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:43:50.710Z,1761507830.710 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:43:50.710Z,1761507830.710 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:43:50.711Z,1761507830.711 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:43:50.711Z,1761507830.711 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:43:50.711Z,1761507830.711 [marl:UpdateSpeed] Stopped
2025-10-26T19:43:50.711Z,1761507830.711 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:43:51.078Z,1761507831.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709261,0.704792,0.014727],[-0.704919,-0.709262,-0.006079],[0.006161,-0.014692,0.999873]]
2025-10-26T19:43:51.130Z,1761507831.130 [marl:UpdateRudder:B](INFO): Updating rudder angle  -13.750987 arcdeg 
2025-10-26T19:43:51.130Z,1761507831.130 [marl:UpdateRudder:B] Stopped
2025-10-26T19:43:51.130Z,1761507831.130 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:43:51.130Z,1761507831.130 [marl:UpdateRudder] Stopped
2025-10-26T19:43:51.131Z,1761507831.131 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:43:51.482Z,1761507831.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712401,0.697602,0.076394],[-0.701206,-0.711969,-0.037553],[0.028193,-0.080321,0.996370]]
2025-10-26T19:43:51.887Z,1761507831.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716227,0.689291,0.109075],[-0.697356,-0.712889,-0.074053],[0.026714,-0.129103,0.991271]]
2025-10-26T19:43:52.292Z,1761507832.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708332,0.697368,0.109287],[-0.705687,-0.703214,-0.086583],[0.016472,-0.138452,0.990232]]
2025-10-26T19:43:52.696Z,1761507832.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701147,0.705356,0.104239],[-0.712287,-0.699516,-0.057654],[0.032250,-0.114672,0.992880]]
2025-10-26T19:43:53.098Z,1761507833.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698879,0.709476,0.090625],[-0.712489,-0.701682,-0.001292],[0.062673,-0.065472,0.995884]]
2025-10-26T19:43:53.505Z,1761507833.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687601,0.723196,0.064756],[-0.721439,-0.690552,0.051613],[0.082044,-0.011228,0.996566]]
2025-10-26T19:43:53.906Z,1761507833.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680436,0.731957,0.035306],[-0.728978,-0.681013,0.069366],[0.074816,0.021462,0.996966]]
2025-10-26T19:43:54.310Z,1761507834.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680480,0.731958,0.034426],[-0.730932,-0.681349,0.038761],[0.051828,0.001213,0.998655]]
2025-10-26T19:43:54.718Z,1761507834.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666053,0.740865,0.086551],[-0.743651,-0.668568,0.000091],[0.057933,-0.064303,0.996247]]
2025-10-26T19:43:55.119Z,1761507835.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663001,0.734741,0.143473],[-0.744936,-0.666496,-0.029213],[0.074161,-0.126246,0.989223]]
2025-10-26T19:43:55.523Z,1761507835.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661916,0.736243,0.140759],[-0.748191,-0.660355,-0.064350],[0.045573,-0.147909,0.987950]]
2025-10-26T19:43:55.926Z,1761507835.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655619,0.749931,0.088131],[-0.755059,-0.652193,-0.067302],[0.007007,-0.110668,0.993833]]
2025-10-26T19:43:56.331Z,1761507836.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670052,0.741351,0.037791],[-0.742314,-0.669231,-0.033179],[0.000694,-0.050285,0.998735]]
2025-10-26T19:43:56.737Z,1761507836.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684771,0.728248,0.027260],[-0.728612,-0.684903,-0.005638],[0.014565,-0.023723,0.999612]]
2025-10-26T19:43:57.144Z,1761507837.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686353,0.725106,0.056052],[-0.726601,-0.686984,-0.010143],[0.031152,-0.047689,0.998376]]
2025-10-26T19:43:57.543Z,1761507837.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684239,0.720899,0.110094],[-0.727654,-0.684916,-0.037552],[0.048334,-0.105805,0.993212]]
2025-10-26T19:43:57.554Z,1761507837.554 [NAL9602](INFO): SBD MO Status=1, MOMSN=2974, MT Status=0, MTMSN=0
2025-10-26T19:43:57.612Z,1761507837.612 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0025.lzma
2025-10-26T19:43:57.612Z,1761507837.612 [NAL9602](INFO): Packets left to send: 1
2025-10-26T19:43:57.948Z,1761507837.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686498,0.712222,0.146494],[-0.725223,-0.685244,-0.067021],[0.052650,-0.152250,0.986939]]
2025-10-26T19:43:58.551Z,1761507838.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685023,0.718732,0.119031],[-0.727575,-0.683265,-0.061509],[0.037121,-0.128739,0.990983]]
2025-10-26T19:43:58.944Z,1761507838.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672030,0.738157,0.059151],[-0.739634,-0.672993,-0.004763],[0.036292,-0.046951,0.998238]]
2025-10-26T19:44:01.100Z,1761507841.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639412,0.760510,0.113039],[-0.766365,-0.642252,-0.014014],[0.061941,-0.095590,0.993492]]
2025-10-26T19:44:01.505Z,1761507841.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653648,0.746132,0.126613],[-0.755310,-0.653655,-0.047342],[0.047437,-0.126577,0.990822]]
2025-10-26T19:44:01.902Z,1761507841.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629782,0.771890,0.086949],[-0.775172,-0.631715,-0.006617],[0.049819,-0.071568,0.996191]]
2025-10-26T19:44:02.306Z,1761507842.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619981,0.783728,0.037341],[-0.782954,-0.621063,0.035552],[0.051054,-0.007195,0.998670]]
2025-10-26T19:44:02.714Z,1761507842.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618311,0.785926,-0.003519],[-0.784684,-0.617069,0.059127],[0.044298,0.039320,0.998244]]
2025-10-26T19:44:03.115Z,1761507843.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613869,0.789374,0.007366],[-0.787165,-0.612801,0.069607],[0.059460,0.036931,0.997547]]
2025-10-26T19:44:03.524Z,1761507843.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619335,0.782616,0.062745],[-0.782248,-0.621927,0.035968],[0.067172,-0.026805,0.997381]]
2025-10-26T19:44:03.922Z,1761507843.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635737,0.764120,0.109357],[-0.771792,-0.631659,-0.073100],[0.013219,-0.130873,0.991311]]
2025-10-26T19:44:04.326Z,1761507844.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655000,0.744431,0.129607],[-0.753484,-0.630545,-0.186211],[-0.056898,-0.219625,0.973924]]
2025-10-26T19:44:04.733Z,1761507844.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665470,0.730750,0.152167],[-0.743541,-0.631073,-0.221121],[-0.065556,-0.260291,0.963302]]
2025-10-26T19:44:05.142Z,1761507845.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669709,0.724920,0.161184],[-0.742376,-0.647921,-0.170519],[-0.019178,-0.233857,0.972082]]
2025-10-26T19:44:05.538Z,1761507845.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674112,0.727428,0.128146],[-0.738314,-0.668672,-0.088146],[0.021568,-0.154033,0.987830]]
2025-10-26T19:44:05.942Z,1761507845.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675746,0.731972,0.087093],[-0.734784,-0.678301,-0.000343],[0.058824,-0.064227,0.996200]]
2025-10-26T19:44:05.992Z,1761507845.992 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:44:05.992Z,1761507845.992 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:44:05.992Z,1761507845.992 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateRudder:A] Stopped
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:44:05.993Z,1761507845.993 [marl:UpdateCommandMode] Stopped
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed] Stopped
2025-10-26T19:44:05.994Z,1761507845.994 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:44:06.347Z,1761507846.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669775,0.739534,0.067007],[-0.735942,-0.673118,0.072806],[0.098946,-0.000550,0.995093]]
2025-10-26T19:44:06.377Z,1761507846.377 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:44:06.377Z,1761507846.377 [marl:UpdateRudder:B] Stopped
2025-10-26T19:44:06.377Z,1761507846.377 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:44:06.377Z,1761507846.377 [marl:UpdateRudder] Stopped
2025-10-26T19:44:06.377Z,1761507846.377 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:44:06.756Z,1761507846.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657661,0.752156,0.041752],[-0.748049,-0.658602,0.081650],[0.088911,0.022465,0.995786]]
2025-10-26T19:44:07.156Z,1761507847.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649529,0.760291,0.008333],[-0.759723,-0.649407,0.033043],[0.030534,0.015132,0.999419]]
2025-10-26T19:44:07.558Z,1761507847.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647565,0.761873,0.014446],[-0.761922,-0.647085,-0.027486],[-0.011593,-0.028805,0.999518]]
2025-10-26T19:44:07.962Z,1761507847.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653122,0.753564,0.074655],[-0.757222,-0.650796,-0.055486],[0.006773,-0.092770,0.995665]]
2025-10-26T19:44:08.366Z,1761507848.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667434,0.732056,0.136474],[-0.742369,-0.668496,-0.044741],[0.058480,-0.131176,0.989633]]
2025-10-26T19:44:08.783Z,1761507848.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668452,0.731451,0.134727],[-0.739744,-0.672635,-0.018436],[0.077137,-0.111987,0.990711]]
2025-10-26T19:44:09.174Z,1761507849.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650669,0.753003,0.098063],[-0.755148,-0.655226,0.020752],[0.079880,-0.060550,0.994964]]
2025-10-26T19:44:09.585Z,1761507849.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634208,0.768678,0.083157],[-0.766802,-0.639109,0.059615],[0.098971,-0.025957,0.994752]]
2025-10-26T19:44:09.982Z,1761507849.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621730,0.780194,0.068924],[-0.778000,-0.625335,0.060596],[0.090377,-0.015948,0.995780]]
2025-10-26T19:44:10.386Z,1761507850.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611575,0.789449,0.052402],[-0.789469,-0.613269,0.025297],[0.052107,-0.025899,0.998306]]
2025-10-26T19:44:10.391Z,1761507850.391 [NAL9602](INFO): SBD MO Status=1, MOMSN=2975, MT Status=0, MTMSN=0
2025-10-26T19:44:10.440Z,1761507850.440 [NAL9602](INFO): Sent 137 bytes from file Logs/20251026T180417/Express0025.lzma
2025-10-26T19:44:10.440Z,1761507850.440 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:44:10.836Z,1761507850.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619497,0.782551,0.061950],[-0.784813,-0.619136,-0.027175],[0.017089,-0.065454,0.997709]]
2025-10-26T19:44:11.478Z,1761507851.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623236,0.772333,0.122791],[-0.782008,-0.614220,-0.105813],[-0.006302,-0.161970,0.986776]]
2025-10-26T19:44:11.879Z,1761507851.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621988,0.772772,0.126310],[-0.782863,-0.617011,-0.080137],[0.016007,-0.148728,0.988749]]
2025-10-26T19:44:12.282Z,1761507852.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633933,0.766191,0.105261],[-0.772614,-0.633493,-0.041887],[0.034588,-0.107880,0.993562]]
2025-10-26T19:44:12.316Z,1761507852.316 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:44:12.408Z,1761507852.408 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:44:12.408Z,1761507852.408 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:44:12.660Z,1761507852.660 [DAT](INFO): DAT read: user:270>

2025-10-26T19:44:12.661Z,1761507852.661 [DAT](INFO): DAT read: Tx time:19:44:11.7514

2025-10-26T19:44:12.661Z,1761507852.661 [DAT](INFO): Ping request sent.
2025-10-26T19:44:12.661Z,1761507852.661 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:44:12.662Z,1761507852.662 [DAT](INFO): publishing transmit ping time
2025-10-26T19:44:12.662Z,1761507852.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937
2025-10-26T19:44:12.687Z,1761507852.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657081,0.750429,0.071421],[-0.753245,-0.657327,-0.023327],[0.029441,-0.069125,0.997173]]
2025-10-26T19:44:12.912Z,1761507852.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789
2025-10-26T19:44:13.098Z,1761507853.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669843,0.740777,0.050588],[-0.742289,-0.669728,-0.021720],[0.017791,-0.052100,0.998483]]
2025-10-26T19:44:13.164Z,1761507853.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502931
2025-10-26T19:44:13.416Z,1761507853.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754855
2025-10-26T19:44:13.494Z,1761507853.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666812,0.742980,0.057815],[-0.744463,-0.667631,-0.006591],[0.033702,-0.047436,0.998306]]
2025-10-26T19:44:13.668Z,1761507853.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006739
2025-10-26T19:44:13.898Z,1761507853.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662564,0.744219,0.084541],[-0.745883,-0.665881,0.016166],[0.068326,-0.052347,0.996289]]
2025-10-26T19:44:13.920Z,1761507853.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922
2025-10-26T19:44:14.172Z,1761507854.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861
2025-10-26T19:44:14.302Z,1761507854.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659887,0.743301,0.109785],[-0.746566,-0.665123,0.015833],[0.084789,-0.071514,0.993829]]
2025-10-26T19:44:14.368Z,1761507854.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:44:14.424Z,1761507854.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762800
2025-10-26T19:44:14.677Z,1761507854.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015724
2025-10-26T19:44:14.726Z,1761507854.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655389,0.747383,0.109018],[-0.752426,-0.658627,-0.008118],[0.065735,-0.087349,0.994007]]
2025-10-26T19:44:14.928Z,1761507854.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266794
2025-10-26T19:44:15.121Z,1761507855.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642184,0.760014,0.099897],[-0.764470,-0.644575,-0.010451],[0.056448,-0.083079,0.994943]]
2025-10-26T19:44:15.180Z,1761507855.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518767
2025-10-26T19:44:15.372Z,1761507855.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:44:15.432Z,1761507855.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770823
2025-10-26T19:44:15.514Z,1761507855.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636121,0.765409,0.097463],[-0.768383,-0.639907,0.010330],[0.070274,-0.068317,0.995186]]
2025-10-26T19:44:15.684Z,1761507855.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865
2025-10-26T19:44:15.918Z,1761507855.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639469,0.764722,0.079241],[-0.766380,-0.642247,0.013432],[0.061164,-0.052139,0.996765]]
2025-10-26T19:44:15.938Z,1761507855.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276483
2025-10-26T19:44:16.188Z,1761507856.188 [DAT](INFO): DAT read: Rx Time:19:44:14.6533

2025-10-26T19:44:16.189Z,1761507856.189 [DAT](INFO): Rx dataTimestamp_ set to:1761507856.188578
2025-10-26T19:44:16.189Z,1761507856.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527876
2025-10-26T19:44:16.324Z,1761507856.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651758,0.756887,0.048315],[-0.757837,-0.652441,-0.002116],[0.029921,-0.037995,0.998830]]
2025-10-26T19:44:16.440Z,1761507856.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778850
2025-10-26T19:44:16.700Z,1761507856.700 [DAT](INFO): DAT read: 19:44:14.6533 LVL= 18064, 18305, 27490, 25955, AGC= 64, IDX= 277,-0.49,-0.682, 0.480,-1.245,-0.217, PHS=-0.363, 0.742,-1.072, RAW= 352.8,   8.8, CAL= 352.9,   9.1, ROT= 157.1,  -9.1

2025-10-26T19:44:16.701Z,1761507856.701 [DAT](INFO): got valid direction response:
 19:44:14.6533 LVL= 18064, 18305, 27490, 25955, AGC= 64, IDX= 277,-0.49,-0.682, 0.480,-1.245,-0.217, PHS=-0.363, 0.742,-1.072, RAW= 352.8,   8.8, CAL= 352.9,   9.1, ROT= 157.1,  -9.1

2025-10-26T19:44:16.702Z,1761507856.702 [DAT](INFO): DAT read: Bearing 343, -20 (Remote)

2025-10-26T19:44:16.703Z,1761507856.703 [DAT](INFO): Remote Bearing received:Bearing 343, -20 (Remote)

2025-10-26T19:44:16.704Z,1761507856.704 [DAT](INFO): DAT read: Bearing 184.0,  18.1 (Local)

2025-10-26T19:44:16.705Z,1761507856.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.0,  18.1 (Local)

2025-10-26T19:44:16.706Z,1761507856.706 [DAT](INFO): DAT read: Range 11 to 20 : 654.5 m  (Round-trip  872.7 ms) speed  0.3 m/s

2025-10-26T19:44:16.707Z,1761507856.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:44:16.708Z,1761507856.708 [DAT](INFO): direction in FSK: [-0.909591,0.384226,0.158158]
2025-10-26T19:44:16.709Z,1761507856.709 [DAT](INFO): publishing direction and range info
2025-10-26T19:44:16.757Z,1761507856.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656619,0.751732,0.061235],[-0.753683,-0.657054,-0.015585],[0.028519,-0.056385,0.998002]]
2025-10-26T19:44:16.894Z,1761507856.894 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:17.144Z,1761507857.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652328,0.749035,0.115824],[-0.756287,-0.653341,-0.034296],[0.049984,-0.109968,0.992678]]
2025-10-26T19:44:17.534Z,1761507857.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649830,0.743655,0.157157],[-0.758270,-0.648532,-0.066576],[0.052412,-0.162430,0.985327]]
2025-10-26T19:44:17.938Z,1761507857.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643735,0.747905,0.161997],[-0.763691,-0.641363,-0.073679],[0.048794,-0.171145,0.984037]]
2025-10-26T19:44:18.342Z,1761507858.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640266,0.759749,0.113317],[-0.766782,-0.640941,-0.035211],[0.045878,-0.109434,0.992935]]
2025-10-26T19:44:18.755Z,1761507858.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641054,0.766990,0.027872],[-0.766894,-0.641566,0.016314],[0.030394,-0.010916,0.999478]]
2025-10-26T19:44:19.150Z,1761507859.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642727,0.765828,-0.020248],[-0.765085,-0.640297,0.068304],[0.039344,0.059392,0.997459]]
2025-10-26T19:44:19.554Z,1761507859.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634865,0.772613,0.003830],[-0.768613,-0.632067,0.098621],[0.078617,0.059667,0.995118]]
2025-10-26T19:44:19.602Z,1761507859.602 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:44:19.603Z,1761507859.603 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:44:19.603Z,1761507859.603 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:44:19.603Z,1761507859.603 [marl:UpdateRudder:A] Stopped
2025-10-26T19:44:19.603Z,1761507859.603 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:44:19.603Z,1761507859.603 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:44:19.603Z,1761507859.603 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:44:19.604Z,1761507859.604 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:44:19.604Z,1761507859.604 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:44:19.604Z,1761507859.604 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:44:19.605Z,1761507859.605 [marl:UpdateCommandMode] Stopped
2025-10-26T19:44:19.605Z,1761507859.605 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:44:19.605Z,1761507859.605 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:44:19.605Z,1761507859.605 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:44:19.605Z,1761507859.605 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:44:19.606Z,1761507859.606 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:44:19.606Z,1761507859.606 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:44:19.606Z,1761507859.606 [marl:UpdateSpeed] Stopped
2025-10-26T19:44:19.606Z,1761507859.606 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:44:19.985Z,1761507859.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620223,0.782183,0.059274],[-0.778989,-0.623045,0.070647],[0.092189,-0.002357,0.995739]]
2025-10-26T19:44:20.018Z,1761507860.018 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:44:20.018Z,1761507860.018 [marl:UpdateRudder:B] Stopped
2025-10-26T19:44:20.018Z,1761507860.018 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:44:20.018Z,1761507860.018 [marl:UpdateRudder] Stopped
2025-10-26T19:44:20.018Z,1761507860.018 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:44:20.363Z,1761507860.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608970,0.786614,0.101953],[-0.790801,-0.612072,-0.001077],[0.061556,-0.081281,0.994789]]
2025-10-26T19:44:20.792Z,1761507860.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613697,0.777899,0.135091],[-0.788490,-0.612669,-0.054034],[0.040733,-0.139678,0.989359]]
2025-10-26T19:44:21.170Z,1761507861.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616596,0.772441,0.152134],[-0.785611,-0.616267,-0.055047],[0.051235,-0.153460,0.986826]]
2025-10-26T19:44:21.574Z,1761507861.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610899,0.782268,0.121896],[-0.789325,-0.613735,-0.017167],[0.061383,-0.106703,0.992394]]
2025-10-26T19:44:21.980Z,1761507861.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596832,0.800785,0.050351],[-0.801347,-0.598061,0.012899],[0.040442,-0.032650,0.998648]]
2025-10-26T19:44:22.383Z,1761507862.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579519,0.814808,-0.015660],[-0.814955,-0.579348,0.014319],[0.002594,0.021060,0.999775]]
2025-10-26T19:44:22.822Z,1761507862.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588194,0.808263,-0.027187],[-0.808554,-0.588421,-0.000432],[-0.016347,0.021728,0.999630]]
2025-10-26T19:44:23.193Z,1761507863.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615235,0.787644,0.033225],[-0.788289,-0.615145,-0.014065],[0.009360,-0.034844,0.999349]]
2025-10-26T19:44:23.604Z,1761507863.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622152,0.771832,0.131157],[-0.780989,-0.623553,-0.035191],[0.054622,-0.124327,0.990737]]
2025-10-26T19:44:23.998Z,1761507863.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603122,0.774503,0.190758],[-0.794218,-0.605258,-0.053662],[0.073896,-0.183868,0.980169]]
2025-10-26T19:44:24.418Z,1761507864.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582295,0.791544,0.185448],[-0.810189,-0.583876,-0.051795],[0.067281,-0.180407,0.981288]]
2025-10-26T19:44:25.258Z,1761507865.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613429,0.787440,0.060358],[-0.789677,-0.612615,-0.033356],[0.010710,-0.068125,0.997619]]
2025-10-26T19:44:25.662Z,1761507865.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622533,0.782131,0.026891],[-0.782379,-0.621192,-0.044762],[-0.018306,-0.048905,0.998636]]
2025-10-26T19:44:26.066Z,1761507866.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609191,0.791641,0.046811],[-0.792890,-0.609111,-0.017611],[0.014571,-0.047845,0.998749]]
2025-10-26T19:44:26.470Z,1761507866.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606978,0.789935,0.087062],[-0.791214,-0.610941,0.027048],[0.074556,-0.052468,0.995836]]
2025-10-26T19:44:26.874Z,1761507866.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605670,0.787437,0.114482],[-0.790063,-0.612230,0.031226],[0.094678,-0.071535,0.992934]]
2025-10-26T19:44:27.281Z,1761507867.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591379,0.797053,0.122384],[-0.801530,-0.597647,0.019186],[0.088434,-0.086748,0.992297]]
2025-10-26T19:44:27.682Z,1761507867.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576481,0.809298,0.112722],[-0.813348,-0.581563,0.015770],[0.078318,-0.082591,0.993501]]
2025-10-26T19:44:28.094Z,1761507868.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575619,0.812233,0.094552],[-0.815095,-0.579178,0.013154],[0.065447,-0.069497,0.995433]]
2025-10-26T19:44:28.490Z,1761507868.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576598,0.814357,0.066008],[-0.815709,-0.578374,0.010100],[0.046403,-0.048020,0.997768]]
2025-10-26T19:44:28.895Z,1761507868.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570861,0.819925,0.042892],[-0.819930,-0.572030,0.022282],[0.042805,-0.022449,0.998831]]
2025-10-26T19:44:29.299Z,1761507869.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578996,0.814337,0.040238],[-0.814005,-0.580163,0.028410],[0.046480,-0.016305,0.998786]]
2025-10-26T19:44:29.705Z,1761507869.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598759,0.798130,0.066906],[-0.800217,-0.599657,-0.007973],[0.033757,-0.058313,0.997727]]
2025-10-26T19:44:30.109Z,1761507870.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602937,0.788065,0.124182],[-0.797348,-0.600431,-0.060973],[0.026512,-0.135779,0.990384]]
2025-10-26T19:44:30.511Z,1761507870.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585566,0.792058,0.172502],[-0.809331,-0.583259,-0.069231],[0.045779,-0.180150,0.982573]]
2025-10-26T19:44:30.516Z,1761507870.516 [NAL9602](INFO): SBD MO Status=0, MOMSN=2976, MT Status=0, MTMSN=0
2025-10-26T19:44:30.630Z,1761507870.630 [marl:NeedComms:D] Stopped
2025-10-26T19:44:30.630Z,1761507870.630 [marl:NeedComms:E] Running Loop=1
2025-10-26T19:44:30.914Z,1761507870.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572744,0.802622,0.166618],[-0.815310,-0.578850,-0.014204],[0.085046,-0.143981,0.985919]]
2025-10-26T19:44:31.320Z,1761507871.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577172,0.809559,0.107176],[-0.809344,-0.584564,0.056995],[0.108792,-0.053846,0.992605]]
2025-10-26T19:44:31.726Z,1761507871.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576900,0.816312,0.028641],[-0.811115,-0.576658,0.097768],[0.096326,0.033171,0.994797]]
2025-10-26T19:44:31.732Z,1761507871.732 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194431.00,A,3646.15380,N,12151.94117,W,0.544,248.45,261025,,,A*7A
2025-10-26T19:44:31.734Z,1761507871.734 [NAL9602](INFO): GPS fix at 20251026T194431: (36.769230, -121.865686)
2025-10-26T19:44:31.787Z,1761507871.787 [marl:NeedComms:E] Stopped
2025-10-26T19:44:31.792Z,1761507871.792 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T19:44:31.792Z,1761507871.792 [marl:NeedComms] Stopped
2025-10-26T19:44:31.792Z,1761507871.792 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T19:44:31.792Z,1761507871.792 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T19:44:31.792Z,1761507871.792 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T19:44:31.793Z,1761507871.793 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:32.128Z,1761507872.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570067,0.821425,-0.016853],[-0.819913,-0.567465,0.075677],[0.052600,0.056959,0.996990]]
2025-10-26T19:44:32.530Z,1761507872.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577369,0.816302,0.017181],[-0.816244,-0.577582,0.012052],[0.019762,-0.007065,0.999780]]
2025-10-26T19:44:32.934Z,1761507872.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592899,0.797876,0.108919],[-0.804843,-0.591574,-0.047630],[0.026431,-0.115902,0.992909]]
2025-10-26T19:44:32.994Z,1761507872.994 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:44:32.994Z,1761507872.994 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:44:32.994Z,1761507872.994 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:44:32.995Z,1761507872.995 [marl:UpdateRudder:A] Stopped
2025-10-26T19:44:32.995Z,1761507872.995 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:44:32.995Z,1761507872.995 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:44:32.995Z,1761507872.995 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:44:32.995Z,1761507872.995 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:44:32.995Z,1761507872.995 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateCommandMode] Stopped
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:44:32.996Z,1761507872.996 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:44:32.997Z,1761507872.997 [marl:UpdateSpeed] Stopped
2025-10-26T19:44:32.997Z,1761507872.997 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:44:33.339Z,1761507873.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603367,0.777817,0.175923],[-0.796501,-0.598627,-0.085037],[0.039169,-0.191432,0.980724]]
2025-10-26T19:44:33.373Z,1761507873.373 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:44:33.373Z,1761507873.373 [marl:UpdateRudder:B] Stopped
2025-10-26T19:44:33.374Z,1761507873.374 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:44:33.374Z,1761507873.374 [marl:UpdateRudder] Stopped
2025-10-26T19:44:33.374Z,1761507873.374 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:44:33.746Z,1761507873.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595173,0.781708,0.186283],[-0.802436,-0.590582,-0.085491],[0.043186,-0.200362,0.978770]]
2025-10-26T19:44:34.146Z,1761507874.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582452,0.800914,0.138874],[-0.811520,-0.582763,-0.042685],[0.046744,-0.137561,0.989390]]
2025-10-26T19:44:34.551Z,1761507874.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577389,0.814352,0.058761],[-0.815081,-0.579108,0.016648],[0.047587,-0.038282,0.998133]]
2025-10-26T19:44:34.954Z,1761507874.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580512,0.814245,0.003371],[-0.812471,-0.579511,0.063704],[0.053824,0.034243,0.997963]]
2025-10-26T19:44:34.993Z,1761507874.993 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194434.00,A,3646.15360,N,12151.94135,W,0.117,248.67,261025,,,A*73
2025-10-26T19:44:34.995Z,1761507874.995 [NAL9602](INFO): GPS fix at 20251026T194434: (36.769227, -121.865689)
2025-10-26T19:44:35.045Z,1761507875.045 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:35.361Z,1761507875.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587438,0.809252,-0.005200],[-0.806391,-0.584796,0.088018],[0.068188,0.055899,0.996105]]
2025-10-26T19:44:35.766Z,1761507875.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585844,0.809932,0.028227],[-0.807002,-0.586214,0.071418],[0.074391,0.019060,0.997047]]
2025-10-26T19:44:36.582Z,1761507876.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549652,0.826003,0.124904],[-0.833788,-0.551694,-0.020759],[0.051762,-0.115554,0.991952]]
2025-10-26T19:44:36.974Z,1761507876.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571377,0.808172,0.142780],[-0.820108,-0.568806,-0.062313],[0.030854,-0.152700,0.987791]]
2025-10-26T19:44:37.380Z,1761507877.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590318,0.793570,0.147554],[-0.807147,-0.581776,-0.100256],[0.006283,-0.178280,0.983960]]
2025-10-26T19:44:37.797Z,1761507877.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586131,0.794823,0.157184],[-0.810026,-0.579060,-0.092452],[0.017536,-0.181512,0.983232]]
2025-10-26T19:44:37.806Z,1761507877.806 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194437.00,A,3646.15350,N,12151.94161,W,0.719,254.14,261025,,,A*73
2025-10-26T19:44:37.809Z,1761507877.809 [NAL9602](INFO): GPS fix at 20251026T194437: (36.769225, -121.865694)
2025-10-26T19:44:37.830Z,1761507877.830 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:38.186Z,1761507878.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577149,0.800311,0.162489],[-0.813798,-0.580225,-0.032754],[0.068067,-0.151137,0.986167]]
2025-10-26T19:44:38.593Z,1761507878.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572434,0.809478,0.130631],[-0.814967,-0.579226,0.018040],[0.090268,-0.096133,0.991267]]
2025-10-26T19:44:38.994Z,1761507878.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565914,0.821529,0.069511],[-0.822761,-0.568151,0.016406],[0.052971,-0.047907,0.997446]]
2025-10-26T19:44:39.399Z,1761507879.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557854,0.829163,0.035893],[-0.829897,-0.557740,-0.014033],[0.008383,-0.037616,0.999257]]
2025-10-26T19:44:39.806Z,1761507879.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555531,0.829978,0.050218],[-0.831494,-0.554645,-0.031410],[0.001783,-0.059206,0.998244]]
2025-10-26T19:44:40.208Z,1761507880.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554021,0.826480,0.099956],[-0.831992,-0.553882,-0.031698],[0.029166,-0.100724,0.994487]]
2025-10-26T19:44:40.612Z,1761507880.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549001,0.821305,0.155104],[-0.833810,-0.551034,-0.033499],[0.057954,-0.147718,0.987330]]
2025-10-26T19:44:41.015Z,1761507881.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558980,0.807380,0.188886],[-0.826948,-0.559525,-0.055577],[0.060814,-0.187265,0.980425]]
2025-10-26T19:44:41.019Z,1761507881.019 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194440.00,A,3646.15321,N,12151.94283,W,1.555,258.96,261025,,,A*77
2025-10-26T19:44:41.022Z,1761507881.022 [NAL9602](INFO): GPS fix at 20251026T194440: (36.769220, -121.865714)
2025-10-26T19:44:41.122Z,1761507881.122 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:41.418Z,1761507881.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587718,0.787902,0.183843],[-0.808466,-0.580669,-0.095953],[0.031150,-0.205024,0.978261]]
2025-10-26T19:44:41.837Z,1761507881.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596639,0.784275,0.170103],[-0.802356,-0.587127,-0.107272],[0.015741,-0.200486,0.979570]]
2025-10-26T19:44:42.226Z,1761507882.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594038,0.786881,0.167143],[-0.803183,-0.591762,-0.068657],[0.044884,-0.175032,0.983539]]
2025-10-26T19:44:42.630Z,1761507882.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588307,0.795285,0.146342],[-0.805097,-0.592976,-0.014070],[0.075588,-0.126097,0.989134]]
2025-10-26T19:44:42.689Z,1761507882.689 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:44:42.912Z,1761507882.912 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:44:42.912Z,1761507882.912 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:44:43.034Z,1761507883.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582407,0.803637,0.122352],[-0.805783,-0.590603,0.043611],[0.107309,-0.073189,0.991528]]
2025-10-26T19:44:43.164Z,1761507883.164 [DAT](INFO): DAT read: user:271>

2025-10-26T19:44:43.165Z,1761507883.165 [DAT](INFO): DAT read: Tx time:19:44:42.2512

2025-10-26T19:44:43.165Z,1761507883.165 [DAT](INFO): Ping request sent.
2025-10-26T19:44:43.166Z,1761507883.166 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:44:43.166Z,1761507883.166 [DAT](INFO): publishing transmit ping time
2025-10-26T19:44:43.167Z,1761507883.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000933
2025-10-26T19:44:43.416Z,1761507883.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250722
2025-10-26T19:44:43.444Z,1761507883.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587679,0.799820,0.122154],[-0.796953,-0.598282,0.083215],[0.139640,-0.048447,0.989016]]
2025-10-26T19:44:43.669Z,1761507883.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503367
2025-10-26T19:44:43.853Z,1761507883.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591421,0.794178,0.139647],[-0.796411,-0.602421,0.053100],[0.126297,-0.079812,0.988777]]
2025-10-26T19:44:43.857Z,1761507883.857 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194443.00,A,3646.15297,N,12151.94412,W,1.166,258.71,261025,,,A*7B
2025-10-26T19:44:43.860Z,1761507883.860 [NAL9602](INFO): GPS fix at 20251026T194443: (36.769216, -121.865735)
2025-10-26T19:44:43.921Z,1761507883.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965
2025-10-26T19:44:43.933Z,1761507883.933 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:44.172Z,1761507884.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006728
2025-10-26T19:44:44.247Z,1761507884.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598017,0.785415,0.159684],[-0.796290,-0.604874,-0.006996],[0.091094,-0.131339,0.987143]]
2025-10-26T19:44:44.424Z,1761507884.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785
2025-10-26T19:44:44.651Z,1761507884.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613285,0.767240,0.187681],[-0.784597,-0.619138,-0.032789],[0.091043,-0.167363,0.981683]]
2025-10-26T19:44:44.677Z,1761507884.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510943
2025-10-26T19:44:44.928Z,1761507884.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762740
2025-10-26T19:44:45.068Z,1761507885.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629623,0.746681,0.214575],[-0.768766,-0.638660,-0.033357],[0.112134,-0.185961,0.976138]]
2025-10-26T19:44:45.180Z,1761507885.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014728
2025-10-26T19:44:45.432Z,1761507885.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883
2025-10-26T19:44:45.458Z,1761507885.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633881,0.737700,0.232367],[-0.762770,-0.645974,-0.029999],[0.127973,-0.196258,0.972165]]
2025-10-26T19:44:45.500Z,1761507885.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:44:45.685Z,1761507885.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519387
2025-10-26T19:44:45.866Z,1761507885.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636309,0.733826,0.237928],[-0.758070,-0.651963,-0.016555],[0.142971,-0.190900,0.971142]]
2025-10-26T19:44:45.937Z,1761507885.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771450
2025-10-26T19:44:45.941Z,1761507885.941 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:44:45.941Z,1761507885.941 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:44:46.188Z,1761507886.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022793
2025-10-26T19:44:46.268Z,1761507886.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643386,0.733647,0.218668],[-0.752733,-0.658297,-0.006127],[0.139454,-0.168540,0.975780]]
2025-10-26T19:44:46.295Z,1761507886.295 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateRudder:A] Stopped
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:44:46.296Z,1761507886.296 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateCommandMode] Stopped
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:44:46.297Z,1761507886.297 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:44:46.298Z,1761507886.298 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:44:46.298Z,1761507886.298 [marl:UpdateSpeed] Stopped
2025-10-26T19:44:46.298Z,1761507886.298 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:44:46.441Z,1761507886.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275825
2025-10-26T19:44:46.504Z,1761507886.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:44:46.670Z,1761507886.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638281,0.746257,0.188942],[-0.756021,-0.653915,0.028766],[0.145019,-0.124483,0.981567]]
2025-10-26T19:44:46.693Z,1761507886.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527182
2025-10-26T19:44:46.719Z,1761507886.719 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:44:46.719Z,1761507886.719 [marl:UpdateRudder:B] Stopped
2025-10-26T19:44:46.720Z,1761507886.720 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:44:46.720Z,1761507886.720 [marl:UpdateRudder] Stopped
2025-10-26T19:44:46.720Z,1761507886.720 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:44:46.944Z,1761507886.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778787
2025-10-26T19:44:47.077Z,1761507887.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625542,0.761817,0.168322],[-0.755405,-0.645354,0.113498],[0.195092,-0.056154,0.979176]]
2025-10-26T19:44:47.082Z,1761507887.082 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194446.00,A,3646.15232,N,12151.94468,W,0.991,192.82,261025,,,A*74
2025-10-26T19:44:47.084Z,1761507887.084 [NAL9602](INFO): GPS fix at 20251026T194446: (36.769205, -121.865745)
2025-10-26T19:44:47.146Z,1761507887.146 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:47.196Z,1761507887.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030892
2025-10-26T19:44:47.449Z,1761507887.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283368
2025-10-26T19:44:47.482Z,1761507887.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623138,0.767018,0.152911],[-0.747737,-0.641579,0.171072],[0.229320,-0.007736,0.973320]]
2025-10-26T19:44:47.701Z,1761507887.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535224
2025-10-26T19:44:47.886Z,1761507887.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627841,0.763348,0.152035],[-0.747762,-0.645770,0.154383],[0.216028,-0.016757,0.976243]]
2025-10-26T19:44:47.953Z,1761507887.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787256
2025-10-26T19:44:48.205Z,1761507888.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039410
2025-10-26T19:44:48.286Z,1761507888.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622712,0.760572,0.183738],[-0.753320,-0.646242,0.121981],[0.211515,-0.062455,0.975377]]
2025-10-26T19:44:48.456Z,1761507888.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290791
2025-10-26T19:44:48.697Z,1761507888.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654038,0.713032,0.252626],[-0.716901,-0.690832,0.093831],[0.241427,-0.119739,0.963003]]
2025-10-26T19:44:48.709Z,1761507888.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543371
2025-10-26T19:44:48.960Z,1761507888.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794753
2025-10-26T19:44:49.212Z,1761507889.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046859
2025-10-26T19:44:49.464Z,1761507889.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298709
2025-10-26T19:44:49.503Z,1761507889.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657047,0.697809,0.285222],[-0.701666,-0.704422,0.107020],[0.275597,-0.129814,0.952468]]
2025-10-26T19:44:49.717Z,1761507889.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551081
2025-10-26T19:44:49.910Z,1761507889.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652542,0.698895,0.292804],[-0.700326,-0.703805,0.119171],[0.289365,-0.127295,0.948717]]
2025-10-26T19:44:49.918Z,1761507889.918 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194449.00,A,3646.15174,N,12151.94529,W,1.186,216.96,261025,,,A*7B
2025-10-26T19:44:49.929Z,1761507889.929 [NAL9602](INFO): GPS fix at 20251026T194449: (36.769196, -121.865755)
2025-10-26T19:44:49.969Z,1761507889.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802948
2025-10-26T19:44:50.001Z,1761507890.001 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:50.220Z,1761507890.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054761
2025-10-26T19:44:50.309Z,1761507890.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658408,0.696968,0.284139],[-0.695464,-0.707708,0.124413],[0.287800,-0.115694,0.950677]]
2025-10-26T19:44:50.472Z,1761507890.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306757
2025-10-26T19:44:50.719Z,1761507890.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677852,0.682643,0.272975],[-0.680881,-0.722959,0.117177],[0.277340,-0.106434,0.954858]]
2025-10-26T19:44:50.725Z,1761507890.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559369
2025-10-26T19:44:50.977Z,1761507890.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811020
2025-10-26T19:44:51.114Z,1761507891.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693207,0.660643,0.288123],[-0.666879,-0.739555,0.091268],[0.273378,-0.128876,0.953234]]
2025-10-26T19:44:51.229Z,1761507891.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063405
2025-10-26T19:44:51.480Z,1761507891.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314830
2025-10-26T19:44:51.518Z,1761507891.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692239,0.636397,0.340301],[-0.658167,-0.750146,0.064007],[0.296009,-0.179667,0.938136]]
2025-10-26T19:44:51.732Z,1761507891.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566802
2025-10-26T19:44:51.922Z,1761507891.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686652,0.614069,0.389137],[-0.651268,-0.757448,0.046079],[0.323046,-0.221792,0.920027]]
2025-10-26T19:44:51.984Z,1761507891.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818902
2025-10-26T19:44:52.236Z,1761507892.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070810
2025-10-26T19:44:52.328Z,1761507892.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688386,0.601648,0.405146],[-0.645281,-0.763060,0.036754],[0.331264,-0.236133,0.913513]]
2025-10-26T19:44:52.488Z,1761507892.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322751
2025-10-26T19:44:52.734Z,1761507892.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699311,0.594252,0.397277],[-0.636053,-0.770917,0.033531],[0.326193,-0.229240,0.917086]]
2025-10-26T19:44:52.741Z,1761507892.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575520
2025-10-26T19:44:52.992Z,1761507892.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826810
2025-10-26T19:44:53.134Z,1761507893.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700228,0.591542,0.399699],[-0.631734,-0.774200,0.039065],[0.332555,-0.225149,0.915814]]
2025-10-26T19:44:53.139Z,1761507893.139 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194452.00,A,3646.15112,N,12151.94676,W,1.516,239.85,261025,,,A*7A
2025-10-26T19:44:53.141Z,1761507893.141 [NAL9602](INFO): GPS fix at 20251026T194452: (36.769185, -121.865779)
2025-10-26T19:44:53.198Z,1761507893.198 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:53.244Z,1761507893.244 [DAT](INFO): Reached modem response timeout
2025-10-26T19:44:53.550Z,1761507893.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693279,0.593749,0.408444],[-0.633108,-0.772547,0.048423],[0.344294,-0.225019,0.911498]]
2025-10-26T19:44:53.947Z,1761507893.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686169,0.602494,0.407643],[-0.643632,-0.763967,0.045740],[0.338984,-0.230987,0.911995]]
2025-10-26T19:44:54.346Z,1761507894.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687161,0.611164,0.392794],[-0.649841,-0.758806,0.043813],[0.324832,-0.225148,0.918582]]
2025-10-26T19:44:54.751Z,1761507894.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692252,0.619512,0.370125],[-0.649013,-0.758709,0.056061],[0.315548,-0.201407,0.927289]]
2025-10-26T19:44:55.154Z,1761507895.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697240,0.620460,0.359006],[-0.644384,-0.761909,0.065303],[0.314048,-0.185806,0.931048]]
2025-10-26T19:44:55.512Z,1761507895.512 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:44:55.513Z,1761507895.513 [DAT](INFO): response not received
2025-10-26T19:44:55.513Z,1761507895.513 [DAT](ERROR): No response from remote modem.
2025-10-26T19:44:55.563Z,1761507895.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701689,0.612147,0.364566],[-0.636034,-0.768775,0.066670],[0.321081,-0.185095,0.928788]]
2025-10-26T19:44:55.966Z,1761507895.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707821,0.598535,0.375161],[-0.623992,-0.778716,0.065077],[0.331095,-0.188034,0.924672]]
2025-10-26T19:44:55.978Z,1761507895.978 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194455.00,A,3646.15096,N,12151.94826,W,1.438,239.85,261025,,,A*76
2025-10-26T19:44:55.981Z,1761507895.981 [NAL9602](INFO): GPS fix at 20251026T194455: (36.769183, -121.865804)
2025-10-26T19:44:56.057Z,1761507896.057 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:56.366Z,1761507896.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715668,0.584081,0.382973],[-0.611491,-0.788934,0.060518],[0.337487,-0.190874,0.921775]]
2025-10-26T19:44:56.791Z,1761507896.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719725,0.575597,0.388180],[-0.604591,-0.794487,0.057099],[0.341270,-0.193595,0.919813]]
2025-10-26T19:44:57.175Z,1761507897.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719155,0.571346,0.395450],[-0.603107,-0.795890,0.053108],[0.345078,-0.200306,0.916951]]
2025-10-26T19:44:57.578Z,1761507897.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716345,0.570171,0.402188],[-0.604730,-0.794873,0.049774],[0.348069,-0.207560,0.914203]]
2025-10-26T19:44:57.986Z,1761507897.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712866,0.572118,0.405588],[-0.607856,-0.792502,0.049521],[0.349761,-0.211238,0.912713]]
2025-10-26T19:44:58.387Z,1761507898.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708669,0.576781,0.406340],[-0.614124,-0.787797,0.047191],[0.347332,-0.216100,0.912503]]
2025-10-26T19:44:58.833Z,1761507898.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706281,0.580521,0.405170],[-0.619110,-0.784061,0.044176],[0.343323,-0.219645,0.913173]]
2025-10-26T19:44:58.838Z,1761507898.838 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194458.00,A,3646.15154,N,12151.94872,W,0.914,239.85,261025,,,A*77
2025-10-26T19:44:58.840Z,1761507898.840 [NAL9602](INFO): GPS fix at 20251026T194458: (36.769192, -121.865812)
2025-10-26T19:44:58.984Z,1761507898.984 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:44:59.260Z,1761507899.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706956,0.581349,0.402798],[-0.618683,-0.784288,0.046085],[0.342701,-0.216624,0.914128]]
2025-10-26T19:44:59.306Z,1761507899.306 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:44:59.306Z,1761507899.306 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:44:59.306Z,1761507899.306 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:44:59.307Z,1761507899.307 [marl:UpdateRudder:A] Stopped
2025-10-26T19:44:59.307Z,1761507899.307 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:44:59.307Z,1761507899.307 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:44:59.307Z,1761507899.307 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:44:59.307Z,1761507899.307 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:44:59.307Z,1761507899.307 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateCommandMode] Stopped
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:44:59.308Z,1761507899.308 [marl:UpdateSpeed] Stopped
2025-10-26T19:44:59.309Z,1761507899.309 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:44:59.662Z,1761507899.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706406,0.582031,0.402779],[-0.618348,-0.784377,0.048976],[0.344436,-0.214461,0.913986]]
2025-10-26T19:44:59.686Z,1761507899.686 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:44:59.686Z,1761507899.686 [marl:UpdateRudder:B] Stopped
2025-10-26T19:44:59.686Z,1761507899.686 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:44:59.686Z,1761507899.686 [marl:UpdateRudder] Stopped
2025-10-26T19:44:59.687Z,1761507899.687 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:45:00.068Z,1761507900.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704382,0.584263,0.403091],[-0.621537,-0.781955,0.047303],[0.342836,-0.217217,0.913937]]
2025-10-26T19:45:00.472Z,1761507900.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702224,0.590939,0.397081],[-0.628024,-0.776863,0.045496],[0.335363,-0.217428,0.916655]]
2025-10-26T19:45:00.874Z,1761507900.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700257,0.600684,0.385771],[-0.635477,-0.770715,0.046554],[0.325284,-0.212548,0.921419]]
2025-10-26T19:45:01.278Z,1761507901.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699157,0.611070,0.371179],[-0.641630,-0.765295,0.051320],[0.315421,-0.202279,0.927142]]
2025-10-26T19:45:01.683Z,1761507901.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703313,0.616437,0.354057],[-0.642017,-0.764645,0.055971],[0.305231,-0.187945,0.933547]]
2025-10-26T19:45:02.086Z,1761507902.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713443,0.614427,0.336868],[-0.635562,-0.769858,0.058136],[0.295061,-0.172623,0.939755]]
2025-10-26T19:45:02.090Z,1761507902.090 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194501.00,A,3646.15171,N,12151.95048,W,1.536,239.85,261025,,,A*70
2025-10-26T19:45:02.101Z,1761507902.101 [NAL9602](INFO): GPS fix at 20251026T194501: (36.769195, -121.865841)
2025-10-26T19:45:02.124Z,1761507902.124 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761507840.00. Resetting abort timer.
2025-10-26T19:45:02.490Z,1761507902.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725016,0.604936,0.329248],[-0.624761,-0.778858,0.055269],[0.289871,-0.165631,0.942625]]
2025-10-26T19:45:03.298Z,1761507903.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741216,0.567853,0.357969],[-0.602039,-0.798225,0.019648],[0.296898,-0.200948,0.933527]]
2025-10-26T19:45:03.706Z,1761507903.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744678,0.549380,0.378994],[-0.596612,-0.802479,-0.009019],[0.299180,-0.232829,0.925355]]
2025-10-26T19:45:04.106Z,1761507904.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745646,0.537598,0.393701],[-0.595877,-0.802403,-0.032874],[0.298234,-0.259110,0.918651]]
2025-10-26T19:45:04.517Z,1761507904.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743854,0.534943,0.400646],[-0.599426,-0.799110,-0.045942],[0.295584,-0.274332,0.915080]]
2025-10-26T19:45:04.923Z,1761507904.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738890,0.541330,0.401252],[-0.606811,-0.793458,-0.046962],[0.292955,-0.278184,0.914763]]
2025-10-26T19:45:05.318Z,1761507905.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731601,0.555417,0.395313],[-0.616754,-0.786302,-0.036660],[0.290474,-0.270631,0.917815]]
2025-10-26T19:45:05.728Z,1761507905.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723568,0.574531,0.382575],[-0.628272,-0.777729,-0.020305],[0.285874,-0.255053,0.923701]]
2025-10-26T19:45:06.127Z,1761507906.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716384,0.597132,0.360869],[-0.640371,-0.768065,-0.000320],[0.276980,-0.231319,0.932616]]
2025-10-26T19:45:06.542Z,1761507906.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710614,0.621192,0.330376],[-0.651976,-0.757900,0.022697],[0.264491,-0.199268,0.943577]]
2025-10-26T19:45:06.934Z,1761507906.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706384,0.642343,0.297351],[-0.661880,-0.748308,0.044153],[0.250871,-0.165621,0.953747]]
2025-10-26T19:45:07.338Z,1761507907.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704047,0.658323,0.266322],[-0.669506,-0.740363,0.060205],[0.236809,-0.135917,0.962002]]
2025-10-26T19:45:07.744Z,1761507907.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704148,0.667322,0.242605],[-0.674373,-0.735464,0.065673],[0.222253,-0.117363,0.967900]]
2025-10-26T19:45:08.147Z,1761507908.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707632,0.669069,0.227166],[-0.675048,-0.735132,0.062371],[0.208727,-0.109213,0.971857]]
2025-10-26T19:45:08.954Z,1761507908.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723522,0.652346,0.225744],[-0.662859,-0.747849,0.036607],[0.192703,-0.123150,0.973499]]
2025-10-26T19:45:09.359Z,1761507909.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733214,0.638200,0.234731],[-0.653512,-0.756744,0.016144],[0.187935,-0.141562,0.971926]]
2025-10-26T19:45:09.764Z,1761507909.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742461,0.624216,0.243116],[-0.644963,-0.764176,-0.007604],[0.181037,-0.162447,0.969967]]
2025-10-26T19:45:10.166Z,1761507910.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751397,0.611816,0.247150],[-0.637380,-0.769887,-0.031947],[0.170732,-0.181533,0.968450]]
2025-10-26T19:45:10.570Z,1761507910.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760539,0.600712,0.246426],[-0.629446,-0.775246,-0.052830],[0.159305,-0.195291,0.967721]]
2025-10-26T19:45:10.975Z,1761507910.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770092,0.589703,0.243331],[-0.619926,-0.781763,-0.067364],[0.150502,-0.202723,0.967601]]
2025-10-26T19:45:11.379Z,1761507911.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779433,0.576836,0.244426],[-0.609072,-0.789063,-0.080070],[0.146680,-0.211282,0.966356]]
2025-10-26T19:45:11.782Z,1761507911.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787403,0.562704,0.251717],[-0.598671,-0.795380,-0.094678],[0.146935,-0.225245,0.963159]]
2025-10-26T19:45:12.186Z,1761507912.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792639,0.550603,0.261838],[-0.591544,-0.798514,-0.111583],[0.147643,-0.243334,0.958640]]
2025-10-26T19:45:12.593Z,1761507912.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795181,0.542857,0.270174],[-0.588592,-0.798118,-0.128709],[0.145760,-0.261369,0.954170]]
2025-10-26T19:45:12.640Z,1761507912.640 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:45:12.640Z,1761507912.640 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateRudder:A] Stopped
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:45:12.641Z,1761507912.641 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateCommandMode] Stopped
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:45:12.642Z,1761507912.642 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:45:12.643Z,1761507912.643 [marl:UpdateSpeed] Stopped
2025-10-26T19:45:12.643Z,1761507912.643 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:45:12.994Z,1761507912.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795448,0.540950,0.273194],[-0.589455,-0.795312,-0.141498],[0.140731,-0.273590,0.951495]]
2025-10-26T19:45:13.080Z,1761507913.080 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:45:13.080Z,1761507913.080 [marl:UpdateRudder:B] Stopped
2025-10-26T19:45:13.080Z,1761507913.080 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:45:13.080Z,1761507913.080 [marl:UpdateRudder] Stopped
2025-10-26T19:45:13.080Z,1761507913.080 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:45:13.082Z,1761507913.082 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:45:13.153Z,1761507913.153 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:45:13.153Z,1761507913.153 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:45:13.398Z,1761507913.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793243,0.545642,0.270259],[-0.594064,-0.790899,-0.146856],[0.133617,-0.277043,0.951522]]
2025-10-26T19:45:13.404Z,1761507913.404 [DAT](INFO): DAT read: user:272>

2025-10-26T19:45:13.405Z,1761507913.405 [DAT](INFO): DAT read: Tx time:19:45:12.5010

2025-10-26T19:45:13.405Z,1761507913.405 [DAT](INFO): Ping request sent.
2025-10-26T19:45:13.406Z,1761507913.406 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:45:13.406Z,1761507913.406 [DAT](INFO): publishing transmit ping time
2025-10-26T19:45:13.407Z,1761507913.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000926
2025-10-26T19:45:13.656Z,1761507913.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250718
2025-10-26T19:45:13.802Z,1761507913.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788414,0.556292,0.262568],[-0.602143,-0.785209,-0.144466],[0.125806,-0.272003,0.954037]]
2025-10-26T19:45:13.909Z,1761507913.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503315
2025-10-26T19:45:14.160Z,1761507914.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754785
2025-10-26T19:45:14.213Z,1761507914.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781212,0.571447,0.251309],[-0.613090,-0.778144,-0.136430],[0.117592,-0.260656,0.958244]]
2025-10-26T19:45:14.412Z,1761507914.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006681
2025-10-26T19:45:14.613Z,1761507914.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772382,0.589601,0.236213],[-0.625799,-0.770025,-0.124244],[0.108635,-0.243786,0.963725]]
2025-10-26T19:45:14.664Z,1761507914.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258895
2025-10-26T19:45:14.917Z,1761507914.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511676
2025-10-26T19:45:15.168Z,1761507915.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762809
2025-10-26T19:45:15.420Z,1761507915.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014792
2025-10-26T19:45:15.672Z,1761507915.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266759
2025-10-26T19:45:15.824Z,1761507915.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747028,0.640554,0.177875],[-0.660303,-0.745973,-0.086745],[0.077125,-0.182252,0.980222]]
2025-10-26T19:45:15.924Z,1761507915.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518748
2025-10-26T19:45:16.177Z,1761507916.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771364
2025-10-26T19:45:16.226Z,1761507916.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745128,0.646390,0.164206],[-0.663405,-0.743632,-0.083099],[0.068394,-0.170855,0.982920]]
2025-10-26T19:45:16.428Z,1761507916.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022809
2025-10-26T19:45:16.628Z,1761507916.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:45:16.637Z,1761507916.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746137,0.647668,0.154292],[-0.663047,-0.743857,-0.083941],[0.060405,-0.164934,0.984453]]
2025-10-26T19:45:16.680Z,1761507916.680 [DAT](INFO): DAT read: Rx Time:19:45:15.3885

2025-10-26T19:45:16.681Z,1761507916.681 [DAT](INFO): Rx dataTimestamp_ set to:1761507916.680666
2025-10-26T19:45:16.682Z,1761507916.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275927
2025-10-26T19:45:16.932Z,1761507916.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526748
2025-10-26T19:45:17.038Z,1761507917.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745625,0.649402,0.149397],[-0.664297,-0.742040,-0.089926],[0.052460,-0.166295,0.984680]]
2025-10-26T19:45:17.188Z,1761507917.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782176
2025-10-26T19:45:17.442Z,1761507917.442 [DAT](INFO): DAT read: 19:45:15.3884 LVL= 29504, 25841, 32754, 32755, AGC= 73, IDX= 257, 0.38,-0.546, 0.883,-1.160,-0.067, PHS=-0.376, 0.996,-1.137, RAW= 350.6,   5.6, CAL= 350.4,   4.0, ROT= 159.6,  -4.0

2025-10-26T19:45:17.444Z,1761507917.444 [DAT](INFO): got valid direction response:
 19:45:15.3884 LVL= 29504, 25841, 32754, 32755, AGC= 73, IDX= 257, 0.38,-0.546, 0.883,-1.160,-0.067, PHS=-0.376, 0.996,-1.137, RAW= 350.6,   5.6, CAL= 350.4,   4.0, ROT= 159.6,  -4.0

2025-10-26T19:45:17.445Z,1761507917.445 [DAT](INFO): DAT read: Bearing 339, -23 (Remote)

2025-10-26T19:45:17.445Z,1761507917.445 [DAT](INFO): Remote Bearing received:Bearing 339, -23 (Remote)

2025-10-26T19:45:17.446Z,1761507917.446 [DAT](INFO): DAT read: Bearing 177.9,  15.7 (Local)

2025-10-26T19:45:17.446Z,1761507917.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.9,  15.7 (Local)

2025-10-26T19:45:17.448Z,1761507917.448 [DAT](INFO): DAT read: Range 11 to 20 : 643.7 m  (Round-trip  858.3 ms) speed  0.0 m/s

2025-10-26T19:45:17.448Z,1761507917.448 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:45:17.449Z,1761507917.449 [DAT](INFO): direction in FSK: [-0.934999,0.347723,0.069756]
2025-10-26T19:45:17.450Z,1761507917.450 [DAT](INFO): publishing direction and range info
2025-10-26T19:45:17.474Z,1761507917.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743387,0.652240,0.148188],[-0.667363,-0.738110,-0.099095],[0.044746,-0.172561,0.983982]]
2025-10-26T19:45:17.570Z,1761507917.570 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507968.00. Resetting abort timer.
2025-10-26T19:45:17.638Z,1761507917.638 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:45:17.842Z,1761507917.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739743,0.656126,0.149261],[-0.671818,-0.732677,-0.108834],[0.037951,-0.180785,0.982790]]
2025-10-26T19:45:18.247Z,1761507918.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735412,0.660881,0.149684],[-0.676858,-0.726912,-0.116029],[0.032126,-0.186644,0.981902]]
2025-10-26T19:45:18.653Z,1761507918.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731679,0.665263,0.148564],[-0.681096,-0.722287,-0.120035],[0.027451,-0.189014,0.981591]]
2025-10-26T19:45:19.459Z,1761507919.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729330,0.669473,0.141011],[-0.683899,-0.719111,-0.123131],[0.018970,-0.186240,0.982321]]
2025-10-26T19:45:19.862Z,1761507919.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729114,0.670413,0.137620],[-0.684250,-0.718173,-0.126608],[0.013955,-0.186478,0.982360]]
2025-10-26T19:45:20.266Z,1761507920.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729406,0.670739,0.134447],[-0.684034,-0.717443,-0.131812],[0.008046,-0.188111,0.982115]]
2025-10-26T19:45:20.673Z,1761507920.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730210,0.670653,0.130449],[-0.683222,-0.717042,-0.138053],[0.000952,-0.189933,0.981797]]
2025-10-26T19:45:21.074Z,1761507921.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732323,0.669509,0.124342],[-0.680923,-0.718129,-0.143647],[-0.006879,-0.189863,0.981786]]
2025-10-26T19:45:21.479Z,1761507921.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736024,0.666548,0.118248],[-0.676811,-0.720944,-0.148886],[-0.013990,-0.189615,0.981759]]
2025-10-26T19:45:21.884Z,1761507921.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740975,0.661871,0.113503],[-0.671236,-0.724971,-0.154463],[-0.019948,-0.190641,0.981457]]
2025-10-26T19:45:22.286Z,1761507922.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746785,0.655921,0.109910],[-0.664580,-0.729665,-0.161007],[-0.025410,-0.193282,0.980814]]
2025-10-26T19:45:22.690Z,1761507922.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753400,0.648867,0.106581],[-0.656801,-0.734783,-0.169428],[-0.031623,-0.197649,0.979763]]
2025-10-26T19:45:23.510Z,1761507923.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767079,0.633903,0.098777],[-0.640076,-0.745750,-0.184821],[-0.043496,-0.204997,0.977796]]
2025-10-26T19:45:23.902Z,1761507923.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769498,0.631180,0.097391],[-0.636872,-0.747013,-0.190696],[-0.047611,-0.208766,0.976806]]
2025-10-26T19:45:24.306Z,1761507924.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769536,0.630927,0.098721],[-0.636713,-0.746150,-0.194568],[-0.049098,-0.212583,0.975909]]
2025-10-26T19:45:24.720Z,1761507924.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766967,0.633460,0.102421],[-0.639839,-0.742850,-0.196928],[-0.048663,-0.216571,0.975053]]
2025-10-26T19:45:25.116Z,1761507925.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761008,0.640137,0.105317],[-0.646843,-0.736300,-0.198636],[-0.049610,-0.219287,0.974398]]
2025-10-26T19:45:25.522Z,1761507925.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751117,0.651786,0.104873],[-0.657893,-0.725841,-0.200829],[-0.054777,-0.219841,0.973997]]
2025-10-26T19:45:25.922Z,1761507925.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745218,0.659544,0.098240],[-0.664068,-0.720670,-0.199118],[-0.060529,-0.213625,0.975039]]
2025-10-26T19:45:25.978Z,1761507925.978 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:45:25.978Z,1761507925.978 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:45:25.978Z,1761507925.978 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:45:25.979Z,1761507925.979 [marl:UpdateRudder:A] Stopped
2025-10-26T19:45:25.979Z,1761507925.979 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:45:25.980Z,1761507925.980 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:45:25.980Z,1761507925.980 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:45:25.980Z,1761507925.980 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:45:25.980Z,1761507925.980 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:45:25.981Z,1761507925.981 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:45:25.981Z,1761507925.981 [marl:UpdateCommandMode] Stopped
2025-10-26T19:45:25.981Z,1761507925.981 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:45:25.981Z,1761507925.981 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:45:25.981Z,1761507925.981 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:45:25.982Z,1761507925.982 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:45:25.982Z,1761507925.982 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:45:25.982Z,1761507925.982 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:45:25.982Z,1761507925.982 [marl:UpdateSpeed] Stopped
2025-10-26T19:45:25.983Z,1761507925.983 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:45:26.326Z,1761507926.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745275,0.661209,0.085840],[-0.663600,-0.723057,-0.191896],[-0.064816,-0.199978,0.977654]]
2025-10-26T19:45:26.386Z,1761507926.386 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:45:26.386Z,1761507926.386 [marl:UpdateRudder:B] Stopped
2025-10-26T19:45:26.386Z,1761507926.386 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:45:26.386Z,1761507926.386 [marl:UpdateRudder] Stopped
2025-10-26T19:45:26.386Z,1761507926.386 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:45:26.746Z,1761507926.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753264,0.654009,0.069748],[-0.654213,-0.734092,-0.181974],[-0.067811,-0.182705,0.980826]]
2025-10-26T19:45:27.138Z,1761507927.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758907,0.647089,0.073049],[-0.647948,-0.739156,-0.183878],[-0.064991,-0.186878,0.980231]]
2025-10-26T19:45:27.544Z,1761507927.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757987,0.646754,0.084644],[-0.649393,-0.736089,-0.190949],[-0.061191,-0.199704,0.977944]]
2025-10-26T19:45:27.946Z,1761507927.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753912,0.649507,0.098781],[-0.654583,-0.729806,-0.197243],[-0.056020,-0.213364,0.975365]]
2025-10-26T19:45:28.350Z,1761507928.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747500,0.655424,0.107996],[-0.662243,-0.722650,-0.198018],[-0.051743,-0.219538,0.974231]]
2025-10-26T19:45:28.762Z,1761507928.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739961,0.663680,0.109482],[-0.670739,-0.715757,-0.194425],[-0.050674,-0.217301,0.974788]]
2025-10-26T19:45:29.154Z,1761507929.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734874,0.670451,0.102249],[-0.676159,-0.712586,-0.187165],[-0.052624,-0.206679,0.976993]]
2025-10-26T19:45:29.559Z,1761507929.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734945,0.672056,0.090541],[-0.675800,-0.714814,-0.179819],[-0.056129,-0.193344,0.979524]]
2025-10-26T19:45:29.962Z,1761507929.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739044,0.668787,0.080861],[-0.671061,-0.720345,-0.175443],[-0.059086,-0.183923,0.981163]]
2025-10-26T19:45:30.366Z,1761507930.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745463,0.661944,0.078201],[-0.663912,-0.726966,-0.175330],[-0.059209,-0.182620,0.981399]]
2025-10-26T19:45:30.782Z,1761507930.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751637,0.654223,0.083869],[-0.657267,-0.732290,-0.178189],[-0.055158,-0.189057,0.980416]]
2025-10-26T19:45:31.174Z,1761507931.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754627,0.649103,0.095938],[-0.654405,-0.733855,-0.182239],[-0.047887,-0.200304,0.978563]]
2025-10-26T19:45:31.580Z,1761507931.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754734,0.646343,0.112331],[-0.654964,-0.732616,-0.185192],[-0.037402,-0.213344,0.976261]]
2025-10-26T19:45:32.003Z,1761507932.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752635,0.645120,0.131756],[-0.657983,-0.729475,-0.186879],[-0.024447,-0.227345,0.973507]]
2025-10-26T19:45:32.386Z,1761507932.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747267,0.647054,0.151368],[-0.664421,-0.723507,-0.187304],[-0.011680,-0.240538,0.970569]]
2025-10-26T19:45:32.837Z,1761507932.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739243,0.652484,0.166685],[-0.673432,-0.715208,-0.186991],[-0.002795,-0.250483,0.968117]]
2025-10-26T19:45:33.196Z,1761507933.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729035,0.662573,0.171769],[-0.684476,-0.705634,-0.183228],[-0.000196,-0.251151,0.967948]]
2025-10-26T19:45:33.598Z,1761507933.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718421,0.675953,0.164193],[-0.695601,-0.697021,-0.174072],[-0.003218,-0.239269,0.970948]]
2025-10-26T19:45:34.013Z,1761507934.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708973,0.689963,0.145976],[-0.705178,-0.690907,-0.159284],[-0.009044,-0.215867,0.976381]]
2025-10-26T19:45:34.406Z,1761507934.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701170,0.702338,0.122810],[-0.712852,-0.687119,-0.140386],[-0.014213,-0.185980,0.982451]]
2025-10-26T19:45:34.845Z,1761507934.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695714,0.710973,0.102466],[-0.718147,-0.685314,-0.120871],[-0.015715,-0.157678,0.987366]]
2025-10-26T19:45:35.216Z,1761507935.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694121,0.713967,0.091915],[-0.719770,-0.686344,-0.104228],[-0.011330,-0.138504,0.990297]]
2025-10-26T19:45:35.618Z,1761507935.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696575,0.711880,0.089503],[-0.717476,-0.690535,-0.091598],[-0.003402,-0.128021,0.991766]]
2025-10-26T19:45:36.023Z,1761507936.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699965,0.708144,0.092635],[-0.714172,-0.694530,-0.087097],[0.002661,-0.127122,0.991883]]
2025-10-26T19:45:36.426Z,1761507936.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703745,0.703576,0.098610],[-0.710438,-0.697795,-0.091429],[0.004482,-0.134400,0.990917]]
2025-10-26T19:45:36.850Z,1761507936.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709994,0.696387,0.104663],[-0.704203,-0.702666,-0.101777],[0.002667,-0.145965,0.989286]]
2025-10-26T19:45:37.234Z,1761507937.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718578,0.686517,0.111091],[-0.695447,-0.709423,-0.114339],[0.000315,-0.159419,0.987211]]
2025-10-26T19:45:37.638Z,1761507937.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728102,0.674608,0.121539],[-0.685468,-0.716783,-0.127887],[0.000844,-0.176426,0.984313]]
2025-10-26T19:45:38.042Z,1761507938.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736876,0.661866,0.137647],[-0.676001,-0.723233,-0.141267],[0.006051,-0.197146,0.980356]]
2025-10-26T19:45:38.448Z,1761507938.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743696,0.649072,0.160069],[-0.668319,-0.727693,-0.154313],[0.016321,-0.221739,0.974969]]
2025-10-26T19:45:38.850Z,1761507938.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746878,0.638200,0.186746],[-0.664268,-0.728891,-0.165730],[0.030349,-0.247830,0.968328]]
2025-10-26T19:45:38.921Z,1761507938.921 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:45:38.921Z,1761507938.921 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:45:38.921Z,1761507938.921 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:45:38.921Z,1761507938.921 [marl:UpdateRudder:A] Stopped
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode] Stopped
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:45:38.922Z,1761507938.922 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:45:38.923Z,1761507938.923 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:45:38.923Z,1761507938.923 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:45:38.923Z,1761507938.923 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:45:38.923Z,1761507938.923 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:45:38.927Z,1761507938.927 [marl:UpdateSpeed] Stopped
2025-10-26T19:45:38.928Z,1761507938.928 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:45:39.255Z,1761507939.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745883,0.630709,0.214158],[-0.664489,-0.726780,-0.173911],[0.045959,-0.272023,0.961193]]
2025-10-26T19:45:39.294Z,1761507939.294 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:45:39.294Z,1761507939.294 [marl:UpdateRudder:B] Stopped
2025-10-26T19:45:39.294Z,1761507939.294 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:45:39.294Z,1761507939.294 [marl:UpdateRudder] Stopped
2025-10-26T19:45:39.294Z,1761507939.294 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:45:39.658Z,1761507939.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739739,0.629293,0.238280],[-0.670185,-0.720765,-0.177060],[0.060321,-0.290670,0.954920]]
2025-10-26T19:45:40.071Z,1761507940.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729812,0.635483,0.252062],[-0.680137,-0.712231,-0.173613],[0.069198,-0.298141,0.952010]]
2025-10-26T19:45:40.481Z,1761507940.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717306,0.650246,0.250304],[-0.693304,-0.701831,-0.163595],[0.069294,-0.290884,0.954246]]
2025-10-26T19:45:40.874Z,1761507940.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704720,0.670661,0.231481],[-0.706844,-0.691805,-0.147575],[0.061167,-0.267620,0.961581]]
2025-10-26T19:45:41.278Z,1761507941.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693038,0.692318,0.200982],[-0.719255,-0.682870,-0.127909],[0.048690,-0.233203,0.971208]]
2025-10-26T19:45:41.682Z,1761507941.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683480,0.709597,0.171254],[-0.728902,-0.676117,-0.107555],[0.039467,-0.198339,0.979339]]
2025-10-26T19:45:42.089Z,1761507942.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685931,0.712060,0.149896],[-0.726535,-0.681658,-0.086536],[0.040559,-0.168263,0.984907]]
2025-10-26T19:45:42.496Z,1761507942.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689981,0.710449,0.138526],[-0.722468,-0.687680,-0.071664],[0.044349,-0.149527,0.987763]]
2025-10-26T19:45:42.894Z,1761507942.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691112,0.708663,0.141991],[-0.720899,-0.689953,-0.065339],[0.051664,-0.147518,0.987709]]
2025-10-26T19:45:43.298Z,1761507943.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689298,0.707436,0.156213],[-0.721852,-0.688987,-0.065015],[0.061635,-0.157577,0.985581]]
2025-10-26T19:45:43.323Z,1761507943.323 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:45:43.420Z,1761507943.420 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:45:43.420Z,1761507943.420 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:45:43.672Z,1761507943.672 [DAT](INFO): DAT read: user:273>

2025-10-26T19:45:43.673Z,1761507943.673 [DAT](INFO): DAT read: Tx time:19:45:42.7524

2025-10-26T19:45:43.673Z,1761507943.673 [DAT](INFO): Ping request sent.
2025-10-26T19:45:43.673Z,1761507943.673 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:45:43.674Z,1761507943.674 [DAT](INFO): publishing transmit ping time
2025-10-26T19:45:43.674Z,1761507943.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000937
2025-10-26T19:45:43.745Z,1761507943.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684738,0.707275,0.175772],[-0.725229,-0.685089,-0.068530],[0.071950,-0.174400,0.982043]]
2025-10-26T19:45:43.924Z,1761507943.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250729
2025-10-26T19:45:44.107Z,1761507944.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677968,0.708841,0.194692],[-0.730647,-0.678884,-0.072600],[0.080711,-0.191471,0.978174]]
2025-10-26T19:45:44.176Z,1761507944.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502932
2025-10-26T19:45:44.428Z,1761507944.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754922
2025-10-26T19:45:44.510Z,1761507944.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669705,0.713243,0.206832],[-0.737610,-0.671180,-0.073817],[0.086172,-0.201997,0.975588]]
2025-10-26T19:45:44.680Z,1761507944.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863
2025-10-26T19:45:44.914Z,1761507944.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660910,0.720654,0.209416],[-0.745377,-0.662793,-0.071547],[0.087239,-0.203380,0.975206]]
2025-10-26T19:45:44.932Z,1761507944.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258926
2025-10-26T19:45:45.184Z,1761507945.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510854
2025-10-26T19:45:45.318Z,1761507945.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652673,0.729555,0.204372],[-0.752892,-0.654691,-0.067327],[0.084681,-0.197813,0.976575]]
2025-10-26T19:45:45.436Z,1761507945.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762885
2025-10-26T19:45:45.688Z,1761507945.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014836
2025-10-26T19:45:45.734Z,1761507945.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646441,0.737696,0.194728],[-0.758671,-0.648552,-0.061635],[0.080823,-0.187578,0.978919]]
2025-10-26T19:45:45.940Z,1761507945.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907
2025-10-26T19:45:46.126Z,1761507946.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646742,0.739878,0.185216],[-0.758663,-0.649035,-0.056434],[0.078457,-0.177015,0.981076]]
2025-10-26T19:45:46.192Z,1761507946.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518906
2025-10-26T19:45:46.256Z,1761507946.256 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:45:46.256Z,1761507946.256 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:45:46.445Z,1761507946.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771361
2025-10-26T19:45:46.530Z,1761507946.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653535,0.735513,0.178642],[-0.752728,-0.656311,-0.051546],[0.079332,-0.168156,0.982563]]
2025-10-26T19:45:46.697Z,1761507946.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023270
2025-10-26T19:45:46.936Z,1761507946.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659872,0.729447,0.180213],[-0.746949,-0.662839,-0.052074],[0.081467,-0.168971,0.982248]]
2025-10-26T19:45:46.949Z,1761507946.949 [DAT](INFO): DAT read: Rx Time:19:45:45.6584

2025-10-26T19:45:46.950Z,1761507946.950 [DAT](INFO): Rx dataTimestamp_ set to:1761507946.949548
2025-10-26T19:45:46.951Z,1761507946.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277383
2025-10-26T19:45:47.200Z,1761507947.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526833
2025-10-26T19:45:47.339Z,1761507947.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664877,0.723033,0.187515],[-0.742191,-0.667784,-0.056720],[0.084209,-0.176883,0.980623]]
2025-10-26T19:45:47.455Z,1761507947.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781228
2025-10-26T19:45:47.714Z,1761507947.714 [DAT](INFO): DAT read: 19:45:45.6584 LVL= 27984, 22753, 32754, 31955, AGC= 74, IDX= 112,-0.03, 2.237,-2.832, 1.558, 2.634, PHS=-0.295, 0.862,-1.120, RAW= 354.5,   6.5, CAL= 354.4,   5.5, ROT= 155.6,  -5.5

2025-10-26T19:45:47.718Z,1761507947.718 [DAT](INFO): got valid direction response:
 19:45:45.6584 LVL= 27984, 22753, 32754, 31955, AGC= 74, IDX= 112,-0.03, 2.237,-2.832, 1.558, 2.634, PHS=-0.295, 0.862,-1.120, RAW= 354.5,   6.5, CAL= 354.4,   5.5, ROT= 155.6,  -5.5

2025-10-26T19:45:47.721Z,1761507947.721 [DAT](INFO): DAT read: Bearing 342,   6 (Remote)

2025-10-26T19:45:47.721Z,1761507947.721 [DAT](INFO): Remote Bearing received:Bearing 342,   6 (Remote)

2025-10-26T19:45:47.722Z,1761507947.722 [DAT](INFO): DAT read: Bearing 181.6,  17.9 (Local)

2025-10-26T19:45:47.723Z,1761507947.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.6,  17.9 (Local)

2025-10-26T19:45:47.725Z,1761507947.725 [DAT](INFO): DAT read: Range 11 to 20 : 657.6 m  (Round-trip  876.9 ms) speed -1.0 m/s

2025-10-26T19:45:47.725Z,1761507947.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:45:47.727Z,1761507947.727 [DAT](INFO): direction in FSK: [-0.906491,0.411203,0.095846]
2025-10-26T19:45:47.752Z,1761507947.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:45:47.775Z,1761507947.775 [DAT](INFO): publishing direction and range info
2025-10-26T19:45:47.880Z,1761507947.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668195,0.717539,0.196603],[-0.738922,-0.670836,-0.063035],[0.086658,-0.187394,0.978455]]
2025-10-26T19:45:48.028Z,1761507948.028 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507968.00. Resetting abort timer.
2025-10-26T19:45:48.146Z,1761507948.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670438,0.712767,0.206097],[-0.736704,-0.672508,-0.070706],[0.088205,-0.199237,0.975974]]
2025-10-26T19:45:48.550Z,1761507948.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672221,0.709316,0.212107],[-0.734992,-0.673789,-0.076128],[0.088917,-0.207072,0.974277]]
2025-10-26T19:45:48.757Z,1761507948.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:45:48.967Z,1761507948.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674661,0.706167,0.214849],[-0.732650,-0.676054,-0.078580],[0.089759,-0.210424,0.973481]]
2025-10-26T19:45:49.359Z,1761507949.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677257,0.702857,0.217522],[-0.729925,-0.678981,-0.078702],[0.092377,-0.212076,0.972877]]
2025-10-26T19:45:49.763Z,1761507949.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678353,0.700189,0.222649],[-0.728157,-0.681130,-0.076476],[0.098105,-0.214001,0.971894]]
2025-10-26T19:45:50.166Z,1761507950.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676938,0.697934,0.233761],[-0.728258,-0.681166,-0.075188],[0.106754,-0.221136,0.969383]]
2025-10-26T19:45:50.572Z,1761507950.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673071,0.696872,0.247679],[-0.730347,-0.679037,-0.074182],[0.116488,-0.230822,0.965998]]
2025-10-26T19:45:50.979Z,1761507950.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666501,0.698922,0.259395],[-0.734895,-0.674453,-0.071005],[0.125323,-0.237953,0.963158]]
2025-10-26T19:45:51.378Z,1761507951.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657674,0.704832,0.265851],[-0.741631,-0.667705,-0.064443],[0.132088,-0.239546,0.961858]]
2025-10-26T19:45:51.783Z,1761507951.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647347,0.714698,0.264856],[-0.749939,-0.659312,-0.053846],[0.136139,-0.233483,0.962784]]
2025-10-26T19:45:52.188Z,1761507952.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637064,0.727302,0.255306],[-0.758635,-0.650248,-0.040629],[0.136463,-0.219567,0.966006]]
2025-10-26T19:45:52.212Z,1761507952.212 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:45:52.212Z,1761507952.212 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:45:52.212Z,1761507952.212 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateRudder:A] Stopped
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:45:52.213Z,1761507952.213 [marl:UpdateCommandMode] Stopped
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed] Stopped
2025-10-26T19:45:52.214Z,1761507952.214 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:45:52.590Z,1761507952.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627663,0.740946,0.238825],[-0.767104,-0.640929,-0.027588],[0.132629,-0.200520,0.970671]]
2025-10-26T19:45:52.634Z,1761507952.634 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:45:52.634Z,1761507952.634 [marl:UpdateRudder:B] Stopped
2025-10-26T19:45:52.634Z,1761507952.634 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:45:52.634Z,1761507952.634 [marl:UpdateRudder] Stopped
2025-10-26T19:45:52.634Z,1761507952.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:45:52.994Z,1761507952.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620402,0.752663,0.220452],[-0.773983,-0.632976,-0.017070],[0.126692,-0.181217,0.975248]]
2025-10-26T19:45:53.398Z,1761507953.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616838,0.760105,0.204333],[-0.777662,-0.628615,-0.009194],[0.121458,-0.164573,0.978858]]
2025-10-26T19:45:53.475Z,1761507953.475 [marl:SendObservationData] Running Loop=1
2025-10-26T19:45:53.475Z,1761507953.475 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T19:45:53.475Z,1761507953.475 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T19:45:53.480Z,1761507953.480 [marl:SendObservationData:A] Running Loop=1
2025-10-26T19:45:53.481Z,1761507953.481 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9ea0000000405140000000000040426271ea9f2ef2c05e776be2c6d94c40142d30e000000040841d99a0000000 n/a str  and temp var is  nan n/a str 
2025-10-26T19:45:53.481Z,1761507953.481 [marl:SendObservationData:A] Stopped
2025-10-26T19:45:53.481Z,1761507953.481 [marl:SendObservationData:B] Running Loop=1
2025-10-26T19:45:53.502Z,1761507953.502 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:45:53.502Z,1761507953.502 [DAT](INFO): #Outgoing data=1
2025-10-26T19:45:53.502Z,1761507953.502 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:45:53.752Z,1761507953.752 [DAT](INFO): setting remote address to 6
2025-10-26T19:45:53.812Z,1761507953.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620220,0.759907,0.194598],[-0.775192,-0.631715,-0.003827],[0.120023,-0.153224,0.980876]]
2025-10-26T19:45:53.838Z,1761507953.838 [marl:SendObservationData:B] Stopped
2025-10-26T19:45:53.838Z,1761507953.838 [marl:SendObservationData:C] Running Loop=1
2025-10-26T19:45:54.005Z,1761507954.005 [DAT](INFO): DAT read: user:274>

2025-10-26T19:45:54.006Z,1761507954.006 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:45:54.006Z,1761507954.006 [DAT](INFO): set remote address to 6
2025-10-26T19:45:54.006Z,1761507954.006 [DAT](INFO): entering online mode
2025-10-26T19:45:54.206Z,1761507954.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628051,0.753834,0.193094],[-0.768484,-0.639868,-0.001517],[0.122411,-0.149343,0.981179]]
2025-10-26T19:45:54.242Z,1761507954.242 [marl:SendObservationData:C] Stopped
2025-10-26T19:45:54.242Z,1761507954.242 [marl:SendObservationData:E] Running Loop=1
2025-10-26T19:45:54.256Z,1761507954.256 [DAT](INFO): DAT read: user:275>

2025-10-26T19:45:54.257Z,1761507954.257 [DAT](INFO): DAT read: 

2025-10-26T19:45:54.258Z,1761507954.258 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:45:54.258Z,1761507954.258 [DAT](INFO): commRate: 600
2025-10-26T19:45:54.258Z,1761507954.258 [DAT](INFO): online mode acknowledged
2025-10-26T19:45:54.259Z,1761507954.259 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:45:54.610Z,1761507954.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631071,0.749249,0.200938],[-0.765410,-0.643528,-0.004309],[0.126081,-0.156519,0.979594]]
2025-10-26T19:45:54.664Z,1761507954.664 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.006979 min 
2025-10-26T19:45:54.664Z,1761507954.664 [marl:SendObservationData:E] Stopped
2025-10-26T19:45:54.665Z,1761507954.665 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T19:45:54.665Z,1761507954.665 [marl:SendObservationData] Stopped
2025-10-26T19:45:54.665Z,1761507954.665 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T19:45:54.665Z,1761507954.665 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T19:45:55.015Z,1761507955.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629245,0.747095,0.214243],[-0.766165,-0.642573,-0.009535],[0.130543,-0.170145,0.976734]]
2025-10-26T19:45:55.418Z,1761507955.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624210,0.746775,0.229539],[-0.769533,-0.638415,-0.015674],[0.134836,-0.186422,0.973173]]
2025-10-26T19:45:55.822Z,1761507955.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617235,0.748371,0.242822],[-0.774642,-0.632047,-0.021130],[0.137661,-0.201142,0.969841]]
2025-10-26T19:45:56.016Z,1761507956.016 [Radio_Surface](INFO): Powering down
2025-10-26T19:45:56.227Z,1761507956.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609547,0.752090,0.250627],[-0.780573,-0.624599,-0.024105],[0.138412,-0.210326,0.967784]]
2025-10-26T19:45:56.631Z,1761507956.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601662,0.757821,0.252407],[-0.786835,-0.616695,-0.024024],[0.137452,-0.213058,0.967323]]
2025-10-26T19:45:57.036Z,1761507957.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595913,0.763645,0.248462],[-0.791433,-0.610910,-0.020556],[0.136090,-0.208891,0.968423]]
2025-10-26T19:45:57.446Z,1761507957.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597648,0.764756,0.240759],[-0.789993,-0.612955,-0.014025],[0.136849,-0.198580,0.970484]]
2025-10-26T19:45:57.534Z,1761507957.534 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:45:56.6996

2025-10-26T19:45:57.534Z,1761507957.534 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:45:57.843Z,1761507957.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599703,0.764617,0.236047],[-0.788074,-0.615525,-0.008343],[0.138913,-0.191026,0.971706]]
2025-10-26T19:45:58.246Z,1761507958.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601347,0.763052,0.236927],[-0.786362,-0.617733,-0.006389],[0.141483,-0.190152,0.971506]]
2025-10-26T19:45:58.650Z,1761507958.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601997,0.761376,0.240637],[-0.785577,-0.618717,-0.007641],[0.143068,-0.193639,0.970585]]
2025-10-26T19:45:59.056Z,1761507959.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601234,0.760356,0.245714],[-0.786236,-0.617809,-0.012034],[0.142654,-0.200424,0.969268]]
2025-10-26T19:45:59.465Z,1761507959.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600269,0.759336,0.251168],[-0.786959,-0.616796,-0.016049],[0.142733,-0.207293,0.967810]]
2025-10-26T19:45:59.864Z,1761507959.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599801,0.758778,0.253958],[-0.787222,-0.616420,-0.017525],[0.143247,-0.210433,0.967057]]
2025-10-26T19:46:00.266Z,1761507960.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599029,0.758153,0.257620],[-0.787388,-0.616212,-0.017408],[0.145550,-0.213275,0.966090]]
2025-10-26T19:46:00.670Z,1761507960.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596259,0.758670,0.262480],[-0.788714,-0.614569,-0.015326],[0.149685,-0.216160,0.964816]]
2025-10-26T19:46:01.076Z,1761507961.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591224,0.760724,0.267869],[-0.791342,-0.611282,-0.010616],[0.155667,-0.218252,0.963397]]
2025-10-26T19:46:01.480Z,1761507961.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584130,0.764524,0.272571],[-0.795307,-0.606193,-0.004088],[0.162106,-0.219166,0.962127]]
2025-10-26T19:46:01.882Z,1761507961.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575322,0.770472,0.274549],[-0.800647,-0.599125,0.003568],[0.167238,-0.217765,0.961566]]
2025-10-26T19:46:02.286Z,1761507962.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565787,0.778536,0.271599],[-0.806856,-0.590623,0.012198],[0.169910,-0.212240,0.962333]]
2025-10-26T19:46:02.692Z,1761507962.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556406,0.788116,0.263221],[-0.813384,-0.581339,0.021244],[0.169763,-0.202279,0.964502]]
2025-10-26T19:46:03.498Z,1761507963.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541901,0.806130,0.237691],[-0.824515,-0.564726,0.035492],[0.162842,-0.176747,0.970692]]
2025-10-26T19:46:03.902Z,1761507963.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540275,0.810934,0.224698],[-0.826412,-0.561649,0.039921],[0.158575,-0.164125,0.973610]]
2025-10-26T19:46:04.308Z,1761507964.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544380,0.810729,0.215335],[-0.824389,-0.564516,0.041280],[0.155027,-0.155048,0.975667]]
2025-10-26T19:46:04.714Z,1761507964.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552608,0.806295,0.210981],[-0.819449,-0.571824,0.038984],[0.152077,-0.151345,0.976712]]
2025-10-26T19:46:05.114Z,1761507965.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563378,0.798297,0.212902],[-0.812498,-0.582060,0.032472],[0.149844,-0.154688,0.976534]]
2025-10-26T19:46:05.519Z,1761507965.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574456,0.788129,0.221027],[-0.804868,-0.593020,0.022693],[0.148959,-0.164861,0.975004]]
2025-10-26T19:46:05.584Z,1761507965.584 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateRudder:A] Stopped
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:46:05.585Z,1761507965.585 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateCommandMode] Stopped
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:46:05.586Z,1761507965.586 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:46:05.587Z,1761507965.587 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:46:05.587Z,1761507965.587 [marl:UpdateSpeed] Stopped
2025-10-26T19:46:05.587Z,1761507965.587 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:46:05.928Z,1761507965.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583779,0.777580,0.233604],[-0.797967,-0.602588,0.011662],[0.149836,-0.179600,0.972262]]
2025-10-26T19:46:05.960Z,1761507965.960 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:46:05.960Z,1761507965.960 [marl:UpdateRudder:B] Stopped
2025-10-26T19:46:05.960Z,1761507965.960 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:46:05.960Z,1761507965.960 [marl:UpdateRudder] Stopped
2025-10-26T19:46:05.961Z,1761507965.961 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:46:06.326Z,1761507966.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589026,0.768579,0.249667],[-0.793680,-0.608335,0.000219],[0.152050,-0.198027,0.968332]]
2025-10-26T19:46:06.733Z,1761507966.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588287,0.763915,0.265241],[-0.793780,-0.608138,-0.009067],[0.154377,-0.215876,0.964140]]
2025-10-26T19:46:07.134Z,1761507967.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582545,0.763717,0.278170],[-0.797730,-0.602813,-0.015584],[0.155783,-0.230984,0.960405]]
2025-10-26T19:46:07.542Z,1761507967.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575022,0.767149,0.284310],[-0.803082,-0.595624,-0.017083],[0.156237,-0.238147,0.958580]]
2025-10-26T19:46:07.616Z,1761507967.616 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:46:07.869Z,1761507967.869 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:46:07.869Z,1761507967.869 [DAT](INFO): #Outgoing data=1
2025-10-26T19:46:07.869Z,1761507967.869 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:46:07.951Z,1761507967.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566788,0.773393,0.283926],[-0.809058,-0.587547,-0.014650],[0.155490,-0.238016,0.958734]]
2025-10-26T19:46:08.120Z,1761507968.120 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:46:08.346Z,1761507968.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558353,0.781520,0.278331],[-0.815207,-0.579094,-0.009341],[0.153880,-0.232113,0.960440]]
2025-10-26T19:46:08.753Z,1761507968.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550170,0.790770,0.268321],[-0.821166,-0.570686,-0.001864],[0.151653,-0.221362,0.963328]]
2025-10-26T19:46:09.158Z,1761507969.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542397,0.799756,0.257286],[-0.826789,-0.562485,0.005452],[0.149080,-0.209764,0.966320]]
2025-10-26T19:46:09.566Z,1761507969.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535022,0.807644,0.247915],[-0.832079,-0.554551,0.010888],[0.146275,-0.200459,0.968721]]
2025-10-26T19:46:09.962Z,1761507969.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529289,0.813726,0.240217],[-0.836122,-0.548334,0.015169],[0.144063,-0.192822,0.970601]]
2025-10-26T19:46:10.366Z,1761507970.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528711,0.816145,0.233177],[-0.836652,-0.547408,0.018945],[0.143105,-0.185072,0.972250]]
2025-10-26T19:46:10.785Z,1761507970.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530421,0.816116,0.229363],[-0.835661,-0.548865,0.020426],[0.142560,-0.180835,0.973127]]
2025-10-26T19:46:11.189Z,1761507971.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535397,0.812849,0.229404],[-0.832482,-0.553722,0.019111],[0.142560,-0.180743,0.973144]]
2025-10-26T19:46:11.401Z,1761507971.401 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:46:10.5495

2025-10-26T19:46:11.401Z,1761507971.401 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:46:11.595Z,1761507971.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537732,0.810560,0.232026],[-0.831012,-0.556011,0.016458],[0.142350,-0.183967,0.972570]]
2025-10-26T19:46:11.987Z,1761507971.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539711,0.807802,0.236997],[-0.829938,-0.557745,0.011062],[0.141119,-0.190723,0.971447]]
2025-10-26T19:46:12.391Z,1761507972.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541658,0.805144,0.241556],[-0.829055,-0.559147,0.004674],[0.138829,-0.197731,0.970376]]
2025-10-26T19:46:12.832Z,1761507972.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544478,0.802595,0.243692],[-0.827741,-0.561108,-0.001412],[0.135604,-0.202483,0.969852]]
2025-10-26T19:46:13.198Z,1761507973.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548984,0.799503,0.243745],[-0.825199,-0.564810,-0.005966],[0.132900,-0.204414,0.969821]]
2025-10-26T19:46:13.603Z,1761507973.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554076,0.796095,0.243376],[-0.822040,-0.569358,-0.009082],[0.131338,-0.205097,0.969889]]
2025-10-26T19:46:13.656Z,1761507973.656 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:46:13.668Z,1761507973.668 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:46:13.720Z,1761507973.720 [DAT](INFO): entering command mode
2025-10-26T19:46:13.921Z,1761507973.921 [DAT](INFO): DAT read: 

2025-10-26T19:46:13.922Z,1761507973.922 [DAT](INFO): DAT read: user:276>

2025-10-26T19:46:13.922Z,1761507973.922 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:46:13.922Z,1761507973.922 [DAT](INFO): setting remote address to 0
2025-10-26T19:46:14.002Z,1761507974.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556993,0.794120,0.243173],[-0.820150,-0.572053,-0.010440],[0.130817,-0.205254,0.969927]]
2025-10-26T19:46:14.173Z,1761507974.173 [DAT](INFO): DAT read: user:276>

2025-10-26T19:46:14.174Z,1761507974.174 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:46:14.174Z,1761507974.174 [DAT](INFO): set remote address to 0
2025-10-26T19:46:14.174Z,1761507974.174 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:46:14.175Z,1761507974.175 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:46:14.412Z,1761507974.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557202,0.793567,0.244493],[-0.820012,-0.572230,-0.011488],[0.130790,-0.206889,0.969583]]
2025-10-26T19:46:14.425Z,1761507974.425 [DAT](INFO): DAT read: user:277>

2025-10-26T19:46:14.426Z,1761507974.426 [DAT](INFO): DAT read: Tx time:19:46:13.5006

2025-10-26T19:46:14.427Z,1761507974.427 [DAT](INFO): Ping request sent.
2025-10-26T19:46:14.427Z,1761507974.427 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:46:14.427Z,1761507974.427 [DAT](INFO): publishing transmit ping time
2025-10-26T19:46:14.429Z,1761507974.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001418
2025-10-26T19:46:14.676Z,1761507974.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249481
2025-10-26T19:46:14.838Z,1761507974.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555454,0.794759,0.244600],[-0.821469,-0.570103,-0.013059],[0.129069,-0.208185,0.969536]]
2025-10-26T19:46:14.929Z,1761507974.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502252
2025-10-26T19:46:15.184Z,1761507975.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756194
2025-10-26T19:46:15.231Z,1761507975.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552655,0.797129,0.243224],[-0.823943,-0.566455,-0.015699],[0.125261,-0.209079,0.969843]]
2025-10-26T19:46:15.433Z,1761507975.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005951
2025-10-26T19:46:15.630Z,1761507975.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549684,0.800414,0.239131],[-0.826788,-0.562201,-0.018730],[0.119448,-0.208007,0.970807]]
2025-10-26T19:46:15.684Z,1761507975.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257612
2025-10-26T19:46:15.936Z,1761507975.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509545
2025-10-26T19:46:16.026Z,1761507976.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547123,0.803974,0.232988],[-0.829449,-0.558159,-0.021742],[0.112565,-0.205147,0.972237]]
2025-10-26T19:46:16.188Z,1761507976.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761517
2025-10-26T19:46:16.436Z,1761507976.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545257,0.806715,0.227829],[-0.831565,-0.554839,-0.025542],[0.105803,-0.203382,0.973366]]
2025-10-26T19:46:16.440Z,1761507976.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013578
2025-10-26T19:46:16.693Z,1761507976.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265774
2025-10-26T19:46:16.843Z,1761507976.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543463,0.808687,0.225107],[-0.833470,-0.551745,-0.030081],[0.099875,-0.203968,0.973870]]
2025-10-26T19:46:16.944Z,1761507976.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517575
2025-10-26T19:46:17.196Z,1761507977.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769483
2025-10-26T19:46:17.238Z,1761507977.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540802,0.810621,0.224557],[-0.835805,-0.547910,-0.034992],[0.094672,-0.206610,0.973832]]
2025-10-26T19:46:17.448Z,1761507977.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021442
2025-10-26T19:46:17.642Z,1761507977.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537135,0.813375,0.223398],[-0.838727,-0.543149,-0.039057],[0.089570,-0.208349,0.973944]]
2025-10-26T19:46:17.701Z,1761507977.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273923
2025-10-26T19:46:17.952Z,1761507977.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525517
2025-10-26T19:46:18.047Z,1761507978.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532230,0.817573,0.219785],[-0.842489,-0.537039,-0.042444],[0.083332,-0.207757,0.974625]]
2025-10-26T19:46:18.205Z,1761507978.205 [DAT](INFO): DAT read: Rx Time:19:46:16.8113

2025-10-26T19:46:18.205Z,1761507978.205 [DAT](INFO): Rx dataTimestamp_ set to:1761507978.204778
2025-10-26T19:46:18.206Z,1761507978.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778773
2025-10-26T19:46:18.452Z,1761507978.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526596,0.823537,0.210912],[-0.846809,-0.530010,-0.044772],[0.074914,-0.202179,0.976479]]
2025-10-26T19:46:18.456Z,1761507978.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029464
2025-10-26T19:46:18.717Z,1761507978.717 [DAT](INFO): DAT read: 19:46:16.8113 LVL= 27296, 25825, 32754, 32755, AGC= 71, IDX= 416, 0.16, 2.418,-3.095, 1.322, 2.687, PHS=-0.167, 0.546,-1.408, RAW=   8.9,  12.0, CAL=   8.8,  14.0, ROT= 141.2, -14.0

2025-10-26T19:46:18.718Z,1761507978.718 [DAT](INFO): got valid direction response:
 19:46:16.8113 LVL= 27296, 25825, 32754, 32755, AGC= 71, IDX= 416, 0.16, 2.418,-3.095, 1.322, 2.687, PHS=-0.167, 0.546,-1.408, RAW=   8.9,  12.0, CAL=   8.8,  14.0, ROT= 141.2, -14.0

2025-10-26T19:46:18.720Z,1761507978.720 [DAT](INFO): DAT read: Bearing 175.3,  27.6 (Local)

2025-10-26T19:46:18.720Z,1761507978.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.3,  27.6 (Local)

2025-10-26T19:46:18.722Z,1761507978.722 [DAT](INFO): DAT read: Range 11 to 20 : 679.9 m  (Round-trip  906.6 ms) speed -0.7 m/s

2025-10-26T19:46:18.723Z,1761507978.723 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:46:18.725Z,1761507978.725 [DAT](INFO): direction in FSK: [-0.756188,0.607991,0.241922]
2025-10-26T19:46:18.725Z,1761507978.725 [DAT](INFO): publishing direction and range info
2025-10-26T19:46:18.854Z,1761507978.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520956,0.830643,0.196565],[-0.851135,-0.522932,-0.045959],[0.064614,-0.191246,0.979413]]
2025-10-26T19:46:18.876Z,1761507978.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:46:18.978Z,1761507978.978 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:46:18.979Z,1761507978.979 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:46:18.979Z,1761507978.979 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:46:18.979Z,1761507978.979 [marl:UpdateRudder:A] Stopped
2025-10-26T19:46:18.979Z,1761507978.979 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:46:18.979Z,1761507978.979 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateCommandMode] Stopped
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:46:18.980Z,1761507978.980 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:46:18.981Z,1761507978.981 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:46:18.981Z,1761507978.981 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:46:18.981Z,1761507978.981 [marl:UpdateSpeed] Stopped
2025-10-26T19:46:18.981Z,1761507978.981 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:46:18.996Z,1761507978.996 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507968.00. Resetting abort timer.
2025-10-26T19:46:19.262Z,1761507979.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516308,0.837528,0.178810],[-0.854741,-0.516951,-0.046689],[0.053333,-0.176942,0.982775]]
2025-10-26T19:46:19.306Z,1761507979.306 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:46:19.306Z,1761507979.306 [marl:UpdateRudder:B] Stopped
2025-10-26T19:46:19.306Z,1761507979.306 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:46:19.306Z,1761507979.306 [marl:UpdateRudder] Stopped
2025-10-26T19:46:19.306Z,1761507979.306 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:46:19.662Z,1761507979.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513925,0.842285,0.162597],[-0.856754,-0.513487,-0.048004],[0.043058,-0.163976,0.985524]]
2025-10-26T19:46:19.882Z,1761507979.882 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T19:46:19.882Z,1761507979.882 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:46:20.082Z,1761507980.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515928,0.843401,0.149979],[-0.855895,-0.514783,-0.049417],[0.035528,-0.153862,0.987453]]
2025-10-26T19:46:20.470Z,1761507980.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522285,0.840831,0.142204],[-0.852241,-0.520529,-0.052295],[0.030050,-0.148504,0.988455]]
2025-10-26T19:46:21.278Z,1761507981.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538131,0.830850,0.141788],[-0.842614,-0.534381,-0.066622],[0.020416,-0.155324,0.987653]]
2025-10-26T19:46:21.480Z,1761507981.480 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:46:21.682Z,1761507981.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545851,0.824919,0.146814],[-0.837742,-0.540518,-0.077641],[0.015308,-0.165373,0.986112]]
2025-10-26T19:46:21.733Z,1761507981.733 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:46:21.733Z,1761507981.733 [DAT](INFO): #Outgoing data=2
2025-10-26T19:46:21.733Z,1761507981.733 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:46:21.984Z,1761507981.984 [DAT](INFO): setting remote address to 6
2025-10-26T19:46:22.086Z,1761507982.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552409,0.819722,0.151327],[-0.833516,-0.545306,-0.088838],[0.009698,-0.175208,0.984484]]
2025-10-26T19:46:22.236Z,1761507982.236 [DAT](INFO): DAT read: user:278>

2025-10-26T19:46:22.237Z,1761507982.237 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:46:22.237Z,1761507982.237 [DAT](INFO): set remote address to 6
2025-10-26T19:46:22.238Z,1761507982.238 [DAT](INFO): entering online mode
2025-10-26T19:46:22.488Z,1761507982.488 [DAT](INFO): DAT read: user:279>

2025-10-26T19:46:22.489Z,1761507982.489 [DAT](INFO): DAT read: 

2025-10-26T19:46:22.490Z,1761507982.490 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:46:22.490Z,1761507982.490 [DAT](INFO): commRate: 600
2025-10-26T19:46:22.490Z,1761507982.490 [DAT](INFO): online mode acknowledged
2025-10-26T19:46:22.491Z,1761507982.491 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:46:22.513Z,1761507982.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556563,0.815851,0.156922],[-0.830794,-0.547520,-0.100011],[0.004324,-0.186032,0.982534]]
2025-10-26T19:46:23.298Z,1761507983.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564764,0.809792,0.158993],[-0.825232,-0.552797,-0.115791],[-0.005876,-0.196601,0.980466]]
2025-10-26T19:46:23.725Z,1761507983.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569363,0.806951,0.157024],[-0.822021,-0.556426,-0.121126],[-0.010370,-0.198042,0.980139]]
2025-10-26T19:46:24.106Z,1761507984.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573515,0.804452,0.154716],[-0.819074,-0.559870,-0.125154],[-0.014059,-0.198501,0.980000]]
2025-10-26T19:46:24.512Z,1761507984.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576353,0.802659,0.153480],[-0.817040,-0.562263,-0.127696],[-0.016200,-0.198997,0.979866]]
2025-10-26T19:46:24.920Z,1761507984.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578005,0.801019,0.155813],[-0.815866,-0.563397,-0.130178],[-0.016490,-0.202366,0.979171]]
2025-10-26T19:46:25.320Z,1761507985.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578170,0.800007,0.160337],[-0.815767,-0.563036,-0.132345],[-0.015602,-0.207315,0.978150]]
2025-10-26T19:46:25.736Z,1761507985.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576455,0.800017,0.166351],[-0.816999,-0.560656,-0.134825],[-0.014597,-0.213629,0.976806]]
2025-10-26T19:46:25.765Z,1761507985.765 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:46:24.8994

2025-10-26T19:46:25.765Z,1761507985.765 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:46:26.126Z,1761507986.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573227,0.801502,0.170311],[-0.819282,-0.557160,-0.135458],[-0.013680,-0.217181,0.976035]]
2025-10-26T19:46:26.531Z,1761507986.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568571,0.804147,0.173421],[-0.822535,-0.552457,-0.135009],[-0.012759,-0.219407,0.975550]]
2025-10-26T19:46:26.935Z,1761507986.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562943,0.807854,0.174549],[-0.826420,-0.547329,-0.132144],[-0.011217,-0.218640,0.975741]]
2025-10-26T19:46:27.340Z,1761507987.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556354,0.812643,0.173439],[-0.830901,-0.541912,-0.126235],[-0.008595,-0.214341,0.976721]]
2025-10-26T19:46:27.742Z,1761507987.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548882,0.817972,0.172192],[-0.835882,-0.535745,-0.119495],[-0.005492,-0.209521,0.977789]]
2025-10-26T19:46:28.146Z,1761507988.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540635,0.823967,0.169682],[-0.841253,-0.528865,-0.112230],[-0.002735,-0.203421,0.979087]]
2025-10-26T19:46:28.552Z,1761507988.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531640,0.830512,0.166159],[-0.846969,-0.521008,-0.105803],[-0.001300,-0.196981,0.980407]]
2025-10-26T19:46:28.955Z,1761507988.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522169,0.837648,0.160265],[-0.852841,-0.512536,-0.099848],[-0.001496,-0.188818,0.982011]]
2025-10-26T19:46:29.358Z,1761507989.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512445,0.844884,0.153532],[-0.858714,-0.503539,-0.095175],[-0.003102,-0.180612,0.983549]]
2025-10-26T19:46:29.762Z,1761507989.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502666,0.851730,0.147928],[-0.864468,-0.494339,-0.091232],[-0.004578,-0.173739,0.984781]]
2025-10-26T19:46:30.168Z,1761507990.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493531,0.857481,0.145444],[-0.869715,-0.485665,-0.087893],[-0.004729,-0.169873,0.985455]]
2025-10-26T19:46:30.571Z,1761507990.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488984,0.860380,0.143672],[-0.872290,-0.481906,-0.082924],[-0.002109,-0.165872,0.986145]]
2025-10-26T19:46:30.974Z,1761507990.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486465,0.861645,0.144634],[-0.873698,-0.480088,-0.078531],[0.001772,-0.164569,0.986364]]
2025-10-26T19:46:31.383Z,1761507991.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484712,0.862099,0.147780],[-0.874653,-0.478892,-0.075131],[0.006000,-0.165673,0.986162]]
2025-10-26T19:46:31.786Z,1761507991.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483963,0.861600,0.153055],[-0.875029,-0.478509,-0.073167],[0.010197,-0.169338,0.985505]]
2025-10-26T19:46:32.186Z,1761507992.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484933,0.860484,0.156229],[-0.874438,-0.479942,-0.070809],[0.014050,-0.170950,0.985180]]
2025-10-26T19:46:32.220Z,1761507992.220 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:46:32.220Z,1761507992.220 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:46:32.221Z,1761507992.221 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:46:32.221Z,1761507992.221 [marl:UpdateRudder:A] Stopped
2025-10-26T19:46:32.221Z,1761507992.221 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:46:32.221Z,1761507992.221 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:46:32.221Z,1761507992.221 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:46:32.221Z,1761507992.221 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateCommandMode] Stopped
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:46:32.222Z,1761507992.222 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:46:32.223Z,1761507992.223 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:46:32.223Z,1761507992.223 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:46:32.223Z,1761507992.223 [marl:UpdateSpeed] Stopped
2025-10-26T19:46:32.223Z,1761507992.223 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:46:32.591Z,1761507992.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487405,0.858410,0.159903],[-0.872997,-0.482777,-0.069303],[0.017708,-0.173373,0.984697]]
2025-10-26T19:46:32.633Z,1761507992.633 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:46:32.633Z,1761507992.633 [marl:UpdateRudder:B] Stopped
2025-10-26T19:46:32.633Z,1761507992.633 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:46:32.634Z,1761507992.634 [marl:UpdateRudder] Stopped
2025-10-26T19:46:32.634Z,1761507992.634 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:46:32.994Z,1761507992.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491198,0.855832,0.162097],[-0.870774,-0.487128,-0.066769],[0.021819,-0.173947,0.984513]]
2025-10-26T19:46:33.405Z,1761507993.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496293,0.852579,0.163713],[-0.867752,-0.492911,-0.063611],[0.026463,-0.173632,0.984455]]
2025-10-26T19:46:33.802Z,1761507993.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502264,0.848470,0.166820],[-0.864134,-0.499565,-0.060887],[0.031677,-0.174736,0.984106]]
2025-10-26T19:46:34.612Z,1761507994.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514154,0.839303,0.176680],[-0.856695,-0.512496,-0.058490],[0.041457,-0.181434,0.982529]]
2025-10-26T19:46:35.844Z,1761507995.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539617,0.813228,0.217885],[-0.840089,-0.537119,-0.075851],[0.055346,-0.223973,0.973023]]
2025-10-26T19:46:35.860Z,1761507995.860 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:46:36.113Z,1761507996.113 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:46:36.113Z,1761507996.113 [DAT](INFO): #Outgoing data=3
2025-10-26T19:46:36.113Z,1761507996.113 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:46:36.238Z,1761507996.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552204,0.796172,0.247349],[-0.831365,-0.548092,-0.091803],[0.062479,-0.256331,0.964568]]
2025-10-26T19:46:36.365Z,1761507996.365 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:46:36.642Z,1761507996.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565387,0.776247,0.278889],[-0.821749,-0.559279,-0.109247],[0.071174,-0.290943,0.954089]]
2025-10-26T19:46:37.047Z,1761507997.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578493,0.754895,0.308997],[-0.811688,-0.570220,-0.126538],[0.080674,-0.324010,0.942608]]
2025-10-26T19:46:37.453Z,1761507997.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591239,0.733662,0.334928],[-0.801441,-0.580901,-0.142293],[0.090165,-0.352554,0.931438]]
2025-10-26T19:46:37.854Z,1761507997.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602752,0.712665,0.358884],[-0.791826,-0.589747,-0.158777],[0.098496,-0.379877,0.919778]]
2025-10-26T19:46:38.258Z,1761507998.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612864,0.693336,0.379055],[-0.783124,-0.596938,-0.174303],[0.105422,-0.403672,0.908810]]
2025-10-26T19:46:38.663Z,1761507998.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621242,0.677402,0.393934],[-0.775695,-0.602913,-0.186527],[0.111154,-0.421452,0.900013]]
2025-10-26T19:46:39.470Z,1761507999.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637105,0.652520,0.410262],[-0.760770,-0.617845,-0.198737],[0.123799,-0.438732,0.890050]]
2025-10-26T19:46:39.641Z,1761507999.641 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:46:38.7993

2025-10-26T19:46:39.642Z,1761507999.642 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:46:39.882Z,1761507999.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645485,0.642530,0.412922],[-0.752341,-0.628081,-0.198739],[0.131653,-0.438941,0.888819]]
2025-10-26T19:46:40.280Z,1761508000.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653564,0.633309,0.414456],[-0.743764,-0.638865,-0.196641],[0.140247,-0.436775,0.888571]]
2025-10-26T19:46:40.684Z,1761508000.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661312,0.625154,0.414547],[-0.735181,-0.649890,-0.192747],[0.148913,-0.432233,0.889382]]
2025-10-26T19:46:41.557Z,1761508001.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675945,0.608815,0.415262],[-0.717944,-0.671165,-0.184643],[0.166296,-0.422943,0.890766]]
2025-10-26T19:46:41.958Z,1761508001.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682788,0.600322,0.416430],[-0.709407,-0.681074,-0.181328],[0.174765,-0.419227,0.890902]]
2025-10-26T19:46:42.400Z,1761508002.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689290,0.592463,0.416973],[-0.701144,-0.690436,-0.178031],[0.182416,-0.415073,0.891313]]
2025-10-26T19:46:43.365Z,1761508003.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709722,0.574585,0.407610],[-0.675832,-0.718645,-0.163710],[0.198861,-0.391665,0.898361]]
2025-10-26T19:46:43.729Z,1761508003.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718912,0.567191,0.401820],[-0.664984,-0.729519,-0.159993],[0.202388,-0.382225,0.901634]]
2025-10-26T19:46:43.782Z,1761508003.782 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:46:43.925Z,1761508003.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:46:43.976Z,1761508003.976 [DAT](INFO): entering command mode
2025-10-26T19:46:44.138Z,1761508004.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730145,0.557210,0.395482],[-0.651785,-0.741690,-0.158340],[0.205096,-0.373380,0.904723]]
2025-10-26T19:46:44.176Z,1761508004.176 [DAT](INFO): DAT read: 

2025-10-26T19:46:44.177Z,1761508004.177 [DAT](INFO): DAT read: user:280>

2025-10-26T19:46:44.177Z,1761508004.177 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:46:44.177Z,1761508004.177 [DAT](INFO): setting remote address to 0
2025-10-26T19:46:44.429Z,1761508004.429 [DAT](INFO): DAT read: user:280>

2025-10-26T19:46:44.430Z,1761508004.430 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:46:44.430Z,1761508004.430 [DAT](INFO): set remote address to 0
2025-10-26T19:46:44.431Z,1761508004.431 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:46:44.431Z,1761508004.431 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:46:44.680Z,1761508004.680 [DAT](INFO): DAT read: user:281>

2025-10-26T19:46:44.681Z,1761508004.681 [DAT](INFO): DAT read: Tx time:19:46:43.7504

2025-10-26T19:46:44.681Z,1761508004.681 [DAT](INFO): Ping request sent.
2025-10-26T19:46:44.681Z,1761508004.681 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:46:44.682Z,1761508004.682 [DAT](INFO): publishing transmit ping time
2025-10-26T19:46:44.682Z,1761508004.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000985
2025-10-26T19:46:44.932Z,1761508004.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250982
2025-10-26T19:46:44.993Z,1761508004.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758539,0.526734,0.383627],[-0.617104,-0.769752,-0.163292],[0.209286,-0.360601,0.908937]]
2025-10-26T19:46:45.184Z,1761508005.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041
2025-10-26T19:46:45.392Z,1761508005.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774731,0.505887,0.379302],[-0.595842,-0.784851,-0.170238],[0.211574,-0.357893,0.909477]]
2025-10-26T19:46:45.446Z,1761508005.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763920
2025-10-26T19:46:45.697Z,1761508005.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015373
2025-10-26T19:46:45.815Z,1761508005.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791439,0.481376,0.376697],[-0.572556,-0.799607,-0.181130],[0.214018,-0.359033,0.908455]]
2025-10-26T19:46:45.852Z,1761508005.852 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateRudder:A] Stopped
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:46:45.853Z,1761508005.853 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:46:45.854Z,1761508005.854 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:46:45.854Z,1761508005.854 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:46:45.854Z,1761508005.854 [marl:UpdateCommandMode] Stopped
2025-10-26T19:46:45.855Z,1761508005.855 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:46:45.855Z,1761508005.855 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:46:45.855Z,1761508005.855 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:46:45.856Z,1761508005.856 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:46:45.856Z,1761508005.856 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:46:45.856Z,1761508005.856 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:46:45.856Z,1761508005.856 [marl:UpdateSpeed] Stopped
2025-10-26T19:46:45.857Z,1761508005.857 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:46:45.949Z,1761508005.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267248
2025-10-26T19:46:46.201Z,1761508006.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519355
2025-10-26T19:46:46.252Z,1761508006.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808196,0.453408,0.375818],[-0.547457,-0.813630,-0.195696],[0.217047,-0.363905,0.905795]]
2025-10-26T19:46:46.287Z,1761508006.287 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:46:46.287Z,1761508006.287 [marl:UpdateRudder:B] Stopped
2025-10-26T19:46:46.287Z,1761508006.287 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:46:46.287Z,1761508006.287 [marl:UpdateRudder] Stopped
2025-10-26T19:46:46.287Z,1761508006.287 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:46:46.453Z,1761508006.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771199
2025-10-26T19:46:46.515Z,1761508006.515 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:46:46.515Z,1761508006.515 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:46:46.654Z,1761508006.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824353,0.422955,0.376234],[-0.521514,-0.825923,-0.214183],[0.220150,-0.372773,0.901429]]
2025-10-26T19:46:46.705Z,1761508006.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023675
2025-10-26T19:46:46.956Z,1761508006.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275037
2025-10-26T19:46:47.058Z,1761508007.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839676,0.391247,0.376658],[-0.494953,-0.836756,-0.234224],[0.223531,-0.383100,0.896252]]
2025-10-26T19:46:47.209Z,1761508007.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527853
2025-10-26T19:46:47.460Z,1761508007.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778970
2025-10-26T19:46:47.466Z,1761508007.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854047,0.359985,0.375520],[-0.468269,-0.846415,-0.253587],[0.226558,-0.392420,0.891447]]
2025-10-26T19:46:47.713Z,1761508007.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031539
2025-10-26T19:46:47.872Z,1761508007.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866530,0.332936,0.371860],[-0.443910,-0.854674,-0.269214],[0.228187,-0.398355,0.888394]]
2025-10-26T19:46:47.965Z,1761508007.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283367
2025-10-26T19:46:48.216Z,1761508008.216 [DAT](INFO): DAT read: Rx Time:19:46:46.7240

2025-10-26T19:46:48.217Z,1761508008.217 [DAT](INFO): Rx dataTimestamp_ set to:1761508008.216586
2025-10-26T19:46:48.217Z,1761508008.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536100
2025-10-26T19:46:48.270Z,1761508008.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875671,0.317373,0.363970],[-0.425911,-0.862799,-0.272355],[0.227595,-0.393513,0.890701]]
2025-10-26T19:46:48.468Z,1761508008.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786971
2025-10-26T19:46:48.674Z,1761508008.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880998,0.313723,0.354148],[-0.416082,-0.870063,-0.264321],[0.225207,-0.380220,0.897059]]
2025-10-26T19:46:48.728Z,1761508008.728 [DAT](INFO): DAT read: 19:46:46.7240 LVL= 32752, 31521, 32754, 32755, AGC= 82, IDX= 503, 0.10, 2.169,-2.434, 1.733,-3.106, PHS=-0.906, 0.716,-1.489, RAW= 344.8,  16.7, CAL= 345.2,  21.1, ROT= 164.8, -21.1

2025-10-26T19:46:48.729Z,1761508008.729 [DAT](INFO): got valid direction response:
 19:46:46.7240 LVL= 32752, 31521, 32754, 32755, AGC= 82, IDX= 503, 0.10, 2.169,-2.434, 1.733,-3.106, PHS=-0.906, 0.716,-1.489, RAW= 344.8,  16.7, CAL= 345.2,  21.1, ROT= 164.8, -21.1

2025-10-26T19:46:48.730Z,1761508008.730 [DAT](INFO): DAT read: $Error in header

2025-10-26T19:46:48.730Z,1761508008.730 [DAT](INFO): Received a bad header
2025-10-26T19:46:48.744Z,1761508008.744 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T19:46:48.745Z,1761508008.745 [DAT](INFO): direction in FSK: [-0.900316,0.244610,0.359997]
2025-10-26T19:46:49.078Z,1761508009.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883018,0.318314,0.344900],[-0.413522,-0.875231,-0.250938],[0.221990,-0.364207,0.904475]]
2025-10-26T19:46:49.130Z,1761508009.130 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761507968.00. Resetting abort timer.
2025-10-26T19:46:49.483Z,1761508009.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882636,0.328503,0.336214],[-0.416378,-0.878321,-0.234907],[0.218136,-0.347329,0.912019]]
2025-10-26T19:46:49.729Z,1761508009.729 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:46:49.729Z,1761508009.729 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:46:49.886Z,1761508009.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880922,0.342143,0.326979],[-0.422349,-0.880085,-0.216961],[0.213537,-0.329225,0.919790]]
2025-10-26T19:46:49.980Z,1761508009.980 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:46:49.000Z,1761508010.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:46:50.232Z,1761508010.232 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:46:50.293Z,1761508010.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878637,0.357927,0.316047],[-0.429731,-0.881291,-0.196616],[0.208156,-0.308569,0.928147]]
2025-10-26T19:46:50.484Z,1761508010.484 [DAT](INFO): setting remote address to 6
2025-10-26T19:46:50.695Z,1761508010.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876055,0.374869,0.303316],[-0.437906,-0.881840,-0.174917],[0.201905,-0.286061,0.936698]]
2025-10-26T19:46:50.736Z,1761508010.736 [DAT](INFO): DAT read: 

2025-10-26T19:46:50.737Z,1761508010.737 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:46:50.737Z,1761508010.737 [DAT](INFO): set remote address to 6
2025-10-26T19:46:50.738Z,1761508010.738 [DAT](INFO): entering online mode
2025-10-26T19:46:50.989Z,1761508010.989 [DAT](INFO): DAT read: user:283>

2025-10-26T19:46:50.989Z,1761508010.989 [DAT](INFO): DAT read: 

2025-10-26T19:46:50.991Z,1761508010.991 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:46:50.991Z,1761508010.991 [DAT](INFO): commRate: 600
2025-10-26T19:46:50.991Z,1761508010.991 [DAT](INFO): online mode acknowledged
2025-10-26T19:46:50.991Z,1761508010.991 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:46:51.005Z,1761508011.005 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:46:51.503Z,1761508011.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870828,0.406176,0.276909],[-0.454143,-0.880351,-0.136879],[0.188180,-0.244955,0.951097]]
2025-10-26T19:46:51.906Z,1761508011.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868115,0.418947,0.266195],[-0.461672,-0.878478,-0.123023],[0.182306,-0.229693,0.956036]]
2025-10-26T19:46:52.312Z,1761508012.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866202,0.427370,0.258940],[-0.466754,-0.877024,-0.113884],[0.178426,-0.219507,0.959156]]
2025-10-26T19:46:52.721Z,1761508012.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866801,0.429839,0.252773],[-0.466702,-0.877840,-0.107641],[0.175626,-0.211273,0.961519]]
2025-10-26T19:46:53.524Z,1761508013.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871162,0.424936,0.245979],[-0.460333,-0.881137,-0.108130],[0.170793,-0.207431,0.963225]]
2025-10-26T19:46:53.927Z,1761508013.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873388,0.420844,0.245120],[-0.456801,-0.882410,-0.112632],[0.168896,-0.210342,0.962928]]
2025-10-26T19:46:54.340Z,1761508014.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875346,0.417036,0.244645],[-0.453818,-0.883223,-0.118179],[0.166791,-0.214472,0.962384]]
2025-10-26T19:46:54.737Z,1761508014.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877051,0.413568,0.244423],[-0.451418,-0.883536,-0.124843],[0.164325,-0.219830,0.961599]]
2025-10-26T19:46:54.772Z,1761508014.772 [DAT](INFO): Reached modem response timeout
2025-10-26T19:46:55.543Z,1761508015.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880146,0.408454,0.241884],[-0.447743,-0.883580,-0.137161],[0.157700,-0.229023,0.960562]]
2025-10-26T19:46:55.947Z,1761508015.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881294,0.407443,0.239398],[-0.446632,-0.883659,-0.140237],[0.154408,-0.230513,0.960740]]
2025-10-26T19:46:56.353Z,1761508016.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882181,0.406775,0.237257],[-0.445846,-0.883652,-0.142757],[0.151583,-0.231717,0.960900]]
2025-10-26T19:46:56.758Z,1761508016.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882609,0.407494,0.234415],[-0.445841,-0.883699,-0.142487],[0.149090,-0.230273,0.961637]]
2025-10-26T19:46:57.041Z,1761508017.041 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:46:57.041Z,1761508017.041 [DAT](INFO): response not received
2025-10-26T19:46:57.041Z,1761508017.041 [DAT](ERROR): No response from remote modem.
2025-10-26T19:46:57.159Z,1761508017.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882733,0.408902,0.231475],[-0.446370,-0.883620,-0.141317],[0.146751,-0.228069,0.962522]]
2025-10-26T19:46:57.562Z,1761508017.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882536,0.410474,0.229436],[-0.447362,-0.883221,-0.140669],[0.144902,-0.226786,0.963105]]
2025-10-26T19:46:57.966Z,1761508017.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882402,0.411839,0.227499],[-0.448207,-0.882864,-0.140223],[0.143101,-0.225700,0.963629]]
2025-10-26T19:46:58.370Z,1761508018.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882532,0.412950,0.224967],[-0.448529,-0.882913,-0.138876],[0.141277,-0.223467,0.964419]]
2025-10-26T19:46:58.802Z,1761508018.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883729,0.412176,0.221661],[-0.446817,-0.883971,-0.137661],[0.139201,-0.220697,0.965358]]
2025-10-26T19:46:58.893Z,1761508018.893 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:46:58.893Z,1761508018.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:46:58.893Z,1761508018.893 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateRudder:A] Stopped
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode] Stopped
2025-10-26T19:46:58.894Z,1761508018.894 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:46:58.895Z,1761508018.895 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:46:58.895Z,1761508018.895 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:46:58.895Z,1761508018.895 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:46:58.895Z,1761508018.895 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:46:58.895Z,1761508018.895 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:46:58.895Z,1761508018.895 [marl:UpdateSpeed] Stopped
2025-10-26T19:46:58.896Z,1761508018.896 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:46:59.178Z,1761508019.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885982,0.409491,0.217606],[-0.443024,-0.886082,-0.136340],[0.136987,-0.217199,0.966467]]
2025-10-26T19:46:59.226Z,1761508019.226 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:46:59.226Z,1761508019.226 [marl:UpdateRudder:B] Stopped
2025-10-26T19:46:59.226Z,1761508019.226 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:46:59.226Z,1761508019.226 [marl:UpdateRudder] Stopped
2025-10-26T19:46:59.226Z,1761508019.226 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:46:59.582Z,1761508019.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889130,0.404346,0.214365],[-0.437357,-0.888668,-0.137794],[0.134783,-0.216271,0.966985]]
2025-10-26T19:46:59.986Z,1761508019.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892471,0.398245,0.211885],[-0.431020,-0.891407,-0.140051],[0.133101,-0.216318,0.967208]]
2025-10-26T19:47:00.065Z,1761508020.065 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:46:59.2992

2025-10-26T19:47:00.065Z,1761508020.065 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:47:00.396Z,1761508020.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895698,0.391460,0.210911],[-0.424663,-0.893716,-0.144685],[0.131856,-0.219161,0.966738]]
2025-10-26T19:47:00.838Z,1761508020.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899469,0.382001,0.212207],[-0.417286,-0.895006,-0.157595],[0.129725,-0.230303,0.964434]]
2025-10-26T19:47:01.602Z,1761508021.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899250,0.381427,0.214154],[-0.418152,-0.893301,-0.164807],[0.128442,-0.237752,0.962796]]
2025-10-26T19:47:02.008Z,1761508022.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897975,0.383573,0.215668],[-0.421251,-0.891007,-0.169274],[0.127232,-0.242854,0.961683]]
2025-10-26T19:47:02.418Z,1761508022.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896079,0.387257,0.216964],[-0.425680,-0.888246,-0.172673],[0.125849,-0.247086,0.960786]]
2025-10-26T19:47:02.846Z,1761508022.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892534,0.396118,0.215579],[-0.434065,-0.884243,-0.172341],[0.122356,-0.247395,0.961158]]
2025-10-26T19:47:03.623Z,1761508023.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891375,0.400375,0.212488],[-0.436897,-0.883772,-0.167535],[0.120714,-0.242172,0.962695]]
2025-10-26T19:47:04.026Z,1761508024.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890980,0.403391,0.208399],[-0.438024,-0.884499,-0.160615],[0.119538,-0.234389,0.964766]]
2025-10-26T19:47:04.430Z,1761508024.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891920,0.403256,0.204605],[-0.436284,-0.886374,-0.154910],[0.118888,-0.227433,0.966509]]
2025-10-26T19:47:04.849Z,1761508024.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897764,0.393549,0.197834],[-0.424154,-0.893529,-0.147308],[0.118798,-0.216160,0.969104]]
2025-10-26T19:47:05.244Z,1761508025.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901418,0.386084,0.195918],[-0.416417,-0.897004,-0.148257],[0.118499,-0.215226,0.969348]]
2025-10-26T19:47:05.646Z,1761508025.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904962,0.378286,0.194794],[-0.408785,-0.899995,-0.151339],[0.118064,-0.216585,0.969099]]
2025-10-26T19:47:06.051Z,1761508026.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908061,0.370774,0.194814],[-0.401980,-0.902134,-0.156735],[0.117635,-0.220636,0.968236]]
2025-10-26T19:47:06.454Z,1761508026.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910515,0.364416,0.195354],[-0.396511,-0.903503,-0.162672],[0.117223,-0.225575,0.967148]]
2025-10-26T19:47:06.857Z,1761508026.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912330,0.359435,0.196111],[-0.392332,-0.904446,-0.167489],[0.117170,-0.229746,0.966172]]
2025-10-26T19:47:07.258Z,1761508027.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913781,0.355068,0.197311],[-0.388945,-0.904895,-0.172879],[0.117162,-0.234716,0.964977]]
2025-10-26T19:47:07.662Z,1761508027.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914610,0.352381,0.198285],[-0.386992,-0.904984,-0.176752],[0.117161,-0.238394,0.964076]]
2025-10-26T19:47:08.066Z,1761508028.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914958,0.350979,0.199164],[-0.386219,-0.904668,-0.180027],[0.116991,-0.241638,0.963288]]
2025-10-26T19:47:08.477Z,1761508028.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914625,0.351259,0.200196],[-0.387077,-0.903768,-0.182689],[0.116760,-0.244584,0.962573]]
2025-10-26T19:47:08.875Z,1761508028.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913658,0.353386,0.200866],[-0.389529,-0.902409,-0.184189],[0.116174,-0.246529,0.962147]]
2025-10-26T19:47:09.284Z,1761508029.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911782,0.357713,0.201729],[-0.394225,-0.900016,-0.185896],[0.115062,-0.249024,0.961638]]
2025-10-26T19:47:09.682Z,1761508029.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909456,0.363005,0.202776],[-0.399823,-0.897359,-0.186783],[0.114159,-0.250945,0.961246]]
2025-10-26T19:47:10.114Z,1761508030.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906927,0.369082,0.203133],[-0.405790,-0.894888,-0.185767],[0.113218,-0.250907,0.961368]]
2025-10-26T19:47:10.144Z,1761508030.144 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:47:10.396Z,1761508030.396 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:47:10.490Z,1761508030.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904333,0.375874,0.202242],[-0.411762,-0.893042,-0.181461],[0.112404,-0.247376,0.962377]]
2025-10-26T19:47:10.648Z,1761508030.648 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:47:10.894Z,1761508030.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901965,0.382524,0.200337],[-0.417201,-0.891644,-0.175828],[0.111371,-0.242171,0.963820]]
2025-10-26T19:47:11.302Z,1761508031.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900000,0.388302,0.198043],[-0.421629,-0.890780,-0.169529],[0.110584,-0.236077,0.965422]]
2025-10-26T19:47:11.708Z,1761508031.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898562,0.392507,0.196276],[-0.424691,-0.890435,-0.163594],[0.110559,-0.230356,0.966806]]
2025-10-26T19:47:12.111Z,1761508032.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898165,0.394086,0.194927],[-0.425273,-0.891209,-0.157764],[0.111548,-0.224595,0.968046]]
2025-10-26T19:47:12.148Z,1761508032.148 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:47:12.148Z,1761508032.148 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:47:12.149Z,1761508032.149 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:47:12.149Z,1761508032.149 [marl:UpdateRudder:A] Stopped
2025-10-26T19:47:12.149Z,1761508032.149 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:47:12.149Z,1761508032.149 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:47:12.149Z,1761508032.149 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:47:12.149Z,1761508032.149 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateCommandMode] Stopped
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:47:12.150Z,1761508032.150 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:47:12.151Z,1761508032.151 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:47:12.151Z,1761508032.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:47:12.151Z,1761508032.151 [marl:UpdateSpeed] Stopped
2025-10-26T19:47:12.151Z,1761508032.151 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:47:12.510Z,1761508032.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899327,0.392237,0.193290],[-0.422460,-0.893453,-0.152540],[0.112864,-0.218841,0.969211]]
2025-10-26T19:47:12.560Z,1761508032.560 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:47:12.560Z,1761508032.560 [marl:UpdateRudder:B] Stopped
2025-10-26T19:47:12.560Z,1761508032.560 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:47:12.560Z,1761508032.560 [marl:UpdateRudder] Stopped
2025-10-26T19:47:12.560Z,1761508032.560 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:47:12.914Z,1761508032.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901543,0.387733,0.192051],[-0.417466,-0.896147,-0.150473],[0.113763,-0.215832,0.969781]]
2025-10-26T19:47:13.319Z,1761508033.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903645,0.382692,0.192283],[-0.412718,-0.898043,-0.152257],[0.114411,-0.216945,0.969456]]
2025-10-26T19:47:13.789Z,1761508033.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905333,0.378361,0.192913],[-0.408951,-0.899193,-0.155598],[0.114594,-0.219760,0.968800]]
2025-10-26T19:47:13.834Z,1761508033.834 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:47:13.925Z,1761508033.925 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:47:13.0491

2025-10-26T19:47:13.925Z,1761508033.925 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:47:13.925Z,1761508033.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:13.979Z,1761508033.979 [DAT](INFO): entering command mode
2025-10-26T19:47:14.129Z,1761508034.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906494,0.374872,0.194264],[-0.406312,-0.899623,-0.159965],[0.114798,-0.223939,0.967819]]
2025-10-26T19:47:14.176Z,1761508034.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:14.177Z,1761508034.177 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:14.429Z,1761508034.429 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:14.429Z,1761508034.429 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:14.530Z,1761508034.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907226,0.372149,0.196075],[-0.404656,-0.899418,-0.165227],[0.114864,-0.229241,0.966568]]
2025-10-26T19:47:14.680Z,1761508034.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:14.680Z,1761508034.680 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:14.932Z,1761508034.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:14.932Z,1761508034.932 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:14.945Z,1761508034.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907669,0.370284,0.197553],[-0.403675,-0.899051,-0.169569],[0.114822,-0.233660,0.965515]]
2025-10-26T19:47:15.184Z,1761508035.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:15.184Z,1761508035.184 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:15.338Z,1761508035.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908097,0.369055,0.197883],[-0.402771,-0.899084,-0.171533],[0.114608,-0.235471,0.965100]]
2025-10-26T19:47:15.437Z,1761508035.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:15.437Z,1761508035.437 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:15.688Z,1761508035.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:15.688Z,1761508035.688 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:15.742Z,1761508035.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908407,0.368457,0.197576],[-0.402136,-0.899317,-0.171801],[0.114382,-0.235518,0.965116]]
2025-10-26T19:47:15.940Z,1761508035.940 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:15.940Z,1761508035.940 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:16.149Z,1761508036.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909320,0.366757,0.196537],[-0.400068,-0.900456,-0.170660],[0.114382,-0.233812,0.965530]]
2025-10-26T19:47:16.192Z,1761508036.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:16.192Z,1761508036.192 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:16.444Z,1761508036.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:16.444Z,1761508036.444 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:16.551Z,1761508036.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910791,0.363776,0.195262],[-0.396611,-0.902302,-0.168970],[0.114718,-0.231339,0.966086]]
2025-10-26T19:47:16.697Z,1761508036.697 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:16.697Z,1761508036.697 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:16.948Z,1761508036.948 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:16.948Z,1761508036.948 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:47:16.956Z,1761508036.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912651,0.360280,0.193044],[-0.392342,-0.904609,-0.166586],[0.114612,-0.227774,0.966945]]
2025-10-26T19:47:17.201Z,1761508037.201 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:47:16.3991

2025-10-26T19:47:17.201Z,1761508037.201 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T19:47:17.201Z,1761508037.201 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:17.256Z,1761508037.256 [DAT](INFO): entering command mode
2025-10-26T19:47:17.358Z,1761508037.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915153,0.355341,0.190336],[-0.386644,-0.907326,-0.165122],[0.114023,-0.224704,0.967733]]
2025-10-26T19:47:17.453Z,1761508037.453 [DAT](INFO): DAT read: 

2025-10-26T19:47:17.453Z,1761508037.453 [DAT](INFO): DAT read: user:284>

2025-10-26T19:47:17.454Z,1761508037.454 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:17.454Z,1761508037.454 [DAT](INFO): setting remote address to 0
2025-10-26T19:47:17.705Z,1761508037.705 [DAT](INFO): DAT read: user:284>

2025-10-26T19:47:17.706Z,1761508037.706 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:47:17.706Z,1761508037.706 [DAT](INFO): set remote address to 0
2025-10-26T19:47:17.707Z,1761508037.707 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:17.707Z,1761508037.707 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:47:17.793Z,1761508037.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917986,0.349161,0.188119],[-0.380106,-0.909934,-0.165950],[0.113233,-0.223845,0.968025]]
2025-10-26T19:47:17.956Z,1761508037.956 [DAT](INFO): DAT read: user:285>

2025-10-26T19:47:17.957Z,1761508037.957 [DAT](INFO): DAT read: Tx time:19:47:17.0502

2025-10-26T19:47:17.957Z,1761508037.957 [DAT](INFO): Ping request sent.
2025-10-26T19:47:17.957Z,1761508037.957 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:47:17.958Z,1761508037.958 [DAT](INFO): publishing transmit ping time
2025-10-26T19:47:17.958Z,1761508037.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000975
2025-10-26T19:47:18.169Z,1761508038.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921100,0.342038,0.185971],[-0.372727,-0.912713,-0.167423],[0.112473,-0.223530,0.968186]]
2025-10-26T19:47:18.209Z,1761508038.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251714
2025-10-26T19:47:18.460Z,1761508038.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503046
2025-10-26T19:47:18.570Z,1761508038.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924249,0.333968,0.185010],[-0.365057,-0.914936,-0.172119],[0.111790,-0.226620,0.967547]]
2025-10-26T19:47:18.713Z,1761508038.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755981
2025-10-26T19:47:18.964Z,1761508038.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007069
2025-10-26T19:47:18.976Z,1761508038.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927103,0.325909,0.185104],[-0.357757,-0.916740,-0.177759],[0.111759,-0.231024,0.966508]]
2025-10-26T19:47:19.216Z,1761508039.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258942
2025-10-26T19:47:19.379Z,1761508039.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929594,0.318130,0.186144],[-0.351071,-0.918041,-0.184253],[0.112271,-0.236630,0.965091]]
2025-10-26T19:47:19.468Z,1761508039.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510954
2025-10-26T19:47:19.721Z,1761508039.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764039
2025-10-26T19:47:19.783Z,1761508039.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931174,0.312181,0.188301],[-0.346601,-0.918217,-0.191692],[0.113058,-0.243764,0.963222]]
2025-10-26T19:47:19.973Z,1761508039.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015664
2025-10-26T19:47:20.189Z,1761508040.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931578,0.309315,0.191016],[-0.345181,-0.917461,-0.197777],[0.114074,-0.250180,0.961456]]
2025-10-26T19:47:20.224Z,1761508040.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848
2025-10-26T19:47:20.477Z,1761508040.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519741
2025-10-26T19:47:20.590Z,1761508040.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930887,0.309611,0.193884],[-0.346751,-0.915887,-0.202274],[0.114950,-0.255523,0.959945]]
2025-10-26T19:47:20.729Z,1761508040.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771530
2025-10-26T19:47:20.980Z,1761508040.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022924
2025-10-26T19:47:21.001Z,1761508041.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929166,0.313003,0.196672],[-0.351170,-0.913558,-0.205161],[0.115455,-0.259693,0.958765]]
2025-10-26T19:47:21.140Z,1761508041.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:47:21.233Z,1761508041.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275763
2025-10-26T19:47:21.398Z,1761508041.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926703,0.318792,0.198981],[-0.357585,-0.910870,-0.206033],[0.115564,-0.262084,0.958101]]
2025-10-26T19:47:21.485Z,1761508041.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527157
2025-10-26T19:47:21.737Z,1761508041.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779734
2025-10-26T19:47:21.802Z,1761508041.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923679,0.326672,0.200256],[-0.365379,-0.908322,-0.203591],[0.115389,-0.261222,0.958357]]
2025-10-26T19:47:21.988Z,1761508041.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030947
2025-10-26T19:47:22.144Z,1761508042.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:47:22.210Z,1761508042.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920284,0.336092,0.200299],[-0.373982,-0.906066,-0.197942],[0.114957,-0.257071,0.959531]]
2025-10-26T19:47:22.241Z,1761508042.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283925
2025-10-26T19:47:22.492Z,1761508042.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534978
2025-10-26T19:47:22.613Z,1761508042.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916588,0.346227,0.199985],[-0.383136,-0.903585,-0.191676],[0.114340,-0.252310,0.960867]]
2025-10-26T19:47:22.747Z,1761508042.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788995
2025-10-26T19:47:22.997Z,1761508042.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039338
2025-10-26T19:47:23.014Z,1761508043.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912721,0.356757,0.199160],[-0.392317,-0.901388,-0.183265],[0.114140,-0.245404,0.962678]]
2025-10-26T19:47:23.249Z,1761508043.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290938
2025-10-26T19:47:23.418Z,1761508043.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908666,0.367300,0.198538],[-0.401558,-0.899034,-0.174608],[0.114359,-0.238385,0.964414]]
2025-10-26T19:47:23.500Z,1761508043.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542913
2025-10-26T19:47:23.753Z,1761508043.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795465
2025-10-26T19:47:23.822Z,1761508043.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904749,0.377302,0.197667],[-0.410263,-0.896684,-0.166260],[0.114514,-0.231519,0.966067]]
2025-10-26T19:47:24.004Z,1761508044.004 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:47:24.004Z,1761508044.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047115
2025-10-26T19:47:24.243Z,1761508044.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900988,0.386496,0.197084],[-0.418485,-0.894044,-0.159859],[0.114417,-0.226508,0.967266]]
2025-10-26T19:47:24.256Z,1761508044.256 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:47:24.257Z,1761508044.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299214
2025-10-26T19:47:24.508Z,1761508044.508 [DAT](INFO): setting remote address to 6
2025-10-26T19:47:24.509Z,1761508044.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551362
2025-10-26T19:47:24.630Z,1761508044.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897916,0.394047,0.196147],[-0.425041,-0.892028,-0.153707],[0.114400,-0.221386,0.968453]]
2025-10-26T19:47:24.760Z,1761508044.760 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:24.761Z,1761508044.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803542
2025-10-26T19:47:25.013Z,1761508045.013 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:25.013Z,1761508045.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055907
2025-10-26T19:47:25.034Z,1761508045.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895719,0.399543,0.195069],[-0.429742,-0.890520,-0.149319],[0.114053,-0.217578,0.969356]]
2025-10-26T19:47:25.264Z,1761508045.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:25.265Z,1761508045.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307206
2025-10-26T19:47:25.440Z,1761508045.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894699,0.402483,0.193702],[-0.431918,-0.890096,-0.145520],[0.113844,-0.213860,0.970208]]
2025-10-26T19:47:25.482Z,1761508045.482 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:47:25.482Z,1761508045.482 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:47:25.482Z,1761508045.482 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:47:25.483Z,1761508045.483 [marl:UpdateRudder:A] Stopped
2025-10-26T19:47:25.483Z,1761508045.483 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:47:25.483Z,1761508045.483 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:47:25.483Z,1761508045.483 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:47:25.483Z,1761508045.483 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:47:25.507Z,1761508045.507 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateCommandMode] Stopped
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:47:25.508Z,1761508045.508 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:47:25.509Z,1761508045.509 [marl:UpdateSpeed] Stopped
2025-10-26T19:47:25.509Z,1761508045.509 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:47:25.516Z,1761508045.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:25.517Z,1761508045.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559216
2025-10-26T19:47:25.768Z,1761508045.768 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:25.769Z,1761508045.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811169
2025-10-26T19:47:25.843Z,1761508045.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895003,0.402502,0.192254],[-0.431372,-0.890704,-0.143401],[0.113522,-0.211278,0.970811]]
2025-10-26T19:47:25.886Z,1761508045.886 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:47:25.886Z,1761508045.886 [marl:UpdateRudder:B] Stopped
2025-10-26T19:47:25.886Z,1761508045.886 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:47:25.886Z,1761508045.886 [marl:UpdateRudder] Stopped
2025-10-26T19:47:25.886Z,1761508045.886 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:47:26.020Z,1761508046.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:26.021Z,1761508046.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063150
2025-10-26T19:47:26.252Z,1761508046.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896472,0.399442,0.191793],[-0.428168,-0.892331,-0.142890],[0.114066,-0.210217,0.970978]]
2025-10-26T19:47:26.272Z,1761508046.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:26.272Z,1761508046.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315037
2025-10-26T19:47:26.524Z,1761508046.524 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:26.524Z,1761508046.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567061
2025-10-26T19:47:26.650Z,1761508046.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898686,0.394747,0.191149],[-0.423384,-0.894573,-0.143129],[0.114496,-0.209558,0.971070]]
2025-10-26T19:47:26.778Z,1761508046.778 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:26.780Z,1761508046.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822298
2025-10-26T19:47:27.028Z,1761508047.028 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:27.029Z,1761508047.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071569
2025-10-26T19:47:27.054Z,1761508047.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901548,0.388381,0.190711],[-0.417221,-0.897099,-0.145396],[0.114618,-0.210651,0.970819]]
2025-10-26T19:47:27.280Z,1761508047.280 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:27.281Z,1761508047.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323585
2025-10-26T19:47:27.458Z,1761508047.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904742,0.380655,0.191165],[-0.410250,-0.899453,-0.150597],[0.114618,-0.214677,0.969936]]
2025-10-26T19:47:27.532Z,1761508047.532 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:27.533Z,1761508047.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575153
2025-10-26T19:47:27.784Z,1761508047.784 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:27.784Z,1761508047.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827037
2025-10-26T19:47:27.862Z,1761508047.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908119,0.372024,0.192139],[-0.402768,-0.901561,-0.158005],[0.114443,-0.220875,0.968564]]
2025-10-26T19:47:28.037Z,1761508048.037 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:28.037Z,1761508048.037 [DAT](INFO): Reached modem response timeout
2025-10-26T19:47:28.272Z,1761508048.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911506,0.363032,0.193298],[-0.395128,-0.903396,-0.166584],[0.114149,-0.228220,0.966895]]
2025-10-26T19:47:28.288Z,1761508048.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:28.540Z,1761508048.540 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:28.670Z,1761508048.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914803,0.353862,0.194724],[-0.387499,-0.904914,-0.175997],[0.113930,-0.236458,0.964939]]
2025-10-26T19:47:28.794Z,1761508048.794 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:29.044Z,1761508049.044 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:29.075Z,1761508049.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917931,0.344573,0.196655],[-0.380059,-0.905932,-0.186663],[0.113837,-0.246084,0.962540]]
2025-10-26T19:47:29.300Z,1761508049.300 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:29.478Z,1761508049.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920705,0.335751,0.198930],[-0.373221,-0.906498,-0.197400],[0.114052,-0.255992,0.959927]]
2025-10-26T19:47:29.550Z,1761508049.550 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:29.800Z,1761508049.800 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:29.883Z,1761508049.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923048,0.327877,0.201195],[-0.367140,-0.907005,-0.206276],[0.114852,-0.264270,0.957586]]
2025-10-26T19:47:30.052Z,1761508050.052 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:30.290Z,1761508050.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924939,0.321154,0.203341],[-0.362101,-0.907161,-0.214338],[0.115628,-0.271879,0.955359]]
2025-10-26T19:47:30.305Z,1761508050.305 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:47:30.306Z,1761508050.306 [DAT](INFO): response not received
2025-10-26T19:47:30.306Z,1761508050.306 [DAT](INFO): DAT read: user:286>

2025-10-26T19:47:30.307Z,1761508050.307 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:47:30.307Z,1761508050.307 [DAT](INFO): set remote address to 6
2025-10-26T19:47:30.308Z,1761508050.308 [DAT](INFO): entering online mode
2025-10-26T19:47:30.556Z,1761508050.556 [DAT](INFO): DAT read: user:287>

2025-10-26T19:47:30.557Z,1761508050.557 [DAT](INFO): DAT read: 

2025-10-26T19:47:30.558Z,1761508050.558 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:47:30.558Z,1761508050.558 [DAT](INFO): commRate: 600
2025-10-26T19:47:30.558Z,1761508050.558 [DAT](INFO): online mode acknowledged
2025-10-26T19:47:30.559Z,1761508050.559 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:47:30.690Z,1761508050.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926298,0.316381,0.204632],[-0.358457,-0.907289,-0.219851],[0.116103,-0.277000,0.953830]]
2025-10-26T19:47:31.094Z,1761508051.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926942,0.314021,0.205353],[-0.356755,-0.907152,-0.223163],[0.116208,-0.280119,0.952905]]
2025-10-26T19:47:31.500Z,1761508051.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926546,0.315134,0.205434],[-0.357920,-0.906587,-0.223590],[0.115783,-0.280695,0.952788]]
2025-10-26T19:47:31.902Z,1761508051.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924990,0.319927,0.205035],[-0.362222,-0.905435,-0.221322],[0.114839,-0.278989,0.953403]]
2025-10-26T19:47:32.307Z,1761508052.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922241,0.328593,0.203713],[-0.369590,-0.903956,-0.215096],[0.113469,-0.273661,0.955110]]
2025-10-26T19:47:32.723Z,1761508052.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918557,0.339606,0.202290],[-0.379080,-0.901845,-0.207303],[0.112033,-0.267103,0.957133]]
2025-10-26T19:47:33.114Z,1761508053.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914350,0.352174,0.199842],[-0.389601,-0.899627,-0.197187],[0.110339,-0.258157,0.959781]]
2025-10-26T19:47:33.518Z,1761508053.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909914,0.365376,0.196362],[-0.400356,-0.897421,-0.185339],[0.108501,-0.247257,0.962856]]
2025-10-26T19:47:33.833Z,1761508053.833 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:47:32.9990

2025-10-26T19:47:33.833Z,1761508053.833 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:47:33.922Z,1761508053.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905437,0.378686,0.191780],[-0.410957,-0.895156,-0.172656],[0.106291,-0.235142,0.966132]]
2025-10-26T19:47:34.333Z,1761508054.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901109,0.391372,0.186632],[-0.421084,-0.892542,-0.161424],[0.103400,-0.224048,0.969077]]
2025-10-26T19:47:34.736Z,1761508054.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897062,0.403032,0.181229],[-0.430496,-0.889616,-0.152502],[0.099761,-0.214822,0.971545]]
2025-10-26T19:47:35.143Z,1761508055.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893434,0.413078,0.176473],[-0.438859,-0.886484,-0.146792],[0.095804,-0.208596,0.973298]]
2025-10-26T19:47:35.543Z,1761508055.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890870,0.420334,0.172251],[-0.444840,-0.884063,-0.143355],[0.092024,-0.204335,0.974566]]
2025-10-26T19:47:35.943Z,1761508055.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890649,0.422583,0.167835],[-0.445914,-0.883953,-0.140671],[0.088913,-0.200128,0.975727]]
2025-10-26T19:47:36.353Z,1761508056.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892564,0.420163,0.163683],[-0.442657,-0.885617,-0.140490],[0.085932,-0.197851,0.976458]]
2025-10-26T19:47:36.754Z,1761508056.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895290,0.415333,0.161102],[-0.437634,-0.887577,-0.143816],[0.083260,-0.199261,0.976403]]
2025-10-26T19:47:37.154Z,1761508057.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898438,0.409362,0.158847],[-0.431619,-0.889813,-0.148116],[0.080711,-0.201634,0.976130]]
2025-10-26T19:47:37.559Z,1761508057.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901767,0.402352,0.157890],[-0.424989,-0.891948,-0.154314],[0.078741,-0.206257,0.975324]]
2025-10-26T19:47:37.964Z,1761508057.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905300,0.394627,0.157166],[-0.417706,-0.894270,-0.160635],[0.077158,-0.211072,0.974420]]
2025-10-26T19:47:38.366Z,1761508058.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908890,0.386171,0.157452],[-0.410117,-0.896148,-0.169479],[0.075652,-0.218611,0.972875]]
2025-10-26T19:47:38.788Z,1761508058.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912677,0.377423,0.156756],[-0.401869,-0.898562,-0.176320],[0.074308,-0.223918,0.971771]]
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateRudder:A] Stopped
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:47:38.880Z,1761508058.880 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateCommandMode] Stopped
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:47:38.881Z,1761508058.881 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:47:38.882Z,1761508058.882 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:47:38.882Z,1761508058.882 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:47:38.882Z,1761508058.882 [marl:UpdateSpeed] Stopped
2025-10-26T19:47:38.882Z,1761508058.882 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:47:39.178Z,1761508059.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916427,0.368359,0.156442],[-0.393480,-0.900685,-0.184228],[0.073043,-0.230388,0.970354]]
2025-10-26T19:47:39.245Z,1761508059.245 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:47:39.246Z,1761508059.246 [marl:UpdateRudder:B] Stopped
2025-10-26T19:47:39.246Z,1761508059.246 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:47:39.246Z,1761508059.246 [marl:UpdateRudder] Stopped
2025-10-26T19:47:39.246Z,1761508059.246 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:47:39.578Z,1761508059.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920134,0.359435,0.155434],[-0.384956,-0.903035,-0.190619],[0.071847,-0.235230,0.969281]]
2025-10-26T19:47:39.982Z,1761508059.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923510,0.351398,0.153783],[-0.377056,-0.905261,-0.195785],[0.070415,-0.238794,0.968514]]
2025-10-26T19:47:40.387Z,1761508060.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926646,0.343913,0.151827],[-0.369610,-0.907225,-0.200826],[0.068675,-0.242212,0.967790]]
2025-10-26T19:47:40.826Z,1761508060.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929301,0.337750,0.149412],[-0.363287,-0.908808,-0.205158],[0.066495,-0.244934,0.967257]]
2025-10-26T19:47:41.202Z,1761508061.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931362,0.333195,0.146784],[-0.358455,-0.909799,-0.209227],[0.063830,-0.247481,0.966788]]
2025-10-26T19:47:41.599Z,1761508061.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932696,0.330793,0.143714],[-0.355492,-0.910419,-0.211571],[0.060854,-0.248421,0.966739]]
2025-10-26T19:47:42.002Z,1761508062.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933219,0.330519,0.140920],[-0.354662,-0.910211,-0.213849],[0.057586,-0.249547,0.966649]]
2025-10-26T19:47:42.410Z,1761508062.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932834,0.332524,0.138739],[-0.356199,-0.909066,-0.216150],[0.054248,-0.251050,0.966453]]
2025-10-26T19:47:42.838Z,1761508062.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931484,0.337098,0.136760],[-0.360200,-0.907287,-0.216994],[0.050932,-0.251387,0.966546]]
2025-10-26T19:47:43.214Z,1761508063.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929332,0.343447,0.135599],[-0.366127,-0.904728,-0.217759],[0.047891,-0.252016,0.966537]]
2025-10-26T19:47:43.618Z,1761508063.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926808,0.350617,0.134519],[-0.372804,-0.902143,-0.217152],[0.045218,-0.251407,0.966824]]
2025-10-26T19:47:43.913Z,1761508063.913 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:47:44.022Z,1761508064.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924338,0.357613,0.133084],[-0.379158,-0.899997,-0.215048],[0.042871,-0.249237,0.967493]]
2025-10-26T19:47:44.082Z,1761508064.082 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:47:44.165Z,1761508064.165 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:47:44.165Z,1761508064.165 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:44.220Z,1761508064.220 [DAT](INFO): entering command mode
2025-10-26T19:47:44.420Z,1761508064.420 [DAT](INFO): DAT read: 

2025-10-26T19:47:44.421Z,1761508064.421 [DAT](INFO): DAT read: user:288>

2025-10-26T19:47:44.421Z,1761508064.421 [DAT](INFO): entering online mode
2025-10-26T19:47:44.442Z,1761508064.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922188,0.363726,0.131426],[-0.384546,-0.898544,-0.211526],[0.041154,-0.245606,0.968496]]
2025-10-26T19:47:44.673Z,1761508064.673 [DAT](INFO): DAT read: user:288>

2025-10-26T19:47:44.674Z,1761508064.674 [DAT](INFO): DAT read: 

2025-10-26T19:47:44.675Z,1761508064.675 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:47:44.676Z,1761508064.676 [DAT](INFO): commRate: 600
2025-10-26T19:47:44.676Z,1761508064.676 [DAT](INFO): online mode acknowledged
2025-10-26T19:47:44.677Z,1761508064.677 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:47:44.678Z,1761508064.678 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:44.843Z,1761508064.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920558,0.368708,0.128948],[-0.388589,-0.897965,-0.206536],[0.039640,-0.240236,0.969905]]
2025-10-26T19:47:44.924Z,1761508064.924 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:45.177Z,1761508065.177 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:45.235Z,1761508065.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919502,0.372330,0.126043],[-0.391187,-0.898222,-0.200424],[0.038591,-0.233596,0.971568]]
2025-10-26T19:47:45.428Z,1761508065.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:45.641Z,1761508065.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919181,0.374082,0.123160],[-0.392030,-0.898982,-0.195304],[0.037659,-0.227803,0.972979]]
2025-10-26T19:47:45.684Z,1761508065.684 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:45.932Z,1761508065.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:46.044Z,1761508066.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919498,0.374309,0.120070],[-0.391372,-0.900288,-0.190549],[0.036774,-0.222202,0.974307]]
2025-10-26T19:47:46.184Z,1761508066.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:46.437Z,1761508066.437 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:46.448Z,1761508066.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920390,0.373136,0.116845],[-0.389371,-0.901938,-0.186810],[0.035682,-0.217434,0.975423]]
2025-10-26T19:47:46.584Z,1761508066.584 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:47:46.584Z,1761508066.584 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:47:46.688Z,1761508066.688 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:46.740Z,1761508066.740 [DAT](INFO): entering command mode
2025-10-26T19:47:46.850Z,1761508066.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921503,0.371272,0.113975],[-0.386854,-0.903408,-0.184925],[0.034308,-0.214501,0.976121]]
2025-10-26T19:47:46.940Z,1761508066.940 [DAT](INFO): DAT read: 

2025-10-26T19:47:46.941Z,1761508066.941 [DAT](INFO): DAT read: user:289>

2025-10-26T19:47:46.941Z,1761508066.941 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:46.941Z,1761508066.941 [DAT](INFO): setting remote address to 0
2025-10-26T19:47:47.192Z,1761508067.192 [DAT](INFO): DAT read: user:289>

2025-10-26T19:47:47.193Z,1761508067.193 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:47:47.194Z,1761508067.194 [DAT](INFO): set remote address to 0
2025-10-26T19:47:47.194Z,1761508067.194 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:47:47.194Z,1761508067.194 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:47:47.270Z,1761508067.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922416,0.369612,0.111962],[-0.384778,-0.904388,-0.184465],[0.033076,-0.213234,0.976441]]
2025-10-26T19:47:47.444Z,1761508067.444 [DAT](INFO): DAT read: user:290>

2025-10-26T19:47:47.445Z,1761508067.445 [DAT](INFO): DAT read: Tx time:19:47:46.5000

2025-10-26T19:47:47.445Z,1761508067.445 [DAT](INFO): Ping request sent.
2025-10-26T19:47:47.445Z,1761508067.445 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:47:47.446Z,1761508067.446 [DAT](INFO): publishing transmit ping time
2025-10-26T19:47:47.446Z,1761508067.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000949
2025-10-26T19:47:47.667Z,1761508067.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923298,0.368019,0.109922],[-0.382782,-0.905229,-0.184497],[0.031607,-0.212422,0.976667]]
2025-10-26T19:47:47.697Z,1761508067.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251373
2025-10-26T19:47:47.948Z,1761508067.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502954
2025-10-26T19:47:48.062Z,1761508068.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923748,0.367359,0.108337],[-0.381877,-0.905074,-0.187111],[0.029316,-0.214215,0.976347]]
2025-10-26T19:47:48.200Z,1761508068.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755038
2025-10-26T19:47:48.452Z,1761508068.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006843
2025-10-26T19:47:48.468Z,1761508068.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924012,0.367111,0.106917],[-0.381381,-0.904907,-0.188925],[0.027393,-0.215344,0.976154]]
2025-10-26T19:47:48.705Z,1761508068.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259727
2025-10-26T19:47:48.870Z,1761508068.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924050,0.367187,0.106323],[-0.381422,-0.904148,-0.192441],[0.025470,-0.218379,0.975532]]
2025-10-26T19:47:48.956Z,1761508068.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511077
2025-10-26T19:47:49.208Z,1761508069.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762968
2025-10-26T19:47:49.275Z,1761508069.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924037,0.367469,0.105465],[-0.381577,-0.903497,-0.195173],[0.023567,-0.220590,0.975082]]
2025-10-26T19:47:49.460Z,1761508069.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015001
2025-10-26T19:47:49.681Z,1761508069.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923804,0.368246,0.104790],[-0.382235,-0.902773,-0.197225],[0.021974,-0.222251,0.974742]]
2025-10-26T19:47:49.713Z,1761508069.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267445
2025-10-26T19:47:49.965Z,1761508069.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519571
2025-10-26T19:47:50.083Z,1761508070.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924011,0.368056,0.103626],[-0.381814,-0.902699,-0.198373],[0.020531,-0.222865,0.974633]]
2025-10-26T19:47:50.216Z,1761508070.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771077
2025-10-26T19:47:50.476Z,1761508070.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030930
2025-10-26T19:47:50.499Z,1761508070.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924485,0.367111,0.102750],[-0.380768,-0.902331,-0.202026],[0.018548,-0.225894,0.973975]]
2025-10-26T19:47:50.721Z,1761508070.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275279
2025-10-26T19:47:50.896Z,1761508070.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925234,0.365617,0.101321],[-0.378994,-0.902985,-0.202440],[0.017476,-0.225704,0.974039]]
2025-10-26T19:47:50.972Z,1761508070.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527091
2025-10-26T19:47:51.224Z,1761508071.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778946
2025-10-26T19:47:51.298Z,1761508071.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926106,0.363905,0.099503],[-0.376908,-0.903912,-0.202194],[0.016363,-0.224757,0.974277]]
2025-10-26T19:47:51.476Z,1761508071.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030992
2025-10-26T19:47:51.706Z,1761508071.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927294,0.361373,0.097644],[-0.374015,-0.905182,-0.201885],[0.015430,-0.223727,0.974530]]
2025-10-26T19:47:51.729Z,1761508071.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283317
2025-10-26T19:47:51.980Z,1761508071.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534941
2025-10-26T19:47:52.105Z,1761508072.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928463,0.358792,0.096049],[-0.371134,-0.906421,-0.201644],[0.014713,-0.222866,0.974738]]
2025-10-26T19:47:52.128Z,1761508072.128 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:47:52.129Z,1761508072.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:47:52.129Z,1761508072.129 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:47:52.129Z,1761508072.129 [marl:UpdateRudder:A] Stopped
2025-10-26T19:47:52.129Z,1761508072.129 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:47:52.129Z,1761508072.129 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:47:52.129Z,1761508072.129 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateCommandMode] Stopped
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:47:52.130Z,1761508072.130 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:47:52.131Z,1761508072.131 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:47:52.131Z,1761508072.131 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:47:52.131Z,1761508072.131 [marl:UpdateSpeed] Stopped
2025-10-26T19:47:52.131Z,1761508072.131 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:47:52.233Z,1761508072.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787716
2025-10-26T19:47:52.264Z,1761508072.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:47:52.485Z,1761508072.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039005
2025-10-26T19:47:52.512Z,1761508072.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929763,0.355903,0.094203],[-0.367902,-0.907746,-0.201607],[0.013761,-0.222104,0.974926]]
2025-10-26T19:47:52.554Z,1761508072.554 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:47:52.554Z,1761508072.554 [marl:UpdateRudder:B] Stopped
2025-10-26T19:47:52.554Z,1761508072.554 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:47:52.554Z,1761508072.554 [marl:UpdateRudder] Stopped
2025-10-26T19:47:52.554Z,1761508072.554 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:47:52.736Z,1761508072.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291099
2025-10-26T19:47:52.910Z,1761508072.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931048,0.353036,0.092283],[-0.364675,-0.909061,-0.201543],[0.012739,-0.221299,0.975123]]
2025-10-26T19:47:52.988Z,1761508072.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543035
2025-10-26T19:47:53.240Z,1761508073.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795094
2025-10-26T19:47:53.268Z,1761508073.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:47:53.314Z,1761508073.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932429,0.349746,0.090855],[-0.361167,-0.910108,-0.203130],[0.011644,-0.222218,0.974927]]
2025-10-26T19:47:53.492Z,1761508073.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046941
2025-10-26T19:47:53.725Z,1761508073.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933460,0.347338,0.089493],[-0.358526,-0.910906,-0.204229],[0.010583,-0.222725,0.974824]]
2025-10-26T19:47:53.744Z,1761508073.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299107
2025-10-26T19:47:53.996Z,1761508073.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551004
2025-10-26T19:47:54.123Z,1761508074.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934664,0.344310,0.088627],[-0.355396,-0.911741,-0.205968],[0.009888,-0.224008,0.974537]]
2025-10-26T19:47:54.248Z,1761508074.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802949
2025-10-26T19:47:54.500Z,1761508074.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055000
2025-10-26T19:47:54.526Z,1761508074.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935620,0.341733,0.088513],[-0.352888,-0.911990,-0.209153],[0.009249,-0.226923,0.973869]]
2025-10-26T19:47:54.754Z,1761508074.754 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:47:54.754Z,1761508074.754 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:47:54.754Z,1761508074.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308716
2025-10-26T19:47:54.930Z,1761508074.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936369,0.339662,0.088553],[-0.350912,-0.911947,-0.212636],[0.008531,-0.230180,0.973111]]
2025-10-26T19:47:55.004Z,1761508075.004 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:47:55.004Z,1761508075.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559025
2025-10-26T19:47:55.257Z,1761508075.257 [DAT](INFO): setting remote address to 6
2025-10-26T19:47:55.257Z,1761508075.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811890
2025-10-26T19:47:55.334Z,1761508075.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936780,0.338396,0.089055],[-0.349827,-0.911509,-0.216270],[0.007989,-0.233751,0.972264]]
2025-10-26T19:47:55.508Z,1761508075.508 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:55.509Z,1761508075.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063132
2025-10-26T19:47:55.739Z,1761508075.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937126,0.337351,0.089384],[-0.348911,-0.911179,-0.219122],[0.007523,-0.236532,0.971595]]
2025-10-26T19:47:55.760Z,1761508075.760 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:55.760Z,1761508075.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315069
2025-10-26T19:47:56.012Z,1761508076.012 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:56.013Z,1761508076.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567116
2025-10-26T19:47:56.149Z,1761508076.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937065,0.337464,0.089590],[-0.349085,-0.910603,-0.221226],[0.006925,-0.238577,0.971099]]
2025-10-26T19:47:56.264Z,1761508076.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:56.264Z,1761508076.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819095
2025-10-26T19:47:56.516Z,1761508076.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:56.516Z,1761508076.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071024
2025-10-26T19:47:56.546Z,1761508076.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936666,0.338345,0.090436],[-0.350163,-0.909508,-0.224013],[0.006459,-0.241493,0.970381]]
2025-10-26T19:47:56.770Z,1761508076.770 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:56.772Z,1761508076.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325839
2025-10-26T19:47:56.950Z,1761508076.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936151,0.339655,0.090859],[-0.351549,-0.908526,-0.225816],[0.005848,-0.243339,0.969924]]
2025-10-26T19:47:57.020Z,1761508077.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:57.021Z,1761508077.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575191
2025-10-26T19:47:57.272Z,1761508077.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:57.272Z,1761508077.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827034
2025-10-26T19:47:57.354Z,1761508077.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935519,0.341419,0.090757],[-0.353240,-0.907689,-0.226545],[0.005032,-0.243996,0.969763]]
2025-10-26T19:47:57.524Z,1761508077.524 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:57.524Z,1761508077.524 [DAT](INFO): Reached modem response timeout
2025-10-26T19:47:57.762Z,1761508077.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934785,0.343622,0.090008],[-0.355191,-0.907175,-0.225549],[0.004149,-0.242809,0.970065]]
2025-10-26T19:47:57.776Z,1761508077.776 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:58.028Z,1761508078.028 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:58.164Z,1761508078.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934009,0.345958,0.089109],[-0.357236,-0.906664,-0.224373],[0.003168,-0.241399,0.970421]]
2025-10-26T19:47:58.281Z,1761508078.281 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:58.532Z,1761508078.532 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:58.567Z,1761508078.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933564,0.347677,0.087052],[-0.358404,-0.907001,-0.221123],[0.002077,-0.237632,0.971353]]
2025-10-26T19:47:58.785Z,1761508078.785 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:58.970Z,1761508078.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933259,0.349084,0.084668],[-0.359203,-0.907782,-0.216576],[0.001257,-0.232535,0.972587]]
2025-10-26T19:47:59.036Z,1761508079.036 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:59.288Z,1761508079.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:59.374Z,1761508079.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933249,0.349609,0.082582],[-0.359230,-0.908624,-0.212973],[0.000579,-0.228422,0.973562]]
2025-10-26T19:47:59.540Z,1761508079.540 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:47:59.779Z,1761508079.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933365,0.349700,0.080869],[-0.358929,-0.909458,-0.209894],[0.000147,-0.224934,0.974374]]
2025-10-26T19:47:59.793Z,1761508079.793 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:47:59.793Z,1761508079.793 [DAT](INFO): response not received
2025-10-26T19:47:59.793Z,1761508079.793 [DAT](INFO): DAT read: user:291>

2025-10-26T19:47:59.794Z,1761508079.794 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:47:59.794Z,1761508079.794 [DAT](INFO): set remote address to 6
2025-10-26T19:47:59.795Z,1761508079.795 [DAT](INFO): entering online mode
2025-10-26T19:48:00.044Z,1761508080.044 [DAT](INFO): DAT read: user:292>

2025-10-26T19:48:00.045Z,1761508080.045 [DAT](INFO): DAT read: 

2025-10-26T19:48:00.046Z,1761508080.046 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:48:00.046Z,1761508080.046 [DAT](INFO): commRate: 600
2025-10-26T19:48:00.046Z,1761508080.046 [DAT](INFO): online mode acknowledged
2025-10-26T19:48:00.047Z,1761508080.047 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:48:00.182Z,1761508080.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933683,0.349307,0.078870],[-0.358100,-0.910552,-0.206542],[-0.000331,-0.221088,0.975254]]
2025-10-26T19:48:00.586Z,1761508080.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933773,0.349234,0.078126],[-0.357864,-0.910690,-0.206342],[-0.000913,-0.220635,0.975356]]
2025-10-26T19:48:00.990Z,1761508080.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933748,0.349508,0.077193],[-0.357927,-0.910749,-0.205972],[-0.001686,-0.219955,0.975509]]
2025-10-26T19:48:01.396Z,1761508081.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933407,0.350441,0.077084],[-0.358810,-0.910042,-0.207555],[-0.002586,-0.221391,0.975182]]
2025-10-26T19:48:01.798Z,1761508081.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932747,0.352028,0.077848],[-0.360520,-0.908878,-0.209679],[-0.003058,-0.223643,0.974666]]
2025-10-26T19:48:02.202Z,1761508082.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931874,0.354035,0.079186],[-0.362768,-0.907383,-0.212263],[-0.003297,-0.226529,0.973999]]
2025-10-26T19:48:02.613Z,1761508082.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930953,0.356110,0.080692],[-0.365123,-0.905868,-0.214683],[-0.003355,-0.229322,0.973345]]
2025-10-26T19:48:03.010Z,1761508083.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930126,0.357833,0.082586],[-0.367227,-0.904422,-0.217176],[-0.003020,-0.232329,0.972633]]
2025-10-26T19:48:03.321Z,1761508083.321 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:48:02.4487

2025-10-26T19:48:03.321Z,1761508083.321 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:48:03.414Z,1761508083.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929642,0.358748,0.084056],[-0.368456,-0.903625,-0.218408],[-0.002398,-0.234012,0.972231]]
2025-10-26T19:48:03.818Z,1761508083.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929760,0.358206,0.085054],[-0.368162,-0.903599,-0.219010],[-0.001596,-0.234941,0.972008]]
2025-10-26T19:48:04.224Z,1761508084.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930452,0.356299,0.085505],[-0.366415,-0.904544,-0.218039],[-0.000344,-0.234205,0.972187]]
2025-10-26T19:48:04.630Z,1761508084.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931907,0.352439,0.085651],[-0.362694,-0.906501,-0.216123],[0.001473,-0.232471,0.972602]]
2025-10-26T19:48:05.031Z,1761508085.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933648,0.347946,0.085059],[-0.358181,-0.908748,-0.214205],[0.002765,-0.230458,0.973078]]
2025-10-26T19:48:05.434Z,1761508085.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935405,0.343236,0.084893],[-0.353552,-0.910923,-0.212650],[0.004342,-0.228928,0.973434]]
2025-10-26T19:48:05.494Z,1761508085.494 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:48:05.494Z,1761508085.494 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:48:05.494Z,1761508085.494 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:48:05.495Z,1761508085.495 [marl:UpdateRudder:A] Stopped
2025-10-26T19:48:05.495Z,1761508085.495 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:48:05.495Z,1761508085.495 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:48:05.495Z,1761508085.495 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:48:05.495Z,1761508085.495 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:48:05.496Z,1761508085.496 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:48:05.496Z,1761508085.496 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:48:05.496Z,1761508085.496 [marl:UpdateCommandMode] Stopped
2025-10-26T19:48:05.496Z,1761508085.496 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:48:05.496Z,1761508085.496 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:48:05.496Z,1761508085.496 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:48:05.497Z,1761508085.497 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:48:05.497Z,1761508085.497 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:48:05.497Z,1761508085.497 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:48:05.497Z,1761508085.497 [marl:UpdateSpeed] Stopped
2025-10-26T19:48:05.497Z,1761508085.497 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:48:05.839Z,1761508085.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937214,0.338367,0.084486],[-0.348711,-0.913033,-0.211594],[0.005542,-0.227770,0.973699]]
2025-10-26T19:48:05.870Z,1761508085.870 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:48:05.870Z,1761508085.870 [marl:UpdateRudder:B] Stopped
2025-10-26T19:48:05.870Z,1761508085.870 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:48:05.870Z,1761508085.870 [marl:UpdateRudder] Stopped
2025-10-26T19:48:05.870Z,1761508085.870 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:48:06.242Z,1761508086.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938884,0.333842,0.083935],[-0.344171,-0.914966,-0.210673],[0.006466,-0.226685,0.973947]]
2025-10-26T19:48:06.646Z,1761508086.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940408,0.329734,0.083115],[-0.339978,-0.916639,-0.210209],[0.006874,-0.225939,0.974117]]
2025-10-26T19:48:07.050Z,1761508087.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941535,0.326642,0.082560],[-0.336845,-0.917590,-0.211102],[0.006801,-0.226569,0.973971]]
2025-10-26T19:48:07.455Z,1761508087.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942190,0.324758,0.082523],[-0.335013,-0.917869,-0.212798],[0.006637,-0.228143,0.973605]]
2025-10-26T19:48:07.859Z,1761508087.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942270,0.324324,0.083317],[-0.334787,-0.917460,-0.214905],[0.006741,-0.230392,0.973075]]
2025-10-26T19:48:08.262Z,1761508088.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941971,0.325059,0.083829],[-0.335630,-0.916849,-0.216194],[0.006583,-0.231784,0.972745]]
2025-10-26T19:48:08.666Z,1761508088.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941299,0.326738,0.084843],[-0.337511,-0.915767,-0.217846],[0.006518,-0.233694,0.972288]]
2025-10-26T19:48:09.075Z,1761508089.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940182,0.329351,0.087094],[-0.340595,-0.914156,-0.219805],[0.007225,-0.236320,0.971648]]
2025-10-26T19:48:09.474Z,1761508089.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938897,0.332576,0.088686],[-0.344112,-0.912721,-0.220289],[0.007683,-0.237347,0.971395]]
2025-10-26T19:48:09.879Z,1761508089.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937309,0.336494,0.090689],[-0.348396,-0.911108,-0.220231],[0.008521,-0.238020,0.971223]]
2025-10-26T19:48:10.282Z,1761508090.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935726,0.340466,0.092189],[-0.352602,-0.909820,-0.218860],[0.009361,-0.237300,0.971391]]
2025-10-26T19:48:10.692Z,1761508090.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934321,0.343802,0.094050],[-0.356283,-0.908502,-0.218373],[0.010368,-0.237539,0.971323]]
2025-10-26T19:48:11.103Z,1761508091.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933325,0.346153,0.095301],[-0.358849,-0.907871,-0.216790],[0.011478,-0.236535,0.971555]]
2025-10-26T19:48:11.495Z,1761508091.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932927,0.347112,0.095712],[-0.359846,-0.908118,-0.214085],[0.012607,-0.234167,0.972115]]
2025-10-26T19:48:11.900Z,1761508091.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933111,0.346533,0.096014],[-0.359322,-0.908837,-0.211904],[0.013830,-0.232230,0.972563]]
2025-10-26T19:48:12.302Z,1761508092.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933736,0.344928,0.095716],[-0.357644,-0.910208,-0.208839],[0.015087,-0.229232,0.973255]]
2025-10-26T19:48:12.717Z,1761508092.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934961,0.341795,0.094999],[-0.354389,-0.911992,-0.206587],[0.016028,-0.226818,0.973805]]
2025-10-26T19:48:13.114Z,1761508093.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936507,0.337676,0.094494],[-0.350242,-0.913785,-0.205737],[0.016875,-0.225770,0.974034]]
2025-10-26T19:48:13.404Z,1761508093.404 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:48:13.404Z,1761508093.404 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:48:13.514Z,1761508093.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938154,0.333166,0.094172],[-0.345765,-0.915525,-0.205573],[0.017727,-0.225421,0.974100]]
2025-10-26T19:48:13.657Z,1761508093.657 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:48:13.908Z,1761508093.908 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:48:13.919Z,1761508093.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939828,0.328579,0.093595],[-0.341142,-0.917449,-0.204716],[0.018603,-0.224327,0.974337]]
2025-10-26T19:48:14.160Z,1761508094.160 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:48:14.322Z,1761508094.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941592,0.323599,0.093210],[-0.336205,-0.919151,-0.205252],[0.019255,-0.224601,0.974261]]
2025-10-26T19:48:14.378Z,1761508094.378 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:48:14.413Z,1761508094.413 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:14.463Z,1761508094.463 [DAT](INFO): entering command mode
2025-10-26T19:48:14.664Z,1761508094.664 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:14.664Z,1761508094.664 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:14.734Z,1761508094.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943075,0.319288,0.093087],[-0.332000,-0.920331,-0.206803],[0.019641,-0.225935,0.973944]]
2025-10-26T19:48:14.916Z,1761508094.916 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:14.916Z,1761508094.916 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:15.135Z,1761508095.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944003,0.316410,0.093507],[-0.329330,-0.920823,-0.208869],[0.020015,-0.227968,0.973463]]
2025-10-26T19:48:15.176Z,1761508095.176 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:15.176Z,1761508095.176 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:15.428Z,1761508095.428 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:15.428Z,1761508095.428 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:15.535Z,1761508095.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944400,0.315139,0.093781],[-0.328185,-0.920888,-0.210382],[0.020062,-0.229463,0.973111]]
2025-10-26T19:48:15.680Z,1761508095.680 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:15.680Z,1761508095.680 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:15.932Z,1761508095.932 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:15.932Z,1761508095.932 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:15.940Z,1761508095.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944454,0.314938,0.093919],[-0.328041,-0.920705,-0.211404],[0.019893,-0.230471,0.972876]]
2025-10-26T19:48:16.184Z,1761508096.184 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:16.184Z,1761508096.184 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:16.342Z,1761508096.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944110,0.315791,0.094508],[-0.329039,-0.920012,-0.212864],[0.019728,-0.232064,0.972500]]
2025-10-26T19:48:16.436Z,1761508096.436 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:16.436Z,1761508096.436 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:16.689Z,1761508096.689 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:16.689Z,1761508096.689 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:16.754Z,1761508096.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943516,0.317256,0.095528],[-0.330745,-0.918941,-0.214838],[0.019626,-0.234299,0.971967]]
2025-10-26T19:48:16.944Z,1761508096.944 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:16.944Z,1761508096.944 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:17.161Z,1761508097.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942483,0.319824,0.097149],[-0.333631,-0.917841,-0.215077],[0.020380,-0.235118,0.971753]]
2025-10-26T19:48:17.192Z,1761508097.192 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:17.192Z,1761508097.192 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:17.444Z,1761508097.444 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:17.444Z,1761508097.444 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:17.558Z,1761508097.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941064,0.323480,0.098791],[-0.337591,-0.916263,-0.215627],[0.020767,-0.236270,0.971465]]
2025-10-26T19:48:17.697Z,1761508097.697 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:48:16.8486

2025-10-26T19:48:17.698Z,1761508097.698 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:48:17.698Z,1761508097.698 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:17.698Z,1761508097.698 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:17.952Z,1761508097.952 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:17.952Z,1761508097.952 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:17.960Z,1761508097.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939350,0.328104,0.099844],[-0.342346,-0.914462,-0.215777],[0.020506,-0.236871,0.971325]]
2025-10-26T19:48:18.205Z,1761508098.205 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:18.205Z,1761508098.205 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:18.362Z,1761508098.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937352,0.333571,0.100505],[-0.347817,-0.912486,-0.215390],[0.019861,-0.236854,0.971342]]
2025-10-26T19:48:18.457Z,1761508098.457 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:18.457Z,1761508098.457 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:18.709Z,1761508098.709 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:18.709Z,1761508098.709 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:18.796Z,1761508098.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935224,0.339395,0.100835],[-0.353550,-0.910446,-0.214689],[0.018941,-0.236432,0.971463]]
2025-10-26T19:48:18.889Z,1761508098.889 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:48:18.889Z,1761508098.889 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:48:18.889Z,1761508098.889 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:48:18.889Z,1761508098.889 [marl:UpdateRudder:A] Stopped
2025-10-26T19:48:18.889Z,1761508098.889 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:48:18.889Z,1761508098.889 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateCommandMode] Stopped
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:48:18.890Z,1761508098.890 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:48:18.891Z,1761508098.891 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:48:18.891Z,1761508098.891 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:48:18.891Z,1761508098.891 [marl:UpdateSpeed] Stopped
2025-10-26T19:48:18.891Z,1761508098.891 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:48:18.960Z,1761508098.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:18.960Z,1761508098.960 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:19.170Z,1761508099.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933237,0.344813,0.100855],[-0.358809,-0.908647,-0.213580],[0.017996,-0.235508,0.971706]]
2025-10-26T19:48:19.212Z,1761508099.212 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:19.212Z,1761508099.212 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:19.217Z,1761508099.217 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:48:19.217Z,1761508099.217 [marl:UpdateRudder:B] Stopped
2025-10-26T19:48:19.217Z,1761508099.217 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:48:19.217Z,1761508099.217 [marl:UpdateRudder] Stopped
2025-10-26T19:48:19.218Z,1761508099.218 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:48:19.464Z,1761508099.464 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:19.464Z,1761508099.464 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:19.579Z,1761508099.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931872,0.348686,0.100166],[-0.362379,-0.907742,-0.211389],[0.017217,-0.233286,0.972256]]
2025-10-26T19:48:19.724Z,1761508099.724 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:19.724Z,1761508099.724 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:19.972Z,1761508099.972 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:19.972Z,1761508099.972 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:19.981Z,1761508099.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931342,0.350470,0.098855],[-0.363763,-0.907862,-0.208478],[0.016681,-0.230125,0.973018]]
2025-10-26T19:48:20.225Z,1761508100.225 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:20.225Z,1761508100.225 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:20.384Z,1761508100.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931528,0.350522,0.096901],[-0.363305,-0.908875,-0.204833],[0.016273,-0.226012,0.973989]]
2025-10-26T19:48:20.477Z,1761508100.477 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:20.477Z,1761508100.477 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:20.728Z,1761508100.728 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:20.729Z,1761508100.729 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:20.823Z,1761508100.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932372,0.348855,0.094777],[-0.361165,-0.910223,-0.202619],[0.015583,-0.223147,0.974660]]
2025-10-26T19:48:20.980Z,1761508100.980 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:20.980Z,1761508100.980 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:21.190Z,1761508101.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933687,0.346023,0.092179],[-0.357772,-0.912267,-0.199417],[0.015089,-0.219172,0.975569]]
2025-10-26T19:48:21.232Z,1761508101.232 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:21.232Z,1761508101.232 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:21.484Z,1761508101.484 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:21.484Z,1761508101.484 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:21.595Z,1761508101.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935421,0.341976,0.089665],[-0.353237,-0.914492,-0.197303],[0.014525,-0.216235,0.976233]]
2025-10-26T19:48:21.736Z,1761508101.736 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:21.736Z,1761508101.736 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:21.989Z,1761508101.989 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:21.989Z,1761508101.989 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:22.006Z,1761508102.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937822,0.336084,0.086817],[-0.346843,-0.917208,-0.196031],[0.013746,-0.213954,0.976747]]
2025-10-26T19:48:22.240Z,1761508102.240 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:22.240Z,1761508102.240 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:22.402Z,1761508102.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940613,0.328761,0.084641],[-0.339220,-0.920003,-0.196275],[0.013343,-0.213331,0.976889]]
2025-10-26T19:48:22.492Z,1761508102.492 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:22.493Z,1761508102.493 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:22.744Z,1761508102.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:22.744Z,1761508102.744 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:22.840Z,1761508102.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943374,0.321215,0.082864],[-0.331478,-0.922525,-0.197660],[0.012953,-0.213935,0.976762]]
2025-10-26T19:48:22.996Z,1761508102.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:22.996Z,1761508102.996 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:23.214Z,1761508103.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945336,0.315757,0.081468],[-0.325870,-0.924056,-0.199824],[0.012185,-0.215449,0.976439]]
2025-10-26T19:48:23.248Z,1761508103.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:23.248Z,1761508103.248 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:23.388Z,1761508103.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:48:23.500Z,1761508103.500 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:23.500Z,1761508103.500 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:23.614Z,1761508103.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946644,0.312019,0.080681],[-0.322094,-0.924510,-0.203806],[0.010999,-0.218919,0.975681]]
2025-10-26T19:48:23.752Z,1761508103.752 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:23.752Z,1761508103.752 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:24.004Z,1761508104.004 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:24.004Z,1761508104.004 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:24.020Z,1761508104.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947251,0.310114,0.080903],[-0.320343,-0.923885,-0.209325],[0.009830,-0.224200,0.974494]]
2025-10-26T19:48:24.257Z,1761508104.257 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:24.257Z,1761508104.257 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:24.392Z,1761508104.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:48:24.422Z,1761508104.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947267,0.309897,0.081543],[-0.320329,-0.922635,-0.214787],[0.008672,-0.229581,0.973251]]
2025-10-26T19:48:24.508Z,1761508104.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:24.508Z,1761508104.508 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:24.760Z,1761508104.760 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:24.760Z,1761508104.760 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:24.843Z,1761508104.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946763,0.311210,0.082386],[-0.321843,-0.920932,-0.219776],[0.007475,-0.234591,0.972065]]
2025-10-26T19:48:25.012Z,1761508105.012 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:25.012Z,1761508105.012 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:25.230Z,1761508105.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945857,0.313664,0.083486],[-0.324515,-0.919148,-0.223285],[0.006700,-0.238288,0.971171]]
2025-10-26T19:48:25.264Z,1761508105.264 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:25.264Z,1761508105.264 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:25.516Z,1761508105.516 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:25.516Z,1761508105.516 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:25.634Z,1761508105.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944712,0.316864,0.084357],[-0.327842,-0.917615,-0.224727],[0.006199,-0.239959,0.970763]]
2025-10-26T19:48:25.768Z,1761508105.768 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:25.768Z,1761508105.768 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:26.020Z,1761508106.020 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:26.020Z,1761508106.020 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:26.050Z,1761508106.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943155,0.321321,0.084926],[-0.332308,-0.915993,-0.224785],[0.005564,-0.240228,0.970700]]
2025-10-26T19:48:26.272Z,1761508106.272 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:26.272Z,1761508106.272 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:26.443Z,1761508106.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941361,0.326596,0.084703],[-0.337365,-0.914791,-0.222132],[0.004938,-0.237682,0.971330]]
2025-10-26T19:48:26.528Z,1761508106.528 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:26.528Z,1761508106.528 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:26.779Z,1761508106.779 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:26.779Z,1761508106.779 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:26.846Z,1761508106.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939432,0.332262,0.084078],[-0.342708,-0.913727,-0.218301],[0.004291,-0.233893,0.972253]]
2025-10-26T19:48:27.030Z,1761508107.030 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:27.030Z,1761508107.030 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:27.250Z,1761508107.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937854,0.336830,0.083514],[-0.347005,-0.913079,-0.214183],[0.004111,-0.229852,0.973217]]
2025-10-26T19:48:27.280Z,1761508107.280 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:27.280Z,1761508107.280 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:27.533Z,1761508107.533 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:27.533Z,1761508107.533 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:27.656Z,1761508107.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937300,0.338630,0.082449],[-0.348497,-0.913526,-0.209810],[0.004272,-0.225388,0.974260]]
2025-10-26T19:48:27.784Z,1761508107.784 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:48:27.784Z,1761508107.784 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:27.784Z,1761508107.784 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:28.038Z,1761508108.038 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:48:28.038Z,1761508108.038 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:28.038Z,1761508108.038 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T19:48:28.060Z,1761508108.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938288,0.336680,0.079133],[-0.345829,-0.916087,-0.202946],[0.004165,-0.217788,0.975987]]
2025-10-26T19:48:28.288Z,1761508108.288 [DAT](INFO): entering online mode
2025-10-26T19:48:28.462Z,1761508108.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940126,0.332231,0.076064],[-0.340803,-0.919007,-0.198193],[0.004057,-0.212250,0.977207]]
2025-10-26T19:48:28.541Z,1761508108.541 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:28.794Z,1761508108.794 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:28.866Z,1761508108.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941898,0.327579,0.074303],[-0.335876,-0.921147,-0.196659],[0.004023,-0.210190,0.977652]]
2025-10-26T19:48:29.045Z,1761508109.045 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:29.277Z,1761508109.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943428,0.323495,0.072759],[-0.331559,-0.922614,-0.197109],[0.003365,-0.210082,0.977678]]
2025-10-26T19:48:29.296Z,1761508109.296 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:29.548Z,1761508109.548 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:29.674Z,1761508109.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944569,0.320295,0.072116],[-0.328303,-0.923190,-0.199841],[0.002568,-0.212440,0.977171]]
2025-10-26T19:48:29.800Z,1761508109.800 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:30.052Z,1761508110.052 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:30.078Z,1761508110.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945251,0.318218,0.072366],[-0.326338,-0.922895,-0.204372],[0.001751,-0.216798,0.976215]]
2025-10-26T19:48:30.305Z,1761508110.305 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:30.483Z,1761508110.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945430,0.317448,0.073412],[-0.325824,-0.921803,-0.210042],[0.000994,-0.222499,0.974932]]
2025-10-26T19:48:30.557Z,1761508110.557 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:30.810Z,1761508110.810 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:30.886Z,1761508110.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945414,0.317311,0.074206],[-0.325872,-0.920500,-0.215610],[-0.000109,-0.228023,0.973656]]
2025-10-26T19:48:31.061Z,1761508111.061 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:31.290Z,1761508111.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945087,0.318136,0.074829],[-0.326817,-0.919509,-0.218390],[-0.000672,-0.230853,0.972988]]
2025-10-26T19:48:31.312Z,1761508111.312 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:31.565Z,1761508111.565 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:48:30.6985

2025-10-26T19:48:31.565Z,1761508111.565 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T19:48:31.565Z,1761508111.565 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:31.696Z,1761508111.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944805,0.318861,0.075308],[-0.327631,-0.918561,-0.221141],[-0.001338,-0.233608,0.972330]]
2025-10-26T19:48:31.817Z,1761508111.817 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:32.068Z,1761508112.068 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:32.101Z,1761508112.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944728,0.319165,0.074979],[-0.327848,-0.918347,-0.221706],[-0.001904,-0.234034,0.972227]]
2025-10-26T19:48:32.166Z,1761508112.166 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:48:32.166Z,1761508112.166 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:48:32.166Z,1761508112.166 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:48:32.166Z,1761508112.166 [marl:UpdateRudder:A] Stopped
2025-10-26T19:48:32.167Z,1761508112.167 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:48:32.167Z,1761508112.167 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:48:32.167Z,1761508112.167 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:48:32.167Z,1761508112.167 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:48:32.167Z,1761508112.167 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:48:32.167Z,1761508112.167 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateCommandMode] Stopped
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:48:32.168Z,1761508112.168 [marl:UpdateSpeed] Stopped
2025-10-26T19:48:32.169Z,1761508112.169 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:48:32.320Z,1761508112.320 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:32.502Z,1761508112.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944729,0.319361,0.074135],[-0.327845,-0.918677,-0.220341],[-0.002262,-0.232467,0.972602]]
2025-10-26T19:48:32.573Z,1761508112.573 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:32.579Z,1761508112.579 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:48:32.580Z,1761508112.580 [marl:UpdateRudder:B] Stopped
2025-10-26T19:48:32.580Z,1761508112.580 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:48:32.580Z,1761508112.580 [marl:UpdateRudder] Stopped
2025-10-26T19:48:32.580Z,1761508112.580 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:48:32.827Z,1761508112.827 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:32.906Z,1761508112.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944996,0.318780,0.073225],[-0.327072,-0.919233,-0.219168],[-0.002555,-0.231063,0.972935]]
2025-10-26T19:48:33.076Z,1761508113.076 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:33.310Z,1761508113.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945254,0.318049,0.073068],[-0.326323,-0.919333,-0.219862],[-0.002753,-0.231670,0.972791]]
2025-10-26T19:48:33.328Z,1761508113.328 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:33.580Z,1761508113.580 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:33.732Z,1761508113.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945257,0.318097,0.072823],[-0.326310,-0.919126,-0.220747],[-0.003285,-0.232425,0.972609]]
2025-10-26T19:48:33.832Z,1761508113.832 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:34.085Z,1761508114.085 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:34.118Z,1761508114.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945227,0.318250,0.072549],[-0.326390,-0.918809,-0.221945],[-0.003975,-0.233468,0.972356]]
2025-10-26T19:48:34.336Z,1761508114.336 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:34.529Z,1761508114.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944992,0.318998,0.072324],[-0.327058,-0.918218,-0.223403],[-0.004855,-0.234768,0.972039]]
2025-10-26T19:48:34.589Z,1761508114.589 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:34.840Z,1761508114.840 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:34.927Z,1761508114.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944395,0.320667,0.072742],[-0.328768,-0.917171,-0.225186],[-0.005493,-0.236580,0.971596]]
2025-10-26T19:48:35.093Z,1761508115.093 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:35.341Z,1761508115.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942291,0.326380,0.074587],[-0.334748,-0.914757,-0.226194],[-0.005596,-0.238108,0.971223]]
2025-10-26T19:48:35.344Z,1761508115.344 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:35.596Z,1761508115.596 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:35.741Z,1761508115.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940994,0.329975,0.075147],[-0.338377,-0.913670,-0.225185],[-0.005646,-0.237326,0.971414]]
2025-10-26T19:48:35.849Z,1761508115.849 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:36.100Z,1761508116.100 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:36.143Z,1761508116.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939733,0.333442,0.075619],[-0.341863,-0.912728,-0.223733],[-0.005583,-0.236101,0.971713]]
2025-10-26T19:48:36.353Z,1761508116.353 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:36.547Z,1761508116.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938577,0.336645,0.075786],[-0.345028,-0.912119,-0.221347],[-0.005390,-0.233899,0.972246]]
2025-10-26T19:48:36.604Z,1761508116.604 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:36.856Z,1761508116.856 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:36.952Z,1761508116.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937675,0.339131,0.075860],[-0.347474,-0.911743,-0.219057],[-0.005124,-0.231763,0.972759]]
2025-10-26T19:48:37.108Z,1761508117.108 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:37.353Z,1761508117.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937260,0.340458,0.075044],[-0.348598,-0.912240,-0.215168],[-0.004797,-0.227829,0.973689]]
2025-10-26T19:48:37.360Z,1761508117.360 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:37.612Z,1761508117.612 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:37.754Z,1761508117.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937705,0.339560,0.073539],[-0.347402,-0.913585,-0.211362],[-0.004586,-0.223743,0.974637]]
2025-10-26T19:48:37.865Z,1761508117.865 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:38.116Z,1761508118.116 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:38.159Z,1761508118.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938811,0.336825,0.071988],[-0.344406,-0.915450,-0.208172],[-0.004216,-0.220227,0.975439]]
2025-10-26T19:48:38.368Z,1761508118.368 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:38.564Z,1761508118.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940521,0.332468,0.069895],[-0.339712,-0.917944,-0.204878],[-0.003956,-0.216436,0.976289]]
2025-10-26T19:48:38.620Z,1761508118.620 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:38.872Z,1761508118.872 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:38.966Z,1761508118.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942509,0.327347,0.067241],[-0.334157,-0.920696,-0.201640],[-0.004098,-0.212516,0.977149]]
2025-10-26T19:48:39.124Z,1761508119.124 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:39.370Z,1761508119.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944662,0.321544,0.064984],[-0.328017,-0.923289,-0.199856],[-0.004264,-0.210113,0.977668]]
2025-10-26T19:48:39.376Z,1761508119.376 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:39.628Z,1761508119.628 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:39.793Z,1761508119.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947055,0.314899,0.062651],[-0.321033,-0.925747,-0.199825],[-0.004926,-0.209359,0.977827]]
2025-10-26T19:48:39.880Z,1761508119.880 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:40.133Z,1761508120.133 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:40.198Z,1761508120.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949469,0.307916,0.060797],[-0.313808,-0.927781,-0.201860],[-0.005749,-0.210739,0.977526]]
2025-10-26T19:48:40.384Z,1761508120.384 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:40.582Z,1761508120.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951722,0.301142,0.059490],[-0.306886,-0.929161,-0.206110],[-0.006792,-0.214416,0.976719]]
2025-10-26T19:48:40.644Z,1761508120.644 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:40.896Z,1761508120.896 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:40.994Z,1761508120.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953691,0.295101,0.058208],[-0.300666,-0.929809,-0.212264],[-0.008517,-0.219935,0.975477]]
2025-10-26T19:48:41.148Z,1761508121.148 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:41.390Z,1761508121.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955071,0.290892,0.056761],[-0.296181,-0.929775,-0.218622],[-0.010820,-0.225611,0.974157]]
2025-10-26T19:48:41.400Z,1761508121.400 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:41.653Z,1761508121.653 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:41.795Z,1761508121.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955741,0.288855,0.055880],[-0.293915,-0.928895,-0.225315],[-0.013177,-0.231767,0.972682]]
2025-10-26T19:48:41.904Z,1761508121.904 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:42.156Z,1761508122.156 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:42.201Z,1761508122.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955558,0.289434,0.056003],[-0.294404,-0.927020,-0.232292],[-0.015317,-0.238456,0.971032]]
2025-10-26T19:48:42.408Z,1761508122.408 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:42.602Z,1761508122.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954856,0.291777,0.055825],[-0.296551,-0.925120,-0.237088],[-0.017532,-0.242940,0.969883]]
2025-10-26T19:48:42.660Z,1761508122.660 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:42.912Z,1761508122.912 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:43.009Z,1761508123.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953796,0.295316,0.055323],[-0.299800,-0.923310,-0.240038],[-0.019807,-0.245533,0.969186]]
2025-10-26T19:48:43.164Z,1761508123.164 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:43.416Z,1761508123.416 [DAT](DEBUG): checking for online mode acknowledgment
2025-10-26T19:48:43.416Z,1761508123.416 [DAT](FAULT): failed to enter online mode
2025-10-26T19:48:43.416Z,1761508123.416 [DAT](FAULT): Failure returning to online mode
2025-10-26T19:48:43.416Z,1761508123.416 [DAT] Communications Fault, FailCount= 1
2025-10-26T19:48:43.417Z,1761508123.417 [DAT](ERROR): Communications Fault
2025-10-26T19:48:43.417Z,1761508123.417 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:48:43.420Z,1761508123.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952473,0.299773,0.054134],[-0.303818,-0.921936,-0.240268],[-0.022118,-0.245296,0.969196]]
2025-10-26T19:48:43.472Z,1761508123.472 [DAT](INFO): entering command mode
2025-10-26T19:48:43.603Z,1761508123.603 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:48:43.820Z,1761508123.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950934,0.304917,0.052439],[-0.308428,-0.920878,-0.238442],[-0.024415,-0.242917,0.969740]]
2025-10-26T19:48:43.876Z,1761508123.876 [DAT](INFO): Powering down
2025-10-26T19:48:44.218Z,1761508124.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949316,0.310273,0.050298],[-0.313196,-0.920186,-0.234874],[-0.026592,-0.238722,0.970724]]
2025-10-26T19:48:44.623Z,1761508124.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947683,0.315613,0.047798],[-0.317914,-0.919694,-0.230422],[-0.028764,-0.233562,0.971916]]
2025-10-26T19:48:44.659Z,1761508124.659 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:48:44.756Z,1761508124.756 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:48:44.756Z,1761508124.756 [DAT] No Fault, FailCount= 1
2025-10-26T19:48:45.026Z,1761508125.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946175,0.320493,0.045135],[-0.322196,-0.919469,-0.225316],[-0.030712,-0.227730,0.973240]]
2025-10-26T19:48:45.436Z,1761508125.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945039,0.324063,0.043413],[-0.325369,-0.919042,-0.222479],[-0.032199,-0.224377,0.973970]]
2025-10-26T19:48:45.470Z,1761508125.470 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:48:45.470Z,1761508125.470 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:48:45.470Z,1761508125.470 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:48:45.471Z,1761508125.471 [marl:UpdateRudder:A] Stopped
2025-10-26T19:48:45.471Z,1761508125.471 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:48:45.472Z,1761508125.472 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:48:45.472Z,1761508125.472 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:48:45.472Z,1761508125.472 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:48:45.472Z,1761508125.472 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateCommandMode] Stopped
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:48:45.473Z,1761508125.473 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:48:45.474Z,1761508125.474 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:48:45.474Z,1761508125.474 [marl:UpdateSpeed] Stopped
2025-10-26T19:48:45.474Z,1761508125.474 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:48:45.848Z,1761508125.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944688,0.325354,0.041334],[-0.326293,-0.919639,-0.218624],[-0.033118,-0.220019,0.974933]]
2025-10-26T19:48:45.890Z,1761508125.890 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:48:45.890Z,1761508125.890 [marl:UpdateRudder:B] Stopped
2025-10-26T19:48:45.890Z,1761508125.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:48:45.890Z,1761508125.890 [marl:UpdateRudder] Stopped
2025-10-26T19:48:45.890Z,1761508125.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:48:46.238Z,1761508126.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945724,0.322654,0.038722],[-0.323207,-0.921501,-0.215344],[-0.033799,-0.216172,0.975770]]
2025-10-26T19:48:46.642Z,1761508126.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947477,0.317789,0.036022],[-0.317957,-0.923801,-0.213297],[-0.034507,-0.213547,0.976323]]
2025-10-26T19:48:46.805Z,1761508126.805 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:48:46.805Z,1761508126.805 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:48:46.924Z,1761508126.924 [DAT](INFO): Powering up
2025-10-26T19:48:46.924Z,1761508126.924 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:48:47.048Z,1761508127.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949421,0.312246,0.033198],[-0.311986,-0.926054,-0.212342],[-0.035560,-0.211959,0.976631]]
2025-10-26T19:48:47.450Z,1761508127.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951247,0.306924,0.030451],[-0.306205,-0.927929,-0.212570],[-0.036986,-0.211531,0.976671]]
2025-10-26T19:48:47.859Z,1761508127.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952793,0.302245,0.028858],[-0.301144,-0.928629,-0.216705],[-0.038700,-0.215166,0.975811]]
2025-10-26T19:48:48.259Z,1761508128.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953967,0.298685,0.027080],[-0.297114,-0.928909,-0.221024],[-0.040862,-0.218895,0.974892]]
2025-10-26T19:48:48.662Z,1761508128.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954628,0.296740,0.025104],[-0.294609,-0.928731,-0.225089],[-0.043478,-0.222272,0.974015]]
2025-10-26T19:48:49.066Z,1761508129.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954697,0.296682,0.023110],[-0.293970,-0.928203,-0.228078],[-0.046216,-0.224539,0.973369]]
2025-10-26T19:48:49.479Z,1761508129.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954291,0.298105,0.021474],[-0.294857,-0.927276,-0.230690],[-0.048858,-0.226477,0.972790]]
2025-10-26T19:48:49.878Z,1761508129.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953560,0.300548,0.019864],[-0.296796,-0.926319,-0.232047],[-0.051341,-0.227166,0.972502]]
2025-10-26T19:48:50.280Z,1761508130.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952875,0.302843,0.017775],[-0.298576,-0.925853,-0.231622],[-0.053689,-0.226014,0.972643]]
2025-10-26T19:48:50.682Z,1761508130.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952384,0.304483,0.015923],[-0.299837,-0.925814,-0.230142],[-0.055332,-0.223958,0.973027]]
2025-10-26T19:48:51.086Z,1761508131.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952178,0.305220,0.014061],[-0.300235,-0.926103,-0.228457],[-0.056707,-0.221753,0.973453]]
2025-10-26T19:48:51.493Z,1761508131.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952397,0.304597,0.012646],[-0.299327,-0.926444,-0.228264],[-0.057813,-0.221183,0.973517]]
2025-10-26T19:48:51.894Z,1761508131.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952760,0.303504,0.011587],[-0.298051,-0.926940,-0.227920],[-0.058434,-0.220606,0.973611]]
2025-10-26T19:48:52.298Z,1761508132.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953081,0.302521,0.010868],[-0.296876,-0.927070,-0.228923],[-0.059178,-0.221409,0.973384]]
2025-10-26T19:48:52.706Z,1761508132.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953433,0.301422,0.010471],[-0.295621,-0.927077,-0.230514],[-0.059775,-0.222875,0.973013]]
2025-10-26T19:48:53.107Z,1761508133.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953738,0.300466,0.010200],[-0.294494,-0.926880,-0.232739],[-0.060476,-0.224976,0.972486]]
2025-10-26T19:48:53.516Z,1761508133.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953876,0.300007,0.010805],[-0.293949,-0.926098,-0.236508],[-0.060948,-0.228775,0.971569]]
2025-10-26T19:48:53.914Z,1761508133.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953716,0.300515,0.010772],[-0.294248,-0.925246,-0.239453],[-0.061992,-0.231540,0.970848]]
2025-10-26T19:48:54.318Z,1761508134.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953430,0.301420,0.010867],[-0.294956,-0.924243,-0.242439],[-0.063032,-0.234354,0.970106]]
2025-10-26T19:48:54.528Z,1761508134.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:48:54.729Z,1761508134.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952957,0.302892,0.011418],[-0.296325,-0.923051,-0.245294],[-0.063758,-0.237138,0.969382]]
2025-10-26T19:48:55.127Z,1761508135.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952406,0.304593,0.012082],[-0.297959,-0.921830,-0.247892],[-0.064368,-0.239694,0.968712]]
2025-10-26T19:48:55.530Z,1761508135.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951841,0.306312,0.013064],[-0.299672,-0.920515,-0.250698],[-0.064766,-0.242539,0.967977]]
2025-10-26T19:48:55.532Z,1761508135.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:48:55.940Z,1761508135.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951258,0.308067,0.014266],[-0.301531,-0.919377,-0.252638],[-0.064713,-0.244625,0.967456]]
2025-10-26T19:48:56.338Z,1761508136.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950574,0.310114,0.015462],[-0.303756,-0.918452,-0.253333],[-0.064361,-0.245509,0.967255]]
2025-10-26T19:48:56.744Z,1761508136.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949712,0.312693,0.016456],[-0.306531,-0.917693,-0.252743],[-0.063929,-0.245077,0.967394]]
2025-10-26T19:48:57.146Z,1761508137.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948900,0.315099,0.017353],[-0.309241,-0.917483,-0.250191],[-0.062914,-0.242772,0.968041]]
2025-10-26T19:48:57.551Z,1761508137.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948471,0.316337,0.018269],[-0.310861,-0.917782,-0.247065],[-0.061389,-0.240013,0.968827]]
2025-10-26T19:48:57.959Z,1761508137.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948644,0.315834,0.017968],[-0.310663,-0.919383,-0.241294],[-0.059689,-0.234484,0.970286]]
2025-10-26T19:48:58.359Z,1761508138.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949664,0.312813,0.016922],[-0.307864,-0.921919,-0.235127],[-0.057950,-0.228501,0.971817]]
2025-10-26T19:48:58.516Z,1761508138.516 [DAT](INFO): DAT read: 

2025-10-26T19:48:58.517Z,1761508138.517 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:48:58.788Z,1761508138.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951136,0.308370,0.015755],[-0.303585,-0.924627,-0.230002],[-0.056358,-0.223547,0.973063]]
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateRudder:A] Stopped
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:48:58.869Z,1761508138.869 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateCommandMode] Stopped
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:48:58.870Z,1761508138.870 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:48:58.871Z,1761508138.871 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:48:58.871Z,1761508138.871 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:48:58.871Z,1761508138.871 [marl:UpdateSpeed] Stopped
2025-10-26T19:48:58.871Z,1761508138.871 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:48:59.166Z,1761508139.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952996,0.302641,0.014370],[-0.297957,-0.927536,-0.225609],[-0.054950,-0.219286,0.974112]]
2025-10-26T19:48:59.225Z,1761508139.225 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:48:59.225Z,1761508139.225 [marl:UpdateRudder:B] Stopped
2025-10-26T19:48:59.225Z,1761508139.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:48:59.225Z,1761508139.225 [marl:UpdateRudder] Stopped
2025-10-26T19:48:59.225Z,1761508139.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:48:59.574Z,1761508139.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954897,0.296620,0.013731],[-0.292097,-0.930010,-0.223068],[-0.053396,-0.217018,0.974706]]
2025-10-26T19:48:59.980Z,1761508139.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956611,0.291037,0.013888],[-0.286703,-0.931727,-0.222902],[-0.051933,-0.217212,0.974742]]
2025-10-26T19:49:00.030Z,1761508140.030 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:49:00.031Z,1761508140.031 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:49:00.032Z,1761508140.032 [DAT](INFO): DAT read: Oct 26 2025 19:48:54 

2025-10-26T19:49:00.382Z,1761508140.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957916,0.286677,0.014613],[-0.282511,-0.932533,-0.224878],[-0.050841,-0.219543,0.974277]]
2025-10-26T19:49:00.831Z,1761508140.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958692,0.283959,0.016625],[-0.280062,-0.932081,-0.229761],[-0.049747,-0.224926,0.973105]]
2025-10-26T19:49:01.037Z,1761508141.037 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:49:01.038Z,1761508141.038 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:49:01.038Z,1761508141.038 [DAT](INFO): commRate: 600
2025-10-26T19:49:01.192Z,1761508141.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958934,0.283001,0.018848],[-0.279444,-0.931325,-0.233548],[-0.048540,-0.229225,0.972162]]
2025-10-26T19:49:01.595Z,1761508141.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958837,0.283161,0.021251],[-0.279971,-0.930228,-0.237260],[-0.047415,-0.233444,0.971214]]
2025-10-26T19:49:01.998Z,1761508141.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958299,0.284749,0.024109],[-0.281987,-0.928567,-0.241343],[-0.046335,-0.238077,0.970140]]
2025-10-26T19:49:02.402Z,1761508142.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957438,0.287416,0.026535],[-0.285012,-0.926878,-0.244263],[-0.045610,-0.241430,0.969346]]
2025-10-26T19:49:02.834Z,1761508142.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956405,0.290637,0.028650],[-0.288571,-0.925379,-0.245764],[-0.044916,-0.243317,0.968906]]
2025-10-26T19:49:03.104Z,1761508143.104 [DAT](INFO): entering command mode
2025-10-26T19:49:03.211Z,1761508143.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955497,0.293421,0.030477],[-0.291721,-0.924463,-0.245495],[-0.043859,-0.243460,0.968919]]
2025-10-26T19:49:03.304Z,1761508143.304 [DAT](INFO): DAT read: 

2025-10-26T19:49:03.305Z,1761508143.305 [DAT](INFO): DAT read: user:1>

2025-10-26T19:49:03.305Z,1761508143.305 [DAT](INFO): setting verbose to 3
2025-10-26T19:49:03.556Z,1761508143.556 [DAT](INFO): DAT read: user:1>

2025-10-26T19:49:03.557Z,1761508143.557 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:49:03.557Z,1761508143.557 [DAT](INFO): set verbose to 3
2025-10-26T19:49:03.558Z,1761508143.558 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:49:03.621Z,1761508143.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954983,0.294976,0.031564],[-0.293600,-0.924526,-0.243004],[-0.042499,-0.241332,0.969512]]
2025-10-26T19:49:03.808Z,1761508143.808 [DAT](INFO): DAT read: user:2>

2025-10-26T19:49:03.809Z,1761508143.809 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:49:03.809Z,1761508143.809 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:49:03.810Z,1761508143.810 [DAT](INFO): setting transmit power to 8
2025-10-26T19:49:04.018Z,1761508144.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954864,0.295294,0.032199],[-0.294212,-0.925248,-0.239490],[-0.040928,-0.238153,0.970365]]
2025-10-26T19:49:04.060Z,1761508144.060 [DAT](INFO): DAT read: user:3>

2025-10-26T19:49:04.061Z,1761508144.061 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:49:04.061Z,1761508144.061 [DAT](INFO): set transmit power to 8
2025-10-26T19:49:04.062Z,1761508144.062 [DAT](INFO): setting local address to 11
2025-10-26T19:49:04.312Z,1761508144.312 [DAT](INFO): DAT read: user:4>

2025-10-26T19:49:04.313Z,1761508144.313 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:49:04.313Z,1761508144.313 [DAT](INFO): set local address to 11
2025-10-26T19:49:04.314Z,1761508144.314 [DAT](INFO): Setting time to: 19:49:4 And date to:10/26/2025
2025-10-26T19:49:04.429Z,1761508144.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954981,0.294884,0.032472],[-0.294078,-0.926537,-0.234622],[-0.039100,-0.233609,0.971544]]
2025-10-26T19:49:04.569Z,1761508144.569 [DAT](INFO): DAT read: user:5>

2025-10-26T19:49:04.570Z,1761508144.570 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:49:04  

2025-10-26T19:49:04.570Z,1761508144.570 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:49:04  

2025-10-26T19:49:04.571Z,1761508144.571 [DAT](INFO): setting remote address to 6
2025-10-26T19:49:04.572Z,1761508144.572 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:49:04.572Z,1761508144.572 [DAT](INFO): setting remote address to 0
2025-10-26T19:49:04.818Z,1761508144.818 [DAT](INFO): DAT read: user:6>

2025-10-26T19:49:04.822Z,1761508144.822 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:49:04.824Z,1761508144.824 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:49:04.825Z,1761508144.825 [DAT] Communications Fault, FailCount= 2
2025-10-26T19:49:04.825Z,1761508144.825 [DAT](ERROR): Communications Fault
2025-10-26T19:49:04.828Z,1761508144.828 [DAT](INFO): DAT read: user:7>

2025-10-26T19:49:04.831Z,1761508144.831 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:49:04.847Z,1761508144.847 [DAT](INFO): set remote address to 0
2025-10-26T19:49:04.848Z,1761508144.848 [DAT](INFO): setting remote address to 6
2025-10-26T19:49:04.848Z,1761508144.848 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:49:04.848Z,1761508144.848 [DAT](INFO): setting remote address to 0
2025-10-26T19:49:04.859Z,1761508144.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955242,0.293931,0.033417],[-0.293508,-0.927585,-0.231170],[-0.036951,-0.230632,0.972339]]
2025-10-26T19:49:05.083Z,1761508145.083 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:49:05.231Z,1761508145.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955667,0.292481,0.034001],[-0.292373,-0.928876,-0.227392],[-0.034925,-0.227252,0.973210]]
2025-10-26T19:49:05.252Z,1761508145.252 [DAT](INFO): Powering down
2025-10-26T19:49:05.635Z,1761508145.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956080,0.290969,0.035327],[-0.291293,-0.929854,-0.224765],[-0.032550,-0.225184,0.973772]]
2025-10-26T19:49:06.038Z,1761508146.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956413,0.289699,0.036709],[-0.290441,-0.930674,-0.222461],[-0.030283,-0.223426,0.974250]]
2025-10-26T19:49:06.442Z,1761508146.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956703,0.288528,0.038355],[-0.289685,-0.931041,-0.221911],[-0.028317,-0.223414,0.974312]]
2025-10-26T19:49:06.511Z,1761508146.511 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:49:06.511Z,1761508146.511 [DAT] No Fault, FailCount= 2
2025-10-26T19:49:06.846Z,1761508146.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956889,0.287639,0.040341],[-0.289237,-0.930944,-0.222901],[-0.026560,-0.224960,0.974006]]
2025-10-26T19:49:07.252Z,1761508147.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956841,0.287462,0.042672],[-0.289558,-0.930535,-0.224190],[-0.024738,-0.226870,0.973611]]
2025-10-26T19:49:07.654Z,1761508147.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956655,0.287790,0.044594],[-0.290273,-0.929914,-0.225835],[-0.023524,-0.228991,0.973144]]
2025-10-26T19:49:08.058Z,1761508148.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956420,0.288360,0.045929],[-0.291123,-0.929552,-0.226230],[-0.022542,-0.229742,0.972990]]
2025-10-26T19:49:08.300Z,1761508148.300 [DAT](INFO): Powering up
2025-10-26T19:49:08.300Z,1761508148.300 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:49:08.463Z,1761508148.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956066,0.289298,0.047380],[-0.292349,-0.928956,-0.227098],[-0.021686,-0.230972,0.972719]]
2025-10-26T19:49:08.867Z,1761508148.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955602,0.290549,0.049051],[-0.293939,-0.928322,-0.227636],[-0.020605,-0.231948,0.972510]]
2025-10-26T19:49:09.270Z,1761508149.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955152,0.291864,0.050000],[-0.295458,-0.928089,-0.226616],[-0.019736,-0.231226,0.972700]]
2025-10-26T19:49:09.674Z,1761508149.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954751,0.292950,0.051284],[-0.296819,-0.927774,-0.226128],[-0.018664,-0.231118,0.972747]]
2025-10-26T19:49:10.079Z,1761508150.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954536,0.293509,0.052093],[-0.297564,-0.927728,-0.225337],[-0.017811,-0.230593,0.972887]]
2025-10-26T19:49:10.483Z,1761508150.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954538,0.293413,0.052593],[-0.297617,-0.928147,-0.223536],[-0.016774,-0.229026,0.973276]]
2025-10-26T19:49:10.894Z,1761508150.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954600,0.293015,0.053669],[-0.297489,-0.928381,-0.222730],[-0.015438,-0.228584,0.973402]]
2025-10-26T19:49:11.290Z,1761508151.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954623,0.292641,0.055283],[-0.297496,-0.928401,-0.222639],[-0.013828,-0.228983,0.973332]]
2025-10-26T19:49:11.696Z,1761508151.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954647,0.292283,0.056736],[-0.297480,-0.928401,-0.222659],[-0.012406,-0.229439,0.973244]]
2025-10-26T19:49:12.101Z,1761508152.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954620,0.292085,0.058192],[-0.297603,-0.927961,-0.224323],[-0.011521,-0.231462,0.972776]]
2025-10-26T19:49:12.129Z,1761508152.129 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:49:12.129Z,1761508152.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:49:12.129Z,1761508152.129 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:49:12.129Z,1761508152.129 [marl:UpdateRudder:A] Stopped
2025-10-26T19:49:12.129Z,1761508152.129 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode] Stopped
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:49:12.130Z,1761508152.130 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:49:12.131Z,1761508152.131 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:49:12.131Z,1761508152.131 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:49:12.131Z,1761508152.131 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:49:12.131Z,1761508152.131 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:49:12.131Z,1761508152.131 [marl:UpdateSpeed] Stopped
2025-10-26T19:49:12.131Z,1761508152.131 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:49:12.502Z,1761508152.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954482,0.292263,0.059549],[-0.298080,-0.927591,-0.225218],[-0.010586,-0.232717,0.972487]]
2025-10-26T19:49:12.543Z,1761508152.543 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:49:12.544Z,1761508152.544 [marl:UpdateRudder:B] Stopped
2025-10-26T19:49:12.544Z,1761508152.544 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:49:12.544Z,1761508152.544 [marl:UpdateRudder] Stopped
2025-10-26T19:49:12.544Z,1761508152.544 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:49:12.911Z,1761508152.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954357,0.292307,0.061319],[-0.298539,-0.927555,-0.224758],[-0.008821,-0.232805,0.972483]]
2025-10-26T19:49:13.310Z,1761508153.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954265,0.292240,0.063038],[-0.298883,-0.927740,-0.223535],[-0.006843,-0.232153,0.972655]]
2025-10-26T19:49:13.722Z,1761508153.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954305,0.291731,0.064777],[-0.298798,-0.928016,-0.222501],[-0.004796,-0.231689,0.972778]]
2025-10-26T19:49:14.119Z,1761508154.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954857,0.289635,0.066034],[-0.297059,-0.929270,-0.219577],[-0.002234,-0.229280,0.973358]]
2025-10-26T19:49:14.522Z,1761508154.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955962,0.285908,0.066283],[-0.293490,-0.931396,-0.215323],[0.000173,-0.225294,0.974291]]
2025-10-26T19:49:14.928Z,1761508154.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957657,0.280291,0.065796],[-0.287900,-0.934187,-0.210734],[0.002399,-0.220753,0.975327]]
2025-10-26T19:49:15.001Z,1761508155.001 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:49:15.330Z,1761508155.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959593,0.273780,0.065011],[-0.281361,-0.937030,-0.206909],[0.004270,-0.216840,0.976198]]
2025-10-26T19:49:15.737Z,1761508155.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961520,0.266908,0.065115],[-0.274666,-0.939203,-0.206049],[0.006160,-0.216005,0.976373]]
2025-10-26T19:49:16.139Z,1761508156.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963210,0.260662,0.065435],[-0.268638,-0.940856,-0.206455],[0.007750,-0.216437,0.976266]]
2025-10-26T19:49:16.543Z,1761508156.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964629,0.255149,0.066255],[-0.263450,-0.941861,-0.208546],[0.009193,-0.218625,0.975766]]
2025-10-26T19:49:16.946Z,1761508156.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965685,0.250834,0.067341],[-0.259509,-0.942275,-0.211599],[0.010378,-0.221813,0.975034]]
2025-10-26T19:49:17.350Z,1761508157.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966254,0.248272,0.068663],[-0.257337,-0.942237,-0.214400],[0.011467,-0.224834,0.974330]]
2025-10-26T19:49:17.754Z,1761508157.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966038,0.248477,0.070916],[-0.258096,-0.941141,-0.218267],[0.012508,-0.229157,0.973309]]
2025-10-26T19:49:18.159Z,1761508158.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965430,0.250272,0.072866],[-0.260337,-0.939772,-0.221478],[0.013048,-0.232791,0.972439]]
2025-10-26T19:49:18.564Z,1761508158.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964566,0.253044,0.074702],[-0.263497,-0.938336,-0.223818],[0.013460,-0.235571,0.971764]]
2025-10-26T19:49:18.966Z,1761508158.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963514,0.256410,0.076772],[-0.267276,-0.937003,-0.224920],[0.014264,-0.237233,0.971348]]
2025-10-26T19:49:19.378Z,1761508159.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962452,0.259819,0.078618],[-0.271025,-0.936012,-0.224560],[0.015242,-0.237436,0.971284]]
2025-10-26T19:49:19.774Z,1761508159.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961420,0.263196,0.079996],[-0.274597,-0.935543,-0.222163],[0.016367,-0.235558,0.971722]]
2025-10-26T19:49:19.904Z,1761508159.904 [DAT](INFO): DAT read: 

2025-10-26T19:49:19.905Z,1761508159.905 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:49:20.181Z,1761508160.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960412,0.266551,0.080994],[-0.278032,-0.935401,-0.218455],[0.017532,-0.232326,0.972480]]
2025-10-26T19:49:20.587Z,1761508160.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959259,0.270236,0.082431],[-0.281886,-0.935106,-0.214747],[0.019050,-0.229234,0.973185]]
2025-10-26T19:49:20.997Z,1761508160.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956868,0.277418,0.086271],[-0.289608,-0.934372,-0.207548],[0.023031,-0.223581,0.974413]]
2025-10-26T19:49:21.170Z,1761508161.170 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:49:21.396Z,1761508161.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955839,0.280295,0.088353],[-0.292767,-0.934392,-0.202973],[0.025664,-0.219877,0.975190]]
2025-10-26T19:49:21.421Z,1761508161.421 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:49:21.422Z,1761508161.422 [DAT](INFO): DAT read: Oct 26 2025 19:49:16 

2025-10-26T19:49:21.800Z,1761508161.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955289,0.281257,0.091195],[-0.294271,-0.934401,-0.200746],[0.028751,-0.218606,0.975389]]
2025-10-26T19:49:22.213Z,1761508162.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955755,0.278908,0.093497],[-0.292446,-0.935190,-0.199738],[0.031729,-0.218244,0.975378]]
2025-10-26T19:49:22.428Z,1761508162.428 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:49:22.430Z,1761508162.430 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:49:22.430Z,1761508162.430 [DAT](INFO): commRate: 600
2025-10-26T19:49:22.602Z,1761508162.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956828,0.274692,0.095003],[-0.288594,-0.936724,-0.198145],[0.034563,-0.217008,0.975558]]
2025-10-26T19:49:23.010Z,1761508163.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958432,0.269015,0.095071],[-0.282967,-0.938911,-0.195895],[0.036565,-0.214654,0.976005]]
2025-10-26T19:49:23.412Z,1761508163.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959976,0.263411,0.095185],[-0.277469,-0.940728,-0.195045],[0.038166,-0.213650,0.976165]]
2025-10-26T19:49:23.814Z,1761508163.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961417,0.257621,0.096481],[-0.272173,-0.941764,-0.197492],[0.039984,-0.216131,0.975545]]
2025-10-26T19:49:24.221Z,1761508164.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962486,0.252910,0.098270],[-0.268135,-0.941997,-0.201852],[0.041520,-0.220630,0.974473]]
2025-10-26T19:49:24.495Z,1761508164.495 [DAT](INFO): entering command mode
2025-10-26T19:49:24.622Z,1761508164.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963000,0.249970,0.100723],[-0.266047,-0.941405,-0.207304],[0.043001,-0.226431,0.973078]]
2025-10-26T19:49:24.696Z,1761508164.696 [DAT](INFO): DAT read: 

2025-10-26T19:49:24.697Z,1761508164.697 [DAT](INFO): DAT read: user:1>

2025-10-26T19:49:24.698Z,1761508164.698 [DAT](INFO): setting verbose to 3
2025-10-26T19:49:24.948Z,1761508164.948 [DAT](INFO): DAT read: user:1>

2025-10-26T19:49:24.949Z,1761508164.949 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:49:24.949Z,1761508164.949 [DAT](INFO): set verbose to 3
2025-10-26T19:49:24.950Z,1761508164.950 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:49:25.030Z,1761508165.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963224,0.248072,0.103243],[-0.264982,-0.940668,-0.211964],[0.044535,-0.231526,0.971809]]
2025-10-26T19:49:25.201Z,1761508165.201 [DAT](INFO): DAT read: user:2>

2025-10-26T19:49:25.202Z,1761508165.202 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:49:25.202Z,1761508165.202 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:49:25.202Z,1761508165.202 [DAT](INFO): setting transmit power to 8
2025-10-26T19:49:25.431Z,1761508165.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962940,0.247968,0.106107],[-0.265811,-0.939182,-0.217445],[0.045735,-0.237591,0.970288]]
2025-10-26T19:49:25.452Z,1761508165.452 [DAT](INFO): DAT read: user:3>

2025-10-26T19:49:25.453Z,1761508165.453 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:49:25.453Z,1761508165.453 [DAT](INFO): set transmit power to 8
2025-10-26T19:49:25.454Z,1761508165.454 [DAT](INFO): setting local address to 11
2025-10-26T19:49:25.505Z,1761508165.505 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:49:25.505Z,1761508165.505 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:49:25.506Z,1761508165.506 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:49:25.506Z,1761508165.506 [marl:UpdateRudder:A] Stopped
2025-10-26T19:49:25.506Z,1761508165.506 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:49:25.506Z,1761508165.506 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:49:25.506Z,1761508165.506 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:49:25.507Z,1761508165.507 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:49:25.507Z,1761508165.507 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:49:25.507Z,1761508165.507 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:49:25.507Z,1761508165.507 [marl:UpdateCommandMode] Stopped
2025-10-26T19:49:25.511Z,1761508165.511 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:49:25.511Z,1761508165.511 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:49:25.512Z,1761508165.512 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:49:25.512Z,1761508165.512 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:49:25.512Z,1761508165.512 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:49:25.512Z,1761508165.512 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:49:25.512Z,1761508165.512 [marl:UpdateSpeed] Stopped
2025-10-26T19:49:25.512Z,1761508165.512 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:49:25.660Z,1761508165.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:49:25.705Z,1761508165.704 [DAT](INFO): DAT read: user:4>

2025-10-26T19:49:25.706Z,1761508165.706 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:49:25.706Z,1761508165.706 [DAT](INFO): set local address to 11
2025-10-26T19:49:25.708Z,1761508165.708 [DAT](INFO): Setting time to: 19:49:25 And date to:10/26/2025
2025-10-26T19:49:25.838Z,1761508165.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962398,0.248971,0.108649],[-0.267604,-0.937678,-0.221694],[0.046682,-0.242433,0.969044]]
2025-10-26T19:49:25.894Z,1761508165.894 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:49:25.894Z,1761508165.894 [marl:UpdateRudder:B] Stopped
2025-10-26T19:49:25.894Z,1761508165.894 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:49:25.894Z,1761508165.894 [marl:UpdateRudder] Stopped
2025-10-26T19:49:25.894Z,1761508165.894 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:49:25.956Z,1761508165.956 [DAT](INFO): DAT read: user:5>

2025-10-26T19:49:25.958Z,1761508165.958 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:49:25  

2025-10-26T19:49:25.958Z,1761508165.958 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:49:25  

2025-10-26T19:49:25.959Z,1761508165.959 [DAT](INFO): setting remote address to 6
2025-10-26T19:49:25.960Z,1761508165.960 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:49:25.961Z,1761508165.961 [DAT](INFO): setting remote address to 0
2025-10-26T19:49:26.208Z,1761508166.208 [DAT](INFO): DAT read: user:6>

2025-10-26T19:49:26.209Z,1761508166.209 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:49:26.210Z,1761508166.210 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:49:26.210Z,1761508166.210 [DAT] Communications Fault, FailCount= 3
2025-10-26T19:49:26.210Z,1761508166.210 [DAT](ERROR): Communications Fault
2025-10-26T19:49:26.211Z,1761508166.211 [DAT](INFO): DAT read: user:7>

2025-10-26T19:49:26.212Z,1761508166.212 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:49:26.212Z,1761508166.212 [DAT](INFO): set remote address to 0
2025-10-26T19:49:26.212Z,1761508166.212 [DAT](INFO): setting remote address to 6
2025-10-26T19:49:26.213Z,1761508166.213 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:49:26.213Z,1761508166.213 [DAT](INFO): setting remote address to 0
2025-10-26T19:49:26.242Z,1761508166.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961678,0.250961,0.110423],[-0.270087,-0.936431,-0.223943],[0.047203,-0.245185,0.968327]]
2025-10-26T19:49:26.583Z,1761508166.583 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:49:26.616Z,1761508166.616 [DAT](INFO): Powering down
2025-10-26T19:49:26.649Z,1761508166.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960917,0.253097,0.112160],[-0.272631,-0.935522,-0.224659],[0.048067,-0.246456,0.967961]]
2025-10-26T19:49:26.664Z,1761508166.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:49:27.046Z,1761508167.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960259,0.255273,0.112867],[-0.274825,-0.935354,-0.222674],[0.048728,-0.244843,0.968337]]
2025-10-26T19:49:27.450Z,1761508167.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959863,0.256693,0.113010],[-0.276098,-0.935661,-0.219793],[0.049319,-0.242173,0.968979]]
2025-10-26T19:49:27.599Z,1761508167.599 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:49:27.599Z,1761508167.599 [DAT] No Fault, FailCount= 3
2025-10-26T19:49:27.860Z,1761508167.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959808,0.257135,0.112472],[-0.276195,-0.936562,-0.215795],[0.049849,-0.238186,0.969939]]
2025-10-26T19:49:28.271Z,1761508168.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959903,0.257256,0.111376],[-0.275806,-0.937771,-0.210991],[0.050167,-0.233249,0.971122]]
2025-10-26T19:49:28.662Z,1761508168.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960170,0.256698,0.110365],[-0.274815,-0.938964,-0.206940],[0.050508,-0.229027,0.972109]]
2025-10-26T19:49:29.066Z,1761508169.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960411,0.255936,0.110035],[-0.273937,-0.939457,-0.205863],[0.050686,-0.227856,0.972375]]
2025-10-26T19:49:29.470Z,1761508169.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960421,0.255969,0.109868],[-0.273875,-0.939714,-0.204770],[0.050829,-0.226756,0.972624]]
2025-10-26T19:49:29.660Z,1761508169.660 [DAT](INFO): Powering up
2025-10-26T19:49:29.661Z,1761508169.661 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:49:29.875Z,1761508169.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960166,0.256671,0.110463],[-0.274739,-0.939290,-0.205557],[0.050996,-0.227717,0.972391]]
2025-10-26T19:49:30.281Z,1761508170.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959581,0.258475,0.111333],[-0.276793,-0.938310,-0.207266],[0.050892,-0.229705,0.971929]]
2025-10-26T19:49:30.683Z,1761508170.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958752,0.261064,0.112426],[-0.279650,-0.937153,-0.208662],[0.050886,-0.231495,0.971504]]
2025-10-26T19:49:31.090Z,1761508171.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957792,0.264117,0.113474],[-0.282956,-0.935835,-0.210116],[0.050698,-0.233356,0.971069]]
2025-10-26T19:49:31.492Z,1761508171.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956747,0.267378,0.114649],[-0.286466,-0.934561,-0.211030],[0.050722,-0.234746,0.970733]]
2025-10-26T19:49:31.894Z,1761508171.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955776,0.270395,0.115666],[-0.289663,-0.933534,-0.211209],[0.050868,-0.235373,0.970573]]
2025-10-26T19:49:32.302Z,1761508172.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955057,0.272842,0.115859],[-0.291995,-0.933255,-0.209225],[0.051041,-0.233652,0.970980]]
2025-10-26T19:49:32.708Z,1761508172.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954738,0.273911,0.115966],[-0.292995,-0.933234,-0.207915],[0.051273,-0.232482,0.971248]]
2025-10-26T19:49:33.108Z,1761508173.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955076,0.272971,0.115395],[-0.291798,-0.934217,-0.205165],[0.051800,-0.229620,0.971901]]
2025-10-26T19:49:33.510Z,1761508173.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956289,0.269261,0.114060],[-0.287683,-0.936217,-0.201833],[0.052439,-0.225824,0.972756]]
2025-10-26T19:49:33.914Z,1761508173.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957969,0.264002,0.112240],[-0.282010,-0.938385,-0.199760],[0.052587,-0.223017,0.973395]]
2025-10-26T19:49:34.331Z,1761508174.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959826,0.257903,0.110542],[-0.275510,-0.940878,-0.197088],[0.053177,-0.219626,0.974134]]
2025-10-26T19:49:34.731Z,1761508174.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961870,0.251068,0.108491],[-0.268360,-0.942930,-0.197143],[0.052803,-0.218741,0.974353]]
2025-10-26T19:49:35.126Z,1761508175.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963960,0.243564,0.107037],[-0.260841,-0.944428,-0.200046],[0.052364,-0.220756,0.973922]]
2025-10-26T19:49:35.530Z,1761508175.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965900,0.236618,0.105114],[-0.253768,-0.945719,-0.203020],[0.051370,-0.222772,0.973516]]
2025-10-26T19:49:35.934Z,1761508175.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967233,0.231675,0.103860],[-0.248876,-0.946070,-0.207394],[0.050211,-0.226446,0.972729]]
2025-10-26T19:49:36.344Z,1761508176.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967642,0.230428,0.102823],[-0.247658,-0.945339,-0.212130],[0.048323,-0.230731,0.971817]]
2025-10-26T19:49:36.743Z,1761508176.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967362,0.231937,0.102063],[-0.249147,-0.944049,-0.216096],[0.046232,-0.234471,0.971023]]
2025-10-26T19:49:37.146Z,1761508177.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966520,0.235723,0.101359],[-0.252794,-0.942483,-0.218680],[0.043982,-0.236981,0.970518]]
2025-10-26T19:49:37.551Z,1761508177.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965439,0.240438,0.100586],[-0.257227,-0.941178,-0.219132],[0.041982,-0.237432,0.970497]]
2025-10-26T19:49:37.956Z,1761508177.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964226,0.245762,0.099348],[-0.262080,-0.940072,-0.218124],[0.039788,-0.236358,0.970851]]
2025-10-26T19:49:38.358Z,1761508178.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963028,0.251174,0.097415],[-0.266773,-0.939499,-0.214879],[0.037549,-0.232922,0.971770]]
2025-10-26T19:49:38.774Z,1761508178.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961741,0.256735,0.095613],[-0.271630,-0.939033,-0.210793],[0.035666,-0.228700,0.972843]]
2025-10-26T19:49:38.862Z,1761508178.862 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:49:38.862Z,1761508178.862 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:49:38.862Z,1761508178.862 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:49:38.862Z,1761508178.862 [marl:UpdateRudder:A] Stopped
2025-10-26T19:49:38.862Z,1761508178.862 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:49:38.862Z,1761508178.862 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:49:38.863Z,1761508178.863 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:49:38.863Z,1761508178.863 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:49:38.863Z,1761508178.863 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:49:38.863Z,1761508178.863 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:49:38.867Z,1761508178.867 [marl:UpdateCommandMode] Stopped
2025-10-26T19:49:38.867Z,1761508178.867 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed] Stopped
2025-10-26T19:49:38.868Z,1761508178.868 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:49:39.166Z,1761508179.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960423,0.262112,0.094265],[-0.276430,-0.938531,-0.206752],[0.034279,-0.224627,0.973842]]
2025-10-26T19:49:39.230Z,1761508179.230 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:49:39.230Z,1761508179.230 [marl:UpdateRudder:B] Stopped
2025-10-26T19:49:39.230Z,1761508179.230 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:49:39.230Z,1761508179.230 [marl:UpdateRudder] Stopped
2025-10-26T19:49:39.230Z,1761508179.230 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:49:39.571Z,1761508179.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959155,0.266948,0.093600],[-0.280901,-0.937876,-0.203674],[0.033415,-0.221647,0.974554]]
2025-10-26T19:49:39.974Z,1761508179.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958218,0.270377,0.093352],[-0.284142,-0.937268,-0.201969],[0.032888,-0.220056,0.974933]]
2025-10-26T19:49:40.831Z,1761508180.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957618,0.272526,0.093264],[-0.286297,-0.936135,-0.204170],[0.031666,-0.222218,0.974483]]
2025-10-26T19:49:41.186Z,1761508181.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957754,0.272225,0.092739],[-0.285980,-0.935575,-0.207159],[0.030371,-0.224929,0.973902]]
2025-10-26T19:49:41.264Z,1761508181.264 [DAT](INFO): DAT read: 

2025-10-26T19:49:41.266Z,1761508181.266 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:49:41.590Z,1761508181.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957927,0.271810,0.092170],[-0.285502,-0.935317,-0.208977],[0.029406,-0.226499,0.973567]]
2025-10-26T19:49:41.994Z,1761508181.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958242,0.270976,0.091343],[-0.284529,-0.935387,-0.209987],[0.028539,-0.227209,0.973428]]
2025-10-26T19:49:42.405Z,1761508182.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958726,0.269640,0.090213],[-0.282989,-0.935689,-0.210722],[0.027592,-0.227554,0.973375]]
2025-10-26T19:49:42.780Z,1761508182.780 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:49:42.784Z,1761508182.784 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:49:42.787Z,1761508182.787 [DAT](INFO): DAT read: Oct 26 2025 19:49:37 

2025-10-26T19:49:42.855Z,1761508182.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959217,0.268381,0.088736],[-0.281441,-0.936009,-0.211374],[0.026329,-0.227728,0.973369]]
2025-10-26T19:49:43.206Z,1761508183.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959816,0.266962,0.086516],[-0.279536,-0.936718,-0.210759],[0.024776,-0.226474,0.973702]]
2025-10-26T19:49:43.610Z,1761508183.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960507,0.265236,0.084117],[-0.277267,-0.937775,-0.209050],[0.023435,-0.224117,0.974280]]
2025-10-26T19:49:43.785Z,1761508183.785 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:49:43.787Z,1761508183.787 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:49:43.788Z,1761508183.788 [DAT](INFO): commRate: 600
2025-10-26T19:49:44.016Z,1761508184.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961297,0.263110,0.081745],[-0.274621,-0.938923,-0.207381],[0.022188,-0.221804,0.974839]]
2025-10-26T19:49:44.419Z,1761508184.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962160,0.260643,0.079457],[-0.271689,-0.939933,-0.206666],[0.020818,-0.220433,0.975180]]
2025-10-26T19:49:44.838Z,1761508184.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963168,0.257798,0.076471],[-0.268190,-0.941628,-0.203498],[0.019546,-0.216511,0.976084]]
2025-10-26T19:49:45.249Z,1761508185.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964209,0.254644,0.073869],[-0.264522,-0.942904,-0.202384],[0.018116,-0.214680,0.976516]]
2025-10-26T19:49:45.304Z,1761508185.304 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:49:45.630Z,1761508185.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965309,0.251181,0.071322],[-0.260569,-0.944253,-0.201223],[0.016802,-0.212827,0.976946]]
2025-10-26T19:49:45.851Z,1761508185.851 [DAT](INFO): entering command mode
2025-10-26T19:49:46.034Z,1761508186.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966430,0.247541,0.068816],[-0.256467,-0.945488,-0.200690],[0.015385,-0.211602,0.977235]]
2025-10-26T19:49:46.057Z,1761508186.057 [DAT](INFO): DAT read: 

2025-10-26T19:49:46.058Z,1761508186.058 [DAT](INFO): DAT read: user:1>

2025-10-26T19:49:46.058Z,1761508186.058 [DAT](INFO): setting verbose to 3
2025-10-26T19:49:46.308Z,1761508186.308 [DAT](INFO): DAT read: user:1>

2025-10-26T19:49:46.309Z,1761508186.309 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:49:46.309Z,1761508186.309 [DAT](INFO): set verbose to 3
2025-10-26T19:49:46.310Z,1761508186.310 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:49:46.438Z,1761508186.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967420,0.244076,0.067269],[-0.252786,-0.945954,-0.203149],[0.014049,-0.213535,0.976834]]
2025-10-26T19:49:46.561Z,1761508186.561 [DAT](INFO): DAT read: user:2>

2025-10-26T19:49:46.562Z,1761508186.562 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:49:46.562Z,1761508186.562 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:49:46.562Z,1761508186.562 [DAT](INFO): setting transmit power to 8
2025-10-26T19:49:46.814Z,1761508186.814 [DAT](INFO): DAT read: user:3>

2025-10-26T19:49:46.817Z,1761508186.817 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:49:46.818Z,1761508186.818 [DAT](INFO): set transmit power to 8
2025-10-26T19:49:46.820Z,1761508186.820 [DAT](INFO): setting local address to 11
2025-10-26T19:49:46.858Z,1761508186.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968522,0.240149,0.065527],[-0.248609,-0.946493,-0.205780],[0.012603,-0.215593,0.976402]]
2025-10-26T19:49:47.016Z,1761508187.016 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:49:47.016Z,1761508187.016 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:49:47.064Z,1761508187.064 [DAT](INFO): DAT read: user:4>

2025-10-26T19:49:47.065Z,1761508187.065 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:49:47.065Z,1761508187.065 [DAT](INFO): set local address to 11
2025-10-26T19:49:47.066Z,1761508187.066 [DAT](INFO): Setting time to: 19:49:47 And date to:10/26/2025
2025-10-26T19:49:47.246Z,1761508187.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969306,0.237250,0.064482],[-0.245598,-0.946411,-0.209734],[0.011267,-0.219133,0.975630]]
2025-10-26T19:49:47.316Z,1761508187.316 [DAT](INFO): DAT read: user:5>

2025-10-26T19:49:47.317Z,1761508187.317 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:49:47  

2025-10-26T19:49:47.317Z,1761508187.317 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:49:47  

2025-10-26T19:49:47.318Z,1761508187.318 [DAT](INFO): setting remote address to 6
2025-10-26T19:49:47.318Z,1761508187.318 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:49:47.319Z,1761508187.319 [DAT](INFO): setting remote address to 0
2025-10-26T19:49:47.568Z,1761508187.568 [DAT](INFO): DAT read: user:6>

2025-10-26T19:49:47.569Z,1761508187.569 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:49:47.570Z,1761508187.570 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:49:47.570Z,1761508187.570 [DAT] Communications Fault, FailCount= 4
2025-10-26T19:49:47.570Z,1761508187.570 [DAT](ERROR): Communications Fault
2025-10-26T19:49:47.571Z,1761508187.571 [DAT](INFO): DAT read: user:7>

2025-10-26T19:49:47.572Z,1761508187.572 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:49:47.572Z,1761508187.572 [DAT](INFO): set remote address to 0
2025-10-26T19:49:47.572Z,1761508187.572 [DAT](INFO): setting remote address to 6
2025-10-26T19:49:47.573Z,1761508187.573 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:49:47.573Z,1761508187.573 [DAT](INFO): setting remote address to 0
2025-10-26T19:49:47.684Z,1761508187.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970063,0.234495,0.063162],[-0.242650,-0.946516,-0.212670],[0.009914,-0.221630,0.975080]]
2025-10-26T19:49:47.843Z,1761508187.843 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:49:47.976Z,1761508187.976 [DAT](INFO): Powering down
2025-10-26T19:49:48.056Z,1761508188.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970715,0.232123,0.061904],[-0.240078,-0.946655,-0.214959],[0.008705,-0.223526,0.974659]]
2025-10-26T19:49:48.463Z,1761508188.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971241,0.230141,0.061043],[-0.237984,-0.946294,-0.218842],[0.007400,-0.227076,0.973849]]
2025-10-26T19:49:48.863Z,1761508188.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971553,0.229004,0.060342],[-0.236738,-0.945897,-0.221888],[0.006265,-0.229861,0.973203]]
2025-10-26T19:49:49.020Z,1761508189.020 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:49:49.020Z,1761508189.020 [DAT] No Fault, FailCount= 4
2025-10-26T19:49:49.273Z,1761508189.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971676,0.228716,0.059447],[-0.236260,-0.945654,-0.223427],[0.005115,-0.231143,0.972906]]
2025-10-26T19:49:49.671Z,1761508189.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971599,0.229255,0.058636],[-0.236603,-0.945236,-0.224828],[0.003882,-0.232316,0.972633]]
2025-10-26T19:49:50.076Z,1761508190.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971632,0.229411,0.057463],[-0.236486,-0.944978,-0.226034],[0.002446,-0.233212,0.972423]]
2025-10-26T19:49:50.882Z,1761508190.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970952,0.232788,0.055334],[-0.239274,-0.944332,-0.225801],[-0.000310,-0.232482,0.972601]]
2025-10-26T19:49:51.029Z,1761508191.029 [DAT](INFO): Powering up
2025-10-26T19:49:51.029Z,1761508191.029 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:49:51.292Z,1761508191.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970288,0.235827,0.054094],[-0.241946,-0.944226,-0.223380],[-0.001602,-0.229830,0.973229]]
2025-10-26T19:49:51.692Z,1761508191.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969539,0.239158,0.052885],[-0.244919,-0.944086,-0.220717],[-0.002859,-0.226947,0.973903]]
2025-10-26T19:49:52.094Z,1761508192.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968812,0.242346,0.051686],[-0.247761,-0.943822,-0.218666],[-0.004210,-0.224652,0.974430]]
2025-10-26T19:49:52.142Z,1761508192.142 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:49:52.142Z,1761508192.142 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:49:52.142Z,1761508192.142 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:49:52.142Z,1761508192.142 [marl:UpdateRudder:A] Stopped
2025-10-26T19:49:52.143Z,1761508192.143 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:49:52.143Z,1761508192.143 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:49:52.143Z,1761508192.143 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:49:52.143Z,1761508192.143 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:49:52.147Z,1761508192.147 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:49:52.147Z,1761508192.147 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateCommandMode] Stopped
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:49:52.148Z,1761508192.148 [marl:UpdateSpeed] Stopped
2025-10-26T19:49:52.149Z,1761508192.149 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:49:52.498Z,1761508192.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968150,0.245152,0.050848],[-0.250314,-0.943496,-0.217158],[-0.005262,-0.222969,0.974811]]
2025-10-26T19:49:52.551Z,1761508192.551 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:49:52.551Z,1761508192.551 [marl:UpdateRudder:B] Stopped
2025-10-26T19:49:52.551Z,1761508192.551 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:49:52.551Z,1761508192.551 [marl:UpdateRudder] Stopped
2025-10-26T19:49:52.551Z,1761508192.551 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:49:52.903Z,1761508192.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967603,0.247454,0.050109],[-0.252396,-0.943014,-0.216844],[-0.006406,-0.222466,0.974919]]
2025-10-26T19:49:53.307Z,1761508193.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967002,0.249784,0.050162],[-0.254667,-0.942071,-0.218282],[-0.007268,-0.223854,0.974596]]
2025-10-26T19:49:53.715Z,1761508193.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966361,0.252221,0.050312],[-0.257070,-0.941274,-0.218903],[-0.007854,-0.224473,0.974449]]
2025-10-26T19:49:54.114Z,1761508194.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965874,0.254116,0.050120],[-0.258885,-0.941103,-0.217494],[-0.008100,-0.223047,0.974774]]
2025-10-26T19:49:54.525Z,1761508194.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965586,0.255198,0.050180],[-0.259955,-0.940880,-0.217184],[-0.008212,-0.222754,0.974840]]
2025-10-26T19:49:54.928Z,1761508194.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965363,0.255894,0.050917],[-0.260786,-0.940332,-0.218554],[-0.008048,-0.224262,0.974496]]
2025-10-26T19:49:55.330Z,1761508195.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965385,0.255717,0.051389],[-0.260711,-0.940104,-0.219620],[-0.007849,-0.225416,0.974231]]
2025-10-26T19:49:55.740Z,1761508195.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965605,0.254999,0.050825],[-0.259887,-0.940388,-0.219384],[-0.008147,-0.225047,0.974314]]
2025-10-26T19:49:56.143Z,1761508196.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965893,0.254063,0.050037],[-0.258796,-0.940636,-0.219609],[-0.008728,-0.225068,0.974304]]
2025-10-26T19:49:56.544Z,1761508196.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966392,0.252408,0.048747],[-0.256901,-0.941311,-0.218942],[-0.009377,-0.224107,0.974519]]
2025-10-26T19:49:56.801Z,1761508196.801 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:49:56.946Z,1761508196.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966878,0.250660,0.048125],[-0.255051,-0.941632,-0.219724],[-0.009760,-0.224721,0.974374]]
2025-10-26T19:49:57.350Z,1761508197.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967508,0.248421,0.047071],[-0.252633,-0.942252,-0.219859],[-0.010265,-0.224607,0.974395]]
2025-10-26T19:49:57.761Z,1761508197.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968430,0.245175,0.045074],[-0.249051,-0.943764,-0.217445],[-0.010773,-0.221806,0.975031]]
2025-10-26T19:49:57.804Z,1761508197.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:49:58.163Z,1761508198.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969724,0.240455,0.042631],[-0.243943,-0.945726,-0.214698],[-0.011308,-0.218597,0.975750]]
2025-10-26T19:49:58.562Z,1761508198.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971096,0.235248,0.040393],[-0.238397,-0.947531,-0.212961],[-0.011825,-0.216435,0.976225]]
2025-10-26T19:49:58.966Z,1761508198.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972736,0.228713,0.038398],[-0.231599,-0.949391,-0.212174],[-0.012072,-0.215282,0.976477]]
2025-10-26T19:49:59.370Z,1761508199.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974504,0.221378,0.036529],[-0.224023,-0.950945,-0.213349],[-0.012494,-0.216093,0.976293]]
2025-10-26T19:49:59.776Z,1761508199.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976107,0.214492,0.034771],[-0.216905,-0.952259,-0.214839],[-0.012970,-0.217248,0.976030]]
2025-10-26T19:50:00.178Z,1761508200.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977515,0.208258,0.033056],[-0.210419,-0.953192,-0.217138],[-0.013712,-0.219211,0.975581]]
2025-10-26T19:50:00.987Z,1761508200.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979005,0.201503,0.030748],[-0.203208,-0.953000,-0.224715],[-0.015977,-0.226246,0.973939]]
2025-10-26T19:50:01.392Z,1761508201.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979116,0.201148,0.029530],[-0.202535,-0.952444,-0.227664],[-0.017669,-0.228890,0.973292]]
2025-10-26T19:50:01.794Z,1761508201.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978897,0.202351,0.028541],[-0.203438,-0.951750,-0.229749],[-0.019326,-0.230707,0.972831]]
2025-10-26T19:50:02.198Z,1761508202.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978344,0.205069,0.028095],[-0.205932,-0.950699,-0.231868],[-0.020839,-0.232632,0.972341]]
2025-10-26T19:50:02.605Z,1761508202.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977508,0.209093,0.027519],[-0.209708,-0.949855,-0.231942],[-0.022359,-0.232497,0.972340]]
2025-10-26T19:50:02.620Z,1761508202.620 [DAT](INFO): DAT read: 

2025-10-26T19:50:02.621Z,1761508202.621 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:50:03.008Z,1761508203.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976537,0.213691,0.026676],[-0.214020,-0.949291,-0.230308],[-0.023891,-0.230614,0.972752]]
2025-10-26T19:50:03.410Z,1761508203.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975569,0.218113,0.026286],[-0.218301,-0.948992,-0.227505],[-0.024677,-0.227685,0.973422]]
2025-10-26T19:50:03.814Z,1761508203.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974740,0.221837,0.025905],[-0.221917,-0.948887,-0.224426],[-0.025205,-0.224506,0.974147]]
2025-10-26T19:50:04.132Z,1761508204.132 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:50:04.134Z,1761508204.134 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:50:04.134Z,1761508204.134 [DAT](INFO): DAT read: Oct 26 2025 19:49:59 

2025-10-26T19:50:04.225Z,1761508204.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974094,0.224612,0.026255],[-0.224728,-0.948499,-0.223264],[-0.025245,-0.223380,0.974404]]
2025-10-26T19:50:04.624Z,1761508204.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973665,0.226435,0.026513],[-0.226618,-0.948565,-0.221064],[-0.024907,-0.221251,0.974899]]
2025-10-26T19:50:05.026Z,1761508205.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973580,0.226774,0.026748],[-0.227056,-0.948978,-0.218829],[-0.024241,-0.219121,0.975397]]
2025-10-26T19:50:05.141Z,1761508205.141 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:50:05.142Z,1761508205.142 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:50:05.142Z,1761508205.142 [DAT](INFO): commRate: 600
2025-10-26T19:50:05.435Z,1761508205.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973682,0.226308,0.026988],[-0.226627,-0.948828,-0.219922],[-0.024163,-0.220250,0.975144]]
2025-10-26T19:50:05.485Z,1761508205.485 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:50:05.485Z,1761508205.485 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:50:05.485Z,1761508205.485 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:50:05.486Z,1761508205.486 [marl:UpdateRudder:A] Stopped
2025-10-26T19:50:05.486Z,1761508205.486 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:50:05.486Z,1761508205.486 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:50:05.486Z,1761508205.486 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:50:05.486Z,1761508205.486 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:50:05.486Z,1761508205.486 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateCommandMode] Stopped
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:50:05.487Z,1761508205.487 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:50:05.488Z,1761508205.488 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:50:05.488Z,1761508205.488 [marl:UpdateSpeed] Stopped
2025-10-26T19:50:05.488Z,1761508205.488 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:50:05.841Z,1761508205.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974862,0.221358,0.025401],[-0.221481,-0.950296,-0.218823],[-0.024300,-0.218948,0.975434]]
2025-10-26T19:50:05.880Z,1761508205.880 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:50:05.880Z,1761508205.880 [marl:UpdateRudder:B] Stopped
2025-10-26T19:50:05.881Z,1761508205.881 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:50:05.881Z,1761508205.881 [marl:UpdateRudder] Stopped
2025-10-26T19:50:05.881Z,1761508205.881 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:50:06.246Z,1761508206.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975808,0.217325,0.023831],[-0.217235,-0.951534,-0.217698],[-0.024635,-0.217608,0.975725]]
2025-10-26T19:50:06.646Z,1761508206.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976710,0.213388,0.022426],[-0.213108,-0.952617,-0.217041],[-0.024951,-0.216765,0.975905]]
2025-10-26T19:50:07.050Z,1761508207.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977433,0.210187,0.021138],[-0.209693,-0.953255,-0.217563],[-0.025579,-0.217086,0.975817]]
2025-10-26T19:50:07.208Z,1761508207.208 [DAT](INFO): entering command mode
2025-10-26T19:50:07.408Z,1761508207.408 [DAT](INFO): DAT read: 

2025-10-26T19:50:07.408Z,1761508207.408 [DAT](INFO): DAT read: user:1>

2025-10-26T19:50:07.409Z,1761508207.409 [DAT](INFO): setting verbose to 3
2025-10-26T19:50:07.470Z,1761508207.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978108,0.207197,0.019321],[-0.206384,-0.953987,-0.217517],[-0.026637,-0.216743,0.975865]]
2025-10-26T19:50:07.660Z,1761508207.660 [DAT](INFO): DAT read: user:1>

2025-10-26T19:50:07.661Z,1761508207.661 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:50:07.661Z,1761508207.661 [DAT](INFO): set verbose to 3
2025-10-26T19:50:07.662Z,1761508207.662 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:50:07.857Z,1761508207.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978483,0.205516,0.018270],[-0.204427,-0.953682,-0.220682],[-0.027930,-0.219668,0.975175]]
2025-10-26T19:50:07.912Z,1761508207.912 [DAT](INFO): DAT read: user:2>

2025-10-26T19:50:07.913Z,1761508207.913 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:50:07.913Z,1761508207.913 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:50:07.914Z,1761508207.914 [DAT](INFO): setting transmit power to 8
2025-10-26T19:50:08.164Z,1761508208.164 [DAT](INFO): DAT read: user:3>

2025-10-26T19:50:08.165Z,1761508208.165 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:50:08.165Z,1761508208.165 [DAT](INFO): set transmit power to 8
2025-10-26T19:50:08.166Z,1761508208.166 [DAT](INFO): setting local address to 11
2025-10-26T19:50:08.258Z,1761508208.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978636,0.204870,0.017303],[-0.203543,-0.953541,-0.222103],[-0.029003,-0.220880,0.974870]]
2025-10-26T19:50:08.416Z,1761508208.416 [DAT](INFO): DAT read: user:4>

2025-10-26T19:50:08.417Z,1761508208.417 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:50:08.418Z,1761508208.418 [DAT](INFO): set local address to 11
2025-10-26T19:50:08.418Z,1761508208.418 [DAT](INFO): Setting time to: 19:50:8 And date to:10/26/2025
2025-10-26T19:50:08.663Z,1761508208.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978514,0.205484,0.016964],[-0.204022,-0.953101,-0.223547],[-0.029767,-0.222205,0.974545]]
2025-10-26T19:50:08.668Z,1761508208.668 [DAT](INFO): DAT read: user:5>

2025-10-26T19:50:08.669Z,1761508208.669 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:50:08  

2025-10-26T19:50:08.669Z,1761508208.669 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:50:08  

2025-10-26T19:50:08.670Z,1761508208.670 [DAT](INFO): setting remote address to 6
2025-10-26T19:50:08.670Z,1761508208.670 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:50:08.670Z,1761508208.670 [DAT](INFO): setting remote address to 0
2025-10-26T19:50:08.920Z,1761508208.920 [DAT](INFO): DAT read: user:6>

2025-10-26T19:50:08.921Z,1761508208.921 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:50:08.922Z,1761508208.922 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:50:08.922Z,1761508208.922 [DAT] Communications Fault, FailCount= 5
2025-10-26T19:50:08.922Z,1761508208.922 [DAT](ERROR): Communications Fault
2025-10-26T19:50:08.923Z,1761508208.923 [DAT](INFO): DAT read: user:7>

2025-10-26T19:50:08.924Z,1761508208.924 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:50:08.924Z,1761508208.924 [DAT](INFO): set remote address to 0
2025-10-26T19:50:08.924Z,1761508208.924 [DAT](INFO): setting remote address to 6
2025-10-26T19:50:08.925Z,1761508208.925 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:50:08.925Z,1761508208.925 [DAT](INFO): setting remote address to 0
2025-10-26T19:50:09.066Z,1761508209.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978137,0.207247,0.017244],[-0.205732,-0.952192,-0.225842],[-0.030385,-0.224452,0.974011]]
2025-10-26T19:50:09.227Z,1761508209.227 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:50:09.328Z,1761508209.328 [DAT](INFO): Powering down
2025-10-26T19:50:09.472Z,1761508209.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977578,0.209811,0.017905],[-0.208314,-0.951160,-0.227817],[-0.030768,-0.226438,0.973539]]
2025-10-26T19:50:09.874Z,1761508209.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976887,0.212932,0.018730],[-0.211503,-0.950194,-0.228906],[-0.030944,-0.227577,0.973268]]
2025-10-26T19:50:10.427Z,1761508210.427 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:50:10.427Z,1761508210.427 [DAT] No Fault, FailCount= 5
2025-10-26T19:50:10.685Z,1761508210.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975384,0.219488,0.021228],[-0.218397,-0.948239,-0.230533],[-0.030470,-0.229494,0.972833]]
2025-10-26T19:50:11.086Z,1761508211.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974718,0.222321,0.022320],[-0.221436,-0.947810,-0.229396],[-0.029845,-0.228539,0.973077]]
2025-10-26T19:50:11.490Z,1761508211.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974236,0.224361,0.022948],[-0.223630,-0.947821,-0.227211],[-0.029226,-0.226489,0.973575]]
2025-10-26T19:50:11.894Z,1761508211.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974024,0.225201,0.023681],[-0.224653,-0.947909,-0.225829],[-0.028410,-0.225283,0.973879]]
2025-10-26T19:50:12.299Z,1761508212.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974257,0.224157,0.024006],[-0.223710,-0.948127,-0.225852],[-0.027865,-0.225408,0.973866]]
2025-10-26T19:50:12.376Z,1761508212.376 [DAT](INFO): Powering up
2025-10-26T19:50:12.376Z,1761508212.376 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:50:12.714Z,1761508212.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974695,0.222238,0.024089],[-0.221864,-0.948590,-0.225728],[-0.027314,-0.225361,0.973892]]
2025-10-26T19:50:13.106Z,1761508213.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975101,0.220422,0.024337],[-0.220164,-0.949078,-0.225342],[-0.026572,-0.225089,0.973976]]
2025-10-26T19:50:13.511Z,1761508213.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975713,0.217723,0.024115],[-0.217528,-0.950056,-0.223775],[-0.025810,-0.223586,0.974342]]
2025-10-26T19:50:13.916Z,1761508213.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976289,0.215137,0.024003],[-0.214983,-0.950612,-0.223873],[-0.025346,-0.223725,0.974323]]
2025-10-26T19:50:14.318Z,1761508214.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976858,0.212517,0.024179],[-0.212456,-0.951031,-0.224507],[-0.024717,-0.224448,0.974172]]
2025-10-26T19:50:14.728Z,1761508214.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977337,0.210257,0.024596],[-0.210331,-0.951336,-0.225214],[-0.023954,-0.225283,0.973999]]
2025-10-26T19:50:15.127Z,1761508215.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977804,0.207937,0.025713],[-0.208283,-0.951360,-0.227007],[-0.022741,-0.227324,0.973554]]
2025-10-26T19:50:15.532Z,1761508215.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978103,0.206376,0.026894],[-0.206984,-0.951116,-0.229208],[-0.021724,-0.229756,0.973006]]
2025-10-26T19:50:15.561Z,1761508215.561 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:50:15.934Z,1761508215.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978491,0.204389,0.027947],[-0.205267,-0.951181,-0.230477],[-0.020524,-0.231257,0.972676]]
2025-10-26T19:50:16.338Z,1761508216.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978714,0.203079,0.029629],[-0.204332,-0.950745,-0.233094],[-0.019167,-0.234187,0.972003]]
2025-10-26T19:50:16.743Z,1761508216.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979061,0.201353,0.029939],[-0.202722,-0.951015,-0.233399],[-0.018523,-0.234581,0.971920]]
2025-10-26T19:50:17.147Z,1761508217.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979384,0.199668,0.030661],[-0.201241,-0.951142,-0.234159],[-0.017591,-0.235502,0.971715]]
2025-10-26T19:50:17.550Z,1761508217.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979672,0.198131,0.031399],[-0.199925,-0.951454,-0.234021],[-0.016492,-0.235541,0.971724]]
2025-10-26T19:50:17.954Z,1761508217.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980070,0.196187,0.031219],[-0.198004,-0.952004,-0.233415],[-0.016073,-0.234944,0.971876]]
2025-10-26T19:50:18.358Z,1761508218.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980406,0.194510,0.031143],[-0.196363,-0.952430,-0.233062],[-0.015671,-0.234611,0.971963]]
2025-10-26T19:50:18.836Z,1761508218.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980687,0.192997,0.031694],[-0.195008,-0.952470,-0.234035],[-0.014981,-0.235696,0.971711]]
2025-10-26T19:50:18.891Z,1761508218.891 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:50:18.891Z,1761508218.891 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:50:18.891Z,1761508218.891 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:50:18.891Z,1761508218.891 [marl:UpdateRudder:A] Stopped
2025-10-26T19:50:18.891Z,1761508218.891 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode] Stopped
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:50:18.892Z,1761508218.892 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:50:18.893Z,1761508218.893 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:50:18.893Z,1761508218.893 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:50:18.893Z,1761508218.893 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:50:18.893Z,1761508218.893 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:50:18.893Z,1761508218.893 [marl:UpdateSpeed] Stopped
2025-10-26T19:50:18.893Z,1761508218.893 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:50:19.182Z,1761508219.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980861,0.192058,0.032016],[-0.194172,-0.952645,-0.234020],[-0.014446,-0.235758,0.971704]]
2025-10-26T19:50:19.210Z,1761508219.210 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:50:19.210Z,1761508219.210 [marl:UpdateRudder:B] Stopped
2025-10-26T19:50:19.211Z,1761508219.211 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:50:19.211Z,1761508219.211 [marl:UpdateRudder] Stopped
2025-10-26T19:50:19.211Z,1761508219.211 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:50:19.570Z,1761508219.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980910,0.191707,0.032605],[-0.193955,-0.952429,-0.235077],[-0.014012,-0.236913,0.971430]]
2025-10-26T19:50:19.974Z,1761508219.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980929,0.191519,0.033154],[-0.193893,-0.952286,-0.235704],[-0.013570,-0.237637,0.971259]]
2025-10-26T19:50:20.824Z,1761508220.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980703,0.192394,0.034719],[-0.195112,-0.951987,-0.235906],[-0.012335,-0.238127,0.971156]]
2025-10-26T19:50:21.193Z,1761508221.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980594,0.192766,0.035720],[-0.195713,-0.951878,-0.235848],[-0.011462,-0.238262,0.971133]]
2025-10-26T19:50:21.591Z,1761508221.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980300,0.194144,0.036333],[-0.197207,-0.951814,-0.234859],[-0.011014,-0.237397,0.971350]]
2025-10-26T19:50:21.996Z,1761508221.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979865,0.196213,0.036949],[-0.199373,-0.951597,-0.233907],[-0.010735,-0.236564,0.971556]]
2025-10-26T19:50:22.398Z,1761508222.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979366,0.198602,0.037407],[-0.201814,-0.951363,-0.232764],[-0.010640,-0.235510,0.971814]]
2025-10-26T19:50:22.830Z,1761508222.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978751,0.201470,0.038149],[-0.204782,-0.950877,-0.232158],[-0.010498,-0.235037,0.971930]]
2025-10-26T19:50:23.210Z,1761508223.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978048,0.204689,0.039042],[-0.208125,-0.950308,-0.231514],[-0.010287,-0.234558,0.972048]]
2025-10-26T19:50:23.610Z,1761508223.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977258,0.208203,0.040240],[-0.211816,-0.949394,-0.231917],[-0.010082,-0.235166,0.971903]]
2025-10-26T19:50:23.972Z,1761508223.972 [DAT](INFO): DAT read: 

2025-10-26T19:50:23.973Z,1761508223.973 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:50:24.033Z,1761508224.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976421,0.211900,0.041227],[-0.215645,-0.948639,-0.231475],[-0.009940,-0.234907,0.971967]]
2025-10-26T19:50:24.419Z,1761508224.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975535,0.215708,0.042451],[-0.219630,-0.947698,-0.231584],[-0.009724,-0.235242,0.971888]]
2025-10-26T19:50:24.839Z,1761508224.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974669,0.219354,0.043631],[-0.223449,-0.946801,-0.231599],[-0.009492,-0.235481,0.971832]]
2025-10-26T19:50:25.229Z,1761508225.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973842,0.222805,0.044610],[-0.227032,-0.945935,-0.231652],[-0.009415,-0.235721,0.971775]]
2025-10-26T19:50:25.484Z,1761508225.484 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:50:25.486Z,1761508225.486 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:50:25.486Z,1761508225.486 [DAT](INFO): DAT read: Oct 26 2025 19:50:20 

2025-10-26T19:50:25.632Z,1761508225.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973152,0.225616,0.045533],[-0.229974,-0.945064,-0.232305],[-0.009380,-0.236539,0.971577]]
2025-10-26T19:50:26.034Z,1761508226.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972653,0.227609,0.046270],[-0.232087,-0.944629,-0.231974],[-0.009091,-0.236369,0.971621]]
2025-10-26T19:50:26.438Z,1761508226.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972231,0.229227,0.047133],[-0.233869,-0.944370,-0.231237],[-0.008495,-0.235839,0.971755]]
2025-10-26T19:50:26.493Z,1761508226.493 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:50:26.494Z,1761508226.494 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:50:26.494Z,1761508226.494 [DAT](INFO): commRate: 600
2025-10-26T19:50:26.844Z,1761508226.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972001,0.230003,0.048094],[-0.234860,-0.944473,-0.229806],[-0.007432,-0.234667,0.972047]]
2025-10-26T19:50:27.256Z,1761508227.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971986,0.229741,0.049623],[-0.234969,-0.944640,-0.229006],[-0.005736,-0.234251,0.972159]]
2025-10-26T19:50:27.658Z,1761508227.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972189,0.228568,0.051049],[-0.234168,-0.945092,-0.227962],[-0.003859,-0.233576,0.972331]]
2025-10-26T19:50:27.932Z,1761508227.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:50:28.054Z,1761508228.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972793,0.225675,0.052390],[-0.231672,-0.946078,-0.226417],[-0.001532,-0.232394,0.972621]]
2025-10-26T19:50:28.459Z,1761508228.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973931,0.220426,0.053580],[-0.226842,-0.947486,-0.225417],[0.001079,-0.231695,0.972788]]
2025-10-26T19:50:28.560Z,1761508228.560 [DAT](INFO): entering command mode
2025-10-26T19:50:28.760Z,1761508228.760 [DAT](INFO): DAT read: 

2025-10-26T19:50:28.761Z,1761508228.761 [DAT](INFO): DAT read: user:1>

2025-10-26T19:50:28.761Z,1761508228.761 [DAT](INFO): setting verbose to 3
2025-10-26T19:50:28.863Z,1761508228.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975596,0.212754,0.054290],[-0.219539,-0.949418,-0.224517],[0.003777,-0.230957,0.972957]]
2025-10-26T19:50:28.936Z,1761508228.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:50:29.013Z,1761508229.013 [DAT](INFO): DAT read: user:1>

2025-10-26T19:50:29.014Z,1761508229.014 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:50:29.015Z,1761508229.015 [DAT](INFO): set verbose to 3
2025-10-26T19:50:29.015Z,1761508229.015 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:50:29.268Z,1761508229.268 [DAT](INFO): DAT read: user:2>

2025-10-26T19:50:29.269Z,1761508229.269 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:50:29.269Z,1761508229.269 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:50:29.269Z,1761508229.269 [DAT](INFO): setting transmit power to 8
2025-10-26T19:50:29.279Z,1761508229.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977337,0.204594,0.054355],[-0.211613,-0.951228,-0.224467],[0.005779,-0.230882,0.972965]]
2025-10-26T19:50:29.520Z,1761508229.520 [DAT](INFO): DAT read: user:3>

2025-10-26T19:50:29.521Z,1761508229.521 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:50:29.521Z,1761508229.521 [DAT](INFO): set transmit power to 8
2025-10-26T19:50:29.522Z,1761508229.522 [DAT](INFO): setting local address to 11
2025-10-26T19:50:29.670Z,1761508229.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978863,0.197228,0.054115],[-0.204386,-0.952859,-0.224247],[0.007336,-0.230567,0.973029]]
2025-10-26T19:50:29.773Z,1761508229.773 [DAT](INFO): DAT read: user:4>

2025-10-26T19:50:29.774Z,1761508229.774 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:50:29.774Z,1761508229.774 [DAT](INFO): set local address to 11
2025-10-26T19:50:29.776Z,1761508229.776 [DAT](INFO): Setting time to: 19:50:29 And date to:10/26/2025
2025-10-26T19:50:30.024Z,1761508230.024 [DAT](INFO): DAT read: user:5>

2025-10-26T19:50:30.025Z,1761508230.025 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:50:29  

2025-10-26T19:50:30.025Z,1761508230.025 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:50:29  

2025-10-26T19:50:30.026Z,1761508230.026 [DAT](INFO): setting remote address to 6
2025-10-26T19:50:30.026Z,1761508230.026 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:50:30.027Z,1761508230.027 [DAT](INFO): setting remote address to 0
2025-10-26T19:50:30.103Z,1761508230.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980133,0.190944,0.053664],[-0.198178,-0.953790,-0.225853],[0.008059,-0.232001,0.972682]]
2025-10-26T19:50:30.277Z,1761508230.277 [DAT](INFO): DAT read: user:6>

2025-10-26T19:50:30.278Z,1761508230.278 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:50:30.278Z,1761508230.278 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:50:30.278Z,1761508230.278 [DAT] Communications Fault, FailCount= 6
2025-10-26T19:50:30.278Z,1761508230.278 [DAT](ERROR): Communications Fault
2025-10-26T19:50:30.279Z,1761508230.279 [DAT](INFO): DAT read: user:7>

2025-10-26T19:50:30.280Z,1761508230.280 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:50:30.281Z,1761508230.281 [DAT](INFO): set remote address to 0
2025-10-26T19:50:30.281Z,1761508230.281 [DAT](INFO): setting remote address to 6
2025-10-26T19:50:30.281Z,1761508230.281 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:50:30.281Z,1761508230.281 [DAT](INFO): setting remote address to 0
2025-10-26T19:50:30.611Z,1761508230.611 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:50:30.684Z,1761508230.684 [DAT](INFO): Powering down
2025-10-26T19:50:30.882Z,1761508230.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982197,0.180587,0.051751],[-0.187704,-0.954502,-0.231719],[0.007551,-0.237307,0.971405]]
2025-10-26T19:50:31.302Z,1761508231.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982998,0.176697,0.049930],[-0.183503,-0.954900,-0.233437],[0.006431,-0.238630,0.971089]]
2025-10-26T19:50:31.702Z,1761508231.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983516,0.174320,0.048059],[-0.180759,-0.954894,-0.235594],[0.004822,-0.240397,0.970663]]
2025-10-26T19:50:31.855Z,1761508231.855 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:50:31.855Z,1761508231.855 [DAT] No Fault, FailCount= 6
2025-10-26T19:50:32.102Z,1761508232.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983583,0.174370,0.046475],[-0.180432,-0.954568,-0.237160],[0.003010,-0.241652,0.970358]]
2025-10-26T19:50:32.158Z,1761508232.158 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:50:32.158Z,1761508232.158 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:50:32.159Z,1761508232.159 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:50:32.159Z,1761508232.159 [marl:UpdateRudder:A] Stopped
2025-10-26T19:50:32.159Z,1761508232.159 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:50:32.159Z,1761508232.159 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:50:32.179Z,1761508232.179 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:50:32.179Z,1761508232.179 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateCommandMode] Stopped
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:50:32.180Z,1761508232.180 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:50:32.181Z,1761508232.181 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:50:32.181Z,1761508232.181 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:50:32.181Z,1761508232.181 [marl:UpdateSpeed] Stopped
2025-10-26T19:50:32.181Z,1761508232.181 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:50:32.506Z,1761508232.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983141,0.177030,0.045765],[-0.182844,-0.953876,-0.238094],[0.001504,-0.242447,0.970163]]
2025-10-26T19:50:32.550Z,1761508232.550 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:50:32.550Z,1761508232.550 [marl:UpdateRudder:B] Stopped
2025-10-26T19:50:32.550Z,1761508232.550 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:50:32.550Z,1761508232.550 [marl:UpdateRudder] Stopped
2025-10-26T19:50:32.550Z,1761508232.550 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:50:32.910Z,1761508232.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982444,0.181012,0.045150],[-0.186558,-0.953393,-0.237144],[0.000120,-0.241404,0.970425]]
2025-10-26T19:50:33.323Z,1761508233.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981647,0.185460,0.044431],[-0.190705,-0.953332,-0.234070],[-0.001053,-0.238247,0.971204]]
2025-10-26T19:50:33.722Z,1761508233.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980879,0.189659,0.043653],[-0.194605,-0.953279,-0.231057],[-0.002208,-0.235134,0.971960]]
2025-10-26T19:50:33.734Z,1761508233.734 [DAT](INFO): Powering up
2025-10-26T19:50:33.734Z,1761508233.734 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:50:34.130Z,1761508234.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980177,0.193384,0.043085],[-0.198101,-0.953211,-0.228351],[-0.003090,-0.232359,0.972625]]
2025-10-26T19:50:34.526Z,1761508234.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979492,0.196947,0.042511],[-0.201449,-0.953381,-0.224687],[-0.003722,-0.228643,0.973503]]
2025-10-26T19:50:34.931Z,1761508234.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978780,0.200517,0.042215],[-0.204875,-0.953694,-0.220214],[-0.003896,-0.224190,0.974538]]
2025-10-26T19:50:35.334Z,1761508235.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977962,0.204357,0.042769],[-0.208757,-0.953788,-0.216121],[-0.003373,-0.220286,0.975429]]
2025-10-26T19:50:35.740Z,1761508235.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976964,0.208721,0.044468],[-0.213393,-0.953201,-0.214177],[-0.002317,-0.218733,0.975782]]
2025-10-26T19:50:36.145Z,1761508236.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975841,0.213351,0.047060],[-0.218478,-0.952127,-0.213825],[-0.000812,-0.218941,0.975738]]
2025-10-26T19:50:36.546Z,1761508236.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974648,0.218014,0.050306],[-0.223739,-0.950957,-0.213593],[0.001273,-0.219434,0.975626]]
2025-10-26T19:50:36.950Z,1761508236.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973797,0.220825,0.054358],[-0.227377,-0.949913,-0.214393],[0.004292,-0.221135,0.975234]]
2025-10-26T19:50:37.364Z,1761508237.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974111,0.218806,0.056847],[-0.225949,-0.950542,-0.213111],[0.007405,-0.220438,0.975373]]
2025-10-26T19:50:37.760Z,1761508237.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975193,0.213878,0.057044],[-0.221169,-0.952036,-0.211454],[0.009083,-0.218825,0.975722]]
2025-10-26T19:50:38.162Z,1761508238.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976522,0.208024,0.055956],[-0.215206,-0.953594,-0.210582],[0.009553,-0.217680,0.975973]]
2025-10-26T19:50:38.566Z,1761508238.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977847,0.202000,0.054875],[-0.209100,-0.954707,-0.211686],[0.009628,-0.218471,0.975796]]
2025-10-26T19:50:38.971Z,1761508238.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978832,0.197332,0.054297],[-0.204447,-0.955011,-0.214839],[0.009460,-0.221392,0.975139]]
2025-10-26T19:50:39.382Z,1761508239.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979295,0.195036,0.054233],[-0.202227,-0.954697,-0.218308],[0.009198,-0.224755,0.974372]]
2025-10-26T19:50:39.778Z,1761508239.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979223,0.195038,0.055525],[-0.202577,-0.953295,-0.224033],[0.009237,-0.230626,0.972998]]
2025-10-26T19:50:40.182Z,1761508240.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978734,0.197086,0.056889],[-0.204920,-0.951984,-0.227450],[0.009331,-0.234271,0.972126]]
2025-10-26T19:50:40.992Z,1761508240.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977421,0.202749,0.059502],[-0.211088,-0.949531,-0.232017],[0.009458,-0.239338,0.970890]]
2025-10-26T19:50:41.394Z,1761508241.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976525,0.206708,0.060579],[-0.215187,-0.948753,-0.231437],[0.009634,-0.239040,0.970962]]
2025-10-26T19:50:41.798Z,1761508241.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975403,0.211647,0.061600],[-0.220212,-0.948034,-0.229648],[0.009794,-0.237565,0.971322]]
2025-10-26T19:50:42.203Z,1761508242.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974033,0.217571,0.062622],[-0.226187,-0.947254,-0.227045],[0.009920,-0.235313,0.971869]]
2025-10-26T19:50:42.615Z,1761508242.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972519,0.223859,0.063989],[-0.232601,-0.946205,-0.224929],[0.010194,-0.233632,0.972272]]
2025-10-26T19:50:43.010Z,1761508243.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971271,0.228838,0.065311],[-0.237722,-0.945656,-0.221863],[0.010991,-0.231015,0.972888]]
2025-10-26T19:50:43.414Z,1761508243.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971060,0.229708,0.065404],[-0.238538,-0.946482,-0.217419],[0.011961,-0.226728,0.973885]]
2025-10-26T19:50:43.821Z,1761508243.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971750,0.227017,0.064543],[-0.235670,-0.948111,-0.213416],[0.012745,-0.222598,0.974827]]
2025-10-26T19:50:44.222Z,1761508244.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972882,0.222352,0.063718],[-0.230899,-0.949852,-0.210873],[0.013634,-0.219867,0.975435]]
2025-10-26T19:50:44.626Z,1761508244.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974086,0.217071,0.063531],[-0.225684,-0.951361,-0.209710],[0.014919,-0.218613,0.975698]]
2025-10-26T19:50:45.041Z,1761508245.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975408,0.211149,0.063204],[-0.219829,-0.952731,-0.209710],[0.015937,-0.218447,0.975719]]
2025-10-26T19:50:45.328Z,1761508245.328 [DAT](INFO): DAT read: 

2025-10-26T19:50:45.329Z,1761508245.329 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:50:45.444Z,1761508245.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976550,0.205660,0.063667],[-0.214630,-0.953151,-0.213162],[0.016846,-0.221828,0.974940]]
2025-10-26T19:50:45.479Z,1761508245.479 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:50:45.479Z,1761508245.479 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:50:45.479Z,1761508245.479 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:50:45.480Z,1761508245.480 [marl:UpdateRudder:A] Stopped
2025-10-26T19:50:45.480Z,1761508245.480 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:50:45.480Z,1761508245.480 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:50:45.480Z,1761508245.480 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:50:45.480Z,1761508245.480 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:50:45.480Z,1761508245.480 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateCommandMode] Stopped
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:50:45.481Z,1761508245.481 [marl:UpdateSpeed] Stopped
2025-10-26T19:50:45.482Z,1761508245.482 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:50:45.847Z,1761508245.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977354,0.201553,0.064461],[-0.210883,-0.952924,-0.217861],[0.017516,-0.226521,0.973849]]
2025-10-26T19:50:45.899Z,1761508245.899 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:50:45.899Z,1761508245.899 [marl:UpdateRudder:B] Stopped
2025-10-26T19:50:45.899Z,1761508245.899 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:50:45.899Z,1761508245.899 [marl:UpdateRudder] Stopped
2025-10-26T19:50:45.899Z,1761508245.899 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:50:45.901Z,1761508245.901 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:50:46.250Z,1761508246.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977682,0.199505,0.065849],[-0.209318,-0.951871,-0.223892],[0.018012,-0.232678,0.972387]]
2025-10-26T19:50:46.655Z,1761508246.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977698,0.199122,0.066761],[-0.209236,-0.950912,-0.228004],[0.018083,-0.236888,0.971369]]
2025-10-26T19:50:46.840Z,1761508246.840 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:50:46.842Z,1761508246.842 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:50:46.842Z,1761508246.842 [DAT](INFO): DAT read: Oct 26 2025 19:50:41 

2025-10-26T19:50:47.060Z,1761508247.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977598,0.199282,0.067735],[-0.209696,-0.949874,-0.231878],[0.018131,-0.240887,0.970384]]
2025-10-26T19:50:47.224Z,1761508247.224 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:50:47.224Z,1761508247.224 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:50:47.462Z,1761508247.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977368,0.200171,0.068439],[-0.210757,-0.949299,-0.233264],[0.018276,-0.242409,0.970002]]
2025-10-26T19:50:47.849Z,1761508247.849 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:50:47.850Z,1761508247.850 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:50:47.850Z,1761508247.850 [DAT](INFO): commRate: 600
2025-10-26T19:50:47.866Z,1761508247.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977172,0.201038,0.068697],[-0.211666,-0.949041,-0.233494],[0.018255,-0.242704,0.969929]]
2025-10-26T19:50:48.271Z,1761508248.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977000,0.201983,0.068371],[-0.212470,-0.949313,-0.231648],[0.018117,-0.240847,0.970394]]
2025-10-26T19:50:48.675Z,1761508248.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976982,0.202468,0.067173],[-0.212574,-0.950355,-0.227237],[0.017830,-0.236286,0.971520]]
2025-10-26T19:50:49.095Z,1761508249.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976995,0.203051,0.065198],[-0.212564,-0.951878,-0.220781],[0.017231,-0.229561,0.973142]]
2025-10-26T19:50:49.486Z,1761508249.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977009,0.203219,0.064469],[-0.212534,-0.952243,-0.219232],[0.016838,-0.227893,0.973541]]
2025-10-26T19:50:49.891Z,1761508249.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976889,0.203996,0.063820],[-0.213148,-0.952042,-0.219510],[0.015980,-0.228040,0.973521]]
2025-10-26T19:50:49.918Z,1761508249.918 [DAT](INFO): entering command mode
2025-10-26T19:50:50.116Z,1761508250.116 [DAT](INFO): DAT read: 

2025-10-26T19:50:50.117Z,1761508250.117 [DAT](INFO): DAT read: user:1>

2025-10-26T19:50:50.117Z,1761508250.117 [DAT](INFO): setting verbose to 3
2025-10-26T19:50:50.305Z,1761508250.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976687,0.205207,0.063027],[-0.214144,-0.951863,-0.219317],[0.014987,-0.227701,0.973616]]
2025-10-26T19:50:50.368Z,1761508250.368 [DAT](INFO): DAT read: user:1>

2025-10-26T19:50:50.369Z,1761508250.369 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:50:50.369Z,1761508250.369 [DAT](INFO): set verbose to 3
2025-10-26T19:50:50.370Z,1761508250.370 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:50:50.620Z,1761508250.620 [DAT](INFO): DAT read: user:2>

2025-10-26T19:50:50.621Z,1761508250.621 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:50:50.621Z,1761508250.621 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:50:50.622Z,1761508250.622 [DAT](INFO): setting transmit power to 8
2025-10-26T19:50:50.721Z,1761508250.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976414,0.206603,0.062698],[-0.215443,-0.951362,-0.220216],[0.014152,-0.228530,0.973434]]
2025-10-26T19:50:50.872Z,1761508250.872 [DAT](INFO): DAT read: user:3>

2025-10-26T19:50:50.873Z,1761508250.873 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:50:50.873Z,1761508250.873 [DAT](INFO): set transmit power to 8
2025-10-26T19:50:50.874Z,1761508250.874 [DAT](INFO): setting local address to 11
2025-10-26T19:50:51.100Z,1761508251.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976058,0.208202,0.062949],[-0.217069,-0.950808,-0.221007],[0.013839,-0.229380,0.973238]]
2025-10-26T19:50:51.124Z,1761508251.124 [DAT](INFO): DAT read: user:4>

2025-10-26T19:50:51.125Z,1761508251.125 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:50:51.125Z,1761508251.125 [DAT](INFO): set local address to 11
2025-10-26T19:50:51.126Z,1761508251.126 [DAT](INFO): Setting time to: 19:50:51 And date to:10/26/2025
2025-10-26T19:50:51.376Z,1761508251.376 [DAT](INFO): DAT read: user:5>

2025-10-26T19:50:51.377Z,1761508251.377 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:50:51  

2025-10-26T19:50:51.377Z,1761508251.377 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:50:51  

2025-10-26T19:50:51.378Z,1761508251.378 [DAT](INFO): setting remote address to 6
2025-10-26T19:50:51.378Z,1761508251.378 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:50:51.379Z,1761508251.379 [DAT](INFO): setting remote address to 0
2025-10-26T19:50:51.504Z,1761508251.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975587,0.210184,0.063653],[-0.219156,-0.950426,-0.220592],[0.014133,-0.229157,0.973287]]
2025-10-26T19:50:51.628Z,1761508251.628 [DAT](INFO): DAT read: user:6>

2025-10-26T19:50:51.629Z,1761508251.629 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:50:51.630Z,1761508251.630 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:50:51.630Z,1761508251.630 [DAT] Communications Fault, FailCount= 7
2025-10-26T19:50:51.630Z,1761508251.630 [DAT](ERROR): Communications Fault
2025-10-26T19:50:51.631Z,1761508251.631 [DAT](INFO): DAT read: user:7>

2025-10-26T19:50:51.632Z,1761508251.632 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:50:51.632Z,1761508251.632 [DAT](INFO): set remote address to 0
2025-10-26T19:50:51.632Z,1761508251.632 [DAT](INFO): setting remote address to 6
2025-10-26T19:50:51.633Z,1761508251.633 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:50:51.633Z,1761508251.633 [DAT](INFO): setting remote address to 0
2025-10-26T19:50:51.906Z,1761508251.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975066,0.212245,0.064788],[-0.221413,-0.950069,-0.219875],[0.014886,-0.228738,0.973374]]
2025-10-26T19:50:51.971Z,1761508251.971 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:50:52.036Z,1761508252.036 [DAT](INFO): Powering down
2025-10-26T19:50:52.310Z,1761508252.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974393,0.214892,0.066181],[-0.224282,-0.949815,-0.218058],[0.016001,-0.227317,0.973689]]
2025-10-26T19:50:52.718Z,1761508252.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973580,0.217920,0.068213],[-0.227689,-0.949104,-0.217622],[0.017317,-0.227404,0.973646]]
2025-10-26T19:50:53.120Z,1761508253.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972663,0.221201,0.070684],[-0.231438,-0.948351,-0.216948],[0.019045,-0.227376,0.973621]]
2025-10-26T19:50:53.283Z,1761508253.283 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:50:53.283Z,1761508253.283 [DAT] No Fault, FailCount= 7
2025-10-26T19:50:53.522Z,1761508253.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971707,0.224707,0.072752],[-0.235287,-0.947853,-0.214976],[0.020652,-0.226011,0.973906]]
2025-10-26T19:50:53.926Z,1761508253.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970866,0.227726,0.074563],[-0.238607,-0.947368,-0.213449],[0.022031,-0.225022,0.974105]]
2025-10-26T19:50:54.331Z,1761508254.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970611,0.228722,0.074842],[-0.239550,-0.948020,-0.209460],[0.023043,-0.221233,0.974949]]
2025-10-26T19:50:54.738Z,1761508254.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971227,0.226312,0.074176],[-0.236959,-0.949485,-0.205740],[0.023868,-0.217396,0.975792]]
2025-10-26T19:50:55.085Z,1761508255.085 [DAT](INFO): Powering up
2025-10-26T19:50:55.086Z,1761508255.086 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:50:55.139Z,1761508255.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972794,0.220142,0.072180],[-0.230375,-0.952132,-0.200927],[0.024492,-0.212089,0.976943]]
2025-10-26T19:50:55.546Z,1761508255.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974642,0.212406,0.070400],[-0.222370,-0.954491,-0.198744],[0.024981,-0.209359,0.977520]]
2025-10-26T19:50:55.946Z,1761508255.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976579,0.203916,0.068649],[-0.213703,-0.956345,-0.199337],[0.025004,-0.209339,0.977523]]
2025-10-26T19:50:56.352Z,1761508256.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978383,0.195513,0.067390],[-0.205270,-0.957712,-0.201624],[0.025120,-0.211099,0.977142]]
2025-10-26T19:50:56.758Z,1761508256.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980102,0.187066,0.066388],[-0.196894,-0.958616,-0.205640],[0.025172,-0.214619,0.976373]]
2025-10-26T19:50:57.158Z,1761508257.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981645,0.179099,0.065551],[-0.189065,-0.959006,-0.211096],[0.025057,-0.219615,0.975265]]
2025-10-26T19:50:57.568Z,1761508257.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982954,0.171956,0.065058],[-0.182159,-0.958790,-0.218036],[0.024885,-0.226170,0.973770]]
2025-10-26T19:50:57.968Z,1761508257.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983930,0.166574,0.064297],[-0.176886,-0.958438,-0.223847],[0.024337,-0.231623,0.972501]]
2025-10-26T19:50:58.372Z,1761508258.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984398,0.163928,0.063936],[-0.174381,-0.957406,-0.230142],[0.023486,-0.237701,0.971054]]
2025-10-26T19:50:58.812Z,1761508258.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984316,0.164402,0.063983],[-0.174979,-0.955996,-0.235488],[0.022453,-0.242990,0.969769]]
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateRudder:A] Stopped
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:50:58.893Z,1761508258.893 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateCommandMode] Stopped
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:50:58.894Z,1761508258.894 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:50:58.895Z,1761508258.895 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:50:58.895Z,1761508258.895 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:50:58.895Z,1761508258.895 [marl:UpdateSpeed] Stopped
2025-10-26T19:50:58.895Z,1761508258.895 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:50:59.056Z,1761508259.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:50:59.178Z,1761508259.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983778,0.167371,0.064554],[-0.178035,-0.955072,-0.236943],[0.021997,-0.244592,0.969377]]
2025-10-26T19:50:59.232Z,1761508259.232 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:50:59.232Z,1761508259.232 [marl:UpdateRudder:B] Stopped
2025-10-26T19:50:59.233Z,1761508259.233 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:50:59.233Z,1761508259.233 [marl:UpdateRudder] Stopped
2025-10-26T19:50:59.233Z,1761508259.233 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:50:59.583Z,1761508259.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983000,0.171801,0.064773],[-0.182378,-0.954375,-0.236446],[0.021196,-0.244240,0.969483]]
2025-10-26T19:50:59.986Z,1761508259.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982014,0.177409,0.064604],[-0.187702,-0.954291,-0.232587],[0.020388,-0.240530,0.970428]]
2025-10-26T19:51:00.061Z,1761508260.061 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:51:00.391Z,1761508260.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980954,0.183357,0.064105],[-0.193252,-0.954524,-0.227018],[0.019564,-0.235082,0.971779]]
2025-10-26T19:51:00.832Z,1761508260.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979823,0.189697,0.062950],[-0.198994,-0.955326,-0.218524],[0.018684,-0.226642,0.973799]]
2025-10-26T19:51:01.200Z,1761508261.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978650,0.196048,0.061724],[-0.204750,-0.956137,-0.209476],[0.017949,-0.217641,0.975864]]
2025-10-26T19:51:01.602Z,1761508261.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977491,0.202073,0.060643],[-0.210251,-0.956845,-0.200607],[0.017488,-0.208842,0.977793]]
2025-10-26T19:51:02.007Z,1761508262.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976367,0.207584,0.060133],[-0.215415,-0.957192,-0.193337],[0.017425,-0.201721,0.979288]]
2025-10-26T19:51:02.410Z,1761508262.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975381,0.212038,0.060594],[-0.219808,-0.956944,-0.189583],[0.017786,-0.198235,0.979993]]
2025-10-26T19:51:02.835Z,1761508262.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974614,0.215167,0.061897],[-0.223087,-0.956696,-0.186988],[0.018983,-0.196050,0.980410]]
2025-10-26T19:51:03.219Z,1761508263.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974120,0.216606,0.064585],[-0.225048,-0.956053,-0.187926],[0.021040,-0.197597,0.980057]]
2025-10-26T19:51:03.622Z,1761508263.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974085,0.215909,0.067393],[-0.224944,-0.955884,-0.188909],[0.023633,-0.199173,0.979679]]
2025-10-26T19:51:04.034Z,1761508264.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974955,0.211035,0.070198],[-0.220806,-0.956235,-0.191985],[0.026611,-0.202677,0.978884]]
2025-10-26T19:51:04.435Z,1761508264.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976417,0.203762,0.071346],[-0.213982,-0.957263,-0.194575],[0.028650,-0.205253,0.978289]]
2025-10-26T19:51:04.843Z,1761508264.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977946,0.196266,0.071418],[-0.206791,-0.957876,-0.199276],[0.029299,-0.209650,0.977337]]
2025-10-26T19:51:05.239Z,1761508265.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979381,0.189150,0.070967],[-0.199868,-0.958363,-0.203942],[0.029437,-0.213921,0.976407]]
2025-10-26T19:51:05.642Z,1761508265.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980719,0.182455,0.070003],[-0.193239,-0.958813,-0.208172],[0.029138,-0.217686,0.975584]]
2025-10-26T19:51:06.048Z,1761508266.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981942,0.176248,0.068754],[-0.187000,-0.959302,-0.211593],[0.028663,-0.220629,0.974937]]
2025-10-26T19:51:06.462Z,1761508266.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983081,0.170436,0.067099],[-0.181020,-0.959960,-0.213796],[0.027974,-0.222325,0.974571]]
2025-10-26T19:51:06.676Z,1761508266.676 [DAT](INFO): DAT read: 

2025-10-26T19:51:06.677Z,1761508266.677 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:51:06.854Z,1761508266.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984103,0.165271,0.065015],[-0.175539,-0.960760,-0.214771],[0.026968,-0.222769,0.974498]]
2025-10-26T19:51:07.258Z,1761508267.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985018,0.160512,0.063048],[-0.170481,-0.961450,-0.215755],[0.025986,-0.223272,0.974410]]
2025-10-26T19:51:07.662Z,1761508267.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985622,0.157262,0.061782],[-0.167088,-0.961509,-0.218131],[0.025100,-0.225318,0.973962]]
2025-10-26T19:51:08.067Z,1761508268.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985954,0.155448,0.061074],[-0.165203,-0.961435,-0.219889],[0.024537,-0.226890,0.973611]]
2025-10-26T19:51:08.189Z,1761508268.189 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:51:08.190Z,1761508268.190 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:51:08.190Z,1761508268.190 [DAT](INFO): DAT read: Oct 26 2025 19:51:03 

2025-10-26T19:51:08.470Z,1761508268.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985953,0.155408,0.061195],[-0.165242,-0.960960,-0.221924],[0.024317,-0.228919,0.973142]]
2025-10-26T19:51:08.874Z,1761508268.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985799,0.156224,0.061591],[-0.166192,-0.960205,-0.224467],[0.024073,-0.231515,0.972533]]
2025-10-26T19:51:09.197Z,1761508269.197 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:51:09.198Z,1761508269.198 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:51:09.198Z,1761508269.198 [DAT](INFO): commRate: 600
2025-10-26T19:51:09.278Z,1761508269.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985611,0.157250,0.061991],[-0.167326,-0.959612,-0.226155],[0.023924,-0.233274,0.972117]]
2025-10-26T19:51:09.683Z,1761508269.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985289,0.158966,0.062732],[-0.169176,-0.959238,-0.226369],[0.024190,-0.233652,0.972019]]
2025-10-26T19:51:10.086Z,1761508270.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984857,0.161169,0.063880],[-0.171576,-0.958933,-0.225852],[0.024857,-0.233392,0.972065]]
2025-10-26T19:51:10.490Z,1761508270.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984330,0.163827,0.065229],[-0.174425,-0.958895,-0.223820],[0.025880,-0.231691,0.972445]]
2025-10-26T19:51:10.894Z,1761508270.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983707,0.167155,0.066172],[-0.177781,-0.959185,-0.219903],[0.026713,-0.228084,0.973275]]
2025-10-26T19:51:11.263Z,1761508271.263 [DAT](INFO): entering command mode
2025-10-26T19:51:11.302Z,1761508271.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982935,0.171256,0.067150],[-0.181876,-0.959448,-0.215360],[0.027545,-0.223898,0.974223]]
2025-10-26T19:51:11.464Z,1761508271.464 [DAT](INFO): DAT read: 

2025-10-26T19:51:11.465Z,1761508271.465 [DAT](INFO): DAT read: user:1>

2025-10-26T19:51:11.465Z,1761508271.465 [DAT](INFO): setting verbose to 3
2025-10-26T19:51:11.706Z,1761508271.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982074,0.175910,0.067716],[-0.186384,-0.959853,-0.209626],[0.028122,-0.218489,0.975434]]
2025-10-26T19:51:11.717Z,1761508271.717 [DAT](INFO): DAT read: user:1>

2025-10-26T19:51:11.718Z,1761508271.718 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:51:11.718Z,1761508271.718 [DAT](INFO): set verbose to 3
2025-10-26T19:51:11.719Z,1761508271.719 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:51:11.968Z,1761508271.968 [DAT](INFO): DAT read: user:2>

2025-10-26T19:51:11.969Z,1761508271.969 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:51:11.969Z,1761508271.969 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:51:11.970Z,1761508271.970 [DAT](INFO): setting transmit power to 8
2025-10-26T19:51:12.106Z,1761508272.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981192,0.180750,0.067765],[-0.190929,-0.960441,-0.202732],[0.028441,-0.211857,0.976887]]
2025-10-26T19:51:12.154Z,1761508272.154 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:51:12.154Z,1761508272.154 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:51:12.155Z,1761508272.155 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:51:12.155Z,1761508272.155 [marl:UpdateRudder:A] Stopped
2025-10-26T19:51:12.155Z,1761508272.155 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:51:12.155Z,1761508272.155 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:51:12.159Z,1761508272.159 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:51:12.159Z,1761508272.159 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateCommandMode] Stopped
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:51:12.160Z,1761508272.160 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:51:12.161Z,1761508272.161 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:51:12.161Z,1761508272.161 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:51:12.161Z,1761508272.161 [marl:UpdateSpeed] Stopped
2025-10-26T19:51:12.161Z,1761508272.161 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:51:12.220Z,1761508272.220 [DAT](INFO): DAT read: user:3>

2025-10-26T19:51:12.221Z,1761508272.221 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:51:12.222Z,1761508272.222 [DAT](INFO): set transmit power to 8
2025-10-26T19:51:12.222Z,1761508272.222 [DAT](INFO): setting local address to 11
2025-10-26T19:51:12.472Z,1761508272.472 [DAT](INFO): DAT read: user:4>

2025-10-26T19:51:12.473Z,1761508272.473 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:51:12.473Z,1761508272.473 [DAT](INFO): set local address to 11
2025-10-26T19:51:12.474Z,1761508272.474 [DAT](INFO): Setting time to: 19:51:12 And date to:10/26/2025
2025-10-26T19:51:12.525Z,1761508272.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980290,0.185780,0.067206],[-0.195530,-0.961019,-0.195476],[0.028271,-0.204764,0.978403]]
2025-10-26T19:51:12.585Z,1761508272.585 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:51:12.585Z,1761508272.585 [marl:UpdateRudder:B] Stopped
2025-10-26T19:51:12.585Z,1761508272.585 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:51:12.585Z,1761508272.585 [marl:UpdateRudder] Stopped
2025-10-26T19:51:12.585Z,1761508272.585 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:51:12.724Z,1761508272.724 [DAT](INFO): DAT read: user:5>

2025-10-26T19:51:12.726Z,1761508272.726 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:51:12  

2025-10-26T19:51:12.726Z,1761508272.726 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:51:12  

2025-10-26T19:51:12.727Z,1761508272.727 [DAT](INFO): setting remote address to 6
2025-10-26T19:51:12.728Z,1761508272.728 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:51:12.728Z,1761508272.728 [DAT](INFO): setting remote address to 0
2025-10-26T19:51:12.914Z,1761508272.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979497,0.190154,0.066531],[-0.199518,-0.961354,-0.189715],[0.027885,-0.199099,0.979583]]
2025-10-26T19:51:12.976Z,1761508272.976 [DAT](INFO): DAT read: user:6>

2025-10-26T19:51:12.977Z,1761508272.977 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:51:12.978Z,1761508272.978 [DAT](ERROR): failed to set remote address to 0, device returned 6 instead.
2025-10-26T19:51:12.978Z,1761508272.978 [DAT] Communications Fault, FailCount= 8
2025-10-26T19:51:12.978Z,1761508272.978 [DAT](ERROR): Communications Fault
2025-10-26T19:51:12.979Z,1761508272.979 [DAT](INFO): DAT read: user:7>

2025-10-26T19:51:12.980Z,1761508272.980 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:51:12.980Z,1761508272.980 [DAT](INFO): set remote address to 0
2025-10-26T19:51:12.981Z,1761508272.981 [DAT](INFO): setting remote address to 6
2025-10-26T19:51:12.983Z,1761508272.983 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:51:12.984Z,1761508272.984 [DAT](INFO): setting remote address to 0
2025-10-26T19:51:13.052Z,1761508273.052 [CBIT](ERROR): Communications Fault in component: DAT
2025-10-26T19:51:13.052Z,1761508273.052 [CBIT](FAULT): Communications Fault in component: DAT
2025-10-26T19:51:13.318Z,1761508273.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979059,0.192482,0.066297],[-0.201667,-0.961522,-0.186563],[0.027836,-0.196026,0.980204]]
2025-10-26T19:51:13.404Z,1761508273.404 [DAT](INFO): Powering down
2025-10-26T19:51:13.726Z,1761508273.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979365,0.191159,0.065597],[-0.200127,-0.962541,-0.182930],[0.028171,-0.192283,0.980935]]
2025-10-26T19:51:14.131Z,1761508274.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980723,0.184247,0.065084],[-0.193216,-0.964073,-0.182291],[0.029160,-0.191352,0.981088]]
2025-10-26T19:51:14.530Z,1761508274.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982722,0.173971,0.063179],[-0.182751,-0.966106,-0.182321],[0.029319,-0.190717,0.981207]]
2025-10-26T19:51:14.935Z,1761508274.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984394,0.164874,0.061529],[-0.173586,-0.967198,-0.185459],[0.028934,-0.193245,0.980724]]
2025-10-26T19:51:15.342Z,1761508275.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985454,0.158688,0.060818],[-0.167579,-0.966870,-0.192560],[0.028247,-0.199951,0.979399]]
2025-10-26T19:51:15.808Z,1761508275.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986052,0.154913,0.060862],[-0.164107,-0.965909,-0.200220],[0.027770,-0.207416,0.977859]]
2025-10-26T19:51:16.149Z,1761508276.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986271,0.153352,0.061264],[-0.162870,-0.964580,-0.207504],[0.027273,-0.214633,0.976314]]
2025-10-26T19:51:16.189Z,1761508276.189 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:51:16.550Z,1761508276.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986189,0.153627,0.061894],[-0.163496,-0.962714,-0.215524],[0.026476,-0.222667,0.974535]]
2025-10-26T19:51:16.956Z,1761508276.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985918,0.155164,0.062368],[-0.165232,-0.961327,-0.220339],[0.025767,-0.227541,0.973428]]
2025-10-26T19:51:17.358Z,1761508277.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985461,0.157959,0.062580],[-0.168055,-0.960401,-0.222232],[0.024998,-0.229517,0.972983]]
2025-10-26T19:51:17.762Z,1761508277.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984829,0.161958,0.062294],[-0.171887,-0.959714,-0.222271],[0.023786,-0.229607,0.972993]]
2025-10-26T19:51:18.169Z,1761508278.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984117,0.166234,0.062295],[-0.176024,-0.959262,-0.220979],[0.023023,-0.228434,0.973287]]
2025-10-26T19:51:18.572Z,1761508278.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983605,0.169167,0.062477],[-0.178883,-0.959130,-0.219249],[0.022834,-0.226831,0.973667]]
2025-10-26T19:51:18.980Z,1761508278.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983736,0.168561,0.062057],[-0.178134,-0.959891,-0.216510],[0.023072,-0.224043,0.974306]]
2025-10-26T19:51:19.378Z,1761508279.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984218,0.165940,0.061474],[-0.175425,-0.960577,-0.215681],[0.023261,-0.223062,0.974527]]
2025-10-26T19:51:19.782Z,1761508279.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984792,0.162590,0.061237],[-0.172124,-0.960987,-0.216513],[0.023645,-0.223761,0.974357]]
2025-10-26T19:51:20.194Z,1761508280.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985266,0.159545,0.061607],[-0.169318,-0.960730,-0.219837],[0.024114,-0.227029,0.973589]]
2025-10-26T19:51:20.997Z,1761508280.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985390,0.157916,0.063787],[-0.168429,-0.959109,-0.227466],[0.025258,-0.234887,0.971694]]
2025-10-26T19:51:21.398Z,1761508281.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985073,0.159305,0.065209],[-0.170175,-0.958274,-0.229676],[0.025900,-0.237345,0.971080]]
2025-10-26T19:51:21.804Z,1761508281.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984582,0.161728,0.066658],[-0.172905,-0.957538,-0.230704],[0.026516,-0.238673,0.970738]]
2025-10-26T19:51:22.209Z,1761508282.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984009,0.164716,0.067790],[-0.176070,-0.957060,-0.230296],[0.026945,-0.238549,0.970757]]
2025-10-26T19:51:22.610Z,1761508282.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983433,0.167917,0.068288],[-0.179255,-0.956874,-0.228603],[0.026957,-0.237057,0.971122]]
2025-10-26T19:51:23.014Z,1761508283.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982831,0.171248,0.068683],[-0.182503,-0.957019,-0.225403],[0.027131,-0.234068,0.971842]]
2025-10-26T19:51:23.420Z,1761508283.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982539,0.173197,0.067969],[-0.184083,-0.957997,-0.219900],[0.027028,-0.228572,0.973152]]
2025-10-26T19:51:23.822Z,1761508283.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982658,0.172943,0.066893],[-0.183462,-0.959174,-0.215236],[0.026938,-0.223775,0.974268]]
2025-10-26T19:51:24.226Z,1761508284.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983065,0.171328,0.065034],[-0.181354,-0.960540,-0.210889],[0.026337,-0.219112,0.975344]]
2025-10-26T19:51:24.631Z,1761508284.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983754,0.168149,0.062879],[-0.177684,-0.961982,-0.207411],[0.025612,-0.215214,0.976231]]
2025-10-26T19:51:25.036Z,1761508285.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984643,0.163749,0.060531],[-0.172794,-0.963574,-0.204128],[0.024900,-0.211453,0.977071]]
2025-10-26T19:51:25.438Z,1761508285.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985640,0.158607,0.057950],[-0.167172,-0.964944,-0.202328],[0.023827,-0.209110,0.977602]]
2025-10-26T19:51:25.498Z,1761508285.498 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:51:25.498Z,1761508285.498 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:51:25.498Z,1761508285.498 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:51:25.499Z,1761508285.499 [marl:UpdateRudder:A] Stopped
2025-10-26T19:51:25.499Z,1761508285.499 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:51:25.499Z,1761508285.499 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:51:25.499Z,1761508285.499 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:51:25.515Z,1761508285.515 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:51:25.516Z,1761508285.516 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:51:25.516Z,1761508285.516 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:51:25.516Z,1761508285.516 [marl:UpdateCommandMode] Stopped
2025-10-26T19:51:25.517Z,1761508285.517 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:51:25.517Z,1761508285.517 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:51:25.518Z,1761508285.518 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:51:25.518Z,1761508285.518 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:51:25.523Z,1761508285.523 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:51:25.524Z,1761508285.524 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:51:25.524Z,1761508285.524 [marl:UpdateSpeed] Stopped
2025-10-26T19:51:25.524Z,1761508285.524 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:51:25.842Z,1761508285.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986696,0.152837,0.055421],[-0.160966,-0.966252,-0.201114],[0.022813,-0.207359,0.977999]]
2025-10-26T19:51:25.890Z,1761508285.890 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:51:25.890Z,1761508285.890 [marl:UpdateRudder:B] Stopped
2025-10-26T19:51:25.890Z,1761508285.890 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:51:25.890Z,1761508285.890 [marl:UpdateRudder] Stopped
2025-10-26T19:51:25.890Z,1761508285.890 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:51:26.248Z,1761508286.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987596,0.147856,0.052837],[-0.155593,-0.966746,-0.202962],[0.021071,-0.208666,0.977760]]
2025-10-26T19:51:26.652Z,1761508286.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988304,0.143930,0.050387],[-0.151294,-0.966830,-0.205791],[0.019097,-0.211008,0.977298]]
2025-10-26T19:51:27.054Z,1761508287.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988758,0.141518,0.048268],[-0.148538,-0.966651,-0.208621],[0.017135,-0.213445,0.976805]]
2025-10-26T19:51:27.465Z,1761508287.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988979,0.140580,0.046447],[-0.147292,-0.966023,-0.212380],[0.015013,-0.216881,0.976083]]
2025-10-26T19:51:27.863Z,1761508287.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988930,0.141322,0.045229],[-0.147793,-0.965285,-0.215363],[0.013224,-0.219664,0.975486]]
2025-10-26T19:51:28.273Z,1761508288.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988739,0.142840,0.044633],[-0.149184,-0.964346,-0.218587],[0.011819,-0.222784,0.974796]]
2025-10-26T19:51:28.670Z,1761508288.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988460,0.144912,0.044121],[-0.151122,-0.963384,-0.221478],[0.010411,-0.225590,0.974167]]
2025-10-26T19:51:29.074Z,1761508289.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988117,0.147394,0.043578],[-0.153428,-0.962783,-0.222505],[0.009160,-0.226547,0.973957]]
2025-10-26T19:51:29.478Z,1761508289.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987697,0.150287,0.043232],[-0.156161,-0.962549,-0.221616],[0.008307,-0.225641,0.974175]]
2025-10-26T19:51:29.883Z,1761508289.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987181,0.153639,0.043226],[-0.159416,-0.962322,-0.220280],[0.007754,-0.224347,0.974478]]
2025-10-26T19:51:30.181Z,1761508290.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:51:30.286Z,1761508290.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986612,0.157202,0.043408],[-0.162920,-0.962030,-0.218987],[0.007335,-0.223127,0.974762]]
2025-10-26T19:51:30.690Z,1761508290.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986067,0.160547,0.043553],[-0.166205,-0.961766,-0.217676],[0.006941,-0.221881,0.975049]]
2025-10-26T19:51:31.094Z,1761508291.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985682,0.162898,0.043535],[-0.168483,-0.961735,-0.216055],[0.006674,-0.220297,0.975410]]
2025-10-26T19:51:31.184Z,1761508291.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:51:31.498Z,1761508291.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985815,0.162251,0.042936],[-0.167715,-0.962012,-0.215419],[0.006353,-0.219564,0.975577]]
2025-10-26T19:51:31.903Z,1761508291.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986708,0.157282,0.040872],[-0.162403,-0.963323,-0.213620],[0.005774,-0.217419,0.976061]]
2025-10-26T19:51:32.306Z,1761508292.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987869,0.150373,0.038766],[-0.155198,-0.964596,-0.213233],[0.005329,-0.216662,0.976232]]
2025-10-26T19:51:32.714Z,1761508292.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989080,0.142844,0.036268],[-0.147302,-0.966031,-0.212334],[0.004706,-0.215358,0.976524]]
2025-10-26T19:51:33.114Z,1761508293.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990316,0.134560,0.034167],[-0.138764,-0.966967,-0.213819],[0.004267,-0.216489,0.976276]]
2025-10-26T19:51:33.520Z,1761508293.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991412,0.126839,0.031833],[-0.130727,-0.967696,-0.215579],[0.003461,-0.217889,0.975967]]
2025-10-26T19:51:33.986Z,1761508293.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992917,0.115731,0.026860],[-0.118805,-0.968323,-0.219627],[0.000591,-0.221262,0.975214]]
2025-10-26T19:51:34.738Z,1761508294.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993366,0.112680,0.022965],[-0.114949,-0.967270,-0.226219],[-0.003277,-0.227359,0.973806]]
2025-10-26T19:51:35.140Z,1761508295.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993279,0.113615,0.022084],[-0.115652,-0.966787,-0.227921],[-0.004544,-0.228943,0.973429]]
2025-10-26T19:51:35.542Z,1761508295.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992950,0.116563,0.021533],[-0.118386,-0.966115,-0.229361],[-0.005932,-0.230293,0.973103]]
2025-10-26T19:51:35.949Z,1761508295.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992485,0.120596,0.020721],[-0.122124,-0.965651,-0.229356],[-0.007650,-0.230163,0.973122]]
2025-10-26T19:51:36.353Z,1761508296.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991930,0.125160,0.020233],[-0.126471,-0.965564,-0.227355],[-0.008920,-0.228079,0.973602]]
2025-10-26T19:51:36.755Z,1761508296.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991311,0.130013,0.020003],[-0.131169,-0.965564,-0.224678],[-0.009897,-0.225349,0.974228]]
2025-10-26T19:51:37.154Z,1761508297.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990645,0.134936,0.020356],[-0.136064,-0.965299,-0.222901],[-0.010428,-0.223586,0.974629]]
2025-10-26T19:51:37.562Z,1761508297.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990013,0.139393,0.021083],[-0.140573,-0.964724,-0.222591],[-0.010688,-0.223332,0.974684]]
2025-10-26T19:51:37.962Z,1761508297.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989580,0.142364,0.021556],[-0.143593,-0.964684,-0.220830],[-0.010643,-0.221625,0.975074]]
2025-10-26T19:51:38.370Z,1761508298.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989542,0.142596,0.021727],[-0.143864,-0.964812,-0.220095],[-0.010422,-0.220919,0.975237]]
2025-10-26T19:51:38.792Z,1761508298.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989830,0.140663,0.021238],[-0.141883,-0.965343,-0.219048],[-0.010310,-0.219834,0.975483]]
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateRudder:A] Stopped
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:51:38.862Z,1761508298.862 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:51:38.863Z,1761508298.863 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:51:38.863Z,1761508298.863 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:51:38.863Z,1761508298.863 [marl:UpdateCommandMode] Stopped
2025-10-26T19:51:38.863Z,1761508298.863 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:51:38.863Z,1761508298.863 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:51:38.863Z,1761508298.863 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:51:38.864Z,1761508298.864 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:51:38.864Z,1761508298.864 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:51:38.864Z,1761508298.864 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:51:38.864Z,1761508298.864 [marl:UpdateSpeed] Stopped
2025-10-26T19:51:38.864Z,1761508298.864 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:51:39.174Z,1761508299.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990300,0.137481,0.020134],[-0.138557,-0.966235,-0.217238],[-0.010412,-0.217920,0.975911]]
2025-10-26T19:51:39.231Z,1761508299.231 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:51:39.231Z,1761508299.231 [marl:UpdateRudder:B] Stopped
2025-10-26T19:51:39.231Z,1761508299.231 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:51:39.231Z,1761508299.231 [marl:UpdateRudder] Stopped
2025-10-26T19:51:39.231Z,1761508299.231 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:51:39.578Z,1761508299.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990821,0.133850,0.018939],[-0.134748,-0.966657,-0.217756],[-0.010839,-0.218309,0.975820]]
2025-10-26T19:51:39.984Z,1761508299.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991327,0.130259,0.017423],[-0.130909,-0.967081,-0.218214],[-0.011575,-0.218602,0.975745]]
2025-10-26T19:51:40.386Z,1761508300.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991566,0.128529,0.016624],[-0.129013,-0.966736,-0.220854],[-0.012316,-0.221136,0.975165]]
2025-10-26T19:51:40.818Z,1761508300.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991768,0.127127,0.015333],[-0.127364,-0.967001,-0.220654],[-0.013224,-0.220791,0.975232]]
2025-10-26T19:51:41.195Z,1761508301.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991873,0.126401,0.014541],[-0.126478,-0.967071,-0.220853],[-0.013854,-0.220898,0.975199]]
2025-10-26T19:51:41.598Z,1761508301.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991724,0.127586,0.014338],[-0.127566,-0.966572,-0.222408],[-0.014517,-0.222396,0.974848]]
2025-10-26T19:51:42.002Z,1761508302.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991654,0.128176,0.013875],[-0.128049,-0.966684,-0.221643],[-0.014996,-0.221570,0.975029]]
2025-10-26T19:51:42.412Z,1761508302.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991605,0.128590,0.013602],[-0.128406,-0.966842,-0.220746],[-0.015235,-0.220640,0.975236]]
2025-10-26T19:51:42.833Z,1761508302.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991668,0.128135,0.013306],[-0.127908,-0.967061,-0.220075],[-0.015332,-0.219943,0.975392]]
2025-10-26T19:51:43.216Z,1761508303.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992044,0.125318,0.012032],[-0.124919,-0.967975,-0.217758],[-0.015643,-0.217529,0.975928]]
2025-10-26T19:51:43.618Z,1761508303.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992535,0.121488,0.010708],[-0.120921,-0.968857,-0.216090],[-0.015878,-0.215772,0.976315]]
2025-10-26T19:51:44.022Z,1761508304.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993106,0.116887,0.008803],[-0.116027,-0.969558,-0.215627],[-0.016669,-0.215162,0.976436]]
2025-10-26T19:51:44.426Z,1761508304.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993695,0.111903,0.006943],[-0.110767,-0.970248,-0.215288],[-0.017355,-0.214699,0.976526]]
2025-10-26T19:51:44.840Z,1761508304.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994199,0.107399,0.005776],[-0.106061,-0.970075,-0.218416],[-0.017855,-0.217762,0.975839]]
2025-10-26T19:51:45.234Z,1761508305.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994590,0.103777,0.004690],[-0.102216,-0.969573,-0.222442],[-0.018537,-0.221718,0.974935]]
2025-10-26T19:51:45.638Z,1761508305.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994828,0.101496,0.003940],[-0.099724,-0.968622,-0.227653],[-0.019289,-0.226868,0.973734]]
2025-10-26T19:51:46.044Z,1761508306.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994896,0.100855,0.003326],[-0.098879,-0.967768,-0.231621],[-0.020142,-0.230767,0.972801]]
2025-10-26T19:51:46.446Z,1761508306.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994751,0.102282,0.003060],[-0.100114,-0.966607,-0.235900],[-0.021171,-0.234968,0.971773]]
2025-10-26T19:51:46.499Z,1761508306.499 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:51:46.850Z,1761508306.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994530,0.104423,0.002574],[-0.102034,-0.965914,-0.237906],[-0.022357,-0.236868,0.971285]]
2025-10-26T19:51:47.256Z,1761508307.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994231,0.107223,0.002740],[-0.104763,-0.965306,-0.239183],[-0.023001,-0.238090,0.970971]]
2025-10-26T19:51:47.410Z,1761508307.410 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:51:47.411Z,1761508307.411 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:51:47.660Z,1761508307.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993923,0.110044,0.002840],[-0.107557,-0.965325,-0.237864],[-0.023434,-0.236724,0.971294]]
2025-10-26T19:51:48.062Z,1761508308.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993672,0.112294,0.002655],[-0.109779,-0.965868,-0.234622],[-0.023782,-0.233429,0.972083]]
2025-10-26T19:51:48.466Z,1761508308.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993516,0.113667,0.002389],[-0.111155,-0.966720,-0.230429],[-0.023883,-0.229201,0.973086]]
2025-10-26T19:51:48.891Z,1761508308.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993505,0.113770,0.001863],[-0.111262,-0.967911,-0.225319],[-0.023832,-0.224063,0.974283]]
2025-10-26T19:51:49.276Z,1761508309.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993585,0.113076,0.001445],[-0.110604,-0.969038,-0.220752],[-0.023562,-0.219496,0.975329]]
2025-10-26T19:51:49.678Z,1761508309.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993800,0.111178,0.000802],[-0.108690,-0.969987,-0.217513],[-0.023405,-0.216251,0.976057]]
2025-10-26T19:51:50.082Z,1761508310.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994089,0.108570,-0.000194],[-0.105988,-0.970829,-0.215075],[-0.023539,-0.213783,0.976598]]
2025-10-26T19:51:50.488Z,1761508310.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994317,0.106459,-0.000686],[-0.103816,-0.971027,-0.215240],[-0.023581,-0.213946,0.976561]]
2025-10-26T19:51:50.897Z,1761508310.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994642,0.103367,-0.001248],[-0.100681,-0.971396,-0.215064],[-0.023442,-0.213786,0.976599]]
2025-10-26T19:51:51.295Z,1761508311.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994912,0.100729,-0.001959],[-0.097930,-0.971468,-0.216009],[-0.023662,-0.214718,0.976389]]
2025-10-26T19:51:51.700Z,1761508311.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995146,0.098369,-0.002703],[-0.095422,-0.971311,-0.217831],[-0.024053,-0.216516,0.975983]]
2025-10-26T19:51:52.102Z,1761508312.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995350,0.096268,-0.003218],[-0.093165,-0.970669,-0.221633],[-0.024460,-0.220302,0.975125]]
2025-10-26T19:51:52.127Z,1761508312.127 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:51:52.127Z,1761508312.127 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:51:52.127Z,1761508312.127 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateRudder:A] Stopped
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode] Stopped
2025-10-26T19:51:52.128Z,1761508312.128 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed] Stopped
2025-10-26T19:51:52.129Z,1761508312.129 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:51:52.507Z,1761508312.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995540,0.094255,-0.003899],[-0.090964,-0.970096,-0.225034],[-0.024993,-0.223676,0.974343]]
2025-10-26T19:51:52.550Z,1761508312.550 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:51:52.551Z,1761508312.551 [marl:UpdateRudder:B] Stopped
2025-10-26T19:51:52.551Z,1761508312.551 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:51:52.551Z,1761508312.551 [marl:UpdateRudder] Stopped
2025-10-26T19:51:52.551Z,1761508312.551 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:51:52.910Z,1761508312.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995691,0.092634,-0.004372],[-0.089195,-0.969505,-0.228265],[-0.025384,-0.226891,0.973589]]
2025-10-26T19:51:53.314Z,1761508313.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995853,0.090828,-0.005244],[-0.087222,-0.969533,-0.228907],[-0.025875,-0.227500,0.973434]]
2025-10-26T19:51:53.722Z,1761508313.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995973,0.089440,-0.006146],[-0.085641,-0.969456,-0.229826],[-0.026514,-0.228374,0.973212]]
2025-10-26T19:51:54.123Z,1761508314.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996108,0.087849,-0.007113],[-0.083856,-0.969480,-0.230385],[-0.027135,-0.228891,0.973074]]
2025-10-26T19:51:54.526Z,1761508314.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996240,0.086290,-0.007790],[-0.082187,-0.969657,-0.230241],[-0.027422,-0.228735,0.973102]]
2025-10-26T19:51:54.930Z,1761508314.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996352,0.084900,-0.008685],[-0.080620,-0.969705,-0.230592],[-0.027999,-0.229050,0.973012]]
2025-10-26T19:51:55.362Z,1761508315.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996390,0.084380,-0.009321],[-0.079993,-0.969963,-0.229722],[-0.028425,-0.228147,0.973212]]
2025-10-26T19:51:55.739Z,1761508315.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996407,0.084084,-0.010135],[-0.079568,-0.970379,-0.228110],[-0.029015,-0.226484,0.973583]]
2025-10-26T19:51:56.142Z,1761508316.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996356,0.084627,-0.010661],[-0.080026,-0.970716,-0.226507],[-0.029518,-0.224828,0.973951]]
2025-10-26T19:51:56.546Z,1761508316.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996308,0.085097,-0.011329],[-0.080331,-0.970671,-0.226593],[-0.030279,-0.224846,0.973924]]
2025-10-26T19:51:56.951Z,1761508316.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996151,0.086858,-0.011744],[-0.082003,-0.970891,-0.225049],[-0.030949,-0.223220,0.974277]]
2025-10-26T19:51:57.365Z,1761508317.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995920,0.089426,-0.012110],[-0.084477,-0.971058,-0.223407],[-0.031738,-0.221473,0.974650]]
2025-10-26T19:51:57.758Z,1761508317.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995655,0.092339,-0.012044],[-0.087348,-0.970913,-0.222933],[-0.032279,-0.220912,0.974759]]
2025-10-26T19:51:58.162Z,1761508318.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995318,0.095898,-0.012037],[-0.090824,-0.970625,-0.222795],[-0.033049,-0.220659,0.974791]]
2025-10-26T19:51:58.566Z,1761508318.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994985,0.099312,-0.011904],[-0.094211,-0.970490,-0.221977],[-0.033597,-0.219742,0.974979]]
2025-10-26T19:51:58.971Z,1761508318.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994680,0.102368,-0.011502],[-0.097303,-0.970328,-0.221350],[-0.033820,-0.219053,0.975127]]
2025-10-26T19:51:59.375Z,1761508319.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994457,0.104592,-0.010796],[-0.099641,-0.970186,-0.220933],[-0.033581,-0.218632,0.975229]]
2025-10-26T19:51:59.778Z,1761508319.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994337,0.105824,-0.009775],[-0.101051,-0.969941,-0.221364],[-0.032907,-0.219123,0.975142]]
2025-10-26T19:52:00.183Z,1761508320.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994328,0.106026,-0.008388],[-0.101553,-0.969892,-0.221350],[-0.031605,-0.219243,0.975158]]
2025-10-26T19:52:00.586Z,1761508320.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994506,0.104454,-0.006919],[-0.100353,-0.970104,-0.220971],[-0.029794,-0.219063,0.975256]]
2025-10-26T19:52:00.990Z,1761508320.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994875,0.100961,-0.005511],[-0.097284,-0.970646,-0.219958],[-0.027556,-0.218295,0.975494]]
2025-10-26T19:52:01.304Z,1761508321.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:52:01.395Z,1761508321.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995423,0.095475,-0.004209],[-0.092219,-0.971169,-0.219831],[-0.025076,-0.218437,0.975529]]
2025-10-26T19:52:01.799Z,1761508321.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996145,0.087663,-0.003308],[-0.084760,-0.971507,-0.221336],[-0.022617,-0.220202,0.975192]]
2025-10-26T19:52:02.202Z,1761508322.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996891,0.078749,-0.002753],[-0.076136,-0.971646,-0.223847],[-0.020303,-0.222941,0.974620]]
2025-10-26T19:52:02.308Z,1761508322.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:52:02.606Z,1761508322.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997563,0.069722,-0.002583],[-0.067314,-0.971527,-0.227166],[-0.018348,-0.226439,0.973853]]
2025-10-26T19:52:03.010Z,1761508323.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998072,0.061998,-0.002854],[-0.059676,-0.971286,-0.230308],[-0.017050,-0.229693,0.973114]]
2025-10-26T19:52:03.416Z,1761508323.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998429,0.055942,-0.003235],[-0.053638,-0.970821,-0.233731],[-0.016216,-0.233191,0.972296]]
2025-10-26T19:52:03.819Z,1761508323.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998656,0.051688,-0.003701],[-0.049322,-0.969987,-0.238103],[-0.015897,-0.237600,0.971233]]
2025-10-26T19:52:04.222Z,1761508324.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998776,0.049260,-0.004390],[-0.046752,-0.969407,-0.240966],[-0.016125,-0.240466,0.970524]]
2025-10-26T19:52:04.626Z,1761508324.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998766,0.049416,-0.004968],[-0.046727,-0.968857,-0.243174],[-0.016830,-0.242642,0.969970]]
2025-10-26T19:52:05.036Z,1761508325.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998628,0.052074,-0.005436],[-0.049194,-0.968778,-0.243000],[-0.017920,-0.242399,0.970011]]
2025-10-26T19:52:05.434Z,1761508325.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998391,0.056464,-0.005208],[-0.053543,-0.968981,-0.241265],[-0.018669,-0.240598,0.970445]]
2025-10-26T19:52:05.507Z,1761508325.507 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:52:05.507Z,1761508325.507 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:52:05.507Z,1761508325.507 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:52:05.507Z,1761508325.507 [marl:UpdateRudder:A] Stopped
2025-10-26T19:52:05.507Z,1761508325.507 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode] Stopped
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:52:05.508Z,1761508325.508 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:52:05.509Z,1761508325.509 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:52:05.509Z,1761508325.509 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:52:05.509Z,1761508325.509 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:52:05.509Z,1761508325.509 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:52:05.509Z,1761508325.509 [marl:UpdateSpeed] Stopped
2025-10-26T19:52:05.509Z,1761508325.509 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:52:05.844Z,1761508325.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998090,0.061632,-0.004314],[-0.058837,-0.969488,-0.237974],[-0.018850,-0.237266,0.971262]]
2025-10-26T19:52:05.880Z,1761508325.880 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:52:05.880Z,1761508325.880 [marl:UpdateRudder:B] Stopped
2025-10-26T19:52:05.880Z,1761508325.880 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:52:05.880Z,1761508325.880 [marl:UpdateRudder] Stopped
2025-10-26T19:52:05.881Z,1761508325.881 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:52:06.242Z,1761508326.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997793,0.066318,-0.003166],[-0.063742,-0.970189,-0.233818],[-0.018578,-0.233100,0.972275]]
2025-10-26T19:52:06.647Z,1761508326.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997515,0.070436,-0.001760],[-0.068128,-0.970602,-0.230847],[-0.017968,-0.230154,0.972988]]
2025-10-26T19:52:07.061Z,1761508327.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997246,0.074169,-0.000226],[-0.072146,-0.970751,-0.228992],[-0.017204,-0.228345,0.973428]]
2025-10-26T19:52:07.454Z,1761508327.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996995,0.077449,0.001489],[-0.075749,-0.970722,-0.227947],[-0.016209,-0.227375,0.973672]]
2025-10-26T19:52:07.858Z,1761508327.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996762,0.080333,0.003558],[-0.079046,-0.970739,-0.226756],[-0.014762,-0.226303,0.973945]]
2025-10-26T19:52:08.263Z,1761508328.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996560,0.082696,0.005407],[-0.081755,-0.970345,-0.227477],[-0.013564,-0.227136,0.973769]]
2025-10-26T19:52:08.667Z,1761508328.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996397,0.084510,0.007091],[-0.083888,-0.969872,-0.228718],[-0.012452,-0.228489,0.973467]]
2025-10-26T19:52:09.073Z,1761508329.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996290,0.085669,0.008238],[-0.085263,-0.969464,-0.229934],[-0.011712,-0.229783,0.973171]]
2025-10-26T19:52:09.474Z,1761508329.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996207,0.086437,0.010028],[-0.086398,-0.968803,-0.232285],[-0.010363,-0.232270,0.972596]]
2025-10-26T19:52:09.878Z,1761508329.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996148,0.086926,0.011537],[-0.087212,-0.968430,-0.233532],[-0.009128,-0.233638,0.972281]]
2025-10-26T19:52:10.284Z,1761508330.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996160,0.086657,0.012506],[-0.087169,-0.968207,-0.234470],[-0.008210,-0.234660,0.972043]]
2025-10-26T19:52:10.686Z,1761508330.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996203,0.086021,0.013408],[-0.086760,-0.968143,-0.234888],[-0.007224,-0.235159,0.971930]]
2025-10-26T19:52:11.093Z,1761508331.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996385,0.083805,0.013929],[-0.084732,-0.968446,-0.234378],[-0.006152,-0.234711,0.972046]]
2025-10-26T19:52:11.495Z,1761508331.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996604,0.081110,0.014224],[-0.082187,-0.968916,-0.233341],[-0.005145,-0.233717,0.972291]]
2025-10-26T19:52:11.899Z,1761508331.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996878,0.077704,0.013998],[-0.078838,-0.969979,-0.230056],[-0.004298,-0.230442,0.973077]]
2025-10-26T19:52:12.308Z,1761508332.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997236,0.073036,0.013636],[-0.074222,-0.971012,-0.227213],[-0.003354,-0.227598,0.973750]]
2025-10-26T19:52:12.710Z,1761508332.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997601,0.067990,0.013040],[-0.069180,-0.971889,-0.225046],[-0.002628,-0.225408,0.974261]]
2025-10-26T19:52:13.115Z,1761508333.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997997,0.062043,0.012347],[-0.063235,-0.972951,-0.222190],[-0.001772,-0.222526,0.974925]]
2025-10-26T19:52:13.514Z,1761508333.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998358,0.056070,0.011681],[-0.057267,-0.973922,-0.219538],[-0.000933,-0.219847,0.975534]]
2025-10-26T19:52:13.918Z,1761508333.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998694,0.049989,0.010549],[-0.051086,-0.974395,-0.218965],[-0.000667,-0.219218,0.975676]]
2025-10-26T19:52:14.325Z,1761508334.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998941,0.044948,0.009848],[-0.046013,-0.974336,-0.220346],[-0.000309,-0.220566,0.975372]]
2025-10-26T19:52:14.733Z,1761508334.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999094,0.041484,0.009535],[-0.042565,-0.973753,-0.223593],[0.000010,-0.223796,0.974636]]
2025-10-26T19:52:15.141Z,1761508335.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999167,0.039622,0.009758],[-0.040803,-0.972944,-0.227409],[0.000483,-0.227618,0.973750]]
2025-10-26T19:52:15.534Z,1761508335.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999167,0.039525,0.010198],[-0.040813,-0.971734,-0.232526],[0.000719,-0.232748,0.972537]]
2025-10-26T19:52:15.938Z,1761508335.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999095,0.040990,0.011315],[-0.042507,-0.969938,-0.239612],[0.001153,-0.239876,0.970803]]
2025-10-26T19:52:16.344Z,1761508336.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998963,0.043699,0.012771],[-0.045498,-0.968340,-0.245454],[0.001640,-0.245781,0.969324]]
2025-10-26T19:52:16.751Z,1761508336.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998765,0.047731,0.013826],[-0.049669,-0.967584,-0.247616],[0.001558,-0.247997,0.968760]]
2025-10-26T19:52:16.854Z,1761508336.854 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:52:17.554Z,1761508337.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998108,0.059085,0.017026],[-0.061459,-0.967268,-0.246203],[0.001922,-0.246783,0.969069]]
2025-10-26T19:52:17.960Z,1761508337.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997687,0.065421,0.018484],[-0.067952,-0.967749,-0.242580],[0.002018,-0.243275,0.969955]]
2025-10-26T19:52:18.362Z,1761508338.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997247,0.071436,0.019905],[-0.074123,-0.968382,-0.238204],[0.002259,-0.239024,0.971011]]
2025-10-26T19:52:18.791Z,1761508338.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996901,0.075767,0.021145],[-0.078611,-0.969295,-0.232997],[0.002843,-0.233937,0.972248]]
2025-10-26T19:52:18.844Z,1761508338.844 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00, 562.27, 652.12,
2025-10-26T19:52:18.864Z,1761508338.864 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:52:18.864Z,1761508338.864 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:52:18.864Z,1761508338.864 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateRudder:A] Stopped
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:52:18.865Z,1761508338.865 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateCommandMode] Stopped
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed] Stopped
2025-10-26T19:52:18.866Z,1761508338.866 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:52:19.170Z,1761508339.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996763,0.077417,0.021693],[-0.080325,-0.970453,-0.227529],[0.003438,-0.228535,0.973530]]
2025-10-26T19:52:19.225Z,1761508339.225 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:52:19.225Z,1761508339.225 [marl:UpdateRudder:B] Stopped
2025-10-26T19:52:19.225Z,1761508339.225 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:52:19.225Z,1761508339.225 [marl:UpdateRudder] Stopped
2025-10-26T19:52:19.225Z,1761508339.225 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:52:19.575Z,1761508339.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996863,0.076214,0.021345],[-0.079048,-0.972182,-0.220483],[0.003947,-0.221479,0.975157]]
2025-10-26T19:52:19.986Z,1761508339.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997455,0.068541,0.019649],[-0.071151,-0.974685,-0.211957],[0.004623,-0.212816,0.977081]]
2025-10-26T19:52:20.387Z,1761508340.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997828,0.063247,0.018428],[-0.065715,-0.975276,-0.210995],[0.004628,-0.211748,0.977313]]
2025-10-26T19:52:20.826Z,1761508340.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998147,0.058226,0.017664],[-0.060651,-0.975339,-0.212214],[0.004872,-0.212892,0.977064]]
2025-10-26T19:52:21.198Z,1761508341.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998390,0.053954,0.017496],[-0.056462,-0.974785,-0.215887],[0.005407,-0.216527,0.976262]]
2025-10-26T19:52:21.599Z,1761508341.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998500,0.051737,0.017917],[-0.054423,-0.973647,-0.221470],[0.005987,-0.222113,0.975003]]
2025-10-26T19:52:21.998Z,1761508341.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998499,0.051433,0.018818],[-0.054380,-0.971867,-0.229165],[0.006502,-0.229845,0.973206]]
2025-10-26T19:52:22.402Z,1761508342.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998419,0.052520,0.020027],[-0.055765,-0.970230,-0.235678],[0.007053,-0.236422,0.971625]]
2025-10-26T19:52:22.836Z,1761508342.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998277,0.054647,0.021362],[-0.058190,-0.968759,-0.241079],[0.007521,-0.241907,0.970270]]
2025-10-26T19:52:23.217Z,1761508343.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998064,0.057681,0.023276],[-0.061632,-0.967564,-0.244994],[0.008390,-0.245955,0.969245]]
2025-10-26T19:52:23.614Z,1761508343.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997830,0.060946,0.024916],[-0.065216,-0.966908,-0.246649],[0.009059,-0.247739,0.968784]]
2025-10-26T19:52:24.018Z,1761508344.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997597,0.064068,0.026367],[-0.068597,-0.966768,-0.246281],[0.009713,-0.247498,0.968840]]
2025-10-26T19:52:24.422Z,1761508344.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997409,0.066585,0.027233],[-0.071223,-0.967265,-0.243568],[0.010124,-0.244877,0.969501]]
2025-10-26T19:52:24.838Z,1761508344.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997266,0.068405,0.027936],[-0.073117,-0.968112,-0.239609],[0.010655,-0.240997,0.970467]]
2025-10-26T19:52:25.230Z,1761508345.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997271,0.068351,0.027911],[-0.072998,-0.969458,-0.234144],[0.011055,-0.235543,0.971801]]
2025-10-26T19:52:25.634Z,1761508345.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997332,0.067691,0.027313],[-0.072166,-0.970579,-0.229713],[0.010960,-0.231071,0.972875]]
2025-10-26T19:52:26.040Z,1761508346.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997503,0.065491,0.026445],[-0.069762,-0.972057,-0.224138],[0.011027,-0.225423,0.974199]]
2025-10-26T19:52:26.442Z,1761508346.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997724,0.062513,0.025292],[-0.066539,-0.973542,-0.218608],[0.010957,-0.219793,0.975485]]
2025-10-26T19:52:26.846Z,1761508346.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997980,0.058808,0.024046],[-0.062606,-0.974703,-0.214557],[0.010820,-0.215629,0.976416]]
2025-10-26T19:52:27.255Z,1761508347.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998235,0.054787,0.022911],[-0.058417,-0.975301,-0.213017],[0.010674,-0.213979,0.976780]]
2025-10-26T19:52:27.655Z,1761508347.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998457,0.051076,0.021790],[-0.054540,-0.975778,-0.211855],[0.010442,-0.212716,0.977058]]
2025-10-26T19:52:28.060Z,1761508348.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998644,0.047627,0.021006],[-0.051019,-0.975636,-0.213383],[0.010332,-0.214165,0.976743]]
2025-10-26T19:52:28.462Z,1761508348.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998792,0.044592,0.020621],[-0.048009,-0.974991,-0.216999],[0.010429,-0.217727,0.975954]]
2025-10-26T19:52:28.866Z,1761508348.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998847,0.043318,0.020686],[-0.046844,-0.973739,-0.222795],[0.010491,-0.223507,0.974646]]
2025-10-26T19:52:29.281Z,1761508349.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998833,0.043341,0.021323],[-0.047075,-0.972349,-0.228740],[0.010820,-0.229477,0.973254]]
2025-10-26T19:52:29.676Z,1761508349.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998753,0.044666,0.022315],[-0.048653,-0.971040,-0.233912],[0.011221,-0.234706,0.972002]]
2025-10-26T19:52:30.078Z,1761508350.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998621,0.046786,0.023812],[-0.051121,-0.969828,-0.238371],[0.011941,-0.239259,0.970882]]
2025-10-26T19:52:30.482Z,1761508350.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998442,0.049630,0.025514],[-0.054349,-0.968538,-0.242860],[0.012658,-0.243868,0.969726]]
2025-10-26T19:52:30.886Z,1761508350.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998244,0.052958,0.026556],[-0.057867,-0.967669,-0.245495],[0.012696,-0.246601,0.969034]]
2025-10-26T19:52:31.297Z,1761508351.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998032,0.056237,0.027733],[-0.061338,-0.967415,-0.245656],[0.013014,-0.246873,0.968960]]
2025-10-26T19:52:31.695Z,1761508351.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997887,0.058268,0.028751],[-0.063556,-0.967314,-0.245488],[0.013507,-0.246796,0.968973]]
2025-10-26T19:52:32.098Z,1761508352.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997833,0.059069,0.028970],[-0.064333,-0.968229,-0.241647],[0.013776,-0.242987,0.969932]]
2025-10-26T19:52:32.145Z,1761508352.145 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:52:32.145Z,1761508352.145 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:52:32.145Z,1761508352.145 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:52:32.145Z,1761508352.145 [marl:UpdateRudder:A] Stopped
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode] Stopped
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:52:32.146Z,1761508352.146 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:52:32.147Z,1761508352.147 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:52:32.147Z,1761508352.147 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:52:32.147Z,1761508352.147 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:52:32.147Z,1761508352.147 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:52:32.147Z,1761508352.147 [marl:UpdateSpeed] Stopped
2025-10-26T19:52:32.147Z,1761508352.147 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:52:32.436Z,1761508352.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:52:32.502Z,1761508352.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997912,0.057810,0.028791],[-0.063004,-0.969396,-0.237279],[0.014192,-0.238598,0.971015]]
2025-10-26T19:52:32.555Z,1761508352.555 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:52:32.555Z,1761508352.555 [marl:UpdateRudder:B] Stopped
2025-10-26T19:52:32.555Z,1761508352.555 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:52:32.555Z,1761508352.555 [marl:UpdateRudder] Stopped
2025-10-26T19:52:32.556Z,1761508352.556 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:52:32.906Z,1761508352.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998034,0.055907,0.028335],[-0.060984,-0.970542,-0.233088],[0.014470,-0.234357,0.972043]]
2025-10-26T19:52:33.310Z,1761508353.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998212,0.053122,0.027390],[-0.057955,-0.972318,-0.226361],[0.014607,-0.227544,0.973658]]
2025-10-26T19:52:33.440Z,1761508353.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:52:33.718Z,1761508353.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998434,0.049474,0.026113],[-0.054032,-0.973772,-0.221016],[0.014494,-0.222081,0.974921]]
2025-10-26T19:52:34.120Z,1761508354.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998628,0.045806,0.025359],[-0.050248,-0.974561,-0.218418],[0.014709,-0.219393,0.975526]]
2025-10-26T19:52:34.523Z,1761508354.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998728,0.043646,0.025260],[-0.048116,-0.974699,-0.218282],[0.015093,-0.219219,0.975559]]
2025-10-26T19:52:34.926Z,1761508354.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998780,0.042501,0.025125],[-0.046976,-0.974653,-0.218737],[0.015192,-0.219650,0.975460]]
2025-10-26T19:52:35.330Z,1761508355.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998751,0.042987,0.025469],[-0.047548,-0.974322,-0.220083],[0.015354,-0.221019,0.975149]]
2025-10-26T19:52:35.743Z,1761508355.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998684,0.044454,0.025565],[-0.049063,-0.973310,-0.224186],[0.014917,-0.225146,0.974211]]
2025-10-26T19:52:36.138Z,1761508356.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998586,0.046390,0.025959],[-0.051113,-0.972061,-0.229095],[0.014606,-0.230098,0.973058]]
2025-10-26T19:52:36.542Z,1761508356.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998429,0.049157,0.026900],[-0.054071,-0.971169,-0.232178],[0.014711,-0.233268,0.972301]]
2025-10-26T19:52:36.947Z,1761508356.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998197,0.052793,0.028574],[-0.058045,-0.970222,-0.235161],[0.015309,-0.236395,0.971536]]
2025-10-26T19:52:37.354Z,1761508357.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997970,0.056128,0.030104],[-0.061703,-0.969193,-0.238451],[0.015793,-0.239824,0.970688]]
2025-10-26T19:52:37.754Z,1761508357.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997760,0.058966,0.031575],[-0.064823,-0.968833,-0.239084],[0.016493,-0.240595,0.970485]]
2025-10-26T19:52:38.158Z,1761508358.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997595,0.060926,0.033037],[-0.067073,-0.968742,-0.238829],[0.017453,-0.240470,0.970500]]
2025-10-26T19:52:38.562Z,1761508358.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997503,0.061798,0.034195],[-0.068211,-0.968502,-0.239480],[0.018319,-0.241214,0.970299]]
2025-10-26T19:52:38.966Z,1761508358.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997493,0.061608,0.034823],[-0.068160,-0.968738,-0.238539],[0.019038,-0.240314,0.970508]]
2025-10-26T19:52:39.377Z,1761508359.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997562,0.060448,0.034872],[-0.066989,-0.969495,-0.235778],[0.019556,-0.237540,0.971181]]
2025-10-26T19:52:39.774Z,1761508359.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997691,0.058403,0.034662],[-0.064877,-0.970522,-0.232118],[0.020084,-0.233831,0.972070]]
2025-10-26T19:52:40.178Z,1761508360.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997913,0.055069,0.033704],[-0.061293,-0.972080,-0.226505],[0.020289,-0.228098,0.973427]]
2025-10-26T19:52:40.583Z,1761508360.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998188,0.050656,0.032475],[-0.056609,-0.973535,-0.221416],[0.020399,-0.222853,0.974639]]
2025-10-26T19:52:41.390Z,1761508361.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998783,0.038926,0.030297],[-0.044537,-0.975676,-0.214646],[0.021204,-0.215734,0.976222]]
2025-10-26T19:52:41.794Z,1761508361.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999081,0.032050,0.028452],[-0.037409,-0.976102,-0.214069],[0.020911,-0.214936,0.976404]]
2025-10-26T19:52:42.203Z,1761508362.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999326,0.025144,0.026761],[-0.030318,-0.976141,-0.215011],[0.020717,-0.215677,0.976245]]
2025-10-26T19:52:42.604Z,1761508362.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999513,0.018613,0.025029],[-0.023629,-0.975647,-0.218071],[0.020360,-0.218557,0.975612]]
2025-10-26T19:52:43.006Z,1761508363.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999636,0.013303,0.023468],[-0.018193,-0.974791,-0.222378],[0.019918,-0.222724,0.974678]]
2025-10-26T19:52:43.411Z,1761508363.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999705,0.009654,0.022308],[-0.014486,-0.973590,-0.227841],[0.019519,-0.228097,0.973443]]
2025-10-26T19:52:43.814Z,1761508363.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999732,0.008050,0.021687],[-0.012904,-0.972146,-0.234019],[0.019199,-0.234236,0.971990]]
2025-10-26T19:52:44.222Z,1761508364.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999726,0.008859,0.021656],[-0.013774,-0.971014,-0.238625],[0.018915,-0.238858,0.970870]]
2025-10-26T19:52:44.622Z,1761508364.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,0.011802,0.021781],[-0.016718,-0.970228,-0.241617],[0.018281,-0.241907,0.970127]]
2025-10-26T19:52:45.026Z,1761508365.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999635,0.015844,0.021864],[-0.020711,-0.969454,-0.244397],[0.017324,-0.244761,0.969429]]
2025-10-26T19:52:45.438Z,1761508365.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999496,0.021622,0.023224],[-0.026655,-0.969210,-0.244787],[0.017216,-0.245283,0.969299]]
2025-10-26T19:52:45.462Z,1761508365.462 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:52:45.463Z,1761508365.463 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:52:45.463Z,1761508365.463 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:52:45.463Z,1761508365.463 [marl:UpdateRudder:A] Stopped
2025-10-26T19:52:45.463Z,1761508365.463 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:52:45.463Z,1761508365.463 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:52:45.463Z,1761508365.463 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateCommandMode] Stopped
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:52:45.464Z,1761508365.464 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:52:45.465Z,1761508365.465 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:52:45.465Z,1761508365.465 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:52:45.465Z,1761508365.465 [marl:UpdateSpeed] Stopped
2025-10-26T19:52:45.465Z,1761508365.465 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:52:45.834Z,1761508365.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999290,0.028361,0.024783],[-0.033556,-0.969225,-0.243877],[0.017104,-0.244536,0.969489]]
2025-10-26T19:52:45.885Z,1761508365.885 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:52:45.885Z,1761508365.885 [marl:UpdateRudder:B] Stopped
2025-10-26T19:52:45.885Z,1761508365.885 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:52:45.885Z,1761508365.885 [marl:UpdateRudder] Stopped
2025-10-26T19:52:45.885Z,1761508365.885 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:52:46.238Z,1761508366.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999023,0.035558,0.026232],[-0.040834,-0.969759,-0.240626],[0.016882,-0.241462,0.970263]]
2025-10-26T19:52:46.643Z,1761508366.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998678,0.043301,0.027701],[-0.048650,-0.970213,-0.237316],[0.016600,-0.238350,0.971037]]
2025-10-26T19:52:47.048Z,1761508367.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998297,0.050558,0.029119],[-0.055956,-0.970998,-0.232446],[0.016522,-0.233679,0.972173]]
2025-10-26T19:52:47.130Z,1761508367.130 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:52:47.450Z,1761508367.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997930,0.056812,0.030144],[-0.062196,-0.971785,-0.227521],[0.016368,-0.228925,0.973306]]
2025-10-26T19:52:47.589Z,1761508367.589 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:52:47.590Z,1761508367.590 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:52:47.858Z,1761508367.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997612,0.061845,0.030755],[-0.067151,-0.972668,-0.222279],[0.016167,-0.223813,0.974498]]
2025-10-26T19:52:48.258Z,1761508368.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997398,0.065087,0.030985],[-0.070258,-0.973905,-0.215806],[0.016131,-0.217421,0.975945]]
2025-10-26T19:52:48.663Z,1761508368.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997284,0.066740,0.031167],[-0.071874,-0.974293,-0.213510],[0.016116,-0.215170,0.976444]]
2025-10-26T19:52:49.066Z,1761508369.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997236,0.067270,0.031547],[-0.072444,-0.974633,-0.211760],[0.016501,-0.213460,0.976812]]
2025-10-26T19:52:49.470Z,1761508369.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997296,0.066003,0.032316],[-0.071371,-0.974711,-0.211768],[0.017521,-0.213502,0.976786]]
2025-10-26T19:52:49.878Z,1761508369.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997427,0.063388,0.033495],[-0.069090,-0.974610,-0.212982],[0.019144,-0.214748,0.976482]]
2025-10-26T19:52:50.280Z,1761508370.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997703,0.058309,0.034490],[-0.064352,-0.974819,-0.213512],[0.021171,-0.215241,0.976331]]
2025-10-26T19:52:50.692Z,1761508370.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998038,0.051837,0.035131],[-0.058247,-0.974452,-0.216910],[0.022989,-0.218531,0.975559]]
2025-10-26T19:52:51.086Z,1761508371.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998372,0.044602,0.035561],[-0.051402,-0.973725,-0.221849],[0.024731,-0.223316,0.974432]]
2025-10-26T19:52:51.490Z,1761508371.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998672,0.037120,0.035716],[-0.044263,-0.973040,-0.226350],[0.026351,-0.227630,0.973391]]
2025-10-26T19:52:51.901Z,1761508371.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998919,0.029921,0.035576],[-0.037332,-0.972378,-0.230406],[0.027699,-0.231485,0.972444]]
2025-10-26T19:52:52.298Z,1761508372.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999104,0.023310,0.035330],[-0.030896,-0.972148,-0.232321],[0.028931,-0.233204,0.971997]]
2025-10-26T19:52:52.707Z,1761508372.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999239,0.017211,0.034989],[-0.025025,-0.971202,-0.236938],[0.029903,-0.237634,0.970894]]
2025-10-26T19:52:53.106Z,1761508373.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999343,0.011894,0.034229],[-0.019794,-0.970397,-0.240702],[0.030353,-0.241221,0.969995]]
2025-10-26T19:52:53.512Z,1761508373.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999432,0.007352,0.032891],[-0.015135,-0.969883,-0.243099],[0.030113,-0.243459,0.969444]]
2025-10-26T19:52:53.914Z,1761508373.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999511,0.003335,0.031078],[-0.010817,-0.969763,-0.243811],[0.029326,-0.244028,0.969325]]
2025-10-26T19:52:54.318Z,1761508374.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999582,-0.000937,0.028885],[-0.006086,-0.970236,-0.242085],[0.028252,-0.242160,0.969825]]
2025-10-26T19:52:54.727Z,1761508374.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999635,-0.004267,0.026690],[-0.002286,-0.970581,-0.240763],[0.026933,-0.240736,0.970217]]
2025-10-26T19:52:55.128Z,1761508375.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,-0.005862,0.024085],[-0.000097,-0.970700,-0.240296],[0.024788,-0.240225,0.970401]]
2025-10-26T19:52:55.531Z,1761508375.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999749,-0.005545,0.021717],[0.000223,-0.971332,-0.237728],[0.022412,-0.237663,0.971089]]
2025-10-26T19:52:55.934Z,1761508375.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999796,-0.002839,0.019986],[-0.001961,-0.971725,-0.236109],[0.020091,-0.236100,0.971521]]
2025-10-26T19:52:56.339Z,1761508376.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999816,0.001450,0.019113],[-0.005875,-0.972321,-0.233574],[0.018245,-0.233643,0.972151]]
2025-10-26T19:52:56.744Z,1761508376.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999809,0.006283,0.018516],[-0.010348,-0.973507,-0.228424],[0.016590,-0.228572,0.973386]]
2025-10-26T19:52:57.147Z,1761508377.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999768,0.011227,0.018386],[-0.015053,-0.974609,-0.223405],[0.015411,-0.223630,0.974552]]
2025-10-26T19:52:57.551Z,1761508377.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999694,0.016064,0.018810],[-0.019753,-0.976168,-0.216115],[0.014890,-0.216420,0.976187]]
2025-10-26T19:52:57.958Z,1761508377.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999583,0.021080,0.019716],[-0.024742,-0.977564,-0.209183],[0.014864,-0.209583,0.977678]]
2025-10-26T19:52:58.360Z,1761508378.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999436,0.026062,0.021197],[-0.029835,-0.978624,-0.203481],[0.015441,-0.203998,0.978849]]
2025-10-26T19:52:58.782Z,1761508378.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999256,0.030887,0.023117],[-0.034869,-0.979468,-0.198561],[0.016509,-0.199219,0.979816]]
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateRudder:A] Stopped
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:52:58.852Z,1761508378.852 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateCommandMode] Stopped
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:52:58.853Z,1761508378.853 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:52:58.854Z,1761508378.854 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:52:58.854Z,1761508378.854 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:52:58.854Z,1761508378.854 [marl:UpdateSpeed] Stopped
2025-10-26T19:52:58.854Z,1761508378.854 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:52:59.266Z,1761508379.266 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:52:59.266Z,1761508379.266 [marl:UpdateRudder:B] Stopped
2025-10-26T19:52:59.266Z,1761508379.266 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:52:59.266Z,1761508379.266 [marl:UpdateRudder] Stopped
2025-10-26T19:52:59.267Z,1761508379.267 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:52:59.571Z,1761508379.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998836,0.038730,0.028755],[-0.043651,-0.979409,-0.197112],[0.020529,-0.198138,0.979959]]
2025-10-26T19:52:59.976Z,1761508379.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998749,0.038670,0.031702],[-0.044249,-0.978765,-0.200151],[0.023289,-0.201303,0.979252]]
2025-10-26T19:53:00.405Z,1761508380.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998910,0.033069,0.032935],[-0.039091,-0.978338,-0.203291],[0.025499,-0.204357,0.978564]]
2025-10-26T19:53:00.819Z,1761508380.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999178,0.023983,0.032683],[-0.030246,-0.977846,-0.207130],[0.026991,-0.207949,0.977767]]
2025-10-26T19:53:01.592Z,1761508381.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999528,0.005015,0.030294],[-0.011470,-0.976140,-0.216839],[0.028484,-0.217084,0.975737]]
2025-10-26T19:53:01.994Z,1761508381.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999596,-0.004287,0.028113],[-0.002080,-0.974902,-0.222625],[0.028362,-0.222593,0.974499]]
2025-10-26T19:53:02.398Z,1761508382.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999592,-0.012398,0.025748],[0.006231,-0.973870,-0.227020],[0.027890,-0.226767,0.973550]]
2025-10-26T19:53:02.833Z,1761508382.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999514,-0.022745,0.021317],[0.017132,-0.972096,-0.233956],[0.026044,-0.233477,0.972013]]
2025-10-26T19:53:03.560Z,1761508383.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:53:03.610Z,1761508383.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999493,-0.024722,0.020088],[0.019276,-0.971447,-0.236471],[0.025360,-0.235964,0.971431]]
2025-10-26T19:53:04.014Z,1761508384.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999521,-0.024224,0.019274],[0.018926,-0.970891,-0.238775],[0.024497,-0.238296,0.970884]]
2025-10-26T19:53:04.419Z,1761508384.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999575,-0.022016,0.019121],[0.016796,-0.970718,-0.239633],[0.023836,-0.239210,0.970675]]
2025-10-26T19:53:04.564Z,1761508384.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:53:04.841Z,1761508384.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999707,-0.013445,0.020106],[0.008333,-0.971827,-0.235549],[0.022707,-0.235313,0.971654]]
2025-10-26T19:53:05.643Z,1761508385.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999758,-0.001159,0.021979],[-0.003871,-0.973795,-0.227394],[0.021667,-0.227424,0.973555]]
2025-10-26T19:53:06.045Z,1761508386.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999724,0.006024,0.022688],[-0.010916,-0.974952,-0.222149],[0.020782,-0.222335,0.974749]]
2025-10-26T19:53:06.444Z,1761508386.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999641,0.013333,0.023225],[-0.018051,-0.976098,-0.216578],[0.019782,-0.216920,0.975989]]
2025-10-26T19:53:06.846Z,1761508386.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999515,0.020107,0.023775],[-0.024675,-0.977194,-0.210911],[0.018992,-0.211396,0.977216]]
2025-10-26T19:53:07.247Z,1761508387.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999368,0.025614,0.024666],[-0.030178,-0.977816,-0.207280],[0.018810,-0.207893,0.977971]]
2025-10-26T19:53:07.653Z,1761508387.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999255,0.028605,0.025911],[-0.033321,-0.978160,-0.205163],[0.019477,-0.205873,0.978385]]
2025-10-26T19:53:08.065Z,1761508388.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999283,0.026855,0.026708],[-0.031706,-0.978872,-0.202003],[0.020719,-0.202705,0.979021]]
2025-10-26T19:53:08.458Z,1761508388.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999427,0.020756,0.026721],[-0.025729,-0.979089,-0.201799],[0.021973,-0.202371,0.979062]]
2025-10-26T19:53:08.862Z,1761508388.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999589,0.012488,0.025816],[-0.017492,-0.978860,-0.203780],[0.022725,-0.204147,0.978676]]
2025-10-26T19:53:09.266Z,1761508389.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999688,0.004175,0.024616],[-0.009268,-0.977535,-0.210569],[0.023184,-0.210731,0.977269]]
2025-10-26T19:53:09.671Z,1761508389.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999719,-0.003533,0.023424],[-0.001638,-0.976138,-0.217143],[0.023632,-0.217120,0.975859]]
2025-10-26T19:53:10.078Z,1761508390.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999710,-0.009495,0.022122],[0.004264,-0.974244,-0.225454],[0.023693,-0.225295,0.974003]]
2025-10-26T19:53:10.478Z,1761508390.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999698,-0.012802,0.020979],[0.007511,-0.971924,-0.235177],[0.023401,-0.234948,0.971726]]
2025-10-26T19:53:10.882Z,1761508390.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999697,-0.013941,0.020304],[0.008617,-0.970255,-0.241930],[0.023073,-0.241682,0.970081]]
2025-10-26T19:53:11.288Z,1761508391.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999717,-0.012715,0.020094],[0.007324,-0.968590,-0.248557],[0.022623,-0.248340,0.968409]]
2025-10-26T19:53:11.690Z,1761508391.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999744,-0.009903,0.020323],[0.004451,-0.967582,-0.252517],[0.022165,-0.252362,0.967379]]
2025-10-26T19:53:12.100Z,1761508392.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999771,-0.005666,0.020628],[0.000265,-0.967487,-0.252920],[0.021391,-0.252857,0.967267]]
2025-10-26T19:53:12.158Z,1761508392.158 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:53:12.158Z,1761508392.158 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:53:12.158Z,1761508392.158 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:53:12.159Z,1761508392.159 [marl:UpdateRudder:A] Stopped
2025-10-26T19:53:12.159Z,1761508392.159 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:53:12.159Z,1761508392.159 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:53:12.159Z,1761508392.159 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:53:12.159Z,1761508392.159 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:53:12.163Z,1761508392.163 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateCommandMode] Stopped
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:53:12.164Z,1761508392.164 [marl:UpdateSpeed] Stopped
2025-10-26T19:53:12.165Z,1761508392.165 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:53:12.498Z,1761508392.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999774,-0.000385,0.021234],[-0.004957,-0.967986,-0.250955],[0.020651,-0.251003,0.967766]]
2025-10-26T19:53:12.527Z,1761508392.527 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:53:12.527Z,1761508392.527 [marl:UpdateRudder:B] Stopped
2025-10-26T19:53:12.528Z,1761508392.528 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:53:12.528Z,1761508392.528 [marl:UpdateRudder] Stopped
2025-10-26T19:53:12.528Z,1761508392.528 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:53:12.903Z,1761508392.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999749,0.005222,0.021801],[-0.010475,-0.968617,-0.248339],[0.019820,-0.248505,0.968428]]
2025-10-26T19:53:13.306Z,1761508393.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,0.010584,0.022412],[-0.015742,-0.969564,-0.244332],[0.019143,-0.244610,0.969433]]
2025-10-26T19:53:13.714Z,1761508393.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999623,0.015212,0.022848],[-0.020248,-0.970651,-0.239637],[0.018533,-0.240010,0.970594]]
2025-10-26T19:53:14.122Z,1761508394.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999548,0.019112,0.023209],[-0.024043,-0.971616,-0.235340],[0.018053,-0.235791,0.971636]]
2025-10-26T19:53:14.519Z,1761508394.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,0.022175,0.023539],[-0.027014,-0.972632,-0.230775],[0.017777,-0.231290,0.972722]]
2025-10-26T19:53:14.922Z,1761508394.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999404,0.024565,0.024246],[-0.029437,-0.973416,-0.227144],[0.018022,-0.227722,0.973559]]
2025-10-26T19:53:15.326Z,1761508395.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999360,0.025719,0.024856],[-0.030661,-0.973855,-0.225090],[0.018417,-0.225708,0.974021]]
2025-10-26T19:53:15.734Z,1761508395.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999343,0.025732,0.025541],[-0.030786,-0.974346,-0.222940],[0.019149,-0.223579,0.974498]]
2025-10-26T19:53:16.142Z,1761508396.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999334,0.025042,0.026550],[-0.030339,-0.974363,-0.222926],[0.020287,-0.223583,0.974474]]
2025-10-26T19:53:16.538Z,1761508396.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999381,0.022718,0.026841],[-0.028127,-0.974547,-0.222412],[0.021105,-0.223030,0.974583]]
2025-10-26T19:53:16.942Z,1761508396.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999456,0.019089,0.026886],[-0.024594,-0.974687,-0.222215],[0.021964,-0.222756,0.974627]]
2025-10-26T19:53:17.346Z,1761508397.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999550,0.013881,0.026584],[-0.019477,-0.974514,-0.223480],[0.022805,-0.223897,0.974346]]
2025-10-26T19:53:17.407Z,1761508397.407 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:53:17.751Z,1761508397.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999633,0.007704,0.025960],[-0.013298,-0.974774,-0.222796],[0.023588,-0.223059,0.974519]]
2025-10-26T19:53:18.154Z,1761508398.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999693,0.000696,0.024776],[-0.006192,-0.974929,-0.222432],[0.024000,-0.222517,0.974633]]
2025-10-26T19:53:18.558Z,1761508398.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999704,-0.006572,0.023406],[0.001161,-0.974572,-0.224071],[0.024283,-0.223978,0.974292]]
2025-10-26T19:53:19.029Z,1761508399.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999669,-0.013580,0.021828],[0.008282,-0.973946,-0.226628],[0.024337,-0.226373,0.973737]]
2025-10-26T19:53:19.370Z,1761508399.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999618,-0.019161,0.019900],[0.014095,-0.973294,-0.229131],[0.023759,-0.228763,0.973192]]
2025-10-26T19:53:19.770Z,1761508399.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999575,-0.023074,0.017793],[0.018322,-0.972557,-0.231941],[0.022656,-0.231516,0.972567]]
2025-10-26T19:53:20.174Z,1761508400.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999554,-0.025395,0.015741],[0.020993,-0.971824,-0.234771],[0.021260,-0.234336,0.971923]]
2025-10-26T19:53:20.583Z,1761508400.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999565,-0.026077,0.013781],[0.022065,-0.971183,-0.237310],[0.019572,-0.236903,0.971336]]
2025-10-26T19:53:20.984Z,1761508400.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999608,-0.025161,0.012262],[0.021501,-0.970746,-0.239143],[0.017920,-0.238786,0.970907]]
2025-10-26T19:53:21.386Z,1761508401.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999679,-0.022754,0.011148],[0.019395,-0.970270,-0.241246],[0.016306,-0.240953,0.970400]]
2025-10-26T19:53:21.790Z,1761508401.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999789,-0.017838,0.010151],[0.014869,-0.970448,-0.240854],[0.014147,-0.240652,0.970508]]
2025-10-26T19:53:22.202Z,1761508402.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999888,-0.011666,0.009396],[0.009065,-0.970620,-0.240446],[0.011925,-0.240334,0.970617]]
2025-10-26T19:53:22.603Z,1761508402.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999946,-0.005118,0.009013],[0.002823,-0.971206,-0.238225],[0.009973,-0.238187,0.971168]]
2025-10-26T19:53:23.002Z,1761508403.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999963,0.000519,0.008529],[-0.002512,-0.971889,-0.235424],[0.008167,-0.235437,0.971855]]
2025-10-26T19:53:23.406Z,1761508403.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999959,0.004820,0.007607],[-0.006453,-0.972709,-0.231939],[0.006281,-0.231978,0.972701]]
2025-10-26T19:53:23.810Z,1761508403.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999947,0.007703,0.006781],[-0.009049,-0.973520,-0.228423],[0.004841,-0.228472,0.973538]]
2025-10-26T19:53:24.214Z,1761508404.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999935,0.009685,0.006030],[-0.010796,-0.974181,-0.225511],[0.003690,-0.225562,0.974222]]
2025-10-26T19:53:24.618Z,1761508404.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999928,0.010795,0.005208],[-0.011689,-0.974416,-0.224448],[0.002652,-0.224493,0.974472]]
2025-10-26T19:53:25.026Z,1761508405.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999923,0.011589,0.004370],[-0.012271,-0.974748,-0.222971],[0.001675,-0.223007,0.974815]]
2025-10-26T19:53:25.443Z,1761508405.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999929,0.011452,0.003249],[-0.011888,-0.974894,-0.222354],[0.000621,-0.222377,0.974961]]
2025-10-26T19:53:25.493Z,1761508405.493 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:53:25.493Z,1761508405.493 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:53:25.493Z,1761508405.493 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateRudder:A] Stopped
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:53:25.494Z,1761508405.494 [marl:UpdateCommandMode] Stopped
2025-10-26T19:53:25.495Z,1761508405.495 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:53:25.495Z,1761508405.495 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:53:25.495Z,1761508405.495 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:53:25.495Z,1761508405.495 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:53:25.495Z,1761508405.495 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:53:25.496Z,1761508405.496 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:53:25.496Z,1761508405.496 [marl:UpdateSpeed] Stopped
2025-10-26T19:53:25.496Z,1761508405.496 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:53:25.830Z,1761508405.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999937,0.010954,0.002345],[-0.011202,-0.974948,-0.222151],[-0.000147,-0.222163,0.975010]]
2025-10-26T19:53:25.882Z,1761508405.882 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:53:25.882Z,1761508405.882 [marl:UpdateRudder:B] Stopped
2025-10-26T19:53:25.882Z,1761508405.882 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:53:25.882Z,1761508405.882 [marl:UpdateRudder] Stopped
2025-10-26T19:53:25.882Z,1761508405.882 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:53:26.234Z,1761508406.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999952,0.009719,0.001156],[-0.009732,-0.974801,-0.222862],[-0.001039,-0.222863,0.974849]]
2025-10-26T19:53:26.638Z,1761508406.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999966,0.008215,-0.000075],[-0.007989,-0.974517,-0.224171],[-0.001915,-0.224163,0.974550]]
2025-10-26T19:53:27.052Z,1761508407.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999980,0.006179,-0.001220],[-0.005743,-0.974108,-0.226009],[-0.002585,-0.225997,0.974124]]
2025-10-26T19:53:27.446Z,1761508407.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999990,0.003650,-0.002598],[-0.002967,-0.974034,-0.226382],[-0.003357,-0.226372,0.974035]]
2025-10-26T19:53:27.850Z,1761508407.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999991,0.000909,-0.004135],[0.000058,-0.973655,-0.228024],[-0.004233,-0.228022,0.973647]]
2025-10-26T19:53:28.254Z,1761508408.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999986,-0.001650,-0.005030],[0.002752,-0.973737,-0.227660],[-0.004522,-0.227671,0.973728]]
2025-10-26T19:53:28.659Z,1761508408.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999969,-0.004362,-0.006503],[0.005730,-0.973632,-0.228053],[-0.005337,-0.228083,0.973627]]
2025-10-26T19:53:29.076Z,1761508409.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999941,-0.007301,-0.008101],[0.008955,-0.973663,-0.227815],[-0.006224,-0.227874,0.973671]]
2025-10-26T19:53:29.466Z,1761508409.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999903,-0.009743,-0.009921],[0.011745,-0.973716,-0.227462],[-0.007444,-0.227556,0.973736]]
2025-10-26T19:53:29.870Z,1761508409.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999854,-0.012205,-0.011999],[0.014612,-0.973760,-0.227106],[-0.008912,-0.227248,0.973796]]
2025-10-26T19:53:30.274Z,1761508410.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999820,-0.013476,-0.013392],[0.016186,-0.973282,-0.229043],[-0.009948,-0.229219,0.973324]]
2025-10-26T19:53:30.680Z,1761508410.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999767,-0.015289,-0.015230],[0.018372,-0.973242,-0.229048],[-0.011321,-0.229274,0.973296]]
2025-10-26T19:53:31.082Z,1761508411.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999716,-0.016787,-0.016940],[0.020227,-0.973131,-0.229360],[-0.012634,-0.229638,0.973194]]
2025-10-26T19:53:31.486Z,1761508411.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999659,-0.018394,-0.018534],[0.022158,-0.973079,-0.229406],[-0.013816,-0.229738,0.973154]]
2025-10-26T19:53:31.890Z,1761508411.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999600,-0.020353,-0.019629],[0.024286,-0.973511,-0.227345],[-0.014482,-0.227731,0.973616]]
2025-10-26T19:53:32.301Z,1761508412.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999526,-0.022638,-0.020887],[0.026782,-0.973687,-0.226312],[-0.015215,-0.226764,0.973831]]
2025-10-26T19:53:32.700Z,1761508412.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999414,-0.025565,-0.022774],[0.030044,-0.973827,-0.225295],[-0.016418,-0.225847,0.974024]]
2025-10-26T19:53:33.102Z,1761508413.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999286,-0.028714,-0.024539],[0.033489,-0.974004,-0.224040],[-0.017468,-0.224702,0.974271]]
2025-10-26T19:53:33.507Z,1761508413.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999132,-0.032250,-0.026373],[0.037317,-0.974245,-0.222381],[-0.018522,-0.223172,0.974603]]
2025-10-26T19:53:33.911Z,1761508413.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999001,-0.034938,-0.027866],[0.040258,-0.974276,-0.221735],[-0.019402,-0.222635,0.974709]]
2025-10-26T19:53:34.314Z,1761508414.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998909,-0.036287,-0.029392],[0.041923,-0.974103,-0.222184],[-0.020568,-0.223174,0.974562]]
2025-10-26T19:53:34.684Z,1761508414.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:53:34.724Z,1761508414.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998850,-0.036990,-0.030515],[0.042866,-0.973993,-0.222485],[-0.021492,-0.223538,0.974458]]
2025-10-26T19:53:35.122Z,1761508415.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998845,-0.036505,-0.031236],[0.042573,-0.973829,-0.223258],[-0.022269,-0.224330,0.974259]]
2025-10-26T19:53:35.532Z,1761508415.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998880,-0.034797,-0.032053],[0.041126,-0.973551,-0.224738],[-0.023385,-0.225805,0.973892]]
2025-10-26T19:53:35.688Z,1761508415.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:53:35.930Z,1761508415.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998958,-0.031630,-0.032910],[0.038240,-0.973602,-0.225024],[-0.024924,-0.226048,0.973797]]
2025-10-26T19:53:36.334Z,1761508416.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999051,-0.027910,-0.033448],[0.034750,-0.973615,-0.225537],[-0.026270,-0.226486,0.973660]]
2025-10-26T19:53:36.740Z,1761508416.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999144,-0.024039,-0.033665],[0.031048,-0.973566,-0.226285],[-0.027336,-0.227136,0.973479]]
2025-10-26T19:53:37.142Z,1761508417.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999244,-0.019922,-0.033383],[0.027021,-0.973293,-0.227971],[-0.027950,-0.228700,0.973095]]
2025-10-26T19:53:37.550Z,1761508417.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999333,-0.015975,-0.032848],[0.023079,-0.973189,-0.228846],[-0.028312,-0.229452,0.972908]]
2025-10-26T19:53:37.951Z,1761508417.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999413,-0.012239,-0.031990],[0.019229,-0.973394,-0.228328],[-0.028345,-0.228809,0.973059]]
2025-10-26T19:53:38.362Z,1761508418.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999481,-0.008637,-0.031036],[0.015541,-0.973148,-0.229653],[-0.028219,-0.230016,0.972778]]
2025-10-26T19:53:38.774Z,1761508418.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999538,-0.005510,-0.029896],[0.012256,-0.973012,-0.230428],[-0.027820,-0.230688,0.972630]]
2025-10-26T19:53:38.854Z,1761508418.854 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:53:38.854Z,1761508418.854 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:53:38.854Z,1761508418.854 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:53:38.855Z,1761508418.855 [marl:UpdateRudder:A] Stopped
2025-10-26T19:53:38.855Z,1761508418.855 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:53:38.855Z,1761508418.855 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:53:38.859Z,1761508418.859 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:53:38.859Z,1761508418.859 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateCommandMode] Stopped
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:53:38.860Z,1761508418.860 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:53:38.861Z,1761508418.861 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:53:38.861Z,1761508418.861 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:53:38.861Z,1761508418.861 [marl:UpdateSpeed] Stopped
2025-10-26T19:53:38.861Z,1761508418.861 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:53:39.162Z,1761508419.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999580,-0.003116,-0.028801],[0.009690,-0.972888,-0.231072],[-0.027300,-0.231254,0.972510]]
2025-10-26T19:53:39.212Z,1761508419.212 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T19:53:39.212Z,1761508419.212 [marl:UpdateRudder:B] Stopped
2025-10-26T19:53:39.212Z,1761508419.212 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:53:39.212Z,1761508419.212 [marl:UpdateRudder] Stopped
2025-10-26T19:53:39.212Z,1761508419.212 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:53:39.566Z,1761508419.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999607,-0.001410,-0.027996],[0.007865,-0.972727,-0.231820],[-0.026905,-0.231949,0.972356]]
2025-10-26T19:53:39.971Z,1761508419.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999608,-0.001926,-0.027935],[0.008346,-0.972785,-0.231558],[-0.026729,-0.231700,0.972420]]
2025-10-26T19:53:40.376Z,1761508420.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999572,-0.005127,-0.028800],[0.011633,-0.972993,-0.230543],[-0.026840,-0.230779,0.972636]]
2025-10-26T19:53:40.816Z,1761508420.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999486,-0.010546,-0.030260],[0.017181,-0.973464,-0.228194],[-0.027051,-0.228597,0.973145]]
2025-10-26T19:53:41.182Z,1761508421.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999314,-0.017462,-0.032672],[0.024402,-0.973851,-0.225871],[-0.027873,-0.226514,0.973609]]
2025-10-26T19:53:41.586Z,1761508421.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999059,-0.024690,-0.035664],[0.032108,-0.973761,-0.225297],[-0.029166,-0.226230,0.973637]]
2025-10-26T19:53:41.991Z,1761508421.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998698,-0.033441,-0.038524],[0.041364,-0.972812,-0.227873],[-0.029857,-0.229170,0.972928]]
2025-10-26T19:53:42.394Z,1761508422.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998083,-0.045507,-0.041937],[0.054280,-0.969225,-0.240118],[-0.029720,-0.241934,0.969837]]
2025-10-26T19:53:42.829Z,1761508422.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997044,-0.061128,-0.046545],[0.071289,-0.961952,-0.263756],[-0.028651,-0.266294,0.963466]]
2025-10-26T19:53:43.205Z,1761508423.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995359,-0.080627,-0.052531],[0.092643,-0.950530,-0.296497],[-0.026027,-0.299987,0.953588]]
2025-10-26T19:53:43.602Z,1761508423.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992929,-0.102438,-0.059995],[0.116738,-0.934366,-0.336648],[-0.021572,-0.341271,0.939717]]
2025-10-26T19:53:44.061Z,1761508424.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989872,-0.124823,-0.067627],[0.141174,-0.915723,-0.376194],[-0.014969,-0.381930,0.924070]]
2025-10-26T19:53:44.465Z,1761508424.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985888,-0.149143,-0.076029],[0.167268,-0.895952,-0.411451],[-0.006753,-0.418362,0.908255]]
2025-10-26T19:53:44.877Z,1761508424.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975101,-0.201366,-0.092898],[0.221363,-0.858719,-0.462170],[0.013292,-0.471226,0.881912]]
2025-10-26T19:53:45.681Z,1761508425.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959236,-0.260008,-0.110732],[0.280470,-0.827793,-0.485896],[0.034673,-0.497146,0.866974]]
2025-10-26T19:53:46.083Z,1761508426.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949068,-0.291944,-0.118487],[0.311786,-0.816053,-0.486670],[0.045388,-0.498825,0.865513]]
2025-10-26T19:53:46.513Z,1761508426.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937657,-0.324013,-0.125759],[0.343089,-0.805004,-0.484003],[0.055587,-0.496975,0.865983]]
2025-10-26T19:53:46.908Z,1761508426.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925155,-0.355980,-0.131783],[0.373995,-0.795436,-0.476874],[0.064933,-0.490469,0.869036]]
2025-10-26T19:53:47.333Z,1761508427.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911479,-0.388376,-0.135533],[0.404785,-0.788242,-0.463491],[0.073176,-0.477324,0.875675]]
2025-10-26T19:53:47.647Z,1761508427.647 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:53:47.648Z,1761508427.648 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:53:47.740Z,1761508427.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897147,-0.419689,-0.137797],[0.434365,-0.781433,-0.447984],[0.080335,-0.461761,0.883359]]
2025-10-26T19:53:47.764Z,1761508427.764 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:53:48.140Z,1761508428.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881871,-0.450156,-0.140228],[0.463587,-0.773615,-0.431980],[0.085976,-0.445959,0.890915]]
2025-10-26T19:53:48.542Z,1761508428.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866248,-0.478559,-0.143513],[0.491355,-0.764010,-0.418160],[0.090469,-0.432746,0.896965]]
2025-10-26T19:53:48.956Z,1761508428.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849815,-0.506611,-0.145465],[0.518612,-0.754411,-0.402375],[0.094107,-0.417384,0.903844]]
2025-10-26T19:53:49.350Z,1761508429.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832932,-0.533039,-0.148643],[0.544734,-0.742503,-0.389813],[0.097418,-0.405658,0.908819]]
2025-10-26T19:53:49.755Z,1761508429.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815240,-0.558735,-0.152312],[0.570365,-0.729077,-0.378325],[0.100336,-0.395299,0.913056]]
2025-10-26T19:53:50.177Z,1761508430.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797075,-0.582623,-0.158812],[0.595108,-0.713187,-0.370420],[0.102553,-0.389763,0.915187]]
2025-10-26T19:53:50.578Z,1761508430.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777788,-0.606024,-0.166677],[0.619814,-0.695543,-0.363387],[0.104290,-0.385946,0.916607]]
2025-10-26T19:53:51.001Z,1761508431.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758231,-0.627623,-0.176562],[0.643487,-0.676804,-0.357577],[0.104926,-0.384741,0.917041]]
2025-10-26T19:53:51.387Z,1761508431.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737763,-0.648439,-0.187702],[0.666904,-0.657018,-0.351520],[0.104616,-0.384518,0.917170]]
2025-10-26T19:53:51.790Z,1761508431.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716430,-0.667881,-0.201650],[0.689988,-0.635567,-0.346370],[0.103172,-0.387286,0.916169]]
2025-10-26T19:53:52.194Z,1761508432.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694356,-0.686899,-0.214567],[0.712490,-0.614295,-0.339116],[0.101132,-0.388344,0.915948]]
2025-10-26T19:53:52.218Z,1761508432.218 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:53:52.219Z,1761508432.219 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:53:52.219Z,1761508432.219 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateRudder:A] Stopped
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode] Stopped
2025-10-26T19:53:52.220Z,1761508432.220 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed] Stopped
2025-10-26T19:53:52.221Z,1761508432.221 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:53:52.599Z,1761508432.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671405,-0.705316,-0.227476],[0.734500,-0.592465,-0.330900],[0.098617,-0.389249,0.915838]]
2025-10-26T19:53:52.642Z,1761508432.642 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:53:52.642Z,1761508432.642 [marl:UpdateRudder:B] Stopped
2025-10-26T19:53:52.643Z,1761508432.643 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:53:52.643Z,1761508432.643 [marl:UpdateRudder] Stopped
2025-10-26T19:53:52.643Z,1761508432.643 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:53:53.005Z,1761508433.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647589,-0.723267,-0.239819],[0.755995,-0.570445,-0.321035],[0.095390,-0.389201,0.916201]]
2025-10-26T19:53:53.406Z,1761508433.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623076,-0.740459,-0.251986],[0.776721,-0.547822,-0.310798],[0.092089,-0.389374,0.916465]]
2025-10-26T19:53:53.810Z,1761508433.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598034,-0.756798,-0.263842],[0.796607,-0.525060,-0.299549],[0.088165,-0.389318,0.916874]]
2025-10-26T19:53:54.216Z,1761508434.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573932,-0.771930,-0.273360],[0.814667,-0.504305,-0.286347],[0.083183,-0.387041,0.918303]]
2025-10-26T19:53:54.618Z,1761508434.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551389,-0.785916,-0.279834],[0.830640,-0.486034,-0.271675],[0.077505,-0.382240,0.920807]]
2025-10-26T19:53:55.023Z,1761508435.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530143,-0.798960,-0.283920],[0.844902,-0.469595,-0.256166],[0.071339,-0.375689,0.923996]]
2025-10-26T19:53:55.453Z,1761508435.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509303,-0.810832,-0.288377],[0.858118,-0.453119,-0.241488],[0.065137,-0.370452,0.926565]]
2025-10-26T19:53:55.831Z,1761508435.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489346,-0.819785,-0.297477],[0.870056,-0.435642,-0.230692],[0.059524,-0.371710,0.926439]]
2025-10-26T19:53:56.234Z,1761508436.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469298,-0.828079,-0.306667],[0.881358,-0.417827,-0.220518],[0.054473,-0.373772,0.925920]]
2025-10-26T19:53:56.638Z,1761508436.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448354,-0.836481,-0.315085],[0.892468,-0.399288,-0.209927],[0.049790,-0.375325,0.925555]]
2025-10-26T19:53:57.043Z,1761508437.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426996,-0.844901,-0.322206],[0.903083,-0.380332,-0.199469],[0.045986,-0.376151,0.925416]]
2025-10-26T19:53:57.448Z,1761508437.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404416,-0.853479,-0.328666],[0.913587,-0.360293,-0.188540],[0.042499,-0.376514,0.925436]]
2025-10-26T19:53:57.852Z,1761508437.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381040,-0.861552,-0.335465],[0.923723,-0.339326,-0.177747],[0.039306,-0.377605,0.925132]]
2025-10-26T19:53:58.254Z,1761508438.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357327,-0.869233,-0.341689],[0.933280,-0.318152,-0.166637],[0.036137,-0.378435,0.924922]]
2025-10-26T19:53:58.658Z,1761508438.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333682,-0.876558,-0.346846],[0.942113,-0.297261,-0.155109],[0.032858,-0.378525,0.925008]]
2025-10-26T19:53:59.062Z,1761508439.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310252,-0.883195,-0.351723],[0.950207,-0.276756,-0.143223],[0.029153,-0.378645,0.925083]]
2025-10-26T19:53:59.476Z,1761508439.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287050,-0.889475,-0.355580],[0.957596,-0.256866,-0.130496],[0.024736,-0.377961,0.925491]]
2025-10-26T19:53:59.870Z,1761508439.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264429,-0.895164,-0.358831],[0.964200,-0.237722,-0.117501],[0.019881,-0.377055,0.925977]]
2025-10-26T19:54:00.274Z,1761508440.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242268,-0.899538,-0.363507],[0.970104,-0.219073,-0.104428],[0.014302,-0.377939,0.925720]]
2025-10-26T19:54:00.679Z,1761508440.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220873,-0.903576,-0.367104],[0.975267,-0.201415,-0.091028],[0.008310,-0.378130,0.925715]]
2025-10-26T19:54:01.082Z,1761508441.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200300,-0.907088,-0.370232],[0.979732,-0.184604,-0.077759],[0.002188,-0.378304,0.925679]]
2025-10-26T19:54:01.486Z,1761508441.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181074,-0.910073,-0.372799],[0.983463,-0.168965,-0.065206],[-0.003648,-0.378441,0.925618]]
2025-10-26T19:54:01.890Z,1761508441.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163206,-0.911896,-0.376576],[0.986553,-0.154254,-0.054032],[-0.008817,-0.380331,0.924809]]
2025-10-26T19:54:02.295Z,1761508442.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146629,-0.913172,-0.380285],[0.989104,-0.140479,-0.044044],[-0.013203,-0.382599,0.923820]]
2025-10-26T19:54:02.702Z,1761508442.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130234,-0.914646,-0.382704],[0.991340,-0.126683,-0.034586],[-0.016848,-0.383895,0.923223]]
2025-10-26T19:54:03.102Z,1761508443.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114041,-0.915456,-0.385921],[0.993281,-0.112757,-0.026043],[-0.019674,-0.386298,0.922164]]
2025-10-26T19:54:03.517Z,1761508443.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098739,-0.916156,-0.388470],[0.994879,-0.099349,-0.018569],[-0.021583,-0.388314,0.921274]]
2025-10-26T19:54:03.910Z,1761508443.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083523,-0.916837,-0.390427],[0.996248,-0.085742,-0.011776],[-0.022679,-0.389945,0.920559]]
2025-10-26T19:54:04.314Z,1761508444.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067236,-0.917551,-0.391893],[0.997463,-0.071026,-0.004838],[-0.023396,-0.391224,0.919998]]
2025-10-26T19:54:04.724Z,1761508444.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050655,-0.918501,-0.392160],[0.998439,-0.055832,0.001801],[-0.023549,-0.391457,0.919895]]
2025-10-26T19:54:05.124Z,1761508445.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033200,-0.919433,-0.391842],[0.999180,-0.039628,0.008325],[-0.023183,-0.391245,0.919995]]
2025-10-26T19:54:05.202Z,1761508445.202 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:54:05.202Z,1761508445.202 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:54:05.202Z,1761508445.202 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:54:05.203Z,1761508445.203 [marl:UpdateRudder:A] Stopped
2025-10-26T19:54:05.203Z,1761508445.203 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:54:05.203Z,1761508445.203 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:54:05.203Z,1761508445.203 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:54:05.203Z,1761508445.203 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:54:05.204Z,1761508445.204 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:54:05.204Z,1761508445.204 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:54:05.204Z,1761508445.204 [marl:UpdateCommandMode] Stopped
2025-10-26T19:54:05.204Z,1761508445.204 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:54:05.204Z,1761508445.204 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:54:05.204Z,1761508445.204 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:54:05.205Z,1761508445.205 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:54:05.205Z,1761508445.205 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:54:05.205Z,1761508445.205 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:54:05.205Z,1761508445.205 [marl:UpdateSpeed] Stopped
2025-10-26T19:54:05.205Z,1761508445.205 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:54:05.530Z,1761508445.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014486,-0.920338,-0.390855],[0.999633,-0.022272,0.015394],[-0.022873,-0.390489,0.920323]]
2025-10-26T19:54:05.568Z,1761508445.568 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:54:05.568Z,1761508445.568 [marl:UpdateRudder:B] Stopped
2025-10-26T19:54:05.568Z,1761508445.568 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:54:05.568Z,1761508445.568 [marl:UpdateRudder] Stopped
2025-10-26T19:54:05.568Z,1761508445.568 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:54:05.812Z,1761508445.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:54:05.934Z,1761508445.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005768,-0.921126,-0.389221],[0.999725,-0.003532,0.023174],[-0.022721,-0.389248,0.920853]]
2025-10-26T19:54:06.334Z,1761508446.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027636,-0.921230,-0.388035],[0.999360,0.016640,0.031671],[-0.022719,-0.388662,0.921100]]
2025-10-26T19:54:06.741Z,1761508446.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050681,-0.920576,-0.387262],[0.998452,0.037799,0.040813],[-0.022933,-0.388731,0.921066]]
2025-10-26T19:54:06.817Z,1761508446.817 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:54:07.142Z,1761508447.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074331,-0.919227,-0.386648],[0.996956,0.059341,0.050581],[-0.023551,-0.389231,0.920839]]
2025-10-26T19:54:07.549Z,1761508447.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098449,-0.917965,-0.384249],[0.994840,0.081275,0.060726],[-0.024515,-0.388245,0.921230]]
2025-10-26T19:54:07.954Z,1761508447.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122938,-0.916042,-0.381776],[0.992063,0.103203,0.071833],[-0.026401,-0.387577,0.921459]]
2025-10-26T19:54:08.356Z,1761508448.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147512,-0.913490,-0.379179],[0.988641,0.125016,0.083431],[-0.028810,-0.387179,0.921554]]
2025-10-26T19:54:08.773Z,1761508448.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171982,-0.910436,-0.376204],[0.984587,0.146543,0.095462],[-0.031782,-0.386823,0.921606]]
2025-10-26T19:54:09.162Z,1761508449.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196040,-0.906369,-0.374252],[0.979963,0.167368,0.107986],[-0.035237,-0.387922,0.921018]]
2025-10-26T19:54:09.569Z,1761508449.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218492,-0.902351,-0.371517],[0.975072,0.186789,0.119768],[-0.038678,-0.388424,0.920669]]
2025-10-26T19:54:09.971Z,1761508449.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239332,-0.897888,-0.369482],[0.970038,0.204742,0.130794],[-0.041790,-0.389715,0.919987]]
2025-10-26T19:54:10.374Z,1761508450.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259016,-0.893443,-0.366975],[0.964837,0.221741,0.141141],[-0.044728,-0.390629,0.919461]]
2025-10-26T19:54:10.811Z,1761508450.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277981,-0.888941,-0.364021],[0.959416,0.238233,0.150881],[-0.047402,-0.391189,0.919089]]
2025-10-26T19:54:11.182Z,1761508451.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296363,-0.884310,-0.360785],[0.953772,0.254304,0.160148],[-0.049871,-0.391568,0.918796]]
2025-10-26T19:54:11.594Z,1761508451.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315381,-0.879204,-0.357122],[0.947551,0.271223,0.169071],[-0.051788,-0.391713,0.918629]]
2025-10-26T19:54:11.990Z,1761508451.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334886,-0.873178,-0.354134],[0.940747,0.288557,0.178128],[-0.053349,-0.392803,0.918074]]
2025-10-26T19:54:12.394Z,1761508452.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355201,-0.866519,-0.350682],[0.933188,0.306743,0.187266],[-0.054700,-0.393769,0.917580]]
2025-10-26T19:54:12.830Z,1761508452.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375805,-0.858889,-0.347967],[0.925010,0.325009,0.196791],[-0.055929,-0.395827,0.916620]]
2025-10-26T19:54:13.203Z,1761508453.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396677,-0.850449,-0.345519],[0.916185,0.343411,0.206575],[-0.057026,-0.398503,0.915392]]
2025-10-26T19:54:13.613Z,1761508453.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417625,-0.842016,-0.341466],[0.906746,0.362094,0.216102],[-0.058318,-0.399872,0.914714]]
2025-10-26T19:54:14.010Z,1761508454.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438247,-0.832742,-0.338349],[0.896849,0.379977,0.226449],[-0.060009,-0.402688,0.913368]]
2025-10-26T19:54:14.421Z,1761508454.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458707,-0.823520,-0.333771],[0.886439,0.397982,0.236298],[-0.061761,-0.404259,0.912557]]
2025-10-26T19:54:14.835Z,1761508454.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477655,-0.814942,-0.328200],[0.876233,0.414810,0.245251],[-0.063725,-0.404726,0.912215]]
2025-10-26T19:54:15.222Z,1761508455.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495811,-0.806432,-0.322241],[0.865912,0.430841,0.254111],[-0.066088,-0.405024,0.911915]]
2025-10-26T19:54:15.626Z,1761508455.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511987,-0.798770,-0.315969],[0.856288,0.445424,0.261472],[-0.068116,-0.404430,0.912029]]
2025-10-26T19:54:16.032Z,1761508456.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527024,-0.791767,-0.308790],[0.846927,0.459202,0.268046],[-0.070433,-0.402789,0.912579]]
2025-10-26T19:54:16.436Z,1761508456.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540840,-0.785172,-0.301657],[0.838022,0.472220,0.273364],[-0.072189,-0.400641,0.913387]]
2025-10-26T19:54:16.841Z,1761508456.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554188,-0.778277,-0.295231],[0.829121,0.484714,0.278587],[-0.073715,-0.399172,0.913908]]
2025-10-26T19:54:17.247Z,1761508457.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567114,-0.770839,-0.290154],[0.820220,0.496490,0.284141],[-0.074969,-0.399130,0.913824]]
2025-10-26T19:54:17.650Z,1761508457.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580166,-0.763282,-0.284267],[0.810946,0.508754,0.289025],[-0.075986,-0.398208,0.914143]]
2025-10-26T19:54:18.052Z,1761508458.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593734,-0.754456,-0.279780],[0.800999,0.521018,0.294857],[-0.076686,-0.399170,0.913664]]
2025-10-26T19:54:18.077Z,1761508458.077 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:54:18.454Z,1761508458.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607803,-0.744892,-0.275158],[0.790323,0.533745,0.300841],[-0.077230,-0.400315,0.913117]]
2025-10-26T19:54:18.490Z,1761508458.490 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:54:18.490Z,1761508458.490 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:54:18.490Z,1761508458.490 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:54:18.491Z,1761508458.491 [marl:UpdateRudder:A] Stopped
2025-10-26T19:54:18.491Z,1761508458.491 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:54:18.491Z,1761508458.491 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:54:18.491Z,1761508458.491 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:54:18.491Z,1761508458.491 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:54:18.491Z,1761508458.491 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateCommandMode] Stopped
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:54:18.492Z,1761508458.492 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:54:18.493Z,1761508458.493 [marl:UpdateSpeed] Stopped
2025-10-26T19:54:18.493Z,1761508458.493 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:54:18.858Z,1761508458.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622357,-0.734694,-0.269992],[0.778866,0.547031,0.306797],[-0.077708,-0.401225,0.912677]]
2025-10-26T19:54:18.930Z,1761508458.930 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:54:18.930Z,1761508458.930 [marl:UpdateRudder:B] Stopped
2025-10-26T19:54:18.930Z,1761508458.930 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:54:18.930Z,1761508458.930 [marl:UpdateRudder] Stopped
2025-10-26T19:54:18.930Z,1761508458.930 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:54:19.264Z,1761508459.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637163,-0.723848,-0.264701],[0.766786,0.560652,0.312582],[-0.077857,-0.402135,0.912264]]
2025-10-26T19:54:19.673Z,1761508459.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652153,-0.712640,-0.258534],[0.754054,0.574663,0.318065],[-0.078096,-0.402376,0.912137]]
2025-10-26T19:54:20.070Z,1761508460.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666928,-0.701096,-0.252331],[0.740999,0.588478,0.323440],[-0.078272,-0.402688,0.911984]]
2025-10-26T19:54:20.474Z,1761508460.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681531,-0.689071,-0.246366],[0.727605,0.602125,0.328690],[-0.078148,-0.403269,0.911739]]
2025-10-26T19:54:20.882Z,1761508460.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695532,-0.677424,-0.239442],[0.714255,0.615749,0.332706],[-0.077947,-0.402430,0.912126]]
2025-10-26T19:54:21.288Z,1761508461.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709183,-0.665399,-0.233033],[0.700724,0.628787,0.337064],[-0.077754,-0.402332,0.912186]]
2025-10-26T19:54:21.686Z,1761508461.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723056,-0.652412,-0.227044],[0.686457,0.641850,0.341768],[-0.077246,-0.402973,0.911946]]
2025-10-26T19:54:22.090Z,1761508462.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737001,-0.638881,-0.220591],[0.671538,0.655175,0.346095],[-0.076588,-0.403207,0.911898]]
2025-10-26T19:54:22.494Z,1761508462.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751022,-0.624767,-0.213618],[0.655884,0.668641,0.350336],[-0.076044,-0.403219,0.911938]]
2025-10-26T19:54:22.904Z,1761508462.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765621,-0.609385,-0.206094],[0.638871,0.682782,0.354477],[-0.075296,-0.403062,0.912070]]
2025-10-26T19:54:23.302Z,1761508463.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780428,-0.593044,-0.198071],[0.620781,0.697156,0.358613],[-0.074587,-0.402830,0.912231]]
2025-10-26T19:54:23.710Z,1761508463.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795366,-0.575642,-0.189814],[0.601617,0.711591,0.362899],[-0.073830,-0.402832,0.912291]]
2025-10-26T19:54:24.110Z,1761508464.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810148,-0.557784,-0.180382],[0.581645,0.726432,0.366040],[-0.073136,-0.401465,0.912949]]
2025-10-26T19:54:24.522Z,1761508464.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839272,-0.519723,-0.159723],[0.538875,0.756006,0.371576],[-0.072365,-0.397924,0.914560]]
2025-10-26T19:54:24.924Z,1761508464.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853356,-0.499611,-0.148903],[0.516270,0.770178,0.374554],[-0.072449,-0.396502,0.915171]]
2025-10-26T19:54:25.326Z,1761508465.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867358,-0.478444,-0.137049],[0.492307,0.784436,0.377219],[-0.072971,-0.394654,0.915928]]
2025-10-26T19:54:25.733Z,1761508465.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880766,-0.456678,-0.125282],[0.467741,0.797650,0.380752],[-0.073950,-0.393953,0.916151]]
2025-10-26T19:54:26.133Z,1761508466.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893575,-0.434374,-0.113322],[0.442538,0.809966,0.384858],[-0.075386,-0.394049,0.915993]]
2025-10-26T19:54:26.536Z,1761508466.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904850,-0.413555,-0.101090],[0.418624,0.821096,0.388015],[-0.077461,-0.393414,0.916092]]
2025-10-26T19:54:26.938Z,1761508466.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914527,-0.394575,-0.089172],[0.396565,0.830960,0.390181],[-0.079858,-0.392194,0.916410]]
2025-10-26T19:54:27.342Z,1761508467.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923012,-0.376606,-0.078852],[0.375895,0.838812,0.393824],[-0.082174,-0.393144,0.915797]]
2025-10-26T19:54:27.747Z,1761508467.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930043,-0.360666,-0.070283],[0.357659,0.844688,0.398224],[-0.084258,-0.395503,0.914592]]
2025-10-26T19:54:28.150Z,1761508468.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936147,-0.345843,-0.063422],[0.340924,0.848675,0.404378],[-0.086027,-0.400179,0.912391]]
2025-10-26T19:54:28.554Z,1761508468.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941691,-0.331564,-0.057296],[0.324888,0.851670,0.411225],[-0.087550,-0.405862,0.909731]]
2025-10-26T19:54:28.958Z,1761508468.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946712,-0.317900,-0.051729],[0.309633,0.854086,0.417930],[-0.088679,-0.411676,0.907005]]
2025-10-26T19:54:29.370Z,1761508469.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951321,-0.304715,-0.046222],[0.294899,0.856384,0.423840],[-0.089567,-0.416839,0.904557]]
2025-10-26T19:54:29.774Z,1761508469.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955596,-0.291824,-0.040933],[0.280560,0.858498,0.429264],[-0.090129,-0.421687,0.902251]]
2025-10-26T19:54:30.172Z,1761508470.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959673,-0.278779,-0.036187],[0.266295,0.860259,0.434790],[-0.090080,-0.426892,0.899805]]
2025-10-26T19:54:30.574Z,1761508470.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963398,-0.266162,-0.031986],[0.252703,0.861835,0.439752],[-0.089479,-0.431739,0.897549]]
2025-10-26T19:54:30.978Z,1761508470.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966853,-0.253778,-0.028139],[0.239589,0.863606,0.443600],[-0.088275,-0.435638,0.895783]]
2025-10-26T19:54:31.385Z,1761508471.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970181,-0.241183,-0.024057],[0.226350,0.866045,0.445793],[-0.086683,-0.437946,0.894813]]
2025-10-26T19:54:31.446Z,1761508471.446 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:54:31.446Z,1761508471.446 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:54:31.446Z,1761508471.446 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:54:31.447Z,1761508471.447 [marl:UpdateRudder:A] Stopped
2025-10-26T19:54:31.447Z,1761508471.447 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:54:31.447Z,1761508471.447 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:54:31.447Z,1761508471.447 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:54:31.447Z,1761508471.447 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:54:31.447Z,1761508471.447 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateCommandMode] Stopped
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:54:31.448Z,1761508471.448 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:54:31.449Z,1761508471.449 [marl:UpdateSpeed] Stopped
2025-10-26T19:54:31.449Z,1761508471.449 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:54:31.786Z,1761508471.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973452,-0.228052,-0.019584],[0.212605,0.869175,0.446469],[-0.084796,-0.438780,0.894585]]
2025-10-26T19:54:31.859Z,1761508471.859 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:54:31.860Z,1761508471.860 [marl:UpdateRudder:B] Stopped
2025-10-26T19:54:31.860Z,1761508471.860 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:54:31.860Z,1761508471.860 [marl:UpdateRudder] Stopped
2025-10-26T19:54:31.861Z,1761508471.861 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:54:32.190Z,1761508472.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976664,-0.214307,-0.014165],[0.198066,0.873218,0.445264],[-0.083054,-0.437679,0.895287]]
2025-10-26T19:54:32.594Z,1761508472.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979960,-0.199044,-0.007691],[0.181877,0.878359,0.442048],[-0.081232,-0.434588,0.896959]]
2025-10-26T19:54:32.999Z,1761508472.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983481,-0.181013,0.000388],[0.162663,0.884722,0.436815],[-0.079413,-0.429536,0.899551]]
2025-10-26T19:54:33.404Z,1761508473.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987036,-0.160176,0.010155],[0.140288,0.891761,0.430212],[-0.077965,-0.423210,0.902671]]
2025-10-26T19:54:33.807Z,1761508473.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990229,-0.137894,0.020752],[0.116326,0.898915,0.422399],[-0.076901,-0.415858,0.906173]]
2025-10-26T19:54:34.210Z,1761508474.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992834,-0.115242,0.031623],[0.092082,0.906417,0.412225],[-0.076170,-0.406359,0.910533]]
2025-10-26T19:54:34.615Z,1761508474.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994863,-0.091973,0.042302],[0.067352,0.913292,0.401699],[-0.075580,-0.396786,0.914794]]
2025-10-26T19:54:35.018Z,1761508475.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996280,-0.068255,0.052611],[0.042199,0.918678,0.392747],[-0.075139,-0.389066,0.918140]]
2025-10-26T19:54:35.422Z,1761508475.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997095,-0.043608,0.062457],[0.016172,0.922420,0.385850],[-0.074437,-0.383719,0.920445]]
2025-10-26T19:54:35.838Z,1761508475.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997213,-0.018248,0.072343],[-0.010852,0.923843,0.382618],[-0.073815,-0.382336,0.921070]]
2025-10-26T19:54:36.232Z,1761508476.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996595,0.006977,0.082158],[-0.037914,0.923600,0.381477],[-0.073220,-0.383293,0.920720]]
2025-10-26T19:54:36.634Z,1761508476.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995383,0.028915,0.091522],[-0.062076,0.921210,0.384083],[-0.073205,-0.387991,0.918751]]
2025-10-26T19:54:36.936Z,1761508476.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:54:37.038Z,1761508477.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993940,0.046571,0.099575],[-0.081734,0.918821,0.386118],[-0.073509,-0.391917,0.917059]]
2025-10-26T19:54:37.442Z,1761508477.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992280,0.062712,0.106997],[-0.099800,0.915947,0.388690],[-0.073628,-0.396368,0.915135]]
2025-10-26T19:54:37.856Z,1761508477.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990300,0.078492,0.114652],[-0.117645,0.912712,0.391300],[-0.073930,-0.400993,0.913093]]
2025-10-26T19:54:37.940Z,1761508477.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:54:38.250Z,1761508478.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987968,0.094701,0.122275],[-0.135838,0.909324,0.393290],[-0.073943,-0.405168,0.911247]]
2025-10-26T19:54:38.654Z,1761508478.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985171,0.111684,0.130247],[-0.154855,0.905660,0.394715],[-0.073876,-0.409031,0.909525]]
2025-10-26T19:54:39.060Z,1761508479.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981875,0.129710,0.138188],[-0.174742,0.901890,0.395043],[-0.073389,-0.412030,0.908210]]
2025-10-26T19:54:39.462Z,1761508479.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978243,0.148073,0.145308],[-0.194465,0.898475,0.393607],[-0.072273,-0.413301,0.907722]]
2025-10-26T19:54:39.866Z,1761508479.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974427,0.166011,0.151433],[-0.213304,0.895306,0.391061],[-0.070658,-0.413362,0.907821]]
2025-10-26T19:54:40.270Z,1761508480.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970611,0.182963,0.156328],[-0.230724,0.892152,0.388369],[-0.068411,-0.413024,0.908147]]
2025-10-26T19:54:40.676Z,1761508480.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966832,0.198784,0.160376],[-0.246810,0.888720,0.386343],[-0.065731,-0.413112,0.908305]]
2025-10-26T19:54:41.078Z,1761508481.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962928,0.213879,0.164393],[-0.262341,0.884391,0.386044],[-0.062821,-0.414859,0.907714]]
2025-10-26T19:54:41.482Z,1761508481.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958865,0.228660,0.168203],[-0.277519,0.879704,0.386140],[-0.059674,-0.416936,0.906975]]
2025-10-26T19:54:41.890Z,1761508481.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954719,0.242930,0.171749],[-0.292092,0.875043,0.385982],[-0.056521,-0.418671,0.906378]]
2025-10-26T19:54:42.290Z,1761508482.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950379,0.256262,0.176381],[-0.306378,0.869358,0.387748],[-0.053974,-0.422547,0.904733]]
2025-10-26T19:54:42.695Z,1761508482.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945830,0.269429,0.181143],[-0.320453,0.864289,0.387703],[-0.052101,-0.424749,0.903811]]
2025-10-26T19:54:43.098Z,1761508483.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941120,0.282249,0.186088],[-0.334251,0.859370,0.386987],[-0.050692,-0.426401,0.903113]]
2025-10-26T19:54:43.504Z,1761508483.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935972,0.295719,0.191066],[-0.348572,0.854692,0.384706],[-0.049537,-0.426675,0.903048]]
2025-10-26T19:54:43.906Z,1761508483.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930124,0.310314,0.196402],[-0.364046,0.849519,0.381822],[-0.048363,-0.426641,0.903127]]
2025-10-26T19:54:44.318Z,1761508484.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922958,0.327101,0.202863],[-0.382028,0.842777,0.379184],[-0.046937,-0.427471,0.902810]]
2025-10-26T19:54:44.727Z,1761508484.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914134,0.346479,0.210502],[-0.402880,0.834302,0.376335],[-0.045230,-0.428828,0.902253]]
2025-10-26T19:54:44.820Z,1761508484.820 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:54:44.821Z,1761508484.821 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:54:44.822Z,1761508484.822 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:54:44.823Z,1761508484.823 [marl:UpdateRudder:A] Stopped
2025-10-26T19:54:44.823Z,1761508484.823 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:54:44.826Z,1761508484.826 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:54:44.826Z,1761508484.826 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:54:44.826Z,1761508484.826 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:54:44.831Z,1761508484.831 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:54:44.831Z,1761508484.831 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateCommandMode] Stopped
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:54:44.832Z,1761508484.832 [marl:UpdateSpeed] Stopped
2025-10-26T19:54:44.833Z,1761508484.833 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:54:45.128Z,1761508485.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904166,0.367067,0.218508],[-0.424902,0.825553,0.371377],[-0.044070,-0.428631,0.902404]]
2025-10-26T19:54:45.195Z,1761508485.195 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:54:45.195Z,1761508485.195 [marl:UpdateRudder:B] Stopped
2025-10-26T19:54:45.195Z,1761508485.195 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:54:45.195Z,1761508485.195 [marl:UpdateRudder] Stopped
2025-10-26T19:54:45.199Z,1761508485.199 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:54:45.522Z,1761508485.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893388,0.388042,0.226452],[-0.447151,0.817016,0.364061],[-0.043744,-0.426506,0.903426]]
2025-10-26T19:54:45.926Z,1761508485.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882182,0.408664,0.233983],[-0.468823,0.808893,0.354821],[-0.044265,-0.422713,0.905182]]
2025-10-26T19:54:46.333Z,1761508486.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870896,0.428749,0.240240],[-0.489392,0.801426,0.343818],[-0.045123,-0.417002,0.907785]]
2025-10-26T19:54:46.737Z,1761508486.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859503,0.449058,0.244135],[-0.509078,0.794862,0.330204],[-0.045772,-0.408095,0.911791]]
2025-10-26T19:54:47.138Z,1761508487.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847977,0.469244,0.246464],[-0.528065,0.787962,0.316644],[-0.045621,-0.398656,0.915965]]
2025-10-26T19:54:47.542Z,1761508487.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836107,0.489432,0.247752],[-0.546802,0.779773,0.304897],[-0.043963,-0.390398,0.919596]]
2025-10-26T19:54:47.946Z,1761508487.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823682,0.509721,0.248459],[-0.565592,0.769919,0.295518],[-0.040662,-0.383939,0.922463]]
2025-10-26T19:54:48.008Z,1761508488.008 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:54:48.008Z,1761508488.008 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:54:48.350Z,1761508488.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810101,0.530322,0.249988],[-0.585216,0.757225,0.290058],[-0.035473,-0.381273,0.923782]]
2025-10-26T19:54:48.397Z,1761508488.397 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:54:48.757Z,1761508488.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795595,0.550681,0.252546],[-0.605137,0.742267,0.287835],[-0.028951,-0.381825,0.923781]]
2025-10-26T19:54:49.158Z,1761508489.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782659,0.567355,0.256033],[-0.622013,0.728295,0.287552],[-0.023323,-0.384311,0.922909]]
2025-10-26T19:54:49.563Z,1761508489.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772063,0.579600,0.260736],[-0.635240,0.716482,0.288310],[-0.019708,-0.388223,0.921355]]
2025-10-26T19:54:49.968Z,1761508489.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762162,0.589940,0.266608],[-0.647158,0.705218,0.289576],[-0.017184,-0.393241,0.919275]]
2025-10-26T19:54:50.374Z,1761508490.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752150,0.599486,0.273653],[-0.658810,0.693804,0.290871],[-0.015488,-0.399064,0.916792]]
2025-10-26T19:54:50.814Z,1761508490.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741978,0.608888,0.280578],[-0.670265,0.682835,0.290656],[-0.014611,-0.403722,0.914765]]
2025-10-26T19:54:51.178Z,1761508491.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731616,0.617491,0.288866],[-0.681563,0.671534,0.290712],[-0.014471,-0.409570,0.912164]]
2025-10-26T19:54:51.583Z,1761508491.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720215,0.626950,0.297027],[-0.693597,0.659735,0.289263],[-0.014606,-0.414348,0.910001]]
2025-10-26T19:54:51.986Z,1761508491.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708027,0.637630,0.303523],[-0.706040,0.647904,0.285882],[-0.014367,-0.416711,0.908926]]
2025-10-26T19:54:52.391Z,1761508492.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695832,0.648149,0.309389],[-0.718076,0.635995,0.282625],[-0.013587,-0.418825,0.907965]]
2025-10-26T19:54:52.827Z,1761508492.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682391,0.659614,0.315043],[-0.730886,0.622855,0.279028],[-0.012176,-0.420667,0.907133]]
2025-10-26T19:54:53.200Z,1761508493.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668689,0.671583,0.319110],[-0.743471,0.609848,0.274474],[-0.010277,-0.420787,0.907101]]
2025-10-26T19:54:53.602Z,1761508493.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654613,0.683572,0.322819],[-0.755920,0.596537,0.269683],[-0.008226,-0.420563,0.907226]]
2025-10-26T19:54:54.006Z,1761508494.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640583,0.694957,0.326632],[-0.767864,0.583187,0.265100],[-0.006255,-0.420627,0.907212]]
2025-10-26T19:54:54.411Z,1761508494.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626491,0.705892,0.330493],[-0.779417,0.569718,0.260635],[-0.004308,-0.420877,0.907107]]
2025-10-26T19:54:54.834Z,1761508494.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611739,0.716714,0.334809],[-0.791056,0.555586,0.256036],[-0.002511,-0.421479,0.906834]]
2025-10-26T19:54:55.218Z,1761508495.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595836,0.728057,0.338987],[-0.803105,0.540879,0.249946],[-0.001376,-0.421169,0.906981]]
2025-10-26T19:54:55.622Z,1761508495.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578804,0.739844,0.342955],[-0.815467,0.525520,0.242575],[-0.000762,-0.420071,0.907491]]
2025-10-26T19:54:56.027Z,1761508496.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560660,0.752507,0.345534],[-0.828046,0.509944,0.233016],[-0.000857,-0.416761,0.909016]]
2025-10-26T19:54:56.433Z,1761508496.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541873,0.765687,0.346551],[-0.840459,0.494555,0.221461],[-0.001818,-0.411266,0.911514]]
2025-10-26T19:54:56.841Z,1761508496.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522363,0.779198,0.346390],[-0.852715,0.479058,0.208280],[-0.003649,-0.404170,0.914677]]
2025-10-26T19:54:57.238Z,1761508497.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502425,0.793072,0.344392],[-0.864600,0.463620,0.193711],[-0.006041,-0.395086,0.918624]]
2025-10-26T19:54:57.642Z,1761508497.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481654,0.806693,0.342426],[-0.876318,0.447229,0.179034],[-0.008718,-0.386306,0.922329]]
2025-10-26T19:54:58.047Z,1761508498.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460446,0.819943,0.340121],[-0.887614,0.430208,0.164505],[-0.011438,-0.377642,0.925881]]
2025-10-26T19:54:58.071Z,1761508498.071 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateRudder:A] Stopped
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:54:58.072Z,1761508498.072 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateCommandMode] Stopped
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:54:58.073Z,1761508498.073 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:54:58.074Z,1761508498.074 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:54:58.074Z,1761508498.074 [marl:UpdateSpeed] Stopped
2025-10-26T19:54:58.074Z,1761508498.074 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:54:58.450Z,1761508498.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438848,0.832483,0.338207],[-0.898462,0.412111,0.151426],[-0.013319,-0.370319,0.928809]]
2025-10-26T19:54:58.523Z,1761508498.523 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:54:58.523Z,1761508498.523 [marl:UpdateRudder:B] Stopped
2025-10-26T19:54:58.523Z,1761508498.523 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:54:58.524Z,1761508498.524 [marl:UpdateRudder] Stopped
2025-10-26T19:54:58.524Z,1761508498.524 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:54:58.854Z,1761508498.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416945,0.843807,0.337856],[-0.908825,0.392725,0.140728],[-0.013937,-0.365728,0.930618]]
2025-10-26T19:54:59.262Z,1761508499.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394939,0.853695,0.339453],[-0.918620,0.372063,0.133067],[-0.012699,-0.364381,0.931163]]
2025-10-26T19:54:59.662Z,1761508499.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373167,0.861224,0.345021],[-0.927715,0.350200,0.129244],[-0.009519,-0.368311,0.929654]]
2025-10-26T19:55:00.067Z,1761508500.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352568,0.866769,0.352713],[-0.935774,0.328464,0.128210],[-0.004725,-0.375263,0.926906]]
2025-10-26T19:55:00.507Z,1761508500.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333025,0.869953,0.363698],[-0.942918,0.306882,0.129345],[0.000912,-0.386012,0.922493]]
2025-10-26T19:55:00.874Z,1761508500.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314913,0.870988,0.377107],[-0.949098,0.286235,0.131466],[0.006564,-0.399312,0.916792]]
2025-10-26T19:55:01.282Z,1761508501.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299157,0.870402,0.391031],[-0.954136,0.267986,0.133444],[0.011359,-0.413018,0.910652]]
2025-10-26T19:55:01.683Z,1761508501.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286028,0.868813,0.404167],[-0.958112,0.252935,0.134335],[0.014484,-0.425661,0.904767]]
2025-10-26T19:55:02.086Z,1761508502.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274429,0.867500,0.414889],[-0.961479,0.240489,0.133129],[0.015713,-0.435441,0.900080]]
2025-10-26T19:55:02.494Z,1761508502.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263018,0.867114,0.423008],[-0.964667,0.229322,0.129728],[0.015484,-0.442182,0.896792]]
2025-10-26T19:55:02.894Z,1761508502.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250599,0.868645,0.427384],[-0.967980,0.218142,0.124213],[0.014666,-0.444827,0.895497]]
2025-10-26T19:55:03.300Z,1761508503.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236252,0.872645,0.427405],[-0.971592,0.205835,0.116796],[0.013947,-0.442856,0.896484]]
2025-10-26T19:55:03.706Z,1761508503.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220091,0.879127,0.422723],[-0.975382,0.192200,0.108119],[0.013803,-0.436113,0.899786]]
2025-10-26T19:55:04.106Z,1761508504.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201892,0.886508,0.416344],[-0.979300,0.176416,0.099242],[0.014529,-0.427762,0.903774]]
2025-10-26T19:55:04.513Z,1761508504.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183129,0.893576,0.409860],[-0.982965,0.159803,0.090794],[0.015635,-0.419505,0.907618]]
2025-10-26T19:55:04.915Z,1761508504.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164365,0.899578,0.404651],[-0.986253,0.142812,0.083122],[0.016986,-0.412751,0.910685]]
2025-10-26T19:55:04.918Z,1761508504.918 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T19:55:04.918Z,1761508504.918 [NAL9602] Data Fault, FailCount= 1
2025-10-26T19:55:04.918Z,1761508504.918 [NAL9602](ERROR): Data Fault
2025-10-26T19:55:04.987Z,1761508504.987 [marl:NeedComms] Running Loop=1
2025-10-26T19:55:04.987Z,1761508504.987 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T19:55:04.987Z,1761508504.987 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T19:55:04.987Z,1761508504.987 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T19:55:04.992Z,1761508504.992 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T19:55:04.992Z,1761508504.992 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T19:55:04.992Z,1761508504.992 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T19:55:04.993Z,1761508504.993 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T19:55:04.993Z,1761508504.993 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T19:55:04.993Z,1761508504.993 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T19:55:04.994Z,1761508504.994 [marl:NeedComms:A] Running Loop=1
2025-10-26T19:55:04.995Z,1761508504.995 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T19:55:04.000Z,1761508505.000 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T19:55:04.000Z,1761508505.000 [marl:NeedComms:A] Stopped
2025-10-26T19:55:05.099Z,1761508505.099 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T19:55:05.318Z,1761508505.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145887,0.904710,0.400272],[-0.989132,0.125908,0.075927],[0.018295,-0.406998,0.913246]]
2025-10-26T19:55:05.321Z,1761508505.321 [NAL9602](INFO): Powering down
2025-10-26T19:55:05.728Z,1761508505.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127012,0.908615,0.397853],[-0.991714,0.108532,0.068734],[0.019273,-0.403286,0.914871]]
2025-10-26T19:55:06.126Z,1761508506.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107847,0.911098,0.397830],[-0.993971,0.090856,0.061378],[0.019776,-0.402051,0.915404]]
2025-10-26T19:55:06.424Z,1761508506.424 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T19:55:06.424Z,1761508506.424 [NAL9602] No Fault, FailCount= 1
2025-10-26T19:55:07.338Z,1761508507.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042159,0.918447,0.393290],[-0.998958,0.031865,0.032669],[0.017472,-0.394257,0.918834]]
2025-10-26T19:55:07.751Z,1761508507.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016728,0.921213,0.388699],[-0.999779,0.010464,0.018226],[0.012723,-0.388918,0.921185]]
2025-10-26T19:55:08.072Z,1761508508.072 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:55:08.554Z,1761508508.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041412,0.926766,0.373350],[-0.999069,-0.033897,-0.026674],[-0.012065,-0.374107,0.927307]]
2025-10-26T19:55:08.954Z,1761508508.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072897,0.927920,0.365582],[-0.996919,-0.057150,-0.053726],[-0.028961,-0.368372,0.929227]]
2025-10-26T19:55:09.076Z,1761508509.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:55:09.358Z,1761508509.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104980,0.928332,0.356621],[-0.993377,-0.081051,-0.081439],[-0.046698,-0.362809,0.930693]]
2025-10-26T19:55:09.770Z,1761508509.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168639,0.926345,0.336817],[-0.982214,-0.129306,-0.136147],[-0.082567,-0.353786,0.931675]]
2025-10-26T19:55:10.170Z,1761508510.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200615,0.922881,0.328701],[-0.974589,-0.153877,-0.162784],[-0.099651,-0.353005,0.930300]]
2025-10-26T19:55:10.575Z,1761508510.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231871,0.918187,0.321200],[-0.965827,-0.177993,-0.188409],[-0.115823,-0.353910,0.928080]]
2025-10-26T19:55:10.980Z,1761508510.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260722,0.912793,0.314377],[-0.956391,-0.199790,-0.213074],[-0.131683,-0.356221,0.925076]]
2025-10-26T19:55:11.382Z,1761508511.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286820,0.906512,0.309789],[-0.946586,-0.218445,-0.237185],[-0.147339,-0.361272,0.920746]]
2025-10-26T19:55:11.410Z,1761508511.410 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:55:11.410Z,1761508511.410 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:55:11.410Z,1761508511.410 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:55:11.411Z,1761508511.411 [marl:UpdateRudder:A] Stopped
2025-10-26T19:55:11.411Z,1761508511.411 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:55:11.411Z,1761508511.411 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:55:11.411Z,1761508511.411 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:55:11.411Z,1761508511.411 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateCommandMode] Stopped
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:55:11.412Z,1761508511.412 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:55:11.413Z,1761508511.413 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:55:11.413Z,1761508511.413 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:55:11.413Z,1761508511.413 [marl:UpdateSpeed] Stopped
2025-10-26T19:55:11.413Z,1761508511.413 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:55:11.783Z,1761508511.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309927,0.900346,0.305486],[-0.936776,-0.234269,-0.259942],[-0.162472,-0.366735,0.916029]]
2025-10-26T19:55:11.826Z,1761508511.826 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:55:11.826Z,1761508511.826 [marl:UpdateRudder:B] Stopped
2025-10-26T19:55:11.826Z,1761508511.826 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:55:11.826Z,1761508511.826 [marl:UpdateRudder] Stopped
2025-10-26T19:55:11.826Z,1761508511.826 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:55:12.186Z,1761508512.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331046,0.893853,0.302382],[-0.926968,-0.248129,-0.281358],[-0.176463,-0.373441,0.910715]]
2025-10-26T19:55:12.597Z,1761508512.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350582,0.886949,0.300688],[-0.917231,-0.260330,-0.301523],[-0.189158,-0.381509,0.904804]]
2025-10-26T19:55:12.994Z,1761508512.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369069,0.880243,0.298262],[-0.907430,-0.271917,-0.320361],[-0.200893,-0.388887,0.899116]]
2025-10-26T19:55:13.397Z,1761508513.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386146,0.874326,0.294016],[-0.897664,-0.282801,-0.337970],[-0.212348,-0.394433,0.894053]]
2025-10-26T19:55:13.799Z,1761508513.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402031,0.869928,0.285649],[-0.887748,-0.293940,-0.354264],[-0.224221,-0.396009,0.890450]]
2025-10-26T19:55:14.205Z,1761508514.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415865,0.867495,0.272962],[-0.877971,-0.304713,-0.369211],[-0.237114,-0.393194,0.888355]]
2025-10-26T19:55:14.606Z,1761508514.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425789,0.869161,0.251523],[-0.869060,-0.315462,-0.381074],[-0.251869,-0.380845,0.889673]]
2025-10-26T19:55:15.010Z,1761508515.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430735,0.874189,0.224190],[-0.861444,-0.324206,-0.390901],[-0.269038,-0.361502,0.892712]]
2025-10-26T19:55:15.415Z,1761508515.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430915,0.882083,0.190373],[-0.855165,-0.331817,-0.398234],[-0.288106,-0.334405,0.897312]]
2025-10-26T19:55:15.818Z,1761508515.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429115,0.889967,0.154332],[-0.849515,-0.339598,-0.403729],[-0.306895,-0.304354,0.901767]]
2025-10-26T19:55:16.230Z,1761508516.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429182,0.895437,0.118306],[-0.843329,-0.350371,-0.407474],[-0.323417,-0.274651,0.905521]]
2025-10-26T19:55:16.626Z,1761508516.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430529,0.898655,0.084043],[-0.836884,-0.362586,-0.410069],[-0.338038,-0.246881,0.908174]]
2025-10-26T19:55:17.032Z,1761508517.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432009,0.900100,0.056472],[-0.830805,-0.372824,-0.413236],[-0.350900,-0.225439,0.908871]]
2025-10-26T19:55:17.435Z,1761508517.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432965,0.900813,0.032833],[-0.825433,-0.381571,-0.416010],[-0.362219,-0.207219,0.908767]]
2025-10-26T19:55:17.838Z,1761508517.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434046,0.900795,0.013123],[-0.820673,-0.389347,-0.418216],[-0.371618,-0.192294,0.908253]]
2025-10-26T19:55:18.242Z,1761508518.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434912,0.900472,-0.001499],[-0.816517,-0.395064,-0.420980],[-0.379673,-0.181865,0.907069]]
2025-10-26T19:55:18.649Z,1761508518.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435673,0.900036,-0.011147],[-0.812615,-0.398622,-0.425156],[-0.387099,-0.176171,0.905051]]
2025-10-26T19:55:18.673Z,1761508518.673 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:55:19.052Z,1761508519.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436361,0.899618,-0.016653],[-0.808827,-0.400296,-0.430770],[-0.394194,-0.174501,0.902308]]
2025-10-26T19:55:19.454Z,1761508519.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437995,0.898745,-0.020434],[-0.804552,-0.402029,-0.437115],[-0.401070,-0.175014,0.899173]]
2025-10-26T19:55:19.858Z,1761508519.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440942,0.897255,-0.022459],[-0.799431,-0.403998,-0.444630],[-0.408020,-0.178102,0.895433]]
2025-10-26T19:55:20.262Z,1761508520.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444768,0.895369,-0.022260],[-0.793737,-0.405554,-0.453330],[-0.414925,-0.183958,0.891065]]
2025-10-26T19:55:20.676Z,1761508520.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448492,0.893568,-0.019788],[-0.788406,-0.405945,-0.462195],[-0.421036,-0.191689,0.886558]]
2025-10-26T19:55:21.070Z,1761508521.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452561,0.891605,-0.015108],[-0.783369,-0.405603,-0.470977],[-0.426053,-0.201310,0.882016]]
2025-10-26T19:55:21.475Z,1761508521.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456158,0.889849,-0.009396],[-0.779209,-0.404497,-0.478764],[-0.429829,-0.211071,0.877893]]
2025-10-26T19:55:21.878Z,1761508521.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458925,0.888472,-0.002282],[-0.776284,-0.402223,-0.485387],[-0.432171,-0.220985,0.874297]]
2025-10-26T19:55:22.282Z,1761508522.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460373,0.887703,0.006311],[-0.774729,-0.398292,-0.491078],[-0.433418,-0.230968,0.871093]]
2025-10-26T19:55:22.694Z,1761508522.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460504,0.887512,0.016082],[-0.774357,-0.392802,-0.496063],[-0.433944,-0.240892,0.868138]]
2025-10-26T19:55:23.092Z,1761508523.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459983,0.887623,0.023248],[-0.774683,-0.388386,-0.499023],[-0.433915,-0.247552,0.866277]]
2025-10-26T19:55:23.494Z,1761508523.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458898,0.888058,0.027645],[-0.775405,-0.385107,-0.500439],[-0.433773,-0.251087,0.865330]]
2025-10-26T19:55:23.898Z,1761508523.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458039,0.888511,0.027353],[-0.776199,-0.384765,-0.499471],[-0.433261,-0.250009,0.865899]]
2025-10-26T19:55:24.302Z,1761508524.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457461,0.888940,0.022706],[-0.776936,-0.387141,-0.496480],[-0.432550,-0.244761,0.867751]]
2025-10-26T19:55:24.325Z,1761508524.325 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:55:24.325Z,1761508524.325 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:55:24.325Z,1761508524.325 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateRudder:A] Stopped
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode] Stopped
2025-10-26T19:55:24.326Z,1761508524.326 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:55:24.722Z,1761508524.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456344,0.889633,0.017398],[-0.778100,-0.389495,-0.492802],[-0.431637,-0.238425,0.869967]]
2025-10-26T19:55:24.757Z,1761508524.757 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:55:24.757Z,1761508524.757 [marl:UpdateRudder:B] Stopped
2025-10-26T19:55:24.757Z,1761508524.757 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:55:24.757Z,1761508524.757 [marl:UpdateRudder] Stopped
2025-10-26T19:55:24.758Z,1761508524.758 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:55:24.758Z,1761508524.758 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:55:24.758Z,1761508524.758 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:55:24.758Z,1761508524.758 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:55:24.759Z,1761508524.759 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:55:24.776Z,1761508524.776 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:55:24.776Z,1761508524.776 [marl:UpdateSpeed] Stopped
2025-10-26T19:55:24.776Z,1761508524.776 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:55:25.110Z,1761508525.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454811,0.890503,0.012282],[-0.779730,-0.391495,-0.488624],[-0.430313,-0.231808,0.872408]]
2025-10-26T19:55:25.538Z,1761508525.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452173,0.891902,0.007167],[-0.782116,-0.392626,-0.483879],[-0.428758,-0.224402,0.875106]]
2025-10-26T19:55:25.920Z,1761508525.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449260,0.893399,0.001995],[-0.785098,-0.393732,-0.478117],[-0.426363,-0.216366,0.878294]]
2025-10-26T19:55:26.322Z,1761508526.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446417,0.894816,-0.004050],[-0.788404,-0.395462,-0.471200],[-0.423239,-0.207158,0.882017]]
2025-10-26T19:55:26.734Z,1761508526.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444280,0.895802,-0.012401],[-0.791433,-0.398929,-0.463131],[-0.419821,-0.195945,0.886203]]
2025-10-26T19:55:27.131Z,1761508527.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443140,0.896222,-0.020351],[-0.793666,-0.402783,-0.455917],[-0.416800,-0.185883,0.889790]]
2025-10-26T19:55:27.534Z,1761508527.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443660,0.895722,-0.029123],[-0.794881,-0.408306,-0.448832],[-0.413920,-0.175980,0.893141]]
2025-10-26T19:55:27.938Z,1761508527.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444500,0.895098,-0.034920],[-0.795673,-0.412433,-0.443625],[-0.411490,-0.169407,0.895532]]
2025-10-26T19:55:28.342Z,1761508528.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445675,0.894307,-0.039842],[-0.796291,-0.416378,-0.438806],[-0.409017,-0.163839,0.897698]]
2025-10-26T19:55:28.757Z,1761508528.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444978,0.894659,-0.039754],[-0.797801,-0.416187,-0.436236],[-0.406828,-0.162400,0.898954]]
2025-10-26T19:55:29.151Z,1761508529.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443292,0.895623,-0.036752],[-0.800235,-0.413887,-0.433960],[-0.403876,-0.162961,0.900182]]
2025-10-26T19:55:29.554Z,1761508529.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441013,0.897030,-0.029062],[-0.803547,-0.409063,-0.432410],[-0.399773,-0.167346,0.901209]]
2025-10-26T19:55:29.958Z,1761508529.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438852,0.898350,-0.019400],[-0.807050,-0.403560,-0.431057],[-0.395069,-0.173513,0.902116]]
2025-10-26T19:55:30.363Z,1761508530.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438807,0.898516,-0.010839],[-0.809862,-0.400680,-0.428460],[-0.389321,-0.179234,0.903495]]
2025-10-26T19:55:30.816Z,1761508530.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441009,0.897497,-0.003178],[-0.811597,-0.400306,-0.425518],[-0.383173,-0.185078,0.904944]]
2025-10-26T19:55:31.181Z,1761508531.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444901,0.895577,0.002266],[-0.812021,-0.402323,-0.422799],[-0.377737,-0.189944,0.906221]]
2025-10-26T19:55:31.574Z,1761508531.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450159,0.892931,0.005538],[-0.811384,-0.406443,-0.420070],[-0.372843,-0.193592,0.907475]]
2025-10-26T19:55:31.978Z,1761508531.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456071,0.889913,0.007405],[-0.810320,-0.411812,-0.416883],[-0.367940,-0.196128,0.908930]]
2025-10-26T19:55:32.384Z,1761508532.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462266,0.886705,0.008072],[-0.809335,-0.418177,-0.412438],[-0.362335,-0.197189,0.910950]]
2025-10-26T19:55:32.835Z,1761508532.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467331,0.883993,0.012549],[-0.809195,-0.421985,-0.408819],[-0.356098,-0.201208,0.912529]]
2025-10-26T19:55:33.192Z,1761508533.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470692,0.882097,0.018807],[-0.810102,-0.423634,-0.405300],[-0.349547,-0.206007,0.913990]]
2025-10-26T19:55:33.594Z,1761508533.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472327,0.881061,0.025268],[-0.811916,-0.423743,-0.401541],[-0.343075,-0.210174,0.915492]]
2025-10-26T19:55:33.999Z,1761508533.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472491,0.880694,0.033626],[-0.814409,-0.421709,-0.398621],[-0.336882,-0.215730,0.916499]]
2025-10-26T19:55:34.402Z,1761508534.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472125,0.880483,0.042980],[-0.817078,-0.418784,-0.396236],[-0.330880,-0.222191,0.917142]]
2025-10-26T19:55:34.836Z,1761508534.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471072,0.880549,0.052209],[-0.819936,-0.415284,-0.394010],[-0.325264,-0.228415,0.917622]]
2025-10-26T19:55:35.211Z,1761508535.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469211,0.880918,0.061837],[-0.822987,-0.410815,-0.392330],[-0.320207,-0.234977,0.917744]]
2025-10-26T19:55:35.615Z,1761508535.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466572,0.881600,0.071365],[-0.826292,-0.405671,-0.390734],[-0.315520,-0.241274,0.917733]]
2025-10-26T19:55:35.618Z,1761508535.618 [NAL9602](INFO): Powering up NAL9602
2025-10-26T19:55:36.018Z,1761508536.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463655,0.882560,0.078180],[-0.829711,-0.401543,-0.387741],[-0.310812,-0.244645,0.918447]]
2025-10-26T19:55:36.422Z,1761508536.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460314,0.883844,0.083256],[-0.833252,-0.397794,-0.383993],[-0.306271,-0.246130,0.919575]]
2025-10-26T19:55:36.845Z,1761508536.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457614,0.885129,0.084478],[-0.836559,-0.396408,-0.378193],[-0.301261,-0.243737,0.921864]]
2025-10-26T19:55:37.230Z,1761508537.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455960,0.886067,0.083576],[-0.839444,-0.396961,-0.371154],[-0.295692,-0.239389,0.924802]]
2025-10-26T19:55:37.634Z,1761508537.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456367,0.886383,0.077815],[-0.841282,-0.401352,-0.362161],[-0.289782,-0.230742,0.928862]]
2025-10-26T19:55:37.687Z,1761508537.687 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:55:37.687Z,1761508537.687 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:55:37.687Z,1761508537.687 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:55:37.692Z,1761508537.692 [marl:UpdateRudder:A] Stopped
2025-10-26T19:55:37.692Z,1761508537.692 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:55:37.692Z,1761508537.692 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:55:37.692Z,1761508537.692 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:55:37.692Z,1761508537.692 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:55:37.693Z,1761508537.693 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:55:37.693Z,1761508537.693 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:55:37.693Z,1761508537.693 [marl:UpdateCommandMode] Stopped
2025-10-26T19:55:37.693Z,1761508537.693 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:55:38.040Z,1761508538.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459031,0.885643,0.070193],[-0.841643,-0.408204,-0.353562],[-0.284476,-0.221373,0.932774]]
2025-10-26T19:55:38.062Z,1761508538.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:55:38.063Z,1761508538.063 [marl:UpdateRudder:B] Stopped
2025-10-26T19:55:38.063Z,1761508538.063 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:55:38.063Z,1761508538.063 [marl:UpdateRudder] Stopped
2025-10-26T19:55:38.063Z,1761508538.063 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:55:38.063Z,1761508538.063 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:55:38.064Z,1761508538.064 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:55:38.064Z,1761508538.064 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:55:38.064Z,1761508538.064 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:55:38.064Z,1761508538.064 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:55:38.065Z,1761508538.065 [marl:UpdateSpeed] Stopped
2025-10-26T19:55:38.065Z,1761508538.065 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:55:38.442Z,1761508538.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464175,0.883612,0.061415],[-0.840135,-0.417251,-0.346519],[-0.280563,-0.212442,0.936030]]
2025-10-26T19:55:38.846Z,1761508538.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471306,0.880308,0.054118],[-0.836879,-0.427000,-0.342498],[-0.278395,-0.206712,0.937959]]
2025-10-26T19:55:39.196Z,1761508539.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:55:39.251Z,1761508539.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479979,0.875920,0.048824],[-0.832177,-0.436981,-0.341365],[-0.277673,-0.204478,0.938662]]
2025-10-26T19:55:39.664Z,1761508539.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489061,0.871006,0.046558],[-0.826899,-0.445985,-0.342541],[-0.277591,-0.206023,0.938348]]
2025-10-26T19:55:40.058Z,1761508540.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494657,0.867774,0.047778],[-0.823242,-0.450234,-0.345777],[-0.278545,-0.210374,0.937100]]
2025-10-26T19:55:40.200Z,1761508540.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:55:40.462Z,1761508540.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495971,0.866749,0.052531],[-0.822218,-0.449314,-0.349393],[-0.279233,-0.216481,0.935503]]
2025-10-26T19:55:40.866Z,1761508540.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495102,0.866713,0.060683],[-0.823227,-0.445635,-0.351721],[-0.277798,-0.224094,0.934136]]
2025-10-26T19:55:41.271Z,1761508541.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492433,0.867653,0.068471],[-0.825831,-0.440957,-0.351512],[-0.274798,-0.229642,0.933676]]
2025-10-26T19:55:41.680Z,1761508541.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487841,0.869597,0.076240],[-0.829233,-0.434362,-0.351714],[-0.272733,-0.234802,0.932998]]
2025-10-26T19:55:42.078Z,1761508542.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483216,0.871826,0.080129],[-0.831652,-0.428486,-0.353206],[-0.273600,-0.237315,0.932108]]
2025-10-26T19:55:42.482Z,1761508542.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480926,0.873360,0.077149],[-0.831252,-0.426214,-0.356878],[-0.278801,-0.235762,0.930960]]
2025-10-26T19:55:42.893Z,1761508542.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482051,0.873737,0.064881],[-0.827659,-0.429832,-0.360868],[-0.287416,-0.227656,0.930357]]
2025-10-26T19:55:43.292Z,1761508543.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487118,0.872027,0.047800],[-0.821534,-0.438968,-0.363853],[-0.296308,-0.216509,0.930229]]
2025-10-26T19:55:43.696Z,1761508543.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494375,0.868666,0.031828],[-0.814856,-0.450380,-0.364921],[-0.302660,-0.206343,0.930494]]
2025-10-26T19:55:44.098Z,1761508544.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500119,0.865618,0.024231],[-0.810086,-0.457780,-0.366331],[-0.306010,-0.202838,0.930169]]
2025-10-26T19:55:44.502Z,1761508544.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502493,0.864211,0.025293],[-0.807924,-0.458947,-0.369631],[-0.307831,-0.206171,0.928834]]
2025-10-26T19:55:44.914Z,1761508544.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500151,0.865343,0.032105],[-0.808066,-0.453077,-0.376499],[-0.311254,-0.214249,0.925861]]
2025-10-26T19:55:45.310Z,1761508545.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498227,0.866191,0.038516],[-0.807682,-0.447502,-0.383916],[-0.315309,-0.222386,0.922564]]
2025-10-26T19:55:45.719Z,1761508545.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498971,0.865719,0.039485],[-0.804940,-0.446096,-0.391241],[-0.321091,-0.227001,0.919441]]
2025-10-26T19:55:46.118Z,1761508546.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500750,0.864971,0.032764],[-0.800675,-0.448482,-0.397221],[-0.328891,-0.225142,0.917138]]
2025-10-26T19:55:46.524Z,1761508546.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504058,0.863394,0.021829],[-0.795621,-0.454362,-0.400678],[-0.336025,-0.219333,0.915959]]
2025-10-26T19:55:46.527Z,1761508546.527 [NAL9602](INFO): NAL9602 initialized
2025-10-26T19:55:46.926Z,1761508546.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509997,0.860109,0.010762],[-0.790253,-0.463561,-0.400763],[-0.339711,-0.212893,0.916119]]
2025-10-26T19:55:47.331Z,1761508547.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516829,0.856077,0.004587],[-0.785560,-0.472113,-0.400006],[-0.340270,-0.210338,0.916501]]
2025-10-26T19:55:47.736Z,1761508547.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517726,0.855535,0.004353],[-0.783915,-0.472335,-0.402961],[-0.342692,-0.212036,0.915207]]
2025-10-26T19:55:48.167Z,1761508548.167 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:55:48.167Z,1761508548.167 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:55:48.201Z,1761508548.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515895,0.856616,0.007848],[-0.783829,-0.468324,-0.407781],[-0.345636,-0.216523,0.913046]]
2025-10-26T19:55:48.590Z,1761508548.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512309,0.858743,0.010043],[-0.784467,-0.463174,-0.412409],[-0.349502,-0.219160,0.910943]]
2025-10-26T19:55:49.041Z,1761508549.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498906,0.866631,0.006647],[-0.786824,-0.449721,-0.422681],[-0.363319,-0.216109,0.906254]]
2025-10-26T19:55:49.099Z,1761508549.099 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:55:49.449Z,1761508549.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493246,0.869890,0.000328],[-0.786534,-0.445820,-0.427328],[-0.371582,-0.211035,0.904097]]
2025-10-26T19:55:49.846Z,1761508549.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493448,0.869746,-0.007129],[-0.784123,-0.448387,-0.429070],[-0.376378,-0.206134,0.903243]]
2025-10-26T19:55:50.251Z,1761508550.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496246,0.868069,-0.013976],[-0.780648,-0.453199,-0.430348],[-0.379906,-0.202648,0.902555]]
2025-10-26T19:55:50.661Z,1761508550.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500471,0.865555,-0.018537],[-0.776365,-0.458170,-0.432824],[-0.383126,-0.202224,0.901288]]
2025-10-26T19:55:50.736Z,1761508550.736 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:55:50.736Z,1761508550.736 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:55:50.736Z,1761508550.736 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:55:50.736Z,1761508550.736 [marl:UpdateRudder:A] Stopped
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode] Stopped
2025-10-26T19:55:50.737Z,1761508550.737 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:55:51.061Z,1761508551.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503128,0.863978,-0.020098],[-0.772849,-0.460224,-0.436919],[-0.386738,-0.204293,0.899276]]
2025-10-26T19:55:51.124Z,1761508551.124 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:55:51.124Z,1761508551.124 [marl:UpdateRudder:B] Stopped
2025-10-26T19:55:51.124Z,1761508551.124 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:55:51.124Z,1761508551.124 [marl:UpdateRudder] Stopped
2025-10-26T19:55:51.124Z,1761508551.124 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:55:51.462Z,1761508551.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502107,0.864610,-0.018383],[-0.771424,-0.457396,-0.442373],[-0.390888,-0.207937,0.896643]]
2025-10-26T19:55:51.502Z,1761508551.502 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:55:51.502Z,1761508551.502 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:55:51.502Z,1761508551.502 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:55:51.502Z,1761508551.502 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:55:51.502Z,1761508551.502 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:55:51.503Z,1761508551.503 [marl:UpdateSpeed] Stopped
2025-10-26T19:55:51.503Z,1761508551.503 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:55:51.866Z,1761508551.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498716,0.866640,-0.014772],[-0.771770,-0.451751,-0.447540],[-0.394529,-0.211795,0.894142]]
2025-10-26T19:55:52.270Z,1761508552.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496031,0.868163,-0.015683],[-0.771402,-0.448894,-0.451035],[-0.398612,-0.211629,0.892368]]
2025-10-26T19:55:52.681Z,1761508552.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496501,0.867715,-0.023612],[-0.768468,-0.452036,-0.452902],[-0.403663,-0.206721,0.891248]]
2025-10-26T19:55:53.078Z,1761508553.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498465,0.866226,-0.034410],[-0.764592,-0.457994,-0.453477],[-0.408573,-0.199733,0.890603]]
2025-10-26T19:55:53.482Z,1761508553.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498903,0.865730,-0.040093],[-0.763212,-0.460801,-0.452957],[-0.410614,-0.195382,0.890630]]
2025-10-26T19:55:53.889Z,1761508553.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495915,0.867451,-0.039968],[-0.766362,-0.458840,-0.449616],[-0.408359,-0.192342,0.892327]]
2025-10-26T19:55:54.291Z,1761508554.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489900,0.871047,-0.035708],[-0.773430,-0.453167,-0.443222],[-0.402249,-0.189517,0.895700]]
2025-10-26T19:55:54.317Z,1761508554.317 [marl:SendObservationData] Running Loop=1
2025-10-26T19:55:54.317Z,1761508554.317 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T19:55:54.317Z,1761508554.317 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T19:55:54.318Z,1761508554.318 [marl:SendObservationData:A] Running Loop=1
2025-10-26T19:55:54.319Z,1761508554.319 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9ea0000000405140000000000040426271ea9f2ef2c05e776be2c6d94c40142d30e000000040841d99a0000000 n/a str  and temp var is  nan n/a str 
2025-10-26T19:55:54.319Z,1761508554.319 [marl:SendObservationData:A] Stopped
2025-10-26T19:55:54.319Z,1761508554.319 [marl:SendObservationData:B] Running Loop=1
2025-10-26T19:55:54.699Z,1761508554.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484214,0.874359,-0.032142],[-0.781451,-0.448701,-0.433592],[-0.393537,-0.184834,0.900536]]
2025-10-26T19:55:54.736Z,1761508554.736 [marl:SendObservationData:B] Stopped
2025-10-26T19:55:54.736Z,1761508554.736 [marl:SendObservationData:C] Running Loop=1
2025-10-26T19:55:55.098Z,1761508555.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480713,0.876381,-0.029527],[-0.788179,-0.446600,-0.423465],[-0.384303,-0.180293,0.905431]]
2025-10-26T19:55:55.163Z,1761508555.163 [marl:SendObservationData:C] Stopped
2025-10-26T19:55:55.163Z,1761508555.163 [marl:SendObservationData:E] Running Loop=1
2025-10-26T19:55:55.502Z,1761508555.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477203,0.878324,-0.028721],[-0.793020,-0.444479,-0.416603],[-0.378678,-0.176027,0.908635]]
2025-10-26T19:55:55.562Z,1761508555.562 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.008233 min 
2025-10-26T19:55:55.562Z,1761508555.562 [marl:SendObservationData:E] Stopped
2025-10-26T19:55:55.562Z,1761508555.562 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T19:55:55.563Z,1761508555.563 [marl:SendObservationData] Stopped
2025-10-26T19:55:55.563Z,1761508555.563 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T19:55:55.563Z,1761508555.563 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T19:55:55.906Z,1761508555.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474677,0.879611,-0.031097],[-0.794205,-0.443282,-0.415620],[-0.379368,-0.172588,0.909007]]
2025-10-26T19:55:56.312Z,1761508556.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474900,0.879198,-0.038487],[-0.790210,-0.445266,-0.421079],[-0.387348,-0.169558,0.906207]]
2025-10-26T19:55:56.718Z,1761508556.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479970,0.876074,-0.046086],[-0.782107,-0.451104,-0.429900],[-0.397413,-0.170295,0.901700]]
2025-10-26T19:55:57.122Z,1761508557.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489541,0.870776,-0.045810],[-0.773139,-0.457746,-0.439004],[-0.403243,-0.179493,0.897317]]
2025-10-26T19:55:57.522Z,1761508557.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500876,0.864653,-0.038702],[-0.764945,-0.463152,-0.447605],[-0.404947,-0.194590,0.893394]]
2025-10-26T19:55:57.927Z,1761508557.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509018,0.860253,-0.029420],[-0.759491,-0.464956,-0.454961],[-0.405060,-0.209239,0.890025]]
2025-10-26T19:55:58.330Z,1761508558.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514183,0.857366,-0.023236],[-0.757446,-0.466635,-0.456648],[-0.402357,-0.217200,0.889344]]
2025-10-26T19:55:58.737Z,1761508558.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519140,0.854494,-0.018264],[-0.758481,-0.470448,-0.450983],[-0.393954,-0.220270,0.892346]]
2025-10-26T19:55:59.145Z,1761508559.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524778,0.851151,-0.012281],[-0.761491,-0.475848,-0.440113],[-0.380446,-0.221610,0.897858]]
2025-10-26T19:55:59.543Z,1761508559.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529262,0.848411,-0.008956],[-0.762793,-0.480420,-0.432831],[-0.371522,-0.222250,0.901430]]
2025-10-26T19:55:59.946Z,1761508559.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533388,0.845763,-0.013496],[-0.758459,-0.485271,-0.435032],[-0.374483,-0.221804,0.900314]]
2025-10-26T19:56:00.350Z,1761508560.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540299,0.841180,-0.022215],[-0.751450,-0.494208,-0.437129],[-0.378683,-0.219487,0.899125]]
2025-10-26T19:56:00.759Z,1761508560.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551191,0.834247,-0.014819],[-0.748502,-0.502231,-0.433023],[-0.368691,-0.227586,0.901261]]
2025-10-26T19:56:01.158Z,1761508561.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565745,0.824430,0.015707],[-0.751160,-0.507421,-0.422235],[-0.340133,-0.250676,0.906350]]
2025-10-26T19:56:01.229Z,1761508561.229 [marl:NeedComms:C] Running Loop=1
2025-10-26T19:56:01.563Z,1761508561.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573938,0.816911,0.057023],[-0.757041,-0.502747,-0.417293],[-0.312223,-0.282669,0.906981]]
2025-10-26T19:56:01.688Z,1761508561.688 [Radio_Surface](INFO): Powering up
2025-10-26T19:56:01.966Z,1761508561.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565745,0.820142,0.085441],[-0.771699,-0.490102,-0.405316],[-0.290541,-0.295240,0.910175]]
2025-10-26T19:56:02.370Z,1761508562.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554133,0.827658,0.088988],[-0.793457,-0.492837,-0.357126],[-0.251721,-0.268503,0.929808]]
2025-10-26T19:56:02.821Z,1761508562.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556188,0.824009,0.108001],[-0.811756,-0.510820,-0.283045],[-0.178063,-0.245097,0.953006]]
2025-10-26T19:56:03.180Z,1761508563.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555858,0.825872,0.094642],[-0.820347,-0.526581,-0.223030],[-0.134357,-0.201612,0.970206]]
2025-10-26T19:56:03.582Z,1761508563.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560806,0.826250,0.052976],[-0.821170,-0.546906,-0.163015],[-0.105718,-0.134922,0.985200]]
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateRudder:A] Stopped
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:56:03.638Z,1761508563.638 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:56:03.639Z,1761508563.639 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:56:03.639Z,1761508563.639 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:56:03.639Z,1761508563.639 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:56:03.639Z,1761508563.639 [marl:UpdateCommandMode] Stopped
2025-10-26T19:56:03.643Z,1761508563.643 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:56:03.987Z,1761508563.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557790,0.829299,0.033667],[-0.825420,-0.550020,-0.127122],[-0.086905,-0.098697,0.991316]]
2025-10-26T19:56:04.030Z,1761508564.030 [marl:UpdateRudder:B](INFO): Updating rudder angle  -0.000000 arcdeg 
2025-10-26T19:56:04.030Z,1761508564.030 [marl:UpdateRudder:B] Stopped
2025-10-26T19:56:04.030Z,1761508564.030 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:56:04.031Z,1761508564.031 [marl:UpdateRudder] Stopped
2025-10-26T19:56:04.031Z,1761508564.031 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:56:04.391Z,1761508564.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555083,0.830882,0.038970],[-0.828056,-0.547545,-0.120489],[-0.078774,-0.099150,0.991949]]
2025-10-26T19:56:04.415Z,1761508564.415 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:56:04.415Z,1761508564.415 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:56:04.415Z,1761508564.415 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:56:04.416Z,1761508564.416 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:56:04.416Z,1761508564.416 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:56:04.416Z,1761508564.416 [marl:UpdateSpeed] Stopped
2025-10-26T19:56:04.416Z,1761508564.416 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:56:04.828Z,1761508564.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552787,0.831204,0.059394],[-0.831211,-0.544912,-0.110267],[-0.059290,-0.110323,0.992126]]
2025-10-26T19:56:05.198Z,1761508565.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550497,0.829426,0.094894],[-0.834658,-0.544462,-0.083108],[-0.017266,-0.124955,0.992012]]
2025-10-26T19:56:05.607Z,1761508565.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555497,0.819776,0.139251],[-0.831311,-0.551261,-0.070952],[0.018599,-0.155174,0.987712]]
2025-10-26T19:56:06.008Z,1761508566.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551685,0.820439,0.150080],[-0.833957,-0.545339,-0.084388],[0.012609,-0.171716,0.985066]]
2025-10-26T19:56:06.410Z,1761508566.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534057,0.835942,0.126425],[-0.845341,-0.530373,-0.064061],[0.013501,-0.141084,0.989906]]
2025-10-26T19:56:06.831Z,1761508566.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528456,0.843912,0.092455],[-0.848548,-0.528453,-0.026532],[0.026468,-0.092473,0.995363]]
2025-10-26T19:56:06.952Z,1761508566.952 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T19:56:06.952Z,1761508566.952 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T19:56:07.219Z,1761508567.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533098,0.843560,0.064916],[-0.845681,-0.533570,-0.011274],[0.025127,-0.060908,0.997827]]
2025-10-26T19:56:07.631Z,1761508567.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548952,0.832220,0.077861],[-0.835494,-0.549062,-0.021907],[0.024518,-0.077078,0.996724]]
2025-10-26T19:56:08.026Z,1761508568.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565233,0.817976,0.106895],[-0.824917,-0.559699,-0.079050],[-0.004832,-0.132861,0.991123]]
2025-10-26T19:56:08.430Z,1761508568.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586022,0.800469,0.125806],[-0.809522,-0.571582,-0.134046],[-0.035391,-0.180397,0.982957]]
2025-10-26T19:56:08.839Z,1761508568.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591144,0.796549,0.126725],[-0.805591,-0.575373,-0.141313],[-0.039649,-0.185625,0.981821]]
2025-10-26T19:56:09.238Z,1761508569.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593312,0.795215,0.124955],[-0.804664,-0.581596,-0.119422],[-0.022293,-0.171401,0.984949]]
2025-10-26T19:56:09.642Z,1761508569.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603365,0.784033,0.145746],[-0.797431,-0.594853,-0.101254],[0.007311,-0.177316,0.984127]]
2025-10-26T19:56:10.047Z,1761508570.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609724,0.774851,0.166860],[-0.792386,-0.600936,-0.104884],[0.019003,-0.196167,0.980386]]
2025-10-26T19:56:10.328Z,1761508570.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:56:10.451Z,1761508570.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600580,0.786105,0.146090],[-0.799554,-0.589493,-0.114944],[-0.004239,-0.185840,0.982571]]
2025-10-26T19:56:10.854Z,1761508570.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596618,0.795730,0.104211],[-0.802228,-0.587813,-0.104435],[-0.021846,-0.145909,0.989057]]
2025-10-26T19:56:11.258Z,1761508571.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611632,0.786466,0.085891],[-0.791072,-0.609415,-0.053091],[0.010589,-0.100419,0.994889]]
2025-10-26T19:56:11.332Z,1761508571.332 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T19:56:11.332Z,1761508571.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:56:11.662Z,1761508571.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629432,0.770268,0.102483],[-0.775240,-0.631486,-0.015101],[0.053085,-0.088954,0.994620]]
2025-10-26T19:56:12.072Z,1761508572.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633593,0.761975,0.133994],[-0.770978,-0.636275,-0.027320],[0.064440,-0.120616,0.990605]]
2025-10-26T19:56:12.470Z,1761508572.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626631,0.764859,0.149413],[-0.776264,-0.629549,-0.032890],[0.068907,-0.136594,0.988228]]
2025-10-26T19:56:12.874Z,1761508572.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607150,0.782476,0.138203],[-0.789200,-0.614061,0.009593],[0.092371,-0.103245,0.990358]]
2025-10-26T19:56:13.279Z,1761508573.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579773,0.809275,0.094538],[-0.805617,-0.586733,0.082007],[0.121834,-0.028616,0.992138]]
2025-10-26T19:56:13.369Z,1761508573.369 [CBIT](INFO): Clearing failed state for component DAT
2025-10-26T19:56:13.369Z,1761508573.369 [DAT] No Fault, FailCount= 8
2025-10-26T19:56:13.376Z,1761508573.376 [DAT](INFO): Powering up
2025-10-26T19:56:13.376Z,1761508573.376 [DAT](DEBUG): Initializing DAT.
2025-10-26T19:56:13.684Z,1761508573.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562526,0.826307,0.027928],[-0.818697,-0.561421,0.120588],[0.115322,0.044969,0.992310]]
2025-10-26T19:56:14.095Z,1761508574.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566556,0.823942,-0.011535],[-0.819452,-0.561886,0.113057],[0.086671,0.073505,0.993522]]
2025-10-26T19:56:14.490Z,1761508574.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568966,0.822157,0.018306],[-0.820507,-0.569036,0.054455],[0.055187,0.015963,0.998348]]
2025-10-26T19:56:14.896Z,1761508574.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554776,0.826992,0.091150],[-0.831478,-0.554969,-0.025558],[0.029450,-0.089968,0.995509]]
2025-10-26T19:56:15.298Z,1761508575.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563078,0.813524,0.145332],[-0.826401,-0.553856,-0.101510],[-0.002088,-0.177261,0.984162]]
2025-10-26T19:56:15.705Z,1761508575.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575690,0.801133,0.163606],[-0.817081,-0.556065,-0.152217],[-0.030970,-0.221309,0.974712]]
2025-10-26T19:56:16.114Z,1761508576.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582798,0.796463,0.161226],[-0.812602,-0.572404,-0.109690],[0.004922,-0.194940,0.980803]]
2025-10-26T19:56:16.510Z,1761508576.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607107,0.783623,0.131742],[-0.792241,-0.609733,-0.024091],[0.061449,-0.118997,0.990991]]
2025-10-26T19:56:16.541Z,1761508576.541 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:56:16.541Z,1761508576.541 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateRudder:A] Stopped
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:56:16.542Z,1761508576.542 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:56:16.543Z,1761508576.543 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:56:16.543Z,1761508576.543 [marl:UpdateCommandMode] Stopped
2025-10-26T19:56:16.543Z,1761508576.543 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:56:16.915Z,1761508576.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612616,0.783046,0.107430],[-0.787463,-0.616358,0.002079],[0.067843,-0.083324,0.994210]]
2025-10-26T19:56:16.972Z,1761508576.972 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:56:16.972Z,1761508576.972 [marl:UpdateRudder:B] Stopped
2025-10-26T19:56:16.972Z,1761508576.972 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:56:16.973Z,1761508576.973 [marl:UpdateRudder] Stopped
2025-10-26T19:56:16.973Z,1761508576.973 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:56:17.318Z,1761508577.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599431,0.794869,0.094160],[-0.798322,-0.602229,0.001630],[0.058001,-0.074193,0.995556]]
2025-10-26T19:56:17.731Z,1761508577.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583390,0.808240,0.080021],[-0.810585,-0.585598,0.005214],[0.051075,-0.061822,0.996780]]
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed] Stopped
2025-10-26T19:56:17.789Z,1761508577.789 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:56:18.129Z,1761508578.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582412,0.808980,0.079669],[-0.810141,-0.585705,0.024941],[0.066840,-0.050017,0.996509]]
2025-10-26T19:56:18.530Z,1761508578.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583055,0.804883,0.110497],[-0.807218,-0.589315,0.033277],[0.091902,-0.069793,0.993319]]
2025-10-26T19:56:18.935Z,1761508578.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580384,0.804276,0.127646],[-0.808047,-0.588232,0.032304],[0.101067,-0.084395,0.991294]]
2025-10-26T19:56:19.339Z,1761508579.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571335,0.813700,0.107090],[-0.815872,-0.577263,0.033456],[0.089042,-0.068257,0.993686]]
2025-10-26T19:56:19.371Z,1761508579.371 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:56:19.746Z,1761508579.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577554,0.813392,0.069468],[-0.814513,-0.579872,0.017821],[0.054778,-0.046290,0.997425]]
2025-10-26T19:56:20.150Z,1761508580.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599773,0.797298,0.067740],[-0.799849,-0.599780,-0.022500],[0.022690,-0.067676,0.997449]]
2025-10-26T19:56:20.570Z,1761508580.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606434,0.787456,0.110234],[-0.794868,-0.603963,-0.058428],[0.020568,-0.123054,0.992187]]
2025-10-26T19:56:20.955Z,1761508580.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594890,0.791829,0.138247],[-0.803208,-0.592227,-0.064215],[0.031026,-0.149243,0.988314]]
2025-10-26T19:56:21.358Z,1761508581.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594157,0.794924,0.122771],[-0.803316,-0.594174,-0.040502],[0.040751,-0.122688,0.991608]]
2025-10-26T19:56:21.764Z,1761508581.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609991,0.788933,0.074128],[-0.792087,-0.609734,-0.028684],[0.022568,-0.076213,0.996836]]
2025-10-26T19:56:22.178Z,1761508582.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621247,0.782433,0.043027],[-0.783606,-0.620561,-0.029420],[0.003682,-0.051994,0.998641]]
2025-10-26T19:56:22.582Z,1761508582.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619952,0.782683,0.055376],[-0.784399,-0.619965,-0.019035],[0.019433,-0.055238,0.998284]]
2025-10-26T19:56:22.975Z,1761508582.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614253,0.784655,0.083725],[-0.787870,-0.615771,-0.009371],[0.044202,-0.071721,0.996445]]
2025-10-26T19:56:23.379Z,1761508583.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631630,0.770418,0.086603],[-0.774501,-0.632028,-0.026235],[0.034524,-0.083645,0.995897]]
2025-10-26T19:56:23.787Z,1761508583.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657626,0.747001,0.097559],[-0.752780,-0.656614,-0.046697],[0.029176,-0.104149,0.994134]]
2025-10-26T19:56:24.190Z,1761508584.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664535,0.736946,0.123704],[-0.744748,-0.666720,-0.028898],[0.061179,-0.111332,0.991898]]
2025-10-26T19:56:24.596Z,1761508584.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652484,0.747845,0.122444],[-0.752594,-0.658396,0.010811],[0.088701,-0.085096,0.992417]]
2025-10-26T19:56:24.980Z,1761508584.980 [DAT](INFO): DAT read: 

2025-10-26T19:56:24.981Z,1761508584.981 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-10-26T19:56:24.997Z,1761508584.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662842,0.742530,0.096386],[-0.743232,-0.668087,0.035573],[0.090808,-0.048058,0.994708]]
2025-10-26T19:56:25.401Z,1761508585.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685620,0.723053,0.084384],[-0.724822,-0.688813,0.012984],[0.067513,-0.052262,0.996349]]
2025-10-26T19:56:25.802Z,1761508585.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677718,0.729934,0.088858],[-0.734105,-0.678589,-0.024656],[0.042301,-0.081941,0.995739]]
2025-10-26T19:56:26.206Z,1761508586.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664152,0.740895,0.099880],[-0.745331,-0.666598,-0.011354],[0.058167,-0.081984,0.994935]]
2025-10-26T19:56:26.492Z,1761508586.492 [DAT](INFO): DAT read: MF Frequency Band

2025-10-26T19:56:26.493Z,1761508586.493 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-10-26T19:56:26.494Z,1761508586.494 [DAT](INFO): DAT read: Oct 26 2025 19:56:21 

2025-10-26T19:56:26.610Z,1761508586.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672920,0.733696,0.094177],[-0.736243,-0.676632,0.010712],[0.071583,-0.062129,0.995498]]
2025-10-26T19:56:27.016Z,1761508587.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678948,0.730555,0.072940],[-0.731720,-0.681456,0.014267],[0.060129,-0.043685,0.997234]]
2025-10-26T19:56:27.419Z,1761508587.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680019,0.731646,0.047613],[-0.731566,-0.681403,0.022400],[0.048833,-0.019599,0.998615]]
2025-10-26T19:56:27.501Z,1761508587.501 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-10-26T19:56:27.502Z,1761508587.502 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:56:27.502Z,1761508587.502 [DAT](INFO): commRate: 600
2025-10-26T19:56:27.822Z,1761508587.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692223,0.721607,0.010543],[-0.721683,-0.692130,-0.011362],[-0.000902,-0.015474,0.999880]]
2025-10-26T19:56:28.226Z,1761508588.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706709,0.707503,-0.000976],[-0.705907,-0.705206,-0.066180],[-0.047511,-0.046081,0.997807]]
2025-10-26T19:56:28.631Z,1761508588.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721886,0.690008,0.052622],[-0.691623,-0.716843,-0.088282],[-0.023193,-0.100124,0.994705]]
2025-10-26T19:56:29.035Z,1761508589.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736632,0.666989,0.111798],[-0.675932,-0.731519,-0.089422],[0.022139,-0.141439,0.989699]]
2025-10-26T19:56:29.438Z,1761508589.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748249,0.654178,0.110336],[-0.663092,-0.742676,-0.093496],[0.020781,-0.143121,0.989487]]
2025-10-26T19:56:29.572Z,1761508589.572 [DAT](INFO): entering command mode
2025-10-26T19:56:29.772Z,1761508589.772 [DAT](INFO): DAT read: 

2025-10-26T19:56:29.773Z,1761508589.773 [DAT](INFO): DAT read: user:1>

2025-10-26T19:56:29.773Z,1761508589.773 [DAT](INFO): setting verbose to 3
2025-10-26T19:56:29.901Z,1761508589.901 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:56:29.901Z,1761508589.901 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:56:29.901Z,1761508589.901 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:56:29.901Z,1761508589.901 [marl:UpdateRudder:A] Stopped
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode] Stopped
2025-10-26T19:56:29.902Z,1761508589.902 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:56:30.024Z,1761508590.024 [DAT](INFO): DAT read: user:1>

2025-10-26T19:56:30.025Z,1761508590.025 [DAT](INFO): DAT read: Verbose         | 3           

2025-10-26T19:56:30.025Z,1761508590.025 [DAT](INFO): set verbose to 3
2025-10-26T19:56:30.026Z,1761508590.026 [DAT](INFO): setting DatVerbose to 27440
2025-10-26T19:56:30.259Z,1761508590.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739357,0.670278,0.063866],[-0.669369,-0.741964,0.037885],[0.072780,-0.014739,0.997239]]
2025-10-26T19:56:30.276Z,1761508590.276 [DAT](INFO): DAT read: user:2>

2025-10-26T19:56:30.277Z,1761508590.277 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-10-26T19:56:30.277Z,1761508590.277 [DAT](INFO): set DatVerbose to 27440
2025-10-26T19:56:30.278Z,1761508590.278 [DAT](INFO): setting transmit power to 8
2025-10-26T19:56:30.347Z,1761508590.347 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:56:30.347Z,1761508590.347 [marl:UpdateRudder:B] Stopped
2025-10-26T19:56:30.351Z,1761508590.351 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:56:30.351Z,1761508590.351 [marl:UpdateRudder] Stopped
2025-10-26T19:56:30.352Z,1761508590.352 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:56:30.528Z,1761508590.528 [DAT](INFO): DAT read: user:3>

2025-10-26T19:56:30.529Z,1761508590.529 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-10-26T19:56:30.529Z,1761508590.529 [DAT](INFO): set transmit power to 8
2025-10-26T19:56:30.530Z,1761508590.530 [DAT](INFO): setting local address to 11
2025-10-26T19:56:30.782Z,1761508590.782 [DAT](INFO): DAT read: user:4>

2025-10-26T19:56:30.785Z,1761508590.785 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-10-26T19:56:30.786Z,1761508590.786 [DAT](INFO): set local address to 11
2025-10-26T19:56:30.792Z,1761508590.792 [DAT](INFO): Setting time to: 19:56:30 And date to:10/26/2025
2025-10-26T19:56:31.032Z,1761508591.032 [DAT](INFO): DAT read: user:5>

2025-10-26T19:56:31.033Z,1761508591.033 [DAT](INFO): DAT read: Sun Oct 26, 2025  19:56:30  

2025-10-26T19:56:31.034Z,1761508591.034 [DAT](INFO): Local DAT time set to Sun Oct 26, 2025  19:56:30  

2025-10-26T19:56:31.034Z,1761508591.034 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:56:31.035Z,1761508591.035 [DAT](INFO): setting remote address to 0
2025-10-26T19:56:31.066Z,1761508591.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768537,0.637434,0.055024],[-0.639804,-0.765576,-0.067404],[-0.000840,-0.087007,0.996207]]
2025-10-26T19:56:31.151Z,1761508591.151 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:56:31.151Z,1761508591.151 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:56:31.151Z,1761508591.151 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:56:31.151Z,1761508591.151 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:56:31.151Z,1761508591.151 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:56:31.152Z,1761508591.152 [marl:UpdateSpeed] Stopped
2025-10-26T19:56:31.152Z,1761508591.152 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:56:31.284Z,1761508591.284 [DAT](INFO): DAT read: user:6>

2025-10-26T19:56:31.285Z,1761508591.285 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:56:31.285Z,1761508591.285 [DAT](INFO): set remote address to 0
2025-10-26T19:56:31.286Z,1761508591.286 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:56:31.286Z,1761508591.286 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:56:31.464Z,1761508591.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786974,0.608811,0.100103],[-0.616939,-0.778491,-0.115490],[0.007618,-0.152646,0.988252]]
2025-10-26T19:56:31.537Z,1761508591.537 [DAT](INFO): DAT read: user:7>

2025-10-26T19:56:31.538Z,1761508591.538 [DAT](INFO): DAT read: Tx time:19:56:30.6667

2025-10-26T19:56:31.538Z,1761508591.538 [DAT](INFO): Ping request sent.
2025-10-26T19:56:31.538Z,1761508591.538 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:56:31.538Z,1761508591.538 [DAT](INFO): publishing transmit ping time
2025-10-26T19:56:31.539Z,1761508591.539 [DAT](INFO): Failure count cleared after critical for DAT
2025-10-26T19:56:31.539Z,1761508591.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001082
2025-10-26T19:56:31.789Z,1761508591.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250987
2025-10-26T19:56:31.868Z,1761508591.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807809,0.575800,0.126094],[-0.589038,-0.796512,-0.136392],[0.021901,-0.184452,0.982597]]
2025-10-26T19:56:32.040Z,1761508592.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502466
2025-10-26T19:56:32.269Z,1761508592.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810319,0.576283,0.106207],[-0.585932,-0.799328,-0.133261],[0.008098,-0.170214,0.985374]]
2025-10-26T19:56:32.292Z,1761508592.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754421
2025-10-26T19:56:32.546Z,1761508592.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007484
2025-10-26T19:56:32.672Z,1761508592.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805785,0.587458,0.074861],[-0.592133,-0.801236,-0.086023],[0.009447,-0.113644,0.993477]]
2025-10-26T19:56:32.800Z,1761508592.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261496
2025-10-26T19:56:33.050Z,1761508593.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511622
2025-10-26T19:56:33.086Z,1761508593.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809947,0.583135,0.062761],[-0.584999,-0.810890,-0.015293],[0.041975,-0.049102,0.997911]]
2025-10-26T19:56:33.305Z,1761508593.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766241
2025-10-26T19:56:33.478Z,1761508593.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813668,0.578315,0.059120],[-0.577911,-0.815703,0.025459],[0.062948,-0.013451,0.997926]]
2025-10-26T19:56:33.553Z,1761508593.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014873
2025-10-26T19:56:33.804Z,1761508593.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266311
2025-10-26T19:56:33.882Z,1761508593.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815181,0.576660,0.054252],[-0.576379,-0.816879,0.022268],[0.057158,-0.013118,0.998279]]
2025-10-26T19:56:34.057Z,1761508594.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519043
2025-10-26T19:56:34.293Z,1761508594.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807521,0.588080,0.045523],[-0.588191,-0.808628,0.012318],[0.044055,-0.016830,0.998887]]
2025-10-26T19:56:34.308Z,1761508594.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770485
2025-10-26T19:56:34.561Z,1761508594.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023094
2025-10-26T19:56:34.692Z,1761508594.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803026,0.595148,0.030788],[-0.595154,-0.803550,0.009944],[0.030658,-0.010338,0.999476]]
2025-10-26T19:56:34.816Z,1761508594.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276989
2025-10-26T19:56:35.065Z,1761508595.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527052
2025-10-26T19:56:35.094Z,1761508595.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812301,0.582940,0.018645],[-0.583154,-0.812313,-0.008921],[0.009945,-0.018120,0.999786]]
2025-10-26T19:56:35.317Z,1761508595.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778695
2025-10-26T19:56:35.498Z,1761508595.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824716,0.564610,0.032539],[-0.565545,-0.823170,-0.050493],[-0.001723,-0.060045,0.998194]]
2025-10-26T19:56:35.569Z,1761508595.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031247
2025-10-26T19:56:35.824Z,1761508595.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286108
2025-10-26T19:56:35.903Z,1761508595.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837230,0.541807,0.074097],[-0.546674,-0.832678,-0.088286],[0.013865,-0.114423,0.993335]]
2025-10-26T19:56:36.076Z,1761508596.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538366
2025-10-26T19:56:36.314Z,1761508596.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853055,0.510359,0.108767],[-0.520400,-0.847415,-0.105223],[0.038469,-0.146364,0.988483]]
2025-10-26T19:56:36.329Z,1761508596.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790659
2025-10-26T19:56:36.580Z,1761508596.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042399
2025-10-26T19:56:36.719Z,1761508596.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864329,0.488063,0.121367],[-0.499961,-0.860008,-0.102105],[0.054543,-0.148931,0.987342]]
2025-10-26T19:56:36.832Z,1761508596.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294451
2025-10-26T19:56:37.084Z,1761508597.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546387
2025-10-26T19:56:37.114Z,1761508597.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867047,0.481251,0.128947],[-0.492686,-0.866681,-0.078260],[0.074094,-0.131386,0.988559]]
2025-10-26T19:56:37.336Z,1761508597.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798512
2025-10-26T19:56:37.518Z,1761508597.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870511,0.477400,0.119578],[-0.485480,-0.872845,-0.049503],[0.080741,-0.101145,0.991590]]
2025-10-26T19:56:37.588Z,1761508597.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050463
2025-10-26T19:56:37.841Z,1761508597.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303008
2025-10-26T19:56:37.923Z,1761508597.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877296,0.468064,0.106152],[-0.474081,-0.879590,-0.039611],[0.074830,-0.085075,0.993561]]
2025-10-26T19:56:38.092Z,1761508598.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554410
2025-10-26T19:56:38.326Z,1761508598.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885642,0.452303,0.105171],[-0.458953,-0.887057,-0.049920],[0.070714,-0.092480,0.993200]]
2025-10-26T19:56:38.344Z,1761508598.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806441
2025-10-26T19:56:38.596Z,1761508598.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058507
2025-10-26T19:56:38.734Z,1761508598.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888676,0.441484,0.123882],[-0.450548,-0.890931,-0.056986],[0.085212,-0.106457,0.990659]]
2025-10-26T19:56:38.848Z,1761508598.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310469
2025-10-26T19:56:39.100Z,1761508599.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562301
2025-10-26T19:56:39.134Z,1761508599.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883613,0.441003,0.157302],[-0.452146,-0.890954,-0.042010],[0.121622,-0.108244,0.986657]]
2025-10-26T19:56:39.353Z,1761508599.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814946
2025-10-26T19:56:39.547Z,1761508599.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882913,0.446753,0.144485],[-0.452202,-0.891898,-0.005516],[0.126402,-0.070206,0.989492]]
2025-10-26T19:56:39.604Z,1761508599.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066518
2025-10-26T19:56:39.856Z,1761508599.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318358
2025-10-26T19:56:39.943Z,1761508599.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890020,0.449122,0.078444],[-0.448498,-0.893394,0.026401],[0.081939,-0.011685,0.996569]]
2025-10-26T19:56:40.110Z,1761508600.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571560
2025-10-26T19:56:40.346Z,1761508600.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891912,0.451728,0.020856],[-0.451098,-0.892004,0.028970],[0.031691,0.016431,0.999363]]
2025-10-26T19:56:40.360Z,1761508600.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822441
2025-10-26T19:56:40.612Z,1761508600.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074336
2025-10-26T19:56:40.754Z,1761508600.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895680,0.444621,0.008383],[-0.444557,-0.895711,0.008435],[0.011259,0.003828,0.999929]]
2025-10-26T19:56:40.864Z,1761508600.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326475
2025-10-26T19:56:41.116Z,1761508601.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578392
2025-10-26T19:56:41.155Z,1761508601.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903984,0.425798,0.038850],[-0.427166,-0.903333,-0.038982],[0.018496,-0.051834,0.998484]]
2025-10-26T19:56:41.368Z,1761508601.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830324
2025-10-26T19:56:41.472Z,1761508601.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:56:41.565Z,1761508601.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904286,0.419678,0.078339],[-0.425478,-0.901020,-0.084454],[0.035142,-0.109702,0.993343]]
2025-10-26T19:56:41.621Z,1761508601.621 [DAT](INFO): Reached modem response timeout
2025-10-26T19:56:41.962Z,1761508601.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905582,0.412969,0.096838],[-0.421525,-0.901627,-0.096881],[0.047303,-0.128553,0.990574]]
2025-10-26T19:56:42.366Z,1761508602.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916680,0.390559,0.084628],[-0.397049,-0.914114,-0.082141],[0.045279,-0.108898,0.993021]]
2025-10-26T19:56:42.476Z,1761508602.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:56:42.815Z,1761508602.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926362,0.374977,0.035287],[-0.376494,-0.924495,-0.059677],[0.010245,-0.068568,0.997594]]
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateRudder:A] Stopped
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:56:42.904Z,1761508602.904 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:56:42.905Z,1761508602.905 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:56:42.905Z,1761508602.905 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:56:42.905Z,1761508602.905 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:56:42.905Z,1761508602.905 [marl:UpdateCommandMode] Stopped
2025-10-26T19:56:42.905Z,1761508602.905 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:56:43.175Z,1761508603.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925953,0.377640,-0.000022],[-0.377605,-0.925867,-0.013631],[-0.005168,-0.012613,0.999907]]
2025-10-26T19:56:43.199Z,1761508603.199 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:56:43.200Z,1761508603.200 [marl:UpdateRudder:B] Stopped
2025-10-26T19:56:43.200Z,1761508603.200 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:56:43.200Z,1761508603.200 [marl:UpdateRudder] Stopped
2025-10-26T19:56:43.200Z,1761508603.200 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:56:43.578Z,1761508603.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918410,0.394740,0.026499],[-0.393409,-0.918292,0.044371],[0.041849,0.030326,0.998664]]
2025-10-26T19:56:43.888Z,1761508603.888 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:56:43.889Z,1761508603.889 [DAT](INFO): response not received
2025-10-26T19:56:43.889Z,1761508603.889 [DAT](ERROR): No response from remote modem.
2025-10-26T19:56:43.982Z,1761508603.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915026,0.399118,0.058587],[-0.395388,-0.916147,0.065898],[0.079976,0.037134,0.996105]]
2025-10-26T19:56:44.026Z,1761508604.026 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:56:44.026Z,1761508604.026 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:56:44.026Z,1761508604.026 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:56:44.027Z,1761508604.027 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:56:44.027Z,1761508604.027 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:56:44.027Z,1761508604.027 [marl:UpdateSpeed] Stopped
2025-10-26T19:56:44.028Z,1761508604.028 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:56:44.386Z,1761508604.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927485,0.366007,0.076233],[-0.365570,-0.930567,0.020115],[0.078302,-0.009212,0.996887]]
2025-10-26T19:56:44.826Z,1761508604.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934606,0.342172,0.097111],[-0.349480,-0.934188,-0.071806],[0.066149,-0.101049,0.992680]]
2025-10-26T19:56:45.203Z,1761508605.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933520,0.342579,0.105737],[-0.354997,-0.924494,-0.138880],[0.050176,-0.167183,0.984648]]
2025-10-26T19:56:45.598Z,1761508605.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937570,0.340064,0.072937],[-0.347558,-0.923877,-0.160171],[0.012916,-0.175521,0.984391]]
2025-10-26T19:56:46.003Z,1761508606.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942822,0.331064,0.038506],[-0.333099,-0.931985,-0.143000],[-0.011455,-0.147650,0.988973]]
2025-10-26T19:56:46.406Z,1761508606.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946043,0.319558,0.053715],[-0.323315,-0.941956,-0.090482],[0.021683,-0.102967,0.994448]]
2025-10-26T19:56:46.859Z,1761508606.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945243,0.320231,0.062987],[-0.322580,-0.946026,-0.031271],[0.049574,-0.049877,0.997524]]
2025-10-26T19:56:47.214Z,1761508607.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948669,0.316090,0.010650],[-0.316085,-0.948728,0.002215],[0.010804,-0.001265,0.999941]]
2025-10-26T19:56:47.620Z,1761508607.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955155,0.295586,-0.017576],[-0.295477,-0.955312,-0.008556],[-0.019320,-0.002979,0.999809]]
2025-10-26T19:56:48.034Z,1761508608.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965423,0.260371,0.012883],[-0.260662,-0.963424,-0.062198],[-0.003783,-0.063406,0.997981]]
2025-10-26T19:56:48.042Z,1761508608.042 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195644.00,A,3645.89106,N,12152.12817,W,1.186,231.78,261025,,,A*7E
2025-10-26T19:56:48.045Z,1761508608.045 [NAL9602](INFO): GPS fix at 20251026T195644: (36.764851, -121.868803)
2025-10-26T19:56:48.058Z,1761508608.058 [UniversalFixResidualReporter](INFO): Fix residual: 1.3 %DT, over the last 681.5 m. Residual distance 9.1 m at bearing -22.2 degrees. Fix at (36.7649, -121.8688) with 550.4 m made good.
2025-10-26T19:56:48.069Z,1761508608.069 [marl:NeedComms:C] Stopped
2025-10-26T19:56:48.069Z,1761508608.069 [marl:NeedComms:D] Running Loop=1
2025-10-26T19:56:48.070Z,1761508608.070 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508608.00. Resetting abort timer.
2025-10-26T19:56:48.241Z,1761508608.241 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:56:48.241Z,1761508608.241 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:56:48.427Z,1761508608.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972576,0.227719,0.047335],[-0.231975,-0.964473,-0.126409],[0.016868,-0.133923,0.990848]]
2025-10-26T19:56:48.930Z,1761508608.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972347,0.220551,0.076795],[-0.229241,-0.964169,-0.133518],[0.044595,-0.147430,0.988067]]
2025-10-26T19:56:49.322Z,1761508609.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965824,0.237197,0.104508],[-0.244955,-0.967089,-0.068820],[0.084744,-0.092067,0.992140]]
2025-10-26T19:56:49.732Z,1761508609.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962478,0.256138,0.089603],[-0.254778,-0.966636,0.026498],[0.093401,0.002675,0.995625]]
2025-10-26T19:56:49.773Z,1761508609.773 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:56:49.937Z,1761508609.937 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:56:49.937Z,1761508609.937 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:56:50.130Z,1761508610.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968919,0.244780,0.035775],[-0.242336,-0.968239,0.061542],[0.049703,0.050960,0.997463]]
2025-10-26T19:56:50.188Z,1761508610.188 [DAT](INFO): DAT read: user:8>

2025-10-26T19:56:50.189Z,1761508610.189 [DAT](INFO): DAT read: Tx time:19:56:49.3167

2025-10-26T19:56:50.189Z,1761508610.189 [DAT](INFO): Ping request sent.
2025-10-26T19:56:50.190Z,1761508610.190 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:56:50.190Z,1761508610.190 [DAT](INFO): publishing transmit ping time
2025-10-26T19:56:50.190Z,1761508610.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931
2025-10-26T19:56:50.440Z,1761508610.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250751
2025-10-26T19:56:50.541Z,1761508610.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972756,0.231510,0.012212],[-0.231547,-0.972822,-0.001685],[0.011490,-0.004466,0.999924]]
2025-10-26T19:56:50.693Z,1761508610.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503443
2025-10-26T19:56:50.938Z,1761508610.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974161,0.222954,0.036080],[-0.225705,-0.966813,-0.119708],[0.008193,-0.124758,0.992153]]
2025-10-26T19:56:50.945Z,1761508610.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754959
2025-10-26T19:56:51.196Z,1761508611.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006779
2025-10-26T19:56:51.342Z,1761508611.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976723,0.206699,0.057334],[-0.214367,-0.950095,-0.226641],[0.007627,-0.233656,0.972289]]
2025-10-26T19:56:51.448Z,1761508611.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258789
2025-10-26T19:56:51.701Z,1761508611.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511093
2025-10-26T19:56:51.746Z,1761508611.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979942,0.196536,0.032979],[-0.198280,-0.944975,-0.260206],[-0.019976,-0.261526,0.964990]]
2025-10-26T19:56:51.952Z,1761508611.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762840
2025-10-26T19:56:52.152Z,1761508612.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982377,0.186888,0.002776],[-0.183360,-0.960740,-0.208223],[-0.036247,-0.205063,0.978077]]
2025-10-26T19:56:52.205Z,1761508612.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015108
2025-10-26T19:56:52.456Z,1761508612.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807
2025-10-26T19:56:52.554Z,1761508612.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985163,0.171610,-0.001939],[-0.170390,-0.979386,-0.108496],[-0.020517,-0.106555,0.994095]]
2025-10-26T19:56:52.712Z,1761508612.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522687
2025-10-26T19:56:52.958Z,1761508612.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988687,0.149781,0.007955],[-0.149928,-0.988422,-0.023303],[0.004372,-0.024232,0.999697]]
2025-10-26T19:56:52.960Z,1761508612.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770810
2025-10-26T19:56:53.212Z,1761508613.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022847
2025-10-26T19:56:53.362Z,1761508613.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989641,0.140854,0.027762],[-0.140509,-0.989980,0.014037],[0.029461,0.009991,0.999516]]
2025-10-26T19:56:53.464Z,1761508613.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274719
2025-10-26T19:56:53.717Z,1761508613.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527013
2025-10-26T19:56:53.810Z,1761508613.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986663,0.154446,0.051411],[-0.153931,-0.987984,0.013855],[0.052933,0.005756,0.998581]]
2025-10-26T19:56:53.968Z,1761508613.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778822
2025-10-26T19:56:54.170Z,1761508614.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983796,0.172465,0.049008],[-0.172952,-0.984913,-0.005829],[0.047264,-0.014210,0.998781]]
2025-10-26T19:56:54.220Z,1761508614.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030759
2025-10-26T19:56:54.472Z,1761508614.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282763
2025-10-26T19:56:54.574Z,1761508614.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981327,0.190298,0.028010],[-0.191410,-0.980498,-0.044569],[0.018982,-0.049098,0.998614]]
2025-10-26T19:56:54.725Z,1761508614.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535239
2025-10-26T19:56:54.976Z,1761508614.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786848
2025-10-26T19:56:54.983Z,1761508614.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981358,0.187507,0.042166],[-0.190357,-0.978544,-0.078846],[0.026477,-0.085403,0.995995]]
2025-10-26T19:56:55.230Z,1761508615.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039686
2025-10-26T19:56:55.382Z,1761508615.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982869,0.174024,0.060699],[-0.179265,-0.979153,-0.095516],[0.042812,-0.104761,0.993576]]
2025-10-26T19:56:55.482Z,1761508615.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291976
2025-10-26T19:56:55.732Z,1761508615.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542819
2025-10-26T19:56:55.786Z,1761508615.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984447,0.167746,0.052195],[-0.172048,-0.980660,-0.093307],[0.035534,-0.100836,0.994268]]
2025-10-26T19:56:55.810Z,1761508615.810 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:56:55.810Z,1761508615.810 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:56:55.810Z,1761508615.810 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:56:55.811Z,1761508615.811 [marl:UpdateRudder:A] Stopped
2025-10-26T19:56:55.811Z,1761508615.811 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:56:55.811Z,1761508615.811 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:56:55.811Z,1761508615.811 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:56:55.811Z,1761508615.811 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:56:55.827Z,1761508615.827 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:56:55.828Z,1761508615.828 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:56:55.828Z,1761508615.828 [marl:UpdateCommandMode] Stopped
2025-10-26T19:56:55.828Z,1761508615.828 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:56:55.984Z,1761508615.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794872
2025-10-26T19:56:56.190Z,1761508616.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983904,0.166927,0.063779],[-0.170920,-0.983248,-0.063317],[0.052141,-0.073199,0.995953]]
2025-10-26T19:56:56.222Z,1761508616.222 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:56:56.222Z,1761508616.222 [marl:UpdateRudder:B] Stopped
2025-10-26T19:56:56.222Z,1761508616.222 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:56:56.222Z,1761508616.222 [marl:UpdateRudder] Stopped
2025-10-26T19:56:56.222Z,1761508616.222 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:56:56.236Z,1761508616.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046757
2025-10-26T19:56:56.488Z,1761508616.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298763
2025-10-26T19:56:56.594Z,1761508616.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982595,0.165845,0.083681],[-0.167163,-0.985889,-0.008950],[0.081016,-0.022783,0.996452]]
2025-10-26T19:56:56.740Z,1761508616.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550913
2025-10-26T19:56:56.994Z,1761508616.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804026
2025-10-26T19:56:57.005Z,1761508617.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984648,0.161265,0.066795],[-0.158658,-0.986411,0.042679],[0.072770,0.031427,0.996853]]
2025-10-26T19:56:57.244Z,1761508617.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054712
2025-10-26T19:56:57.342Z,1761508617.342 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:56:57.342Z,1761508617.342 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:56:57.342Z,1761508617.342 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:56:57.343Z,1761508617.343 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:56:57.343Z,1761508617.343 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:56:57.343Z,1761508617.343 [marl:UpdateSpeed] Stopped
2025-10-26T19:56:57.343Z,1761508617.343 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:56:57.497Z,1761508617.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307447
2025-10-26T19:56:57.545Z,1761508617.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986997,0.153493,0.047725],[-0.151571,-0.987570,0.041605],[0.053517,0.033831,0.997994]]
2025-10-26T19:56:57.748Z,1761508617.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558776
2025-10-26T19:56:58.000Z,1761508618.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810703
2025-10-26T19:56:58.253Z,1761508618.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063389
2025-10-26T19:56:58.506Z,1761508618.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316082
2025-10-26T19:56:58.756Z,1761508618.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566755
2025-10-26T19:56:59.010Z,1761508619.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820247
2025-10-26T19:56:59.260Z,1761508619.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070825
2025-10-26T19:56:59.513Z,1761508619.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323332
2025-10-26T19:56:59.765Z,1761508619.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575643
2025-10-26T19:56:59.800Z,1761508619.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984672,0.166695,0.051317],[-0.171914,-0.977241,-0.124284],[0.029431,-0.131201,0.990919]]
2025-10-26T19:57:00.018Z,1761508620.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828033
2025-10-26T19:57:00.186Z,1761508620.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984171,0.176415,0.016903],[-0.177166,-0.976939,-0.119176],[-0.004512,-0.120284,0.992729]]
2025-10-26T19:57:00.268Z,1761508620.268 [DAT](INFO): Reached modem response timeout
2025-10-26T19:57:00.598Z,1761508620.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987610,0.155315,0.022438],[-0.156899,-0.980033,-0.122136],[0.003020,-0.124143,0.992260]]
2025-10-26T19:57:01.003Z,1761508621.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988315,0.136978,0.066863],[-0.145360,-0.978990,-0.142999],[0.045871,-0.151047,0.987462]]
2025-10-26T19:57:01.399Z,1761508621.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985340,0.158060,0.064196],[-0.166539,-0.972798,-0.161021],[0.036999,-0.169352,0.984861]]
2025-10-26T19:57:01.802Z,1761508621.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983602,0.179943,0.012144],[-0.179697,-0.972067,-0.150980],[-0.015363,-0.150687,0.988462]]
2025-10-26T19:57:02.206Z,1761508622.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986147,0.165493,0.011242],[-0.165604,-0.978403,-0.123702],[-0.009473,-0.123850,0.992256]]
2025-10-26T19:57:02.536Z,1761508622.536 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:57:02.537Z,1761508622.537 [DAT](INFO): response not received
2025-10-26T19:57:02.537Z,1761508622.537 [DAT](ERROR): No response from remote modem.
2025-10-26T19:57:03.024Z,1761508623.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988217,0.144497,0.050473],[-0.147834,-0.986519,-0.070181],[0.039652,-0.076816,0.996256]]
2025-10-26T19:57:03.418Z,1761508623.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985608,0.165476,0.034577],[-0.166810,-0.985173,-0.040108],[0.027427,-0.045299,0.998597]]
2025-10-26T19:57:03.823Z,1761508623.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985666,0.162557,0.045135],[-0.163904,-0.986081,-0.027915],[0.039969,-0.034913,0.998591]]
2025-10-26T19:57:04.226Z,1761508624.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988798,0.142314,0.044996],[-0.145056,-0.987284,-0.065029],[0.035170,-0.070828,0.996868]]
2025-10-26T19:57:04.632Z,1761508624.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991512,0.126584,0.029672],[-0.129431,-0.982614,-0.133109],[0.012307,-0.135820,0.990657]]
2025-10-26T19:57:05.038Z,1761508625.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992232,0.121313,0.027555],[-0.124300,-0.975785,-0.179981],[0.005054,-0.182008,0.983284]]
2025-10-26T19:57:05.438Z,1761508625.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989996,0.133945,0.044337],[-0.139604,-0.975454,-0.170296],[0.020438,-0.174782,0.984395]]
2025-10-26T19:57:05.842Z,1761508625.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985652,0.155388,0.065912],[-0.161538,-0.981640,-0.101432],[0.048941,-0.110624,0.992657]]
2025-10-26T19:57:06.248Z,1761508626.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983183,0.167439,0.072903],[-0.170471,-0.984647,-0.037540],[0.065498,-0.049336,0.996632]]
2025-10-26T19:57:06.650Z,1761508626.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986463,0.155172,0.053023],[-0.156408,-0.987490,-0.019990],[0.049257,-0.028012,0.998393]]
2025-10-26T19:57:07.058Z,1761508627.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990238,0.137202,0.024597],[-0.138149,-0.989514,-0.042148],[0.018557,-0.045135,0.998809]]
2025-10-26T19:57:07.459Z,1761508627.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992445,0.119120,0.029395],[-0.120724,-0.990830,-0.060684],[0.021896,-0.063774,0.997724]]
2025-10-26T19:57:07.864Z,1761508627.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992371,0.109113,0.057389],[-0.112166,-0.992277,-0.052963],[0.051167,-0.058996,0.996946]]
2025-10-26T19:57:08.266Z,1761508628.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990141,0.115914,0.078645],[-0.118750,-0.992396,-0.032388],[0.074293,-0.041408,0.996376]]
2025-10-26T19:57:08.670Z,1761508628.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988943,0.127478,0.075766],[-0.129237,-0.991436,-0.018763],[0.072725,-0.028348,0.996949]]
2025-10-26T19:57:09.078Z,1761508629.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990765,0.117879,0.066998],[-0.119787,-0.992480,-0.025193],[0.063525,-0.032986,0.997435]]
2025-10-26T19:57:09.487Z,1761508629.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992575,0.101345,0.067259],[-0.105131,-0.992917,-0.055353],[0.061173,-0.062013,0.996199]]
2025-10-26T19:57:09.882Z,1761508629.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992456,0.101318,0.069040],[-0.106624,-0.991229,-0.078079],[0.060524,-0.084851,0.994554]]
2025-10-26T19:57:10.286Z,1761508630.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990597,0.120344,0.065077],[-0.124851,-0.989681,-0.070308],[0.055944,-0.077772,0.995400]]
2025-10-26T19:57:10.691Z,1761508630.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988683,0.135559,0.064262],[-0.138933,-0.988973,-0.051294],[0.056600,-0.059642,0.996614]]
2025-10-26T19:57:10.750Z,1761508630.750 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:57:10.751Z,1761508630.751 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:57:10.751Z,1761508630.751 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:57:10.760Z,1761508630.760 [marl:UpdateRudder:A] Stopped
2025-10-26T19:57:10.760Z,1761508630.760 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:57:10.761Z,1761508630.761 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:57:10.761Z,1761508630.761 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:57:10.761Z,1761508630.761 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:57:10.763Z,1761508630.763 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:57:10.763Z,1761508630.763 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:57:10.764Z,1761508630.764 [marl:UpdateCommandMode] Stopped
2025-10-26T19:57:10.764Z,1761508630.764 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:57:11.112Z,1761508631.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992182,0.111172,0.056705],[-0.115221,-0.990580,-0.073998],[0.047945,-0.079953,0.995645]]
2025-10-26T19:57:11.189Z,1761508631.189 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:57:11.189Z,1761508631.189 [marl:UpdateRudder:B] Stopped
2025-10-26T19:57:11.189Z,1761508631.189 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:57:11.189Z,1761508631.189 [marl:UpdateRudder] Stopped
2025-10-26T19:57:11.190Z,1761508631.190 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:57:11.507Z,1761508631.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996203,0.085746,0.015090],[-0.086788,-0.991795,-0.093860],[0.006918,-0.094813,0.995471]]
2025-10-26T19:57:11.907Z,1761508631.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997791,0.066165,0.005997],[-0.066426,-0.992027,-0.107095],[-0.001137,-0.107257,0.994231]]
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed] Stopped
2025-10-26T19:57:11.950Z,1761508631.950 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:57:12.310Z,1761508632.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997597,0.060716,0.033362],[-0.064110,-0.991591,-0.112418],[0.026256,-0.114286,0.993101]]
2025-10-26T19:57:12.616Z,1761508632.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:57:12.720Z,1761508632.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995878,0.069522,0.058249],[-0.075455,-0.991416,-0.106773],[0.050326,-0.110728,0.992576]]
2025-10-26T19:57:13.117Z,1761508633.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993951,0.080134,0.075100],[-0.085609,-0.993667,-0.072777],[0.068792,-0.078766,0.994517]]
2025-10-26T19:57:13.130Z,1761508633.130 [NAL9602](INFO): SBD MO Status=1, MOMSN=2977, MT Status=0, MTMSN=0
2025-10-26T19:57:13.180Z,1761508633.180 [NAL9602](INFO): Sent 83 bytes from file Logs/20251026T180417/Courier0027.lzma
2025-10-26T19:57:13.180Z,1761508633.180 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:57:13.518Z,1761508633.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992313,0.078080,0.096013],[-0.079470,-0.996779,-0.010732],[0.094865,-0.018279,0.995322]]
2025-10-26T19:57:13.620Z,1761508633.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:57:14.180Z,1761508634.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992028,0.073196,0.102585],[-0.069994,-0.996951,0.034477],[0.104796,0.027022,0.994126]]
2025-10-26T19:57:14.584Z,1761508634.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993929,0.083743,0.071361],[-0.082300,-0.996344,0.022937],[0.073021,0.016925,0.997187]]
2025-10-26T19:57:16.907Z,1761508636.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999222,0.023368,0.031769],[-0.028030,-0.987471,-0.155293],[0.027742,-0.156062,0.987358]]
2025-10-26T19:57:17.247Z,1761508637.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997276,0.058191,0.045328],[-0.056052,-0.997315,0.047117],[0.047948,0.044448,0.997860]]
2025-10-26T19:57:17.650Z,1761508637.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998579,0.048223,0.022680],[-0.047599,-0.998494,0.027265],[0.023961,0.026147,0.999371]]
2025-10-26T19:57:18.050Z,1761508638.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999242,0.027784,0.027262],[-0.029554,-0.997327,-0.066821],[0.025332,-0.067576,0.997392]]
2025-10-26T19:57:18.458Z,1761508638.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998307,0.025613,0.052227],[-0.033718,-0.986417,-0.160760],[0.047400,-0.162249,0.985611]]
2025-10-26T19:57:18.859Z,1761508638.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998055,0.038601,0.048952],[-0.047600,-0.978934,-0.198549],[0.040257,-0.200493,0.978868]]
2025-10-26T19:57:19.262Z,1761508639.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999037,0.043781,0.002768],[-0.043503,-0.980623,-0.191011],[-0.005648,-0.190948,0.981584]]
2025-10-26T19:57:19.666Z,1761508639.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999288,0.022909,-0.029987],[-0.017686,-0.986281,-0.164124],[-0.033336,-0.163477,0.985984]]
2025-10-26T19:57:20.076Z,1761508640.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999994,-0.003178,0.001376],[0.003013,-0.994254,-0.107000],[0.001708,-0.106995,0.994258]]
2025-10-26T19:57:20.100Z,1761508640.100 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:57:20.201Z,1761508640.201 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:57:20.201Z,1761508640.201 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:57:20.453Z,1761508640.453 [DAT](INFO): DAT read: user:9>

2025-10-26T19:57:20.455Z,1761508640.455 [DAT](INFO): DAT read: Tx time:19:57:19.5666

2025-10-26T19:57:20.455Z,1761508640.455 [DAT](INFO): Ping request sent.
2025-10-26T19:57:20.455Z,1761508640.455 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:57:20.456Z,1761508640.456 [DAT](INFO): publishing transmit ping time
2025-10-26T19:57:20.457Z,1761508640.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001501
2025-10-26T19:57:20.505Z,1761508640.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999119,0.003017,0.041849],[-0.003233,-0.999982,-0.005105],[0.041832,-0.005236,0.999111]]
2025-10-26T19:57:20.708Z,1761508640.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253103
2025-10-26T19:57:20.878Z,1761508640.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998504,0.029961,0.045744],[-0.024103,-0.992036,0.123625],[0.049084,0.122338,0.991274]]
2025-10-26T19:57:20.958Z,1761508640.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502381
2025-10-26T19:57:21.208Z,1761508641.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753279
2025-10-26T19:57:21.282Z,1761508641.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998114,0.046766,0.039767],[-0.037979,-0.979364,0.198502],[0.048230,0.196617,0.979293]]
2025-10-26T19:57:21.464Z,1761508641.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009000
2025-10-26T19:57:21.692Z,1761508641.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998632,0.037599,0.036329],[-0.031956,-0.988909,0.145044],[0.041380,0.143685,0.988758]]
2025-10-26T19:57:21.714Z,1761508641.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258216
2025-10-26T19:57:21.965Z,1761508641.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509592
2025-10-26T19:57:22.090Z,1761508642.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999414,0.028109,0.019515],[-0.028375,-0.999506,-0.013512],[0.019125,-0.014057,0.999718]]
2025-10-26T19:57:22.216Z,1761508642.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761191
2025-10-26T19:57:22.469Z,1761508642.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013970
2025-10-26T19:57:22.494Z,1761508642.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999305,0.027554,0.025093],[-0.031727,-0.982241,-0.184919],[0.019552,-0.185587,0.982433]]
2025-10-26T19:57:22.721Z,1761508642.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265941
2025-10-26T19:57:22.898Z,1761508642.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998603,0.032021,0.042034],[-0.042222,-0.961834,-0.270357],[0.031772,-0.271754,0.961842]]
2025-10-26T19:57:22.973Z,1761508642.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517460
2025-10-26T19:57:23.225Z,1761508643.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769833
2025-10-26T19:57:23.303Z,1761508643.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998204,0.047040,0.037100],[-0.054049,-0.974232,-0.218977],[0.025844,-0.220589,0.975024]]
2025-10-26T19:57:23.477Z,1761508643.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021394
2025-10-26T19:57:23.729Z,1761508643.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273628
2025-10-26T19:57:23.729Z,1761508643.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997875,0.060551,0.024053],[-0.062561,-0.993588,-0.094179],[0.018196,-0.095484,0.995265]]
2025-10-26T19:57:23.980Z,1761508643.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525228
2025-10-26T19:57:24.110Z,1761508644.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997403,0.068237,0.023049],[-0.068309,-0.997661,-0.002360],[0.022834,-0.003929,0.999732]]
2025-10-26T19:57:24.129Z,1761508644.129 [NAL9602](INFO): SBD MO Status=1, MOMSN=2978, MT Status=0, MTMSN=0
2025-10-26T19:57:24.176Z,1761508644.176 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0028.lzma
2025-10-26T19:57:24.176Z,1761508644.176 [NAL9602](INFO): Packets left to send: 2
2025-10-26T19:57:24.232Z,1761508644.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777363
2025-10-26T19:57:24.484Z,1761508644.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029161
2025-10-26T19:57:24.514Z,1761508644.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996087,0.080571,0.036322],[-0.080991,-0.996662,-0.010240],[0.035376,-0.013142,0.999288]]
2025-10-26T19:57:24.737Z,1761508644.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281484
2025-10-26T19:57:24.988Z,1761508644.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533261
2025-10-26T19:57:25.240Z,1761508645.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785079
2025-10-26T19:57:25.253Z,1761508645.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996000,0.057718,0.068205],[-0.070997,-0.974699,-0.211944],[0.054247,-0.215939,0.974899]]
2025-10-26T19:57:25.492Z,1761508645.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037203
2025-10-26T19:57:25.650Z,1761508645.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997099,0.034975,0.067610],[-0.050567,-0.968236,-0.244873],[0.056898,-0.247581,0.967195]]
2025-10-26T19:57:25.745Z,1761508645.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289425
2025-10-26T19:57:25.996Z,1761508645.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541221
2025-10-26T19:57:26.249Z,1761508646.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793973
2025-10-26T19:57:26.500Z,1761508646.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045311
2025-10-26T19:57:26.752Z,1761508646.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297307
2025-10-26T19:57:27.004Z,1761508647.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549158
2025-10-26T19:57:27.257Z,1761508647.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801385
2025-10-26T19:57:27.508Z,1761508647.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053197
2025-10-26T19:57:27.760Z,1761508647.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305296
2025-10-26T19:57:27.925Z,1761508647.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991640,0.118792,0.050389],[-0.117303,-0.992595,0.031555],[0.053764,0.025380,0.998231]]
2025-10-26T19:57:27.962Z,1761508647.962 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:57:27.962Z,1761508647.962 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:57:27.962Z,1761508647.962 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:57:27.963Z,1761508647.963 [marl:UpdateRudder:A] Stopped
2025-10-26T19:57:27.963Z,1761508647.963 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:57:27.963Z,1761508647.963 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:57:27.963Z,1761508647.963 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:57:27.964Z,1761508647.964 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:57:27.964Z,1761508647.964 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:57:27.964Z,1761508647.964 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:57:27.964Z,1761508647.964 [marl:UpdateCommandMode] Stopped
2025-10-26T19:57:27.964Z,1761508647.964 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:57:28.013Z,1761508648.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557722
2025-10-26T19:57:28.264Z,1761508648.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809149
2025-10-26T19:57:28.320Z,1761508648.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989442,0.140883,0.033998],[-0.143745,-0.983892,-0.106276],[0.018478,-0.110041,0.993755]]
2025-10-26T19:57:28.363Z,1761508648.363 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:57:28.364Z,1761508648.364 [marl:UpdateRudder:B] Stopped
2025-10-26T19:57:28.364Z,1761508648.364 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:57:28.364Z,1761508648.364 [marl:UpdateRudder] Stopped
2025-10-26T19:57:28.364Z,1761508648.364 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:57:28.516Z,1761508648.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061324
2025-10-26T19:57:28.730Z,1761508648.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989611,0.141978,0.022642],[-0.143746,-0.980130,-0.136685],[0.002785,-0.138519,0.990356]]
2025-10-26T19:57:28.771Z,1761508648.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315299
2025-10-26T19:57:29.020Z,1761508649.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565207
2025-10-26T19:57:29.128Z,1761508649.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990479,0.137414,0.008274],[-0.137294,-0.981636,-0.132443],[-0.010078,-0.132318,0.991156]]
2025-10-26T19:57:29.185Z,1761508649.185 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:57:29.186Z,1761508649.186 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:57:29.186Z,1761508649.186 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:57:29.186Z,1761508649.186 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:57:29.186Z,1761508649.186 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:57:29.186Z,1761508649.186 [marl:UpdateSpeed] Stopped
2025-10-26T19:57:29.186Z,1761508649.186 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:57:29.273Z,1761508649.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817852
2025-10-26T19:57:29.524Z,1761508649.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069359
2025-10-26T19:57:29.533Z,1761508649.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992008,0.126035,-0.005985],[-0.124564,-0.985785,-0.112749],[-0.020110,-0.111103,0.993605]]
2025-10-26T19:57:29.776Z,1761508649.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321195
2025-10-26T19:57:29.937Z,1761508649.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993230,0.114330,0.020564],[-0.115684,-0.989584,-0.085680],[0.010554,-0.087479,0.996111]]
2025-10-26T19:57:30.029Z,1761508650.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574361
2025-10-26T19:57:30.280Z,1761508650.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825255
2025-10-26T19:57:30.338Z,1761508650.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992396,0.107846,0.059323],[-0.110927,-0.992501,-0.051344],[0.053341,-0.057534,0.996918]]
2025-10-26T19:57:30.532Z,1761508650.532 [DAT](INFO): Reached modem response timeout
2025-10-26T19:57:30.748Z,1761508650.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990616,0.118826,0.067535],[-0.122109,-0.991416,-0.046735],[0.061402,-0.054543,0.996622]]
2025-10-26T19:57:31.142Z,1761508651.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989582,0.134461,0.051462],[-0.137647,-0.988386,-0.064389],[0.042207,-0.070802,0.996597]]
2025-10-26T19:57:31.546Z,1761508651.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989601,0.139515,0.034996],[-0.141776,-0.987151,-0.073706],[0.024263,-0.077902,0.996666]]
2025-10-26T19:57:31.957Z,1761508651.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990098,0.134241,0.041043],[-0.137284,-0.987006,-0.083504],[0.029300,-0.088311,0.995662]]
2025-10-26T19:57:32.356Z,1761508652.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988659,0.133582,0.068629],[-0.140339,-0.984466,-0.105503],[0.053469,-0.113938,0.992048]]
2025-10-26T19:57:32.810Z,1761508652.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984656,0.149222,0.090473],[-0.160571,-0.977764,-0.134884],[0.068334,-0.147342,0.986722]]
2025-10-26T19:57:32.815Z,1761508652.815 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:57:32.816Z,1761508652.816 [DAT](INFO): response not received
2025-10-26T19:57:32.817Z,1761508652.817 [DAT](ERROR): No response from remote modem.
2025-10-26T19:57:33.163Z,1761508653.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985357,0.158763,0.062182],[-0.166198,-0.975770,-0.142306],[0.038082,-0.150557,0.987868]]
2025-10-26T19:57:33.566Z,1761508653.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987851,0.153368,0.025079],[-0.155138,-0.982683,-0.101327],[0.009104,-0.103987,0.994537]]
2025-10-26T19:57:34.407Z,1761508654.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984897,0.161671,0.061968],[-0.155845,-0.983717,0.089519],[0.075431,0.078509,0.994056]]
2025-10-26T19:57:34.886Z,1761508654.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984707,0.171699,0.029529],[-0.167045,-0.978635,0.119873],[0.049480,0.113108,0.992350]]
2025-10-26T19:57:35.297Z,1761508655.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985238,0.170356,0.016854],[-0.169152,-0.983930,0.057185],[0.026325,0.053489,0.998221]]
2025-10-26T19:57:35.690Z,1761508655.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982327,0.179086,0.054417],[-0.181811,-0.982057,-0.050086],[0.044471,-0.059094,0.997261]]
2025-10-26T19:57:36.094Z,1761508656.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976412,0.196469,0.089546],[-0.207882,-0.967496,-0.144001],[0.058344,-0.159219,0.985518]]
2025-10-26T19:57:36.099Z,1761508656.099 [NAL9602](INFO): SBD MO Status=1, MOMSN=2979, MT Status=0, MTMSN=0
2025-10-26T19:57:36.148Z,1761508656.148 [NAL9602](INFO): Sent 332 bytes from file Logs/20251026T180417/Express0028.lzma
2025-10-26T19:57:36.148Z,1761508656.148 [NAL9602](INFO): Packets left to send: 1
2025-10-26T19:57:36.499Z,1761508656.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974145,0.211318,0.079912],[-0.222196,-0.960122,-0.169689],[0.040867,-0.183057,0.982252]]
2025-10-26T19:57:37.202Z,1761508657.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969908,0.241735,0.029039],[-0.243316,-0.966647,-0.079949],[0.008744,-0.084609,0.996376]]
2025-10-26T19:57:37.602Z,1761508657.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975938,0.217213,0.019046],[-0.217860,-0.974990,-0.043947],[0.009024,-0.047039,0.998852]]
2025-10-26T19:57:39.884Z,1761508659.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974009,0.219500,0.055920],[-0.223660,-0.971029,-0.084142],[0.035830,-0.094462,0.994883]]
2025-10-26T19:57:40.274Z,1761508660.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978075,0.204045,0.041653],[-0.205416,-0.978158,-0.031791],[0.034257,-0.039650,0.998626]]
2025-10-26T19:57:40.678Z,1761508660.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977602,0.201781,0.059829],[-0.202767,-0.979167,-0.010824],[0.056399,-0.022713,0.998150]]
2025-10-26T19:57:41.082Z,1761508661.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973608,0.214996,0.076572],[-0.217339,-0.975811,-0.023596],[0.069647,-0.039616,0.996785]]
2025-10-26T19:57:41.488Z,1761508661.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967165,0.229663,0.108841],[-0.236313,-0.970254,-0.052572],[0.093530,-0.076567,0.992668]]
2025-10-26T19:57:41.892Z,1761508661.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958578,0.241367,0.151232],[-0.252862,-0.965529,-0.061765],[0.131110,-0.097447,0.986567]]
2025-10-26T19:57:42.294Z,1761508662.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958470,0.251279,0.134886],[-0.262177,-0.962480,-0.069966],[0.112244,-0.102424,0.988388]]
2025-10-26T19:57:42.702Z,1761508662.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963751,0.256530,0.073318],[-0.262706,-0.960388,-0.092957],[0.046567,-0.108849,0.992967]]
2025-10-26T19:57:43.113Z,1761508663.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964295,0.261487,0.041960],[-0.264502,-0.958833,-0.103335],[0.013212,-0.110744,0.993761]]
2025-10-26T19:57:43.506Z,1761508663.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964154,0.262338,0.039825],[-0.265209,-0.957536,-0.113091],[0.008466,-0.119599,0.992786]]
2025-10-26T19:57:43.544Z,1761508663.544 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:57:43.544Z,1761508663.544 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:57:43.545Z,1761508663.545 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:57:43.545Z,1761508663.545 [marl:UpdateRudder:A] Stopped
2025-10-26T19:57:43.545Z,1761508663.545 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:57:43.545Z,1761508663.545 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:57:43.545Z,1761508663.545 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:57:43.545Z,1761508663.545 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:57:43.546Z,1761508663.546 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:57:43.546Z,1761508663.546 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:57:43.546Z,1761508663.546 [marl:UpdateCommandMode] Stopped
2025-10-26T19:57:43.546Z,1761508663.546 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:57:43.744Z,1761508663.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:57:43.917Z,1761508663.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970656,0.237526,0.037525],[-0.240417,-0.961867,-0.130426],[0.005115,-0.135620,0.990748]]
2025-10-26T19:57:43.957Z,1761508663.957 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:57:43.957Z,1761508663.957 [marl:UpdateRudder:B] Stopped
2025-10-26T19:57:43.957Z,1761508663.957 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:57:43.957Z,1761508663.957 [marl:UpdateRudder] Stopped
2025-10-26T19:57:43.957Z,1761508663.957 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:57:44.314Z,1761508664.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974307,0.220239,0.047122],[-0.224627,-0.965446,-0.132128],[0.016394,-0.139318,0.990112]]
2025-10-26T19:57:44.730Z,1761508664.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969474,0.237638,0.060401],[-0.242067,-0.966831,-0.081490],[0.039033,-0.093623,0.994842]]
2025-10-26T19:57:44.748Z,1761508664.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:57:44.824Z,1761508664.824 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:57:44.824Z,1761508664.824 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:57:44.825Z,1761508664.825 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:57:44.825Z,1761508664.825 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:57:44.825Z,1761508664.825 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:57:44.825Z,1761508664.825 [marl:UpdateSpeed] Stopped
2025-10-26T19:57:44.825Z,1761508664.825 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:57:45.122Z,1761508665.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963176,0.265073,0.045037],[-0.264489,-0.964210,0.018568],[0.048347,0.005972,0.998813]]
2025-10-26T19:57:45.526Z,1761508665.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959786,0.279530,0.025965],[-0.275565,-0.955743,0.103051],[0.053621,0.091752,0.994337]]
2025-10-26T19:57:45.940Z,1761508665.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959649,0.278781,0.036806],[-0.277758,-0.960164,0.030583],[0.043866,0.019126,0.998854]]
2025-10-26T19:57:46.340Z,1761508666.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960051,0.274142,0.056113],[-0.278928,-0.953585,-0.113468],[0.022402,-0.124587,0.991956]]
2025-10-26T19:57:46.751Z,1761508666.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962369,0.262367,0.070770],[-0.271714,-0.932940,-0.236206],[0.004051,-0.246547,0.969122]]
2025-10-26T19:57:47.150Z,1761508667.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967056,0.237464,0.091729],[-0.253211,-0.934416,-0.250501],[0.026228,-0.265475,0.963761]]
2025-10-26T19:57:47.552Z,1761508667.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965579,0.232222,0.117175],[-0.246384,-0.960966,-0.125850],[0.083376,-0.150388,0.985105]]
2025-10-26T19:57:47.955Z,1761508667.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958042,0.272409,0.089152],[-0.267822,-0.961590,0.060132],[0.102108,0.033732,0.994201]]
2025-10-26T19:57:48.358Z,1761508668.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955739,0.294197,-0.003469],[-0.290023,-0.940064,0.179352],[0.049504,0.172420,0.983779]]
2025-10-26T19:57:48.572Z,1761508668.572 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:57:48.572Z,1761508668.572 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:57:48.779Z,1761508668.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954030,0.294060,-0.057919],[-0.299604,-0.940852,0.158225],[-0.007965,0.168304,0.985703]]
2025-10-26T19:57:49.170Z,1761508669.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950209,0.310183,-0.029810],[-0.311160,-0.949631,0.037152],[-0.016784,0.044578,0.998865]]
2025-10-26T19:57:49.570Z,1761508669.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945912,0.320508,0.050246],[-0.324209,-0.939499,-0.110588],[0.011762,-0.120897,0.992595]]
2025-10-26T19:57:49.974Z,1761508669.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946919,0.303451,0.106126],[-0.319483,-0.924974,-0.205798],[0.035715,-0.228779,0.972823]]
2025-10-26T19:57:50.378Z,1761508670.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951562,0.285398,0.114356],[-0.305037,-0.922908,-0.234934],[0.038490,-0.258437,0.965261]]
2025-10-26T19:57:50.434Z,1761508670.434 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:57:50.505Z,1761508670.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:57:50.505Z,1761508670.505 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:57:50.756Z,1761508670.756 [DAT](INFO): DAT read: user:10>

2025-10-26T19:57:50.758Z,1761508670.758 [DAT](INFO): DAT read: Tx time:19:57:49.8666

2025-10-26T19:57:50.760Z,1761508670.760 [DAT](INFO): Ping request sent.
2025-10-26T19:57:50.760Z,1761508670.760 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:57:50.761Z,1761508670.761 [DAT](INFO): publishing transmit ping time
2025-10-26T19:57:50.763Z,1761508670.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003070
2025-10-26T19:57:50.840Z,1761508670.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956710,0.277189,0.088723],[-0.289307,-0.938977,-0.186076],[0.031731,-0.203689,0.978521]]
2025-10-26T19:57:51.009Z,1761508671.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249128
2025-10-26T19:57:51.186Z,1761508671.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957850,0.280729,0.060941],[-0.285256,-0.954556,-0.086321],[0.033939,-0.100066,0.994402]]
2025-10-26T19:57:51.262Z,1761508671.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502558
2025-10-26T19:57:51.512Z,1761508671.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752856
2025-10-26T19:57:51.590Z,1761508671.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956912,0.287530,0.040578],[-0.287778,-0.957697,-0.000294],[0.038777,-0.011959,0.999176]]
2025-10-26T19:57:51.764Z,1761508671.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004890
2025-10-26T19:57:51.996Z,1761508671.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954372,0.296210,0.037850],[-0.295449,-0.955045,0.024460],[0.043394,0.012161,0.998984]]
2025-10-26T19:57:52.016Z,1761508672.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256912
2025-10-26T19:57:52.269Z,1761508672.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509419
2025-10-26T19:57:52.410Z,1761508672.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951848,0.300867,0.058858],[-0.302046,-0.953217,-0.012074],[0.052472,-0.029270,0.998193]]
2025-10-26T19:57:52.520Z,1761508672.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760776
2025-10-26T19:57:52.777Z,1761508672.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017109
2025-10-26T19:57:52.833Z,1761508672.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949520,0.300120,0.091319],[-0.306948,-0.948928,-0.072936],[0.064765,-0.097285,0.993147]]
2025-10-26T19:57:53.024Z,1761508673.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264834
2025-10-26T19:57:53.208Z,1761508673.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946819,0.299022,0.118829],[-0.310949,-0.945261,-0.098958],[0.082734,-0.130645,0.987971]]
2025-10-26T19:57:53.276Z,1761508673.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516892
2025-10-26T19:57:53.528Z,1761508673.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768774
2025-10-26T19:57:53.610Z,1761508673.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945045,0.298507,0.133351],[-0.309760,-0.947997,-0.073144],[0.104583,-0.110431,0.988366]]
2025-10-26T19:57:53.781Z,1761508673.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021233
2025-10-26T19:57:54.014Z,1761508674.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940462,0.313292,0.131832],[-0.318954,-0.947473,-0.023728],[0.117473,-0.064364,0.990988]]
2025-10-26T19:57:54.032Z,1761508674.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272923
2025-10-26T19:57:54.285Z,1761508674.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525543
2025-10-26T19:57:54.420Z,1761508674.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933249,0.345289,0.099105],[-0.344956,-0.938384,0.021024],[0.100258,-0.014566,0.994855]]
2025-10-26T19:57:54.536Z,1761508674.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776839
2025-10-26T19:57:54.791Z,1761508674.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030809
2025-10-26T19:57:54.842Z,1761508674.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927606,0.366626,0.071638],[-0.363872,-0.930171,0.048776],[0.084518,0.019177,0.996237]]
2025-10-26T19:57:55.042Z,1761508675.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282636
2025-10-26T19:57:55.227Z,1761508675.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925179,0.373339,0.068272],[-0.370913,-0.927539,0.045783],[0.080418,0.017035,0.996616]]
2025-10-26T19:57:55.293Z,1761508675.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533083
2025-10-26T19:57:55.546Z,1761508675.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786677
2025-10-26T19:57:55.649Z,1761508675.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925235,0.374193,0.062610],[-0.374639,-0.927158,0.004895],[0.059881,-0.018927,0.998026]]
2025-10-26T19:57:55.800Z,1761508675.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040387
2025-10-26T19:57:56.035Z,1761508676.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923359,0.377568,0.069641],[-0.380999,-0.923491,-0.044775],[0.047408,-0.067876,0.996567]]
2025-10-26T19:57:56.048Z,1761508676.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288932
2025-10-26T19:57:56.300Z,1761508676.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540793
2025-10-26T19:57:56.439Z,1761508676.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918733,0.378760,0.111675],[-0.387634,-0.918986,-0.072147],[0.075301,-0.109572,0.991122]]
2025-10-26T19:57:56.553Z,1761508676.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793500
2025-10-26T19:57:56.807Z,1761508676.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047098
2025-10-26T19:57:56.847Z,1761508676.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916871,0.378058,0.128138],[-0.390041,-0.916768,-0.086052],[0.084940,-0.128877,0.988016]]
2025-10-26T19:57:56.918Z,1761508676.918 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:57:56.918Z,1761508676.918 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:57:56.918Z,1761508676.918 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:57:56.918Z,1761508676.918 [marl:UpdateRudder:A] Stopped
2025-10-26T19:57:56.918Z,1761508676.918 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:57:56.918Z,1761508676.918 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:57:56.919Z,1761508676.919 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:57:56.919Z,1761508676.919 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:57:56.919Z,1761508676.919 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:57:56.919Z,1761508676.919 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:57:56.924Z,1761508676.924 [marl:UpdateCommandMode] Stopped
2025-10-26T19:57:56.924Z,1761508676.924 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:57:57.056Z,1761508677.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296728
2025-10-26T19:57:57.246Z,1761508677.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920531,0.381975,0.081961],[-0.388712,-0.916511,-0.094397],[0.039061,-0.118755,0.992155]]
2025-10-26T19:57:57.282Z,1761508677.282 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:57:57.282Z,1761508677.282 [marl:UpdateRudder:B] Stopped
2025-10-26T19:57:57.282Z,1761508677.282 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:57:57.282Z,1761508677.282 [marl:UpdateRudder] Stopped
2025-10-26T19:57:57.282Z,1761508677.282 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:57:57.325Z,1761508677.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.565873
2025-10-26T19:57:57.576Z,1761508677.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.816836
2025-10-26T19:57:57.651Z,1761508677.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921433,0.385415,0.049170],[-0.388117,-0.918924,-0.070316],[0.018083,-0.083875,0.996312]]
2025-10-26T19:57:57.832Z,1761508677.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.072866
2025-10-26T19:57:58.054Z,1761508678.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921062,0.386231,0.049700],[-0.387617,-0.921563,-0.021792],[0.037385,-0.039336,0.998526]]
2025-10-26T19:57:58.080Z,1761508678.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.320925
2025-10-26T19:57:58.082Z,1761508678.082 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:57:58.082Z,1761508678.082 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:57:58.082Z,1761508678.082 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:57:58.083Z,1761508678.083 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:57:58.083Z,1761508678.083 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:57:58.083Z,1761508678.083 [marl:UpdateSpeed] Stopped
2025-10-26T19:57:58.083Z,1761508678.083 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:57:58.332Z,1761508678.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572825
2025-10-26T19:57:58.459Z,1761508678.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923423,0.382254,0.034234],[-0.382319,-0.924017,0.004867],[0.033493,-0.008594,0.999402]]
2025-10-26T19:57:58.584Z,1761508678.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824822
2025-10-26T19:57:58.837Z,1761508678.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.077411
2025-10-26T19:57:58.862Z,1761508678.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923457,0.383530,0.011509],[-0.383662,-0.923380,-0.013166],[0.005578,-0.016574,0.999847]]
2025-10-26T19:57:59.092Z,1761508679.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.332485
2025-10-26T19:57:59.266Z,1761508679.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918106,0.394347,0.039640],[-0.395894,-0.917200,-0.044850],[0.018671,-0.056870,0.998207]]
2025-10-26T19:57:59.271Z,1761508679.271 [NAL9602](INFO): SBD MO Status=2, MOMSN=2980, MT Status=2, MTMSN=0
2025-10-26T19:57:59.271Z,1761508679.271 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T19:57:59.340Z,1761508679.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.580820
2025-10-26T19:57:59.592Z,1761508679.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832802
2025-10-26T19:57:59.670Z,1761508679.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912278,0.399278,0.091247],[-0.404535,-0.913244,-0.048344],[0.064027,-0.081016,0.994654]]
2025-10-26T19:57:59.844Z,1761508679.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084943
2025-10-26T19:58:00.076Z,1761508680.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912765,0.397946,0.092185],[-0.403775,-0.913135,-0.056119],[0.061845,-0.088446,0.994159]]
2025-10-26T19:58:00.096Z,1761508680.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336742
2025-10-26T19:58:00.352Z,1761508680.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.592403
2025-10-26T19:58:00.478Z,1761508680.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915446,0.396329,0.069872],[-0.400851,-0.913398,-0.070867],[0.035735,-0.092883,0.995036]]
2025-10-26T19:58:00.487Z,1761508680.487 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195759.00,A,3645.88666,N,12152.13530,W,0.253,230.76,261025,,,A*7F
2025-10-26T19:58:00.489Z,1761508680.489 [NAL9602](INFO): GPS fix at 20251026T195759: (36.764778, -121.868922)
2025-10-26T19:58:00.548Z,1761508680.548 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:00.600Z,1761508680.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.840857
2025-10-26T19:58:00.852Z,1761508680.852 [DAT](INFO): Reached modem response timeout
2025-10-26T19:58:00.890Z,1761508680.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916496,0.396332,0.054373],[-0.399564,-0.913557,-0.075904],[0.019590,-0.091292,0.995631]]
2025-10-26T19:58:01.286Z,1761508681.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912847,0.406281,0.040568],[-0.408274,-0.909413,-0.079241],[0.004699,-0.088898,0.996030]]
2025-10-26T19:58:01.690Z,1761508681.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906266,0.420882,0.039244],[-0.422599,-0.904221,-0.061593],[0.009561,-0.072404,0.997330]]
2025-10-26T19:58:02.094Z,1761508682.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908898,0.415557,0.034867],[-0.416689,-0.908320,-0.036408],[0.016541,-0.047619,0.998729]]
2025-10-26T19:58:02.498Z,1761508682.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913532,0.406412,0.016976],[-0.406747,-0.912288,-0.047823],[-0.003949,-0.050593,0.998712]]
2025-10-26T19:58:02.905Z,1761508682.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918379,0.395379,0.016001],[-0.394996,-0.913575,-0.096742],[-0.023632,-0.095166,0.995181]]
2025-10-26T19:58:03.121Z,1761508683.121 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:58:03.121Z,1761508683.121 [DAT](INFO): response not received
2025-10-26T19:58:03.121Z,1761508683.121 [DAT](ERROR): No response from remote modem.
2025-10-26T19:58:03.306Z,1761508683.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924038,0.378579,0.053213],[-0.382260,-0.912932,-0.142939],[-0.005534,-0.152422,0.988300]]
2025-10-26T19:58:03.716Z,1761508683.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924394,0.369627,0.094184],[-0.380356,-0.911819,-0.154644],[0.028718,-0.178776,0.983471]]
2025-10-26T19:58:04.398Z,1761508684.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917988,0.389850,0.072908],[-0.394688,-0.916044,-0.071312],[0.038986,-0.094240,0.994786]]
2025-10-26T19:58:06.692Z,1761508686.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919012,0.388731,0.065607],[-0.394097,-0.910196,-0.127402],[0.010190,-0.142940,0.989679]]
2025-10-26T19:58:07.076Z,1761508687.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925901,0.364509,0.099196],[-0.376795,-0.909920,-0.173410],[0.027051,-0.197938,0.979841]]
2025-10-26T19:58:07.474Z,1761508687.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933726,0.344664,0.096759],[-0.356994,-0.916602,-0.179988],[0.026654,-0.202602,0.978898]]
2025-10-26T19:58:07.884Z,1761508687.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934972,0.348529,0.065982],[-0.354477,-0.924916,-0.137392],[0.013143,-0.151847,0.988317]]
2025-10-26T19:58:08.282Z,1761508688.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929618,0.367822,0.022757],[-0.368524,-0.927955,-0.055587],[0.000671,-0.060061,0.998194]]
2025-10-26T19:58:08.688Z,1761508688.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924629,0.380862,-0.002139],[-0.380690,-0.924010,0.035780],[0.011651,0.033898,0.999357]]
2025-10-26T19:58:09.090Z,1761508689.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919768,0.392453,0.002634],[-0.390833,-0.916540,0.084876],[0.035724,0.077037,0.996388]]
2025-10-26T19:58:09.625Z,1761508689.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914831,0.403810,0.004598],[-0.403836,-0.914769,-0.010660],[-0.000099,-0.011608,0.999933]]
2025-10-26T19:58:10.022Z,1761508690.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923145,0.380414,0.055579],[-0.384258,-0.917586,-0.101889],[0.012239,-0.115415,0.993242]]
2025-10-26T19:58:10.426Z,1761508690.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927594,0.352348,0.124179],[-0.369036,-0.915929,-0.157755],[0.058155,-0.192159,0.979639]]
2025-10-26T19:58:11.239Z,1761508691.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912320,0.393548,0.113107],[-0.401498,-0.914005,-0.058262],[0.080452,-0.098566,0.991873]]
2025-10-26T19:58:11.638Z,1761508691.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915630,0.396894,0.064011],[-0.395534,-0.917850,0.033224],[0.071939,0.005102,0.997396]]
2025-10-26T19:58:12.042Z,1761508692.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924901,0.377310,0.046844],[-0.374702,-0.925455,0.055963],[0.064467,0.034208,0.997333]]
2025-10-26T19:58:12.090Z,1761508692.090 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:58:12.091Z,1761508692.091 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:58:12.091Z,1761508692.091 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:58:12.091Z,1761508692.091 [marl:UpdateRudder:A] Stopped
2025-10-26T19:58:12.091Z,1761508692.091 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:58:12.091Z,1761508692.091 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:58:12.092Z,1761508692.092 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:58:12.092Z,1761508692.092 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:58:12.092Z,1761508692.092 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:58:12.092Z,1761508692.092 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:58:12.092Z,1761508692.092 [marl:UpdateCommandMode] Stopped
2025-10-26T19:58:12.092Z,1761508692.092 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:58:12.446Z,1761508692.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924998,0.371205,0.081151],[-0.371264,-0.928407,0.014931],[0.080884,-0.016318,0.996590]]
2025-10-26T19:58:12.473Z,1761508692.473 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:58:12.473Z,1761508692.473 [marl:UpdateRudder:B] Stopped
2025-10-26T19:58:12.473Z,1761508692.473 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:58:12.473Z,1761508692.473 [marl:UpdateRudder] Stopped
2025-10-26T19:58:12.473Z,1761508692.473 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:58:12.886Z,1761508692.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914795,0.381941,0.131422],[-0.390472,-0.919476,-0.045777],[0.103355,-0.093193,0.990269]]
2025-10-26T19:58:12.900Z,1761508692.900 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000502234.0, +14.6,   0.0,1505.4,  0
2025-10-26T19:58:13.254Z,1761508693.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907185,0.401502,0.125747],[-0.413696,-0.905673,-0.092799],[0.076626,-0.136207,0.987713]]
2025-10-26T19:58:13.658Z,1761508693.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901623,0.426410,0.072467],[-0.432028,-0.895874,-0.103739],[0.020686,-0.124841,0.991961]]
2025-10-26T19:58:13.709Z,1761508693.709 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:58:13.709Z,1761508693.709 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:58:13.710Z,1761508693.710 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:58:13.710Z,1761508693.710 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:58:13.710Z,1761508693.710 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:58:13.710Z,1761508693.710 [marl:UpdateSpeed] Stopped
2025-10-26T19:58:13.710Z,1761508693.710 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:58:14.062Z,1761508694.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906015,0.421397,0.039503],[-0.423244,-0.902241,-0.082612],[0.000829,-0.091567,0.995799]]
2025-10-26T19:58:14.468Z,1761508694.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917070,0.396158,0.045180],[-0.398443,-0.914785,-0.066423],[0.015016,-0.078916,0.996768]]
2025-10-26T19:58:14.875Z,1761508694.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918786,0.388917,0.067646],[-0.393329,-0.916483,-0.073159],[0.033544,-0.093825,0.995024]]
2025-10-26T19:58:14.884Z,1761508694.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T19:58:15.274Z,1761508695.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908505,0.401504,0.115814],[-0.411615,-0.907631,-0.082342],[0.072056,-0.122479,0.989852]]
2025-10-26T19:58:15.678Z,1761508695.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906182,0.397690,0.143795],[-0.411129,-0.908118,-0.079335],[0.099032,-0.131010,0.986422]]
2025-10-26T19:58:15.888Z,1761508695.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:58:16.083Z,1761508696.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910422,0.400713,0.102763],[-0.409686,-0.907805,-0.089705],[0.057343,-0.123770,0.990653]]
2025-10-26T19:58:16.488Z,1761508696.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906677,0.418412,0.053558],[-0.421514,-0.903552,-0.076943],[0.016198,-0.092338,0.995596]]
2025-10-26T19:58:16.890Z,1761508696.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904246,0.425034,0.041048],[-0.426092,-0.904425,-0.021465],[0.028002,-0.036900,0.998927]]
2025-10-26T19:58:16.895Z,1761508696.895 [NAL9602](INFO): SBD MO Status=1, MOMSN=2980, MT Status=0, MTMSN=0
2025-10-26T19:58:16.952Z,1761508696.952 [NAL9602](INFO): Sent 204 bytes from file Logs/20251026T180417/Express0028.lzma
2025-10-26T19:58:16.952Z,1761508696.952 [NAL9602](INFO): Packets left to send: 0
2025-10-26T19:58:17.294Z,1761508697.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902991,0.427567,0.042348],[-0.427043,-0.903983,0.021175],[0.047336,0.001036,0.998878]]
2025-10-26T19:58:17.888Z,1761508697.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899175,0.436710,0.027712],[-0.436139,-0.899548,0.024424],[0.035594,0.009875,0.999318]]
2025-10-26T19:58:18.286Z,1761508698.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889606,0.456149,0.023012],[-0.456240,-0.889856,0.001443],[0.021136,-0.009216,0.999734]]
2025-10-26T19:58:18.691Z,1761508698.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880845,0.472875,0.022393],[-0.473296,-0.880673,-0.020179],[0.010179,-0.028373,0.999546]]
2025-10-26T19:58:19.094Z,1761508699.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876718,0.480345,0.025191],[-0.480997,-0.875207,-0.051510],[-0.002695,-0.057277,0.998355]]
2025-10-26T19:58:19.498Z,1761508699.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877621,0.476215,0.054771],[-0.479320,-0.873183,-0.088336],[0.005758,-0.103779,0.994584]]
2025-10-26T19:58:19.902Z,1761508699.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881584,0.462295,0.095358],[-0.471601,-0.871215,-0.136297],[0.020068,-0.165128,0.986068]]
2025-10-26T19:58:20.307Z,1761508700.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889966,0.443693,0.105341],[-0.455851,-0.871982,-0.178457],[0.012675,-0.206840,0.978293]]
2025-10-26T19:58:20.715Z,1761508700.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891151,0.440370,0.109195],[-0.453258,-0.874803,-0.171108],[0.020173,-0.201977,0.979183]]
2025-10-26T19:58:20.753Z,1761508700.753 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:58:20.769Z,1761508700.769 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:58:20.771Z,1761508700.771 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:58:21.016Z,1761508701.016 [DAT](INFO): DAT read: user:11>

2025-10-26T19:58:21.017Z,1761508701.017 [DAT](INFO): DAT read: Tx time:19:58:20.1665

2025-10-26T19:58:21.017Z,1761508701.017 [DAT](INFO): Ping request sent.
2025-10-26T19:58:21.017Z,1761508701.017 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:58:21.018Z,1761508701.018 [DAT](INFO): publishing transmit ping time
2025-10-26T19:58:21.018Z,1761508701.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000930
2025-10-26T19:58:21.114Z,1761508701.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886439,0.452076,0.099264],[-0.460869,-0.881914,-0.099134],[0.042726,-0.133624,0.990111]]
2025-10-26T19:58:21.268Z,1761508701.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250878
2025-10-26T19:58:21.518Z,1761508701.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884025,0.463686,0.059120],[-0.464963,-0.885282,-0.009239],[0.048053,-0.035656,0.998208]]
2025-10-26T19:58:21.520Z,1761508701.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502879
2025-10-26T19:58:21.772Z,1761508701.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928
2025-10-26T19:58:21.924Z,1761508701.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885844,0.462600,0.035785],[-0.460967,-0.886245,0.045602],[0.052810,0.023901,0.998319]]
2025-10-26T19:58:22.025Z,1761508702.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007379
2025-10-26T19:58:22.277Z,1761508702.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259483
2025-10-26T19:58:22.332Z,1761508702.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887209,0.458597,0.050495],[-0.457980,-0.888642,0.023858],[0.055813,-0.001959,0.998439]]
2025-10-26T19:58:22.529Z,1761508702.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511676
2025-10-26T19:58:22.733Z,1761508702.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890429,0.450112,0.067342],[-0.453807,-0.889322,-0.056260],[0.034565,-0.080656,0.996143]]
2025-10-26T19:58:22.783Z,1761508702.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765203
2025-10-26T19:58:23.033Z,1761508703.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015700
2025-10-26T19:58:23.136Z,1761508703.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891099,0.444334,0.092252],[-0.452876,-0.883729,-0.118011],[0.029089,-0.146938,0.988718]]
2025-10-26T19:58:23.284Z,1761508703.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266845
2025-10-26T19:58:23.536Z,1761508703.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752
2025-10-26T19:58:23.547Z,1761508703.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890467,0.438115,0.122979],[-0.452397,-0.881468,-0.135465],[0.049053,-0.176262,0.983120]]
2025-10-26T19:58:23.788Z,1761508703.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770873
2025-10-26T19:58:23.942Z,1761508703.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891827,0.434932,0.124417],[-0.448372,-0.886359,-0.115456],[0.060063,-0.158752,0.985490]]
2025-10-26T19:58:24.040Z,1761508704.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022937
2025-10-26T19:58:24.292Z,1761508704.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274844
2025-10-26T19:58:24.351Z,1761508704.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892159,0.440787,0.098789],[-0.448425,-0.890581,-0.076028],[0.054467,-0.112129,0.992200]]
2025-10-26T19:58:24.546Z,1761508704.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528118
2025-10-26T19:58:24.755Z,1761508704.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885794,0.459369,0.065950],[-0.461449,-0.886943,-0.019931],[0.049339,-0.048088,0.997624]]
2025-10-26T19:58:24.804Z,1761508704.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785305
2025-10-26T19:58:25.053Z,1761508705.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035061
2025-10-26T19:58:25.155Z,1761508705.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873710,0.483848,0.050213],[-0.482147,-0.875056,0.042571],[0.064537,0.012984,0.997831]]
2025-10-26T19:58:25.304Z,1761508705.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286873
2025-10-26T19:58:25.556Z,1761508705.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539020
2025-10-26T19:58:25.560Z,1761508705.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863628,0.501558,0.050850],[-0.496967,-0.863959,0.081237],[0.084677,0.044888,0.995397]]
2025-10-26T19:58:25.610Z,1761508705.610 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:58:25.610Z,1761508705.610 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:58:25.610Z,1761508705.610 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:58:25.611Z,1761508705.611 [marl:UpdateRudder:A] Stopped
2025-10-26T19:58:25.611Z,1761508705.611 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode] Stopped
2025-10-26T19:58:25.612Z,1761508705.612 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:58:25.808Z,1761508705.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790841
2025-10-26T19:58:25.962Z,1761508705.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866656,0.497201,0.041219],[-0.494745,-0.867137,0.057449],[0.064306,0.029396,0.997497]]
2025-10-26T19:58:25.967Z,1761508705.967 [NAL9602](INFO): SBD MO Status=0, MOMSN=2981, MT Status=0, MTMSN=0
2025-10-26T19:58:26.058Z,1761508706.058 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:58:26.058Z,1761508706.058 [marl:UpdateRudder:B] Stopped
2025-10-26T19:58:26.058Z,1761508706.058 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:58:26.058Z,1761508706.058 [marl:UpdateRudder] Stopped
2025-10-26T19:58:26.058Z,1761508706.058 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:58:26.060Z,1761508706.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042984
2025-10-26T19:58:26.061Z,1761508706.061 [marl:NeedComms:D] Stopped
2025-10-26T19:58:26.061Z,1761508706.061 [marl:NeedComms:E] Running Loop=1
2025-10-26T19:58:26.314Z,1761508706.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295930
2025-10-26T19:58:26.372Z,1761508706.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868505,0.494525,0.033836],[-0.495506,-0.867986,-0.032774],[0.013162,-0.045230,0.998890]]
2025-10-26T19:58:26.564Z,1761508706.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546954
2025-10-26T19:58:26.814Z,1761508706.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876457,0.471366,0.098171],[-0.481374,-0.862155,-0.158014],[0.010156,-0.185749,0.982545]]
2025-10-26T19:58:26.829Z,1761508706.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.811319
2025-10-26T19:58:27.068Z,1761508707.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050931
2025-10-26T19:58:27.194Z,1761508707.194 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195826.00,A,3645.88545,N,12152.13875,W,0.330,263.88,261025,,,A*75
2025-10-26T19:58:27.200Z,1761508707.200 [NAL9602](INFO): GPS fix at 20251026T195826: (36.764758, -121.868979)
2025-10-26T19:58:27.219Z,1761508707.219 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:58:27.219Z,1761508707.219 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:58:27.219Z,1761508707.219 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:58:27.220Z,1761508707.220 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:58:27.220Z,1761508707.220 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:58:27.220Z,1761508707.220 [marl:UpdateSpeed] Stopped
2025-10-26T19:58:27.220Z,1761508707.220 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:58:27.221Z,1761508707.221 [marl:NeedComms:E] Stopped
2025-10-26T19:58:27.222Z,1761508707.222 [marl:NeedComms](INFO): Completed marl:NeedComms
2025-10-26T19:58:27.222Z,1761508707.222 [marl:NeedComms] Stopped
2025-10-26T19:58:27.222Z,1761508707.222 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T19:58:27.222Z,1761508707.222 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T19:58:27.222Z,1761508707.222 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T19:58:27.223Z,1761508707.223 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:27.321Z,1761508707.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303435
2025-10-26T19:58:27.572Z,1761508707.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555000
2025-10-26T19:58:27.587Z,1761508707.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867023,0.495386,0.053515],[-0.498253,-0.861119,-0.101090],[-0.003996,-0.114311,0.993437]]
2025-10-26T19:58:27.825Z,1761508707.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807517
2025-10-26T19:58:27.988Z,1761508707.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854373,0.519658,-0.001387],[-0.519599,-0.854311,-0.012979],[-0.007930,-0.010369,0.999915]]
2025-10-26T19:58:28.076Z,1761508708.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058921
2025-10-26T19:58:28.329Z,1761508708.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311484
2025-10-26T19:58:28.392Z,1761508708.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862779,0.505244,-0.018462],[-0.505374,-0.860802,0.060151],[0.014499,0.061228,0.998018]]
2025-10-26T19:58:28.580Z,1761508708.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562924
2025-10-26T19:58:28.833Z,1761508708.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815727
2025-10-26T19:58:28.834Z,1761508708.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875101,0.483932,0.002701],[-0.483009,-0.873751,0.057111],[0.029998,0.048674,0.998364]]
2025-10-26T19:58:29.086Z,1761508709.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068350
2025-10-26T19:58:29.242Z,1761508709.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878678,0.475056,0.047402],[-0.476378,-0.878977,-0.021506],[0.031449,-0.041478,0.998644]]
2025-10-26T19:58:29.336Z,1761508709.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318997
2025-10-26T19:58:29.589Z,1761508709.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571555
2025-10-26T19:58:29.653Z,1761508709.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872574,0.478041,0.100451],[-0.486844,-0.867885,-0.098781],[0.039959,-0.135098,0.990026]]
2025-10-26T19:58:29.840Z,1761508709.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822861
2025-10-26T19:58:30.052Z,1761508710.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861873,0.494934,0.110523],[-0.506159,-0.852995,-0.127293],[0.031273,-0.165653,0.985688]]
2025-10-26T19:58:30.057Z,1761508710.057 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195829.00,A,3645.88541,N,12152.13932,W,0.428,270.18,261025,,,A*79
2025-10-26T19:58:30.059Z,1761508710.059 [NAL9602](INFO): GPS fix at 20251026T195829: (36.764757, -121.868989)
2025-10-26T19:58:30.083Z,1761508710.083 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:30.094Z,1761508710.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076084
2025-10-26T19:58:30.344Z,1761508710.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326877
2025-10-26T19:58:30.454Z,1761508710.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858193,0.506482,0.083554],[-0.512978,-0.852177,-0.103191],[0.018939,-0.131419,0.991146]]
2025-10-26T19:58:30.597Z,1761508710.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579463
2025-10-26T19:58:30.849Z,1761508710.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831860
2025-10-26T19:58:30.860Z,1761508710.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863862,0.497096,0.081476],[-0.501707,-0.863543,-0.050825],[0.045093,-0.084783,0.995379]]
2025-10-26T19:58:31.100Z,1761508711.100 [DAT](INFO): Reached modem response timeout
2025-10-26T19:58:31.264Z,1761508711.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869972,0.484002,0.094293],[-0.487910,-0.872602,-0.022559],[0.071361,-0.065632,0.995289]]
2025-10-26T19:58:31.668Z,1761508711.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865945,0.495038,0.071255],[-0.498240,-0.866262,-0.036710],[0.043552,-0.067291,0.996782]]
2025-10-26T19:58:32.070Z,1761508712.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855850,0.515269,0.044932],[-0.516929,-0.855063,-0.040634],[0.017482,-0.058003,0.998163]]
2025-10-26T19:58:32.475Z,1761508712.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850294,0.521435,0.071452],[-0.524063,-0.851354,-0.023537],[0.048558,-0.057458,0.997166]]
2025-10-26T19:58:32.880Z,1761508712.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846536,0.521529,0.106701],[-0.526335,-0.850015,-0.021125],[0.079680,-0.074043,0.994067]]
2025-10-26T19:58:32.890Z,1761508712.890 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195832.00,A,3645.88528,N,12152.13977,W,0.136,268.39,261025,,,A*7D
2025-10-26T19:58:32.893Z,1761508712.893 [NAL9602](INFO): GPS fix at 20251026T195832: (36.764755, -121.868996)
2025-10-26T19:58:32.958Z,1761508712.958 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:33.289Z,1761508713.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839375,0.532652,0.108313],[-0.539931,-0.840027,-0.053195],[0.062651,-0.103132,0.992693]]
2025-10-26T19:58:33.370Z,1761508713.370 [DAT](INFO): DAT read: Response Not Received

2025-10-26T19:58:33.370Z,1761508713.370 [DAT](INFO): response not received
2025-10-26T19:58:33.371Z,1761508713.371 [DAT](ERROR): No response from remote modem.
2025-10-26T19:58:33.686Z,1761508713.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837996,0.536491,0.099699],[-0.543740,-0.836345,-0.069818],[0.045926,-0.112717,0.992565]]
2025-10-26T19:58:34.090Z,1761508714.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837892,0.535945,0.103437],[-0.543607,-0.836459,-0.069490],[0.049278,-0.114454,0.992206]]
2025-10-26T19:58:34.494Z,1761508714.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836025,0.540224,0.096025],[-0.547862,-0.831497,-0.091979],[0.030155,-0.129505,0.991120]]
2025-10-26T19:58:34.899Z,1761508714.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837337,0.540017,0.085138],[-0.546590,-0.824038,-0.148997],[-0.010304,-0.171296,0.985166]]
2025-10-26T19:58:35.321Z,1761508715.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847363,0.520979,0.102749],[-0.530579,-0.822836,-0.203534],[-0.021491,-0.226983,0.973661]]
2025-10-26T19:58:35.719Z,1761508715.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859341,0.495104,0.128081],[-0.511382,-0.834173,-0.206504],[0.004601,-0.242956,0.970026]]
2025-10-26T19:58:36.110Z,1761508716.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855729,0.497327,0.142806],[-0.515329,-0.843975,-0.148805],[0.046520,-0.200929,0.978501]]
2025-10-26T19:58:36.118Z,1761508716.118 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195835.00,A,3645.88515,N,12152.14059,W,1.011,242.38,261025,,,A*7A
2025-10-26T19:58:36.121Z,1761508716.121 [NAL9602](INFO): GPS fix at 20251026T195835: (36.764753, -121.869010)
2025-10-26T19:58:36.220Z,1761508716.220 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:36.514Z,1761508716.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844035,0.519075,0.134783],[-0.528891,-0.847274,-0.048995],[0.088766,-0.112639,0.989663]]
2025-10-26T19:58:37.329Z,1761508717.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858463,0.503939,0.095322],[-0.502385,-0.863651,0.041423],[0.103199,-0.012328,0.994584]]
2025-10-26T19:58:37.732Z,1761508717.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858960,0.500933,0.106084],[-0.505164,-0.862879,-0.015757],[0.083644,-0.067124,0.994232]]
2025-10-26T19:58:38.130Z,1761508718.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848692,0.514623,0.122006],[-0.525295,-0.847034,-0.081227],[0.061542,-0.133026,0.989200]]
2025-10-26T19:58:38.536Z,1761508718.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838633,0.525446,0.143531],[-0.540217,-0.836067,-0.095695],[0.069719,-0.157790,0.985008]]
2025-10-26T19:58:38.954Z,1761508718.954 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195838.00,A,3645.88487,N,12152.14074,W,0.661,226.64,261025,,,A*79
2025-10-26T19:58:38.957Z,1761508718.957 [NAL9602](INFO): GPS fix at 20251026T195838: (36.764748, -121.869012)
2025-10-26T19:58:39.056Z,1761508719.056 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:58:39.056Z,1761508719.056 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:58:39.056Z,1761508719.056 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:58:39.056Z,1761508719.056 [marl:UpdateRudder:A] Stopped
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode] Stopped
2025-10-26T19:58:39.057Z,1761508719.057 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:58:39.079Z,1761508719.079 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:39.342Z,1761508719.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828225,0.544267,0.133482],[-0.552163,-0.833249,-0.028511],[0.095706,-0.097317,0.990641]]
2025-10-26T19:58:39.416Z,1761508719.416 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:58:39.416Z,1761508719.416 [marl:UpdateRudder:B] Stopped
2025-10-26T19:58:39.416Z,1761508719.416 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:58:39.416Z,1761508719.416 [marl:UpdateRudder] Stopped
2025-10-26T19:58:39.416Z,1761508719.416 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:58:39.746Z,1761508719.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841165,0.532049,0.096778],[-0.538753,-0.839962,-0.064878],[0.046772,-0.106712,0.993189]]
2025-10-26T19:58:40.150Z,1761508720.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855025,0.509494,0.096684],[-0.518483,-0.843594,-0.139731],[0.010370,-0.169603,0.985458]]
2025-10-26T19:58:40.554Z,1761508720.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864812,0.482209,0.139911],[-0.501210,-0.845644,-0.183506],[0.029826,-0.228823,0.973011]]
2025-10-26T19:58:40.677Z,1761508720.677 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:58:40.678Z,1761508720.678 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:58:40.678Z,1761508720.678 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:58:40.678Z,1761508720.678 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:58:40.678Z,1761508720.678 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:58:40.678Z,1761508720.678 [marl:UpdateSpeed] Stopped
2025-10-26T19:58:40.678Z,1761508720.678 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:58:41.406Z,1761508721.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871182,0.453625,0.187796],[-0.476536,-0.873320,-0.101121],[0.118135,-0.177586,0.976989]]
2025-10-26T19:58:41.814Z,1761508721.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876700,0.440640,0.192958],[-0.455600,-0.889324,-0.039142],[0.154354,-0.122227,0.980426]]
2025-10-26T19:58:42.198Z,1761508722.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889265,0.417587,0.186623],[-0.431608,-0.901166,-0.040177],[0.151401,-0.116276,0.981610]]
2025-10-26T19:58:42.218Z,1761508722.218 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195841.00,A,3645.88435,N,12152.14206,W,1.030,240.20,261025,,,A*7A
2025-10-26T19:58:42.225Z,1761508722.225 [NAL9602](INFO): GPS fix at 20251026T195841: (36.764739, -121.869034)
2025-10-26T19:58:42.310Z,1761508722.310 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:42.603Z,1761508722.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900760,0.385929,0.199223],[-0.411429,-0.905168,-0.106758],[0.139130,-0.178129,0.974122]]
2025-10-26T19:58:43.410Z,1761508723.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892080,0.346632,0.289896],[-0.399805,-0.904433,-0.148855],[0.210594,-0.248692,0.945411]]
2025-10-26T19:58:43.818Z,1761508723.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882752,0.365587,0.295121],[-0.404724,-0.910716,-0.082425],[0.238638,-0.192204,0.951898]]
2025-10-26T19:58:44.218Z,1761508724.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872754,0.401092,0.278256],[-0.411385,-0.911169,0.023087],[0.262798,-0.094321,0.960229]]
2025-10-26T19:58:44.622Z,1761508724.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872748,0.422832,0.243974],[-0.406056,-0.906200,0.117986],[0.270977,0.003905,0.962578]]
2025-10-26T19:58:44.963Z,1761508724.963 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002603
2025-10-26T19:58:45.030Z,1761508725.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886761,0.412136,0.209279],[-0.387054,-0.909575,0.151208],[0.252673,0.053083,0.966094]]
2025-10-26T19:58:45.042Z,1761508725.042 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195844.00,A,3645.88354,N,12152.14171,W,1.166,146.87,261025,,,A*76
2025-10-26T19:58:45.045Z,1761508725.045 [NAL9602](INFO): GPS fix at 20251026T195844: (36.764726, -121.869028)
2025-10-26T19:58:45.100Z,1761508725.100 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:45.437Z,1761508725.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907223,0.370771,0.198684],[-0.353939,-0.928075,0.115771],[0.227318,0.034708,0.973202]]
2025-10-26T19:58:45.834Z,1761508725.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914880,0.329383,0.233456],[-0.329425,-0.943335,0.039982],[0.233397,-0.040327,0.971545]]
2025-10-26T19:58:45.964Z,1761508725.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:58:46.238Z,1761508726.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911250,0.298278,0.283998],[-0.319325,-0.947176,-0.029802],[0.260107,-0.117844,0.958362]]
2025-10-26T19:58:46.643Z,1761508726.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911707,0.269575,0.310032],[-0.306067,-0.949065,-0.074826],[0.274069,-0.163110,0.947777]]
2025-10-26T19:58:47.450Z,1761508727.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935145,0.208118,0.286689],[-0.253638,-0.958295,-0.131676],[0.247329,-0.195851,0.948931]]
2025-10-26T19:58:47.871Z,1761508727.871 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195847.00,A,3645.88259,N,12152.14322,W,2.780,233.33,261025,,,A*7E
2025-10-26T19:58:47.877Z,1761508727.877 [NAL9602](INFO): GPS fix at 20251026T195847: (36.764710, -121.869054)
2025-10-26T19:58:47.922Z,1761508727.922 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:48.259Z,1761508728.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941494,0.105164,0.320201],[-0.183268,-0.957077,-0.224535],[0.282844,-0.270081,0.920356]]
2025-10-26T19:58:48.278Z,1761508728.278 [DAT](INFO): setting remote address to 6
2025-10-26T19:58:48.528Z,1761508728.528 [DAT](INFO): DAT read: user:12>

2025-10-26T19:58:48.529Z,1761508728.529 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:58:48.530Z,1761508728.530 [DAT](INFO): set remote address to 6
2025-10-26T19:58:48.530Z,1761508728.530 [DAT](INFO): entering online mode
2025-10-26T19:58:48.663Z,1761508728.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933250,0.049701,0.355773],[-0.163163,-0.940976,-0.296550],[0.320035,-0.334804,0.886275]]
2025-10-26T19:58:48.783Z,1761508728.783 [DAT](INFO): DAT read: user:13>

2025-10-26T19:58:48.785Z,1761508728.785 [DAT](INFO): DAT read: 

2025-10-26T19:58:48.791Z,1761508728.791 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:58:48.792Z,1761508728.792 [DAT](INFO): commRate: 600
2025-10-26T19:58:48.792Z,1761508728.792 [DAT](INFO): online mode acknowledged
2025-10-26T19:58:48.794Z,1761508728.794 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:58:49.060Z,1761508729.060 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:58:49.060Z,1761508729.060 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:58:49.554Z,1761508729.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926278,0.021837,0.376207],[-0.177198,-0.906305,-0.383682],[0.332580,-0.422059,0.843360]]
2025-10-26T19:58:50.434Z,1761508730.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946775,0.022183,0.321130],[-0.115732,-0.954372,-0.275282],[0.300371,-0.297795,0.906143]]
2025-10-26T19:58:50.857Z,1761508730.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944492,0.024089,0.327649],[-0.113966,-0.959403,-0.257987],[0.308133,-0.281008,0.908894]]
2025-10-26T19:58:50.866Z,1761508730.866 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195850.00,A,3645.88104,N,12152.14337,W,3.071,230.53,261025,,,A*7A
2025-10-26T19:58:50.872Z,1761508730.872 [NAL9602](INFO): GPS fix at 20251026T195850: (36.764684, -121.869056)
2025-10-26T19:58:50.927Z,1761508730.927 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,-32768,-32768,
2025-10-26T19:58:50.976Z,1761508730.976 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:58:50.977Z,1761508730.977 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:51.049Z,1761508731.049 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:58:51.100Z,1761508731.100 [DAT](INFO): entering command mode
2025-10-26T19:58:51.242Z,1761508731.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943860,0.016516,0.329933],[-0.101029,-0.965328,-0.240697],[0.314518,-0.260518,0.912803]]
2025-10-26T19:58:51.300Z,1761508731.300 [DAT](INFO): DAT read: 

2025-10-26T19:58:51.301Z,1761508731.301 [DAT](INFO): DAT read: user:14>

2025-10-26T19:58:51.301Z,1761508731.301 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:58:51.301Z,1761508731.301 [DAT](INFO): setting remote address to 0
2025-10-26T19:58:51.553Z,1761508731.553 [DAT](INFO): DAT read: user:14>

2025-10-26T19:58:51.554Z,1761508731.554 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:58:51.554Z,1761508731.554 [DAT](INFO): set remote address to 0
2025-10-26T19:58:51.554Z,1761508731.554 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:58:51.554Z,1761508731.554 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:58:51.654Z,1761508731.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942335,-0.005089,0.334631],[-0.074962,-0.971270,-0.225867],[0.326166,-0.237928,0.914880]]
2025-10-26T19:58:51.804Z,1761508731.804 [DAT](INFO): DAT read: user:15>

2025-10-26T19:58:51.805Z,1761508731.805 [DAT](INFO): DAT read: Tx time:19:58:50.9164

2025-10-26T19:58:51.805Z,1761508731.805 [DAT](INFO): Ping request sent.
2025-10-26T19:58:51.806Z,1761508731.806 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:58:51.806Z,1761508731.806 [DAT](INFO): publishing transmit ping time
2025-10-26T19:58:51.807Z,1761508731.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000952
2025-10-26T19:58:52.052Z,1761508732.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937703,-0.036244,0.345542],[-0.049182,-0.970682,-0.235281],[0.343939,-0.237618,0.908429]]
2025-10-26T19:58:52.056Z,1761508732.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250727
2025-10-26T19:58:52.331Z,1761508732.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.525130
2025-10-26T19:58:52.454Z,1761508732.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934976,-0.067704,0.348189],[-0.033611,-0.960288,-0.276978],[0.353114,-0.270671,0.895571]]
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateRudder:A] Stopped
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:58:52.525Z,1761508732.525 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:58:52.526Z,1761508732.526 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:58:52.526Z,1761508732.526 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:58:52.526Z,1761508732.526 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:58:52.526Z,1761508732.526 [marl:UpdateCommandMode] Stopped
2025-10-26T19:58:52.526Z,1761508732.526 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:58:52.585Z,1761508732.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.779464
2025-10-26T19:58:52.836Z,1761508732.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.030900
2025-10-26T19:58:53.006Z,1761508733.006 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:58:53.006Z,1761508733.006 [marl:UpdateRudder:B] Stopped
2025-10-26T19:58:53.006Z,1761508733.006 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:58:53.006Z,1761508733.006 [marl:UpdateRudder] Stopped
2025-10-26T19:58:53.007Z,1761508733.007 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:58:53.088Z,1761508733.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.282835
2025-10-26T19:58:53.267Z,1761508733.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944370,-0.093136,0.315422],[-0.020162,-0.940866,-0.338179],[0.328266,-0.325725,0.886648]]
2025-10-26T19:58:53.340Z,1761508733.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.534891
2025-10-26T19:58:53.593Z,1761508733.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.787051
2025-10-26T19:58:53.666Z,1761508733.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947581,-0.103888,0.302155],[-0.004670,-0.941062,-0.338203],[0.319482,-0.321886,0.891247]]
2025-10-26T19:58:53.847Z,1761508733.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.040978
2025-10-26T19:58:54.070Z,1761508734.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946551,-0.123484,0.297980],[0.016473,-0.941119,-0.337674],[0.322132,-0.314717,0.892852]]
2025-10-26T19:58:54.075Z,1761508734.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195853.00,A,3645.87550,N,12152.14035,W,7.289,210.29,261025,,,A*7C
2025-10-26T19:58:54.077Z,1761508734.077 [NAL9602](INFO): GPS fix at 20251026T195853: (36.764592, -121.869006)
2025-10-26T19:58:54.098Z,1761508734.098 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:58:54.098Z,1761508734.098 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:58:54.098Z,1761508734.098 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:58:54.099Z,1761508734.099 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:58:54.099Z,1761508734.099 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:58:54.099Z,1761508734.099 [marl:UpdateSpeed] Stopped
2025-10-26T19:58:54.099Z,1761508734.099 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:58:54.100Z,1761508734.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.294937
2025-10-26T19:58:54.127Z,1761508734.127 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:54.352Z,1761508734.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.546829
2025-10-26T19:58:54.474Z,1761508734.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942796,-0.148323,0.298557],[0.037407,-0.936983,-0.347368],[0.331265,-0.316329,0.888932]]
2025-10-26T19:58:54.605Z,1761508734.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.799620
2025-10-26T19:58:54.856Z,1761508734.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.050745
2025-10-26T19:58:54.878Z,1761508734.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937577,-0.173505,0.301405],[0.057419,-0.931995,-0.357893],[0.343004,-0.318246,0.883780]]
2025-10-26T19:58:55.108Z,1761508735.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.302842
2025-10-26T19:58:55.292Z,1761508735.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932066,-0.193549,0.306254],[0.073149,-0.928462,-0.364152],[0.354827,-0.317012,0.879546]]
2025-10-26T19:58:55.361Z,1761508735.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.555000
2025-10-26T19:58:55.612Z,1761508735.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.806854
2025-10-26T19:58:55.709Z,1761508735.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929124,-0.208989,0.305046],[0.085782,-0.924280,-0.371952],[0.359681,-0.319422,0.876698]]
2025-10-26T19:58:55.864Z,1761508735.864 [DAT](INFO): DAT read: Rx Time:19:58:54.5596

2025-10-26T19:58:55.865Z,1761508735.865 [DAT](INFO): Rx dataTimestamp_ set to:1761508735.864619
2025-10-26T19:58:55.865Z,1761508735.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.059921
2025-10-26T19:58:56.090Z,1761508736.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930397,-0.220725,0.292647],[0.096778,-0.917962,-0.384680],[0.353548,-0.329584,0.875430]]
2025-10-26T19:58:56.124Z,1761508736.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.318881
2025-10-26T19:58:56.382Z,1761508736.382 [DAT](INFO): DAT read: 19:58:54.5596 LVL= 21904, 14609, 17250, 26611, AGC= 81, IDX= 156, 0.22, 0.770, 3.085, 1.802, 2.270, PHS=-1.398, 0.860,-0.512, RAW= 307.1,  10.7, CAL= 305.0,  13.4, ROT= 205.0, -13.4

2025-10-26T19:58:56.383Z,1761508736.383 [DAT](INFO): got valid direction response:
 19:58:54.5596 LVL= 21904, 14609, 17250, 26611, AGC= 81, IDX= 156, 0.22, 0.770, 3.085, 1.802, 2.270, PHS=-1.398, 0.860,-0.512, RAW= 307.1,  10.7, CAL= 305.0,  13.4, ROT= 205.0, -13.4

2025-10-26T19:58:56.384Z,1761508736.384 [DAT](INFO): DAT read: Bearing   3, -22 (Remote)

2025-10-26T19:58:56.385Z,1761508736.385 [DAT](INFO): Remote Bearing received:Bearing   3, -22 (Remote)

2025-10-26T19:58:56.385Z,1761508736.385 [DAT](INFO): DAT read: Bearing 133.7, -48.8 (Local)

2025-10-26T19:58:56.386Z,1761508736.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.7, -48.8 (Local)

2025-10-26T19:58:56.387Z,1761508736.387 [DAT](INFO): DAT read: Range 11 to 20 : 1210.5 m  (Round-trip  1614.1 ms) speed -1.1 m/s

2025-10-26T19:58:56.388Z,1761508736.388 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:58:56.389Z,1761508736.389 [DAT](INFO): direction in FSK: [-0.881634,-0.411113,0.231748]
2025-10-26T19:58:56.389Z,1761508736.389 [DAT](INFO): publishing direction and range info
2025-10-26T19:58:56.546Z,1761508736.546 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761508736.00. Resetting abort timer.
2025-10-26T19:58:57.302Z,1761508737.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936035,-0.244123,0.253462],[0.131227,-0.910439,-0.392275],[0.326525,-0.333922,0.884238]]
2025-10-26T19:58:57.714Z,1761508737.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935061,-0.255531,0.245693],[0.146309,-0.909504,-0.389097],[0.322886,-0.327882,0.887828]]
2025-10-26T19:58:58.110Z,1761508738.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933266,-0.270045,0.236834],[0.165415,-0.908411,-0.383963],[0.318830,-0.319163,0.892459]]
2025-10-26T19:58:58.514Z,1761508738.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929456,-0.288308,0.230195],[0.188659,-0.907623,-0.375004],[0.317047,-0.305122,0.897988]]
2025-10-26T19:58:58.912Z,1761508738.912 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T19:58:58.912Z,1761508738.912 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:58:58.921Z,1761508738.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922356,-0.311823,0.228091],[0.214132,-0.904025,-0.369980],[0.321569,-0.292412,0.900605]]
2025-10-26T19:58:59.165Z,1761508739.165 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:58:59.166Z,1761508739.166 [DAT](INFO): #Outgoing data=2
2025-10-26T19:58:59.166Z,1761508739.166 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:58:59.324Z,1761508739.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912205,-0.342961,0.224187],[0.242393,-0.892841,-0.379579],[0.330344,-0.291913,0.897586]]
2025-10-26T19:58:59.417Z,1761508739.417 [DAT](INFO): setting remote address to 6
2025-10-26T19:58:59.668Z,1761508739.668 [DAT](INFO): DAT read: user:16>

2025-10-26T19:58:59.669Z,1761508739.669 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:58:59.670Z,1761508739.670 [DAT](INFO): set remote address to 6
2025-10-26T19:58:59.670Z,1761508739.670 [DAT](INFO): entering online mode
2025-10-26T19:58:59.758Z,1761508739.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902011,-0.376126,0.211909],[0.269671,-0.874206,-0.403785],[0.337126,-0.307072,0.889973]]
2025-10-26T19:58:59.920Z,1761508739.920 [DAT](INFO): DAT read: user:17>

2025-10-26T19:58:59.921Z,1761508739.921 [DAT](INFO): DAT read: 

2025-10-26T19:58:59.922Z,1761508739.922 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:58:59.922Z,1761508739.922 [DAT](INFO): commRate: 600
2025-10-26T19:58:59.922Z,1761508739.922 [DAT](INFO): online mode acknowledged
2025-10-26T19:58:59.923Z,1761508739.923 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:59:00.130Z,1761508740.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895025,-0.400816,0.195646],[0.287508,-0.853828,-0.433956],[0.340984,-0.332152,0.879435]]
2025-10-26T19:59:00.534Z,1761508740.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890523,-0.419631,0.175721],[0.302962,-0.835159,-0.459046],[0.339385,-0.355555,0.870861]]
2025-10-26T19:59:00.941Z,1761508740.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887036,-0.435194,0.154188],[0.320676,-0.820985,-0.472388],[0.332167,-0.369581,0.867799]]
2025-10-26T19:59:01.344Z,1761508741.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883333,-0.449479,0.133009],[0.342424,-0.812538,-0.471729],[0.320107,-0.371148,0.871654]]
2025-10-26T19:59:01.750Z,1761508741.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879416,-0.461787,0.115669],[0.364449,-0.809394,-0.460498],[0.306274,-0.362814,0.880092]]
2025-10-26T19:59:02.150Z,1761508742.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878002,-0.466619,0.106675],[0.376514,-0.810878,-0.448010],[0.295550,-0.353190,0.887641]]
2025-10-26T19:59:02.562Z,1761508742.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875768,-0.472542,0.098666],[0.388971,-0.811815,-0.435497],[0.285889,-0.343016,0.894767]]
2025-10-26T19:59:02.961Z,1761508742.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871842,-0.481468,0.089889],[0.403135,-0.809637,-0.426579],[0.278162,-0.335672,0.899972]]
2025-10-26T19:59:03.197Z,1761508743.197 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:59:02.3652

2025-10-26T19:59:03.198Z,1761508743.198 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:59:03.362Z,1761508743.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866514,-0.492557,0.080877],[0.417722,-0.804268,-0.422683],[0.273242,-0.332476,0.902662]]
2025-10-26T19:59:03.774Z,1761508743.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859864,-0.505278,0.073000],[0.432038,-0.796375,-0.423238],[0.271988,-0.332388,0.903073]]
2025-10-26T19:59:04.170Z,1761508744.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850760,-0.521693,0.063590],[0.449637,-0.785162,-0.425849],[0.272091,-0.333702,0.902557]]
2025-10-26T19:59:04.576Z,1761508744.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840113,-0.540115,0.049861],[0.470735,-0.771680,-0.427690],[0.269479,-0.335836,0.902549]]
2025-10-26T19:59:04.978Z,1761508744.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829904,-0.556934,0.032923],[0.491415,-0.757661,-0.429488],[0.264141,-0.340255,0.902472]]
2025-10-26T19:59:05.382Z,1761508745.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820549,-0.571395,0.014392],[0.510849,-0.744431,-0.429949],[0.256385,-0.345442,0.902739]]
2025-10-26T19:59:05.787Z,1761508745.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812622,-0.582785,-0.002665],[0.527451,-0.733505,-0.428679],[0.247873,-0.349760,0.903453]]
2025-10-26T19:59:05.841Z,1761508745.841 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:59:05.841Z,1761508745.841 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:59:05.841Z,1761508745.841 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateRudder:A] Stopped
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode] Stopped
2025-10-26T19:59:05.842Z,1761508745.842 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:59:06.191Z,1761508746.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805125,-0.592851,-0.017368],[0.542360,-0.724071,-0.426106],[0.240042,-0.352489,0.904506]]
2025-10-26T19:59:06.259Z,1761508746.259 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:59:06.259Z,1761508746.259 [marl:UpdateRudder:B] Stopped
2025-10-26T19:59:06.259Z,1761508746.259 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:59:06.259Z,1761508746.259 [marl:UpdateRudder] Stopped
2025-10-26T19:59:06.264Z,1761508746.264 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:59:06.594Z,1761508746.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797092,-0.603132,-0.029595],[0.556963,-0.715370,-0.421945],[0.233318,-0.352812,0.906138]]
2025-10-26T19:59:07.402Z,1761508747.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778821,-0.625048,-0.052473],[0.586838,-0.696552,-0.412839],[0.221494,-0.352321,0.909291]]
2025-10-26T19:59:07.425Z,1761508747.425 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:59:07.426Z,1761508747.426 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:59:07.426Z,1761508747.426 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:59:07.426Z,1761508747.426 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:59:07.426Z,1761508747.426 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:59:07.426Z,1761508747.426 [marl:UpdateSpeed] Stopped
2025-10-26T19:59:07.426Z,1761508747.426 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:59:07.807Z,1761508747.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768492,-0.636576,-0.064734],[0.602543,-0.685916,-0.407998],[0.215319,-0.352548,0.910685]]
2025-10-26T19:59:08.212Z,1761508748.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758581,-0.647030,-0.076859],[0.617239,-0.675796,-0.402885],[0.208738,-0.353061,0.912018]]
2025-10-26T19:59:08.614Z,1761508748.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749367,-0.656194,-0.088646],[0.630832,-0.666804,-0.396765],[0.201246,-0.353244,0.913630]]
2025-10-26T19:59:09.018Z,1761508749.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741264,-0.663774,-0.099658],[0.643071,-0.659770,-0.388798],[0.192323,-0.352289,0.915917]]
2025-10-26T19:59:09.422Z,1761508749.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733710,-0.670460,-0.110241],[0.654495,-0.653807,-0.379700],[0.182497,-0.350742,0.918518]]
2025-10-26T19:59:09.827Z,1761508749.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725418,-0.677580,-0.121054],[0.666362,-0.647285,-0.370112],[0.172424,-0.349151,0.921066]]
2025-10-26T19:59:10.231Z,1761508750.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715113,-0.686779,-0.130185],[0.679443,-0.639177,-0.360292],[0.164230,-0.346103,0.923711]]
2025-10-26T19:59:10.634Z,1761508750.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701891,-0.698718,-0.138358],[0.694196,-0.627539,-0.352544],[0.159503,-0.343495,0.925511]]
2025-10-26T19:59:11.041Z,1761508751.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683940,-0.714214,-0.148745],[0.712470,-0.610061,-0.346718],[0.156887,-0.343111,0.926100]]
2025-10-26T19:59:11.442Z,1761508751.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664672,-0.729364,-0.161985],[0.730733,-0.589438,-0.344373],[0.155693,-0.347263,0.924753]]
2025-10-26T19:59:11.846Z,1761508751.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647406,-0.741195,-0.177468],[0.746319,-0.569330,-0.344777],[0.154509,-0.355659,0.921756]]
2025-10-26T19:59:12.258Z,1761508752.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632483,-0.749987,-0.193608],[0.759710,-0.551923,-0.343833],[0.151014,-0.364555,0.918855]]
2025-10-26T19:59:12.655Z,1761508752.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619721,-0.756876,-0.207569],[0.771539,-0.539084,-0.337811],[0.143784,-0.369496,0.918041]]
2025-10-26T19:59:13.058Z,1761508753.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607512,-0.763310,-0.219741],[0.783270,-0.529724,-0.325392],[0.131973,-0.369797,0.919692]]
2025-10-26T19:59:13.278Z,1761508753.278 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:59:13.462Z,1761508753.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594443,-0.769997,-0.231826],[0.795824,-0.521971,-0.306937],[0.115334,-0.366950,0.923063]]
2025-10-26T19:59:13.533Z,1761508753.533 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:59:13.533Z,1761508753.533 [DAT](INFO): #Outgoing data=3
2025-10-26T19:59:13.533Z,1761508753.533 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:59:13.784Z,1761508753.784 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:59:13.867Z,1761508753.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580939,-0.777143,-0.241989],[0.808221,-0.515563,-0.284559],[0.096383,-0.360891,0.927614]]
2025-10-26T19:59:14.271Z,1761508754.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569442,-0.782674,-0.251311],[0.818143,-0.509913,-0.265764],[0.079860,-0.356946,0.930705]]
2025-10-26T19:59:15.080Z,1761508755.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540906,-0.796799,-0.269317],[0.839041,-0.488888,-0.238743],[0.058564,-0.355106,0.932990]]
2025-10-26T19:59:15.482Z,1761508755.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524979,-0.804883,-0.276696],[0.849161,-0.473306,-0.234323],[0.057641,-0.357974,0.931951]]
2025-10-26T19:59:15.886Z,1761508755.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509395,-0.813432,-0.280795],[0.858232,-0.456381,-0.234847],[0.062882,-0.360617,0.930592]]
2025-10-26T19:59:16.290Z,1761508756.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493188,-0.822391,-0.283617],[0.867053,-0.438242,-0.236988],[0.070604,-0.362790,0.929192]]
2025-10-26T19:59:16.698Z,1761508756.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475689,-0.831714,-0.286306],[0.876228,-0.419522,-0.237121],[0.077105,-0.363665,0.928333]]
2025-10-26T19:59:17.054Z,1761508757.054 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:59:17.061Z,1761508757.061 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:59:16.2651

2025-10-26T19:59:17.061Z,1761508757.061 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:59:17.098Z,1761508757.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457695,-0.841099,-0.288215],[0.885490,-0.401996,-0.233040],[0.080148,-0.361872,0.928776]]
2025-10-26T19:59:17.907Z,1761508757.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419593,-0.858353,-0.295250],[0.904972,-0.370324,-0.209489],[0.070477,-0.355093,0.932171]]
2025-10-26T19:59:18.312Z,1761508758.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398727,-0.866220,-0.301129],[0.915214,-0.354982,-0.190711],[0.058303,-0.351639,0.934318]]
2025-10-26T19:59:18.354Z,1761508758.354 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:59:18.354Z,1761508758.354 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:59:18.354Z,1761508758.354 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:59:18.354Z,1761508758.354 [marl:UpdateRudder:A] Stopped
2025-10-26T19:59:18.355Z,1761508758.355 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:59:18.355Z,1761508758.355 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:59:18.355Z,1761508758.355 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:59:18.355Z,1761508758.355 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:59:18.355Z,1761508758.355 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:59:18.355Z,1761508758.355 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:59:18.356Z,1761508758.356 [marl:UpdateCommandMode] Stopped
2025-10-26T19:59:18.356Z,1761508758.356 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:59:18.718Z,1761508758.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377395,-0.873305,-0.308077],[0.925041,-0.339964,-0.169482],[0.043275,-0.348945,0.936143]]
2025-10-26T19:59:18.815Z,1761508758.815 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:59:18.819Z,1761508758.819 [marl:UpdateRudder:B] Stopped
2025-10-26T19:59:18.820Z,1761508758.820 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:59:18.820Z,1761508758.820 [marl:UpdateRudder] Stopped
2025-10-26T19:59:18.821Z,1761508758.821 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:59:19.118Z,1761508759.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356357,-0.879328,-0.315900],[0.933965,-0.325524,-0.147459],[0.026831,-0.347587,0.937264]]
2025-10-26T19:59:19.526Z,1761508759.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335951,-0.883903,-0.325349],[0.941825,-0.311551,-0.126101],[0.010099,-0.348786,0.937148]]
2025-10-26T19:59:19.927Z,1761508759.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317428,-0.886761,-0.335997],[0.948267,-0.298844,-0.107152],[-0.005393,-0.352628,0.935748]]
2025-10-26T19:59:20.330Z,1761508760.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302383,-0.887778,-0.347008],[0.953009,-0.288612,-0.092074],[-0.018409,-0.358543,0.933332]]
2025-10-26T19:59:20.365Z,1761508760.365 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:59:20.365Z,1761508760.365 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:59:20.365Z,1761508760.365 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:59:20.365Z,1761508760.365 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:59:20.365Z,1761508760.365 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:59:20.366Z,1761508760.366 [marl:UpdateSpeed] Stopped
2025-10-26T19:59:20.366Z,1761508760.366 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:59:20.746Z,1761508760.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289540,-0.887905,-0.357478],[0.956724,-0.279815,-0.079897],[-0.029087,-0.365141,0.930498]]
2025-10-26T19:59:21.141Z,1761508761.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276208,-0.888770,-0.365783],[0.960343,-0.270308,-0.068382],[-0.038098,-0.370164,0.928185]]
2025-10-26T19:59:21.207Z,1761508761.207 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:59:21.344Z,1761508761.344 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:59:21.395Z,1761508761.395 [DAT](INFO): entering command mode
2025-10-26T19:59:21.547Z,1761508761.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261906,-0.890384,-0.372318],[0.964040,-0.259385,-0.057842],[-0.045073,-0.374079,0.926301]]
2025-10-26T19:59:21.596Z,1761508761.596 [DAT](INFO): DAT read: 

2025-10-26T19:59:21.597Z,1761508761.597 [DAT](INFO): DAT read: user:18>

2025-10-26T19:59:21.598Z,1761508761.598 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:59:21.598Z,1761508761.598 [DAT](INFO): setting remote address to 0
2025-10-26T19:59:21.848Z,1761508761.848 [DAT](INFO): DAT read: user:18>

2025-10-26T19:59:21.849Z,1761508761.849 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:59:21.849Z,1761508761.849 [DAT](INFO): set remote address to 0
2025-10-26T19:59:21.850Z,1761508761.850 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:59:21.850Z,1761508761.850 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:59:21.946Z,1761508761.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247949,-0.892273,-0.377320],[0.967533,-0.247780,-0.049855],[-0.049008,-0.377431,0.924740]]
2025-10-26T19:59:22.100Z,1761508762.100 [DAT](INFO): DAT read: user:19>

2025-10-26T19:59:22.101Z,1761508762.101 [DAT](INFO): DAT read: Tx time:19:59:21.2163

2025-10-26T19:59:22.101Z,1761508762.101 [DAT](INFO): Ping request sent.
2025-10-26T19:59:22.101Z,1761508762.101 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:59:22.102Z,1761508762.102 [DAT](INFO): publishing transmit ping time
2025-10-26T19:59:22.102Z,1761508762.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969
2025-10-26T19:59:22.350Z,1761508762.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234862,-0.894430,-0.380571],[0.970793,-0.235574,-0.045452],[-0.048999,-0.380131,0.923634]]
2025-10-26T19:59:22.352Z,1761508762.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251068
2025-10-26T19:59:22.604Z,1761508762.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502922
2025-10-26T19:59:22.775Z,1761508762.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223044,-0.897501,-0.380452],[0.973768,-0.223165,-0.044426],[-0.045032,-0.380381,0.923733]]
2025-10-26T19:59:22.864Z,1761508762.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762992
2025-10-26T19:59:23.116Z,1761508763.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015078
2025-10-26T19:59:23.161Z,1761508763.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211625,-0.901161,-0.378316],[0.976608,-0.210071,-0.045904],[-0.038106,-0.379181,0.924538]]
2025-10-26T19:59:23.368Z,1761508763.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266923
2025-10-26T19:59:23.562Z,1761508763.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199655,-0.905807,-0.373699],[0.979406,-0.196166,-0.047779],[-0.030029,-0.375542,0.926319]]
2025-10-26T19:59:23.620Z,1761508763.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519034
2025-10-26T19:59:23.873Z,1761508763.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771218
2025-10-26T19:59:23.966Z,1761508763.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185624,-0.910780,-0.368813],[0.982344,-0.180910,-0.047660],[-0.023315,-0.371148,0.928281]]
2025-10-26T19:59:24.124Z,1761508764.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022988
2025-10-26T19:59:24.371Z,1761508764.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168655,-0.916344,-0.363137],[0.985486,-0.163985,-0.043896],[-0.019325,-0.365270,0.930701]]
2025-10-26T19:59:24.376Z,1761508764.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274996
2025-10-26T19:59:24.635Z,1761508764.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533135
2025-10-26T19:59:24.812Z,1761508764.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147655,-0.922685,-0.356162],[0.988858,-0.144618,-0.035300],[-0.018936,-0.357405,0.933757]]
2025-10-26T19:59:24.880Z,1761508764.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779010
2025-10-26T19:59:25.133Z,1761508765.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031532
2025-10-26T19:59:25.181Z,1761508765.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122312,-0.927272,-0.353845],[0.992248,-0.122151,-0.022882],[-0.022005,-0.353900,0.935024]]
2025-10-26T19:59:25.385Z,1761508765.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283569
2025-10-26T19:59:25.582Z,1761508765.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094507,-0.930767,-0.353187],[0.995161,-0.097913,-0.008254],[-0.026900,-0.352258,0.935516]]
2025-10-26T19:59:25.636Z,1761508765.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535021
2025-10-26T19:59:25.888Z,1761508765.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786947
2025-10-26T19:59:25.988Z,1761508765.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067640,-0.932318,-0.355258],[0.997168,-0.074904,0.006715],[-0.032871,-0.353798,0.934744]]
2025-10-26T19:59:26.140Z,1761508766.140 [DAT](INFO): DAT read: Rx Time:19:59:24.8934

2025-10-26T19:59:26.141Z,1761508766.141 [DAT](INFO): Rx dataTimestamp_ set to:1761508766.140645
2025-10-26T19:59:26.141Z,1761508766.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040105
2025-10-26T19:59:26.390Z,1761508766.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040833,-0.932398,-0.359118],[0.998379,-0.052339,0.022371],[-0.039655,-0.357622,0.933024]]
2025-10-26T19:59:26.392Z,1761508766.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290808
2025-10-26T19:59:26.646Z,1761508766.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.544484
2025-10-26T19:59:26.827Z,1761508766.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014425,-0.930925,-0.364924],[0.998764,-0.030772,0.039020],[-0.047554,-0.363911,0.930219]]
2025-10-26T19:59:26.902Z,1761508766.902 [DAT](INFO): DAT read: 19:59:24.8934 LVL= 24224, 17393, 14706, 22131, AGC= 71, IDX= 200, 0.28,-0.242, 0.560, 1.757, 0.587, PHS=-0.726, 0.018, 1.127, RAW= 233.5,  -5.2, CAL= 231.2,  -7.7, ROT= 278.8,   7.7

2025-10-26T19:59:26.904Z,1761508766.904 [DAT](INFO): got valid direction response:
 19:59:24.8934 LVL= 24224, 17393, 14706, 22131, AGC= 71, IDX= 200, 0.28,-0.242, 0.560, 1.757, 0.587, PHS=-0.726, 0.018, 1.127, RAW= 233.5,  -5.2, CAL= 231.2,  -7.7, ROT= 278.8,   7.7

2025-10-26T19:59:26.904Z,1761508766.904 [DAT](INFO): DAT read: Bearing   8, -17 (Remote)

2025-10-26T19:59:26.905Z,1761508766.905 [DAT](INFO): Remote Bearing received:Bearing   8, -17 (Remote)

2025-10-26T19:59:26.906Z,1761508766.906 [DAT](INFO): DAT read: Bearing 164.5, -60.6 (Local)

2025-10-26T19:59:26.906Z,1761508766.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.5, -60.6 (Local)

2025-10-26T19:59:26.907Z,1761508766.907 [DAT](INFO): DAT read: Range 11 to 20 : 1236.0 m  (Round-trip  1648.0 ms) speed -0.6 m/s

2025-10-26T19:59:26.908Z,1761508766.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T19:59:26.909Z,1761508766.909 [DAT](INFO): direction in FSK: [0.151606,-0.979318,-0.133986]
2025-10-26T19:59:26.909Z,1761508766.909 [DAT](INFO): publishing direction and range info
2025-10-26T19:59:26.945Z,1761508766.945 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761508736.00. Resetting abort timer.
2025-10-26T19:59:27.148Z,1761508767.148 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:59:27.202Z,1761508767.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011152,-0.928773,-0.370482],[0.998374,-0.010369,0.056048],[-0.055897,-0.370505,0.927147]]
2025-10-26T19:59:27.401Z,1761508767.401 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:59:27.401Z,1761508767.401 [DAT](INFO): #Outgoing data=4
2025-10-26T19:59:27.402Z,1761508767.402 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:59:27.602Z,1761508767.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035617,-0.926785,-0.373901],[0.997334,0.009118,0.072406],[-0.063695,-0.375483,0.924638]]
2025-10-26T19:59:27.654Z,1761508767.654 [DAT](INFO): setting remote address to 6
2025-10-26T19:59:27.904Z,1761508767.904 [DAT](INFO): DAT read: user:20>

2025-10-26T19:59:27.905Z,1761508767.905 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:59:27.905Z,1761508767.905 [DAT](INFO): set remote address to 6
2025-10-26T19:59:27.906Z,1761508767.906 [DAT](INFO): entering online mode
2025-10-26T19:59:28.006Z,1761508768.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055036,-0.925065,-0.375801],[0.996112,0.024936,0.084499],[-0.068796,-0.378991,0.922840]]
2025-10-26T19:59:28.156Z,1761508768.156 [DAT](INFO): DAT read: user:21>

2025-10-26T19:59:28.157Z,1761508768.157 [DAT](INFO): DAT read: 

2025-10-26T19:59:28.158Z,1761508768.158 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:59:28.158Z,1761508768.158 [DAT](INFO): commRate: 600
2025-10-26T19:59:28.158Z,1761508768.158 [DAT](INFO): online mode acknowledged
2025-10-26T19:59:28.159Z,1761508768.159 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:59:28.411Z,1761508768.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071594,-0.923775,-0.376183],[0.994838,0.038945,0.093700],[-0.071907,-0.380950,0.921795]]
2025-10-26T19:59:28.831Z,1761508768.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087128,-0.922594,-0.375804],[0.993422,0.052327,0.101855],[-0.074306,-0.382207,0.921085]]
2025-10-26T19:59:29.236Z,1761508769.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102184,-0.921634,-0.374364],[0.991768,0.065196,0.110203],[-0.077160,-0.382543,0.920710]]
2025-10-26T19:59:29.622Z,1761508769.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116580,-0.920919,-0.371910],[0.989900,0.077326,0.118822],[-0.080667,-0.382006,0.920633]]
2025-10-26T19:59:30.026Z,1761508770.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130166,-0.920787,-0.367706],[0.987857,0.088712,0.127549],[-0.084825,-0.379844,0.921153]]
2025-10-26T19:59:30.431Z,1761508770.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142565,-0.920295,-0.364325],[0.985768,0.098887,0.135953],[-0.089089,-0.378522,0.921295]]
2025-10-26T19:59:30.837Z,1761508770.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154032,-0.920102,-0.360119],[0.983690,0.108538,0.143435],[-0.092889,-0.376339,0.921814]]
2025-10-26T19:59:31.256Z,1761508771.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173031,-0.919116,-0.353958],[0.980237,0.125712,0.152751],[-0.095899,-0.373393,0.922703]]
2025-10-26T19:59:31.433Z,1761508771.433 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:59:30.6151

2025-10-26T19:59:31.433Z,1761508771.433 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateRudder:A] Stopped
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:59:31.688Z,1761508771.688 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:59:31.689Z,1761508771.689 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:59:31.689Z,1761508771.689 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:59:31.689Z,1761508771.689 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:59:31.689Z,1761508771.689 [marl:UpdateCommandMode] Stopped
2025-10-26T19:59:31.689Z,1761508771.689 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:59:32.052Z,1761508772.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190575,-0.917107,-0.350136],[0.977380,0.143943,0.154949],[-0.091706,-0.371745,0.923794]]
2025-10-26T19:59:32.084Z,1761508772.084 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:59:32.084Z,1761508772.084 [marl:UpdateRudder:B] Stopped
2025-10-26T19:59:32.084Z,1761508772.084 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:59:32.084Z,1761508772.084 [marl:UpdateRudder] Stopped
2025-10-26T19:59:32.084Z,1761508772.084 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:59:32.456Z,1761508772.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201798,-0.915145,-0.348981],[0.975443,0.155680,0.155804],[-0.088254,-0.371852,0.924087]]
2025-10-26T19:59:32.860Z,1761508772.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215691,-0.911971,-0.348979],[0.972795,0.169746,0.157659],[-0.084542,-0.373491,0.923773]]
2025-10-26T19:59:33.270Z,1761508773.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231972,-0.907863,-0.349248],[0.969407,0.186150,0.159993],[-0.080240,-0.375677,0.923270]]
2025-10-26T19:59:33.665Z,1761508773.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250657,-0.902315,-0.350710],[0.965141,0.204733,0.163059],[-0.075328,-0.379356,0.922179]]
2025-10-26T19:59:33.699Z,1761508773.699 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:59:33.699Z,1761508773.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:59:33.700Z,1761508773.700 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:59:33.700Z,1761508773.700 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:59:33.700Z,1761508773.700 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:59:33.701Z,1761508773.701 [marl:UpdateSpeed] Stopped
2025-10-26T19:59:33.701Z,1761508773.701 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:59:34.066Z,1761508774.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271413,-0.895802,-0.351957],[0.959932,0.225450,0.166440],[-0.069748,-0.383028,0.921100]]
2025-10-26T19:59:34.470Z,1761508774.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293473,-0.888771,-0.352080],[0.953788,0.247368,0.170580],[-0.064513,-0.385871,0.920294]]
2025-10-26T19:59:34.874Z,1761508774.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315989,-0.881665,-0.350454],[0.946823,0.269434,0.175872],[-0.060636,-0.387391,0.919919]]
2025-10-26T19:59:35.278Z,1761508775.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338684,-0.874152,-0.348068],[0.939013,0.290610,0.183848],[-0.059559,-0.389107,0.919265]]
2025-10-26T19:59:35.683Z,1761508775.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360851,-0.867682,-0.341929],[0.930523,0.310375,0.194408],[-0.062559,-0.388325,0.919397]]
2025-10-26T19:59:36.088Z,1761508776.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376266,-0.864116,-0.334258],[0.924075,0.323854,0.202988],[-0.067154,-0.385257,0.920363]]
2025-10-26T19:59:36.494Z,1761508776.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386086,-0.862031,-0.328390],[0.919657,0.331951,0.209856],[-0.071893,-0.383028,0.920935]]
2025-10-26T19:59:36.894Z,1761508776.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393864,-0.860326,-0.323591],[0.916080,0.338574,0.214860],[-0.075290,-0.381061,0.921479]]
2025-10-26T19:59:37.298Z,1761508777.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400516,-0.857886,-0.321897],[0.913220,0.345000,0.216805],[-0.074939,-0.380797,0.921617]]
2025-10-26T19:59:37.714Z,1761508777.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405809,-0.854605,-0.323989],[0.911311,0.351396,0.214554],[-0.069510,-0.382323,0.921411]]
2025-10-26T19:59:38.106Z,1761508778.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411434,-0.851136,-0.326021],[0.909487,0.359986,0.207951],[-0.059631,-0.382070,0.922207]]
2025-10-26T19:59:38.512Z,1761508778.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422118,-0.845673,-0.326579],[0.905219,0.373754,0.202205],[-0.048939,-0.380980,0.923287]]
2025-10-26T19:59:38.916Z,1761508778.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436717,-0.838416,-0.326093],[0.898769,0.391067,0.198195],[-0.038646,-0.379638,0.924328]]
2025-10-26T19:59:39.319Z,1761508779.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453221,-0.830444,-0.323966],[0.890924,0.410148,0.195021],[-0.029080,-0.377017,0.925750]]
2025-10-26T19:59:39.731Z,1761508779.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471161,-0.821512,-0.321131],[0.881778,0.429692,0.194505],[-0.021801,-0.374809,0.926846]]
2025-10-26T19:59:40.126Z,1761508780.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490288,-0.811777,-0.317232],[0.871380,0.449148,0.197390],[-0.017752,-0.373207,0.927578]]
2025-10-26T19:59:40.532Z,1761508780.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510163,-0.800820,-0.313721],[0.859915,0.467814,0.204198],[-0.016762,-0.373947,0.927298]]
2025-10-26T19:59:40.934Z,1761508780.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530460,-0.789024,-0.309924],[0.847524,0.485986,0.213354],[-0.017723,-0.375844,0.926513]]
2025-10-26T19:59:41.338Z,1761508781.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551169,-0.776176,-0.306208],[0.834180,0.504283,0.223254],[-0.018869,-0.378483,0.925416]]
2025-10-26T19:59:41.532Z,1761508781.532 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:59:41.745Z,1761508781.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572246,-0.762136,-0.302792],[0.819868,0.523236,0.232466],[-0.018739,-0.381277,0.924271]]
2025-10-26T19:59:41.785Z,1761508781.785 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T19:59:41.785Z,1761508781.785 [DAT](INFO): #Outgoing data=5
2025-10-26T19:59:41.786Z,1761508781.786 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:59:42.036Z,1761508782.036 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:59:42.146Z,1761508782.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592957,-0.747206,-0.300142],[0.805069,0.542568,0.239759],[-0.016302,-0.383802,0.923272]]
2025-10-26T19:59:42.551Z,1761508782.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612741,-0.731678,-0.298657],[0.790196,0.561587,0.245378],[-0.011815,-0.386351,0.922276]]
2025-10-26T19:59:42.955Z,1761508782.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631040,-0.715785,-0.299066],[0.775718,0.578743,0.251629],[-0.007030,-0.390779,0.920458]]
2025-10-26T19:59:43.364Z,1761508783.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647714,-0.700225,-0.300253],[0.761870,0.592878,0.260864],[-0.004650,-0.397719,0.917496]]
2025-10-26T19:59:43.762Z,1761508783.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661686,-0.687392,-0.299441],[0.749751,0.603030,0.272448],[-0.006707,-0.404781,0.914389]]
2025-10-26T19:59:44.166Z,1761508784.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672281,-0.678538,-0.296013],[0.740192,0.609401,0.284160],[-0.012423,-0.410142,0.911937]]
2025-10-26T19:59:44.572Z,1761508784.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680318,-0.672864,-0.290553],[0.732646,0.613562,0.294570],[-0.019933,-0.413274,0.910388]]
2025-10-26T19:59:44.975Z,1761508784.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686440,-0.668777,-0.285546],[0.726689,0.616352,0.303372],[-0.026891,-0.415749,0.909082]]
2025-10-26T19:59:45.060Z,1761508785.060 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:59:45.060Z,1761508785.060 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:59:45.060Z,1761508785.060 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateRudder:A] Stopped
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:59:45.061Z,1761508785.061 [marl:UpdateCommandMode] Stopped
2025-10-26T19:59:45.062Z,1761508785.062 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:59:45.176Z,1761508785.176 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.215393
2025-10-26T19:59:45.317Z,1761508785.317 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:59:44.5150

2025-10-26T19:59:45.317Z,1761508785.317 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T19:59:45.378Z,1761508785.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690778,-0.665726,-0.282196],[0.722423,0.618957,0.308218],[-0.030521,-0.416775,0.908497]]
2025-10-26T19:59:45.424Z,1761508785.424 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:59:45.424Z,1761508785.424 [marl:UpdateRudder:B] Stopped
2025-10-26T19:59:45.424Z,1761508785.424 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:59:45.424Z,1761508785.424 [marl:UpdateRudder] Stopped
2025-10-26T19:59:45.424Z,1761508785.424 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:59:45.782Z,1761508785.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693964,-0.662913,-0.280998],[0.719433,0.622813,0.307441],[-0.028798,-0.415512,0.909132]]
2025-10-26T19:59:46.180Z,1761508786.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T19:59:46.194Z,1761508786.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696876,-0.659027,-0.282926],[0.716876,0.628381,0.302037],[-0.021265,-0.413305,0.910344]]
2025-10-26T19:59:46.594Z,1761508786.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700470,-0.654012,-0.285676],[0.713629,0.636956,0.291584],[-0.008737,-0.408113,0.912890]]
2025-10-26T19:59:46.994Z,1761508786.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705768,-0.647488,-0.287490],[0.708411,0.648881,0.277683],[0.006750,-0.399641,0.916647]]
2025-10-26T19:59:47.043Z,1761508787.043 [marl:UpdateSpeed] Running Loop=1
2025-10-26T19:59:47.043Z,1761508787.043 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T19:59:47.043Z,1761508787.043 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T19:59:47.044Z,1761508787.044 [marl:UpdateSpeed:A] Stopped
2025-10-26T19:59:47.044Z,1761508787.044 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T19:59:47.044Z,1761508787.044 [marl:UpdateSpeed] Stopped
2025-10-26T19:59:47.044Z,1761508787.044 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T19:59:47.398Z,1761508787.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713493,-0.638776,-0.287912],[0.700285,0.663617,0.263085],[0.023011,-0.389330,0.920811]]
2025-10-26T19:59:47.803Z,1761508787.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725240,-0.626589,-0.285331],[0.687508,0.681285,0.251364],[0.036890,-0.378467,0.924880]]
2025-10-26T19:59:48.217Z,1761508788.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742688,-0.607293,-0.282151],[0.668061,0.700853,0.249999],[0.045924,-0.374165,0.926224]]
2025-10-26T19:59:48.610Z,1761508788.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762104,-0.585185,-0.277050],[0.645492,0.720014,0.254793],[0.050379,-0.373012,0.926458]]
2025-10-26T19:59:49.014Z,1761508789.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780290,-0.563902,-0.270486],[0.623328,0.736520,0.262679],[0.051094,-0.373567,0.926195]]
2025-10-26T19:59:49.185Z,1761508789.185 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T19:59:49.186Z,1761508789.186 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T19:59:49.422Z,1761508789.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795980,-0.544643,-0.264160],[0.603416,0.748542,0.274906],[0.048010,-0.378218,0.924471]]
2025-10-26T19:59:49.824Z,1761508789.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808339,-0.529193,-0.257960],[0.587153,0.756600,0.287762],[0.042891,-0.384071,0.922307]]
2025-10-26T19:59:50.227Z,1761508790.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817444,-0.517652,-0.252630],[0.574794,0.761543,0.299440],[0.037383,-0.389985,0.920062]]
2025-10-26T19:59:50.630Z,1761508790.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824377,-0.508138,-0.249395],[0.565090,0.764334,0.310592],[0.032798,-0.396975,0.917243]]
2025-10-26T19:59:51.035Z,1761508791.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829959,-0.498932,-0.249469],[0.556964,0.766016,0.320953],[0.030964,-0.405323,0.913649]]
2025-10-26T19:59:51.444Z,1761508791.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834208,-0.490218,-0.252554],[0.550488,0.767325,0.328900],[0.032558,-0.413399,0.909968]]
2025-10-26T19:59:51.503Z,1761508791.503 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T19:59:51.617Z,1761508791.617 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:59:51.668Z,1761508791.668 [DAT](INFO): entering command mode
2025-10-26T19:59:51.842Z,1761508791.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837443,-0.481394,-0.258744],[0.545207,0.768723,0.334387],[0.037931,-0.421099,0.906221]]
2025-10-26T19:59:51.868Z,1761508791.868 [DAT](INFO): DAT read: 

2025-10-26T19:59:51.869Z,1761508791.869 [DAT](INFO): DAT read: user:22>

2025-10-26T19:59:51.869Z,1761508791.869 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:59:51.869Z,1761508791.869 [DAT](INFO): setting remote address to 0
2025-10-26T19:59:52.120Z,1761508792.120 [DAT](INFO): DAT read: user:22>

2025-10-26T19:59:52.121Z,1761508792.121 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T19:59:52.121Z,1761508792.121 [DAT](INFO): set remote address to 0
2025-10-26T19:59:52.122Z,1761508792.122 [DAT](DEBUG): Acoustic response timeout
2025-10-26T19:59:52.122Z,1761508792.122 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T19:59:52.246Z,1761508792.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840401,-0.473330,-0.263979],[0.540001,0.772740,0.333573],[0.046097,-0.422884,0.905010]]
2025-10-26T19:59:52.372Z,1761508792.372 [DAT](INFO): DAT read: user:23>

2025-10-26T19:59:52.373Z,1761508792.373 [DAT](INFO): DAT read: Tx time:19:59:51.5162

2025-10-26T19:59:52.373Z,1761508792.373 [DAT](INFO): Ping request sent.
2025-10-26T19:59:52.373Z,1761508792.373 [DAT](INFO): transmitted an acoustic signal
2025-10-26T19:59:52.374Z,1761508792.374 [DAT](INFO): publishing transmit ping time
2025-10-26T19:59:52.374Z,1761508792.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969
2025-10-26T19:59:52.528Z,1761508792.528 [Radio_Surface](INFO): Powering down
2025-10-26T19:59:52.624Z,1761508792.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250964
2025-10-26T19:59:52.650Z,1761508792.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843969,-0.465253,-0.266940],[0.533462,0.779991,0.327159],[0.055999,-0.418514,0.906483]]
2025-10-26T19:59:52.876Z,1761508792.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502978
2025-10-26T19:59:53.056Z,1761508793.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848935,-0.455853,-0.267408],[0.524303,0.790052,0.317686],[0.066448,-0.409898,0.909708]]
2025-10-26T19:59:53.129Z,1761508793.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755627
2025-10-26T19:59:53.380Z,1761508793.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006962
2025-10-26T19:59:53.458Z,1761508793.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856083,-0.443910,-0.264701],[0.511178,0.802825,0.306870],[0.076286,-0.398016,0.914201]]
2025-10-26T19:59:53.632Z,1761508793.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258949
2025-10-26T19:59:53.862Z,1761508793.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864915,-0.429082,-0.260404],[0.494767,0.816131,0.298555],[0.084419,-0.387065,0.918180]]
2025-10-26T19:59:53.885Z,1761508793.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511607
2025-10-26T19:59:54.137Z,1761508794.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763063
2025-10-26T19:59:54.267Z,1761508794.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875322,-0.411250,-0.254331],[0.475071,0.829431,0.293857],[0.090102,-0.378045,0.921392]]
2025-10-26T19:59:54.389Z,1761508794.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015580
2025-10-26T19:59:54.640Z,1761508794.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899
2025-10-26T19:59:54.690Z,1761508794.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886395,-0.391431,-0.247155],[0.453391,0.841871,0.292728],[0.093490,-0.371530,0.923702]]
2025-10-26T19:59:54.892Z,1761508794.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967
2025-10-26T19:59:55.074Z,1761508795.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897764,-0.369508,-0.239758],[0.430200,0.852438,0.297115],[0.094592,-0.369883,0.924250]]
2025-10-26T19:59:55.161Z,1761508795.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787173
2025-10-26T19:59:55.412Z,1761508795.412 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T19:59:55.412Z,1761508795.412 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T19:59:55.413Z,1761508795.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039105
2025-10-26T19:59:55.488Z,1761508795.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909062,-0.346151,-0.231916],[0.405967,0.861135,0.306002],[0.093788,-0.372325,0.923351]]
2025-10-26T19:59:55.664Z,1761508795.664 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T19:59:55.665Z,1761508795.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291110
2025-10-26T19:59:55.882Z,1761508795.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919041,-0.324037,-0.224420],[0.383231,0.867742,0.316479],[0.092188,-0.376861,0.921671]]
2025-10-26T19:59:55.916Z,1761508795.916 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T19:59:55.917Z,1761508795.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543145
2025-10-26T19:59:56.168Z,1761508796.168 [DAT](INFO): setting remote address to 6
2025-10-26T19:59:56.169Z,1761508796.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795239
2025-10-26T19:59:56.286Z,1761508796.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926369,-0.306065,-0.219465],[0.365222,0.872311,0.325095],[0.091941,-0.381311,0.919863]]
2025-10-26T19:59:56.420Z,1761508796.420 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:59:56.421Z,1761508796.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047547
2025-10-26T19:59:56.673Z,1761508796.673 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:59:56.674Z,1761508796.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.300021
2025-10-26T19:59:56.705Z,1761508796.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931835,-0.291735,-0.215810],[0.350841,0.876206,0.330413],[0.092701,-0.383606,0.918832]]
2025-10-26T19:59:56.925Z,1761508796.925 [DAT](INFO): DAT read: Rx Time:19:59:55.5638

2025-10-26T19:59:56.926Z,1761508796.926 [DAT](INFO): Rx dataTimestamp_ set to:1761508796.925247
2025-10-26T19:59:56.926Z,1761508796.926 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:59:56.926Z,1761508796.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.552774
2025-10-26T19:59:57.099Z,1761508797.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936666,-0.278633,-0.212182],[0.337414,0.880298,0.333507],[0.093857,-0.383978,0.918560]]
2025-10-26T19:59:57.177Z,1761508797.177 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T19:59:57.178Z,1761508797.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.804241
2025-10-26T19:59:57.434Z,1761508797.434 [DAT](INFO): DAT read: 19:59:55.5638 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX=  58, 0.36, 1.275,-0.067, 1.656, 1.382, PHS=-0.004,-1.404, 0.230, RAW= 157.6,  15.2, CAL= 158.4,  17.6, ROT= 351.6, -17.6

2025-10-26T19:59:57.436Z,1761508797.436 [DAT](INFO): got valid direction response:
 19:59:55.5638 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX=  58, 0.36, 1.275,-0.067, 1.656, 1.382, PHS=-0.004,-1.404, 0.230, RAW= 157.6,  15.2, CAL= 158.4,  17.6, ROT= 351.6, -17.6

2025-10-26T19:59:57.437Z,1761508797.437 [DAT](INFO): DAT read: Bearing 183.5,  -8.8 (Local)

2025-10-26T19:59:57.437Z,1761508797.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.5,  -8.8 (Local)

2025-10-26T19:59:57.438Z,1761508797.438 [DAT](INFO): DAT read: Range 11 to 20 : 1232.6 m  (Round-trip  1643.5 ms) speed  0.5 m/s

2025-10-26T19:59:57.439Z,1761508797.439 [DAT](INFO): DAT read: user:24>

2025-10-26T19:59:57.440Z,1761508797.440 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T19:59:57.440Z,1761508797.440 [DAT](INFO): set remote address to 6
2025-10-26T19:59:57.441Z,1761508797.441 [DAT](INFO): entering online mode
2025-10-26T19:59:57.506Z,1761508797.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941347,-0.265262,-0.208572],[0.323665,0.884587,0.335777],[0.095432,-0.383590,0.918559]]
2025-10-26T19:59:57.682Z,1761508797.682 [DAT](INFO): DAT read: user:25>

2025-10-26T19:59:57.683Z,1761508797.683 [DAT](INFO): DAT read: 

2025-10-26T19:59:57.685Z,1761508797.685 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T19:59:57.686Z,1761508797.686 [DAT](INFO): commRate: 600
2025-10-26T19:59:57.686Z,1761508797.686 [DAT](INFO): online mode acknowledged
2025-10-26T19:59:57.686Z,1761508797.686 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T19:59:57.687Z,1761508797.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.313060
2025-10-26T19:59:57.906Z,1761508797.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945964,-0.251040,-0.205260],[0.309184,0.889092,0.337521],[0.097764,-0.382746,0.918666]]
2025-10-26T19:59:57.933Z,1761508797.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559085
2025-10-26T19:59:58.185Z,1761508798.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.811552
2025-10-26T19:59:58.310Z,1761508798.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950506,-0.235208,-0.203014],[0.293867,0.892729,0.341581],[0.100894,-0.384334,0.917664]]
2025-10-26T19:59:58.334Z,1761508798.334 [marl:UpdateRudder] Running Loop=1
2025-10-26T19:59:58.334Z,1761508798.334 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T19:59:58.334Z,1761508798.334 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T19:59:58.334Z,1761508798.334 [marl:UpdateRudder:A] Stopped
2025-10-26T19:59:58.334Z,1761508798.334 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T19:59:58.334Z,1761508798.334 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T19:59:58.335Z,1761508798.335 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T19:59:58.335Z,1761508798.335 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T19:59:58.335Z,1761508798.335 [marl:UpdateCommandMode:A] Stopped
2025-10-26T19:59:58.335Z,1761508798.335 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T19:59:58.335Z,1761508798.335 [marl:UpdateCommandMode] Stopped
2025-10-26T19:59:58.335Z,1761508798.335 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T19:59:58.436Z,1761508798.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.063009
2025-10-26T19:59:58.689Z,1761508798.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.315275
2025-10-26T19:59:58.733Z,1761508798.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954804,-0.218279,-0.201754],[0.278245,0.895102,0.348385],[0.104545,-0.388776,0.915381]]
2025-10-26T19:59:58.827Z,1761508798.827 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T19:59:58.827Z,1761508798.827 [marl:UpdateRudder:B] Stopped
2025-10-26T19:59:58.827Z,1761508798.827 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T19:59:58.827Z,1761508798.827 [marl:UpdateRudder] Stopped
2025-10-26T19:59:58.831Z,1761508798.831 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T19:59:58.940Z,1761508798.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566898
2025-10-26T19:59:59.118Z,1761508799.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958732,-0.200469,-0.201604],[0.262863,0.895199,0.359891],[0.108329,-0.398033,0.910952]]
2025-10-26T19:59:59.193Z,1761508799.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819521
2025-10-26T19:59:59.444Z,1761508799.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070952
2025-10-26T19:59:59.522Z,1761508799.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962263,-0.183269,-0.201152],[0.248409,0.893388,0.374367],[0.111097,-0.410207,0.905200]]
2025-10-26T19:59:59.697Z,1761508799.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323491
2025-10-26T19:59:59.926Z,1761508799.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965447,-0.167101,-0.199974],[0.234928,0.890193,0.390341],[0.112789,-0.423833,0.898690]]
2025-10-26T19:59:59.949Z,1761508799.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575365
2025-10-26T20:00:00.200Z,1761508800.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827028
2025-10-26T20:00:00.331Z,1761508800.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968250,-0.153350,-0.197421],[0.222668,0.888023,0.402287],[0.113624,-0.433474,0.893974]]
2025-10-26T20:00:00.374Z,1761508800.374 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:00:00.374Z,1761508800.374 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:00:00.374Z,1761508800.374 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:00:00.374Z,1761508800.374 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:00:00.375Z,1761508800.375 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:00:00.375Z,1761508800.375 [marl:UpdateSpeed] Stopped
2025-10-26T20:00:00.375Z,1761508800.375 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:00:00.452Z,1761508800.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078881
2025-10-26T20:00:00.705Z,1761508800.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.331139
2025-10-26T20:00:00.825Z,1761508800.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970684,-0.142078,-0.193870],[0.211606,0.887688,0.408941],[0.113995,-0.437977,0.891730]]
2025-10-26T20:00:00.957Z,1761508800.957 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:00:00.1650

2025-10-26T20:00:00.957Z,1761508800.957 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:00:00.958Z,1761508800.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.584095
2025-10-26T20:00:01.138Z,1761508801.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972867,-0.132990,-0.189325],[0.201140,0.890538,0.408026],[0.114337,-0.435036,0.893124]]
2025-10-26T20:00:01.208Z,1761508801.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835000
2025-10-26T20:00:01.461Z,1761508801.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087532
2025-10-26T20:00:01.543Z,1761508801.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974944,-0.124934,-0.184055],[0.190358,0.896668,0.399687],[0.115102,-0.424709,0.897983]]
2025-10-26T20:00:01.714Z,1761508801.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339823
2025-10-26T20:00:01.946Z,1761508801.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977489,-0.113582,-0.177801],[0.175923,0.903994,0.389675],[0.116471,-0.412183,0.903626]]
2025-10-26T20:00:01.964Z,1761508801.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.591036
2025-10-26T20:00:02.216Z,1761508802.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842899
2025-10-26T20:00:02.350Z,1761508802.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980722,-0.096379,-0.169986],[0.155492,0.911761,0.380150],[0.118348,-0.399253,0.909170]]
2025-10-26T20:00:02.469Z,1761508802.469 [DAT](INFO): Reached modem response timeout
2025-10-26T20:00:02.764Z,1761508802.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984144,-0.074238,-0.161089],[0.130460,0.918272,0.373840],[0.120171,-0.388928,0.913397]]
2025-10-26T20:00:03.160Z,1761508803.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986708,-0.053795,-0.153344],[0.107672,0.923185,0.368966],[0.121716,-0.380573,0.916706]]
2025-10-26T20:00:03.562Z,1761508803.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988299,-0.038480,-0.147595],[0.090671,0.926336,0.365623],[0.122653,-0.374727,0.918986]]
2025-10-26T20:00:03.994Z,1761508803.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989544,-0.024316,-0.142170],[0.075561,0.926997,0.367378],[0.122858,-0.374279,0.919142]]
2025-10-26T20:00:04.370Z,1761508804.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990552,-0.010893,-0.136701],[0.061718,0.925592,0.373456],[0.122461,-0.378365,0.917520]]
2025-10-26T20:00:04.826Z,1761508804.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991287,0.001090,-0.131717],[0.049668,0.923060,0.381436],[0.121999,-0.384655,0.914963]]
2025-10-26T20:00:05.188Z,1761508805.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991755,0.011099,-0.127664],[0.039658,0.920752,0.388127],[0.121855,-0.389990,0.912721]]
2025-10-26T20:00:05.582Z,1761508805.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991959,0.020048,-0.124958],[0.030848,0.919290,0.392370],[0.122739,-0.393070,0.911280]]
2025-10-26T20:00:05.987Z,1761508805.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991939,0.030268,-0.123047],[0.020749,0.919149,0.393364],[0.125005,-0.392746,0.911111]]
2025-10-26T20:00:06.391Z,1761508806.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991646,0.045514,-0.120691],[0.005743,0.919169,0.393821],[0.128860,-0.391224,0.911229]]
2025-10-26T20:00:06.826Z,1761508806.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991076,0.063139,-0.117399],[-0.012111,0.919715,0.392399],[0.132749,-0.387476,0.912272]]
2025-10-26T20:00:07.200Z,1761508807.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990171,0.082481,-0.112956],[-0.031711,0.918967,0.393056],[0.136223,-0.385611,0.912550]]
2025-10-26T20:00:07.602Z,1761508807.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988970,0.101996,-0.107402],[-0.051892,0.917758,0.393736],[0.138729,-0.383820,0.912928]]
2025-10-26T20:00:08.007Z,1761508808.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987558,0.121480,-0.099860],[-0.072249,0.914526,0.398024],[0.139676,-0.385857,0.911924]]
2025-10-26T20:00:08.410Z,1761508808.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986059,0.139536,-0.090649],[-0.091868,0.910753,0.402604],[0.138736,-0.388663,0.910875]]
2025-10-26T20:00:08.830Z,1761508808.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984441,0.155486,-0.081849],[-0.109525,0.907230,0.406125],[0.137403,-0.390842,0.910145]]
2025-10-26T20:00:09.220Z,1761508809.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982710,0.169388,-0.074755],[-0.124974,0.904750,0.407197],[0.136609,-0.390814,0.910276]]
2025-10-26T20:00:09.623Z,1761508809.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980608,0.183446,-0.068964],[-0.140399,0.903082,0.405871],[0.136735,-0.388318,0.911325]]
2025-10-26T20:00:10.026Z,1761508810.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977940,0.199112,-0.063144],[-0.157301,0.900881,0.404561],[0.137438,-0.385704,0.912329]]
2025-10-26T20:00:10.430Z,1761508810.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974613,0.216762,-0.056079],[-0.176784,0.898699,0.401357],[0.137397,-0.381254,0.914203]]
2025-10-26T20:00:10.838Z,1761508810.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970556,0.236207,-0.047197],[-0.198483,0.895258,0.398894],[0.136475,-0.377782,0.915781]]
2025-10-26T20:00:10.854Z,1761508810.854 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1020.87, 861.85, 705.42
2025-10-26T20:00:11.040Z,1761508811.040 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:00:11.238Z,1761508811.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965933,0.256018,-0.037801],[-0.220656,0.891074,0.396609],[0.135222,-0.374756,0.917209]]
2025-10-26T20:00:11.293Z,1761508811.293 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:00:11.544Z,1761508811.544 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:00:11.642Z,1761508811.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960979,0.275157,-0.028419],[-0.242166,0.886486,0.394332],[0.133696,-0.372063,0.918529]]
2025-10-26T20:00:11.708Z,1761508811.708 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:00:11.709Z,1761508811.709 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:00:11.709Z,1761508811.709 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:00:11.709Z,1761508811.709 [marl:UpdateRudder:A] Stopped
2025-10-26T20:00:11.709Z,1761508811.709 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:00:11.709Z,1761508811.709 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:00:11.710Z,1761508811.710 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:00:11.710Z,1761508811.710 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:00:11.710Z,1761508811.710 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:00:11.710Z,1761508811.710 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:00:11.710Z,1761508811.710 [marl:UpdateCommandMode] Stopped
2025-10-26T20:00:11.711Z,1761508811.711 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:00:12.046Z,1761508812.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955754,0.293548,-0.019094],[-0.262811,0.881232,0.392889],[0.132158,-0.370486,0.919388]]
2025-10-26T20:00:12.117Z,1761508812.117 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:00:12.117Z,1761508812.117 [marl:UpdateRudder:B] Stopped
2025-10-26T20:00:12.117Z,1761508812.117 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:00:12.117Z,1761508812.117 [marl:UpdateRudder] Stopped
2025-10-26T20:00:12.117Z,1761508812.117 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:00:12.452Z,1761508812.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950716,0.309883,-0.010571],[-0.281307,0.876379,0.390931],[0.130407,-0.368690,0.920359]]
2025-10-26T20:00:12.854Z,1761508812.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945900,0.324450,-0.002376],[-0.297930,0.871439,0.389655],[0.128494,-0.367867,0.920958]]
2025-10-26T20:00:13.258Z,1761508813.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941410,0.337212,0.005957],[-0.312708,0.866112,0.389954],[0.126338,-0.368970,0.920815]]
2025-10-26T20:00:13.669Z,1761508813.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937114,0.348721,0.014514],[-0.326327,0.860668,0.390847],[0.123804,-0.371004,0.920341]]
2025-10-26T20:00:13.737Z,1761508813.737 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:00:13.737Z,1761508813.737 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:00:13.737Z,1761508813.737 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:00:13.738Z,1761508813.738 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:00:13.738Z,1761508813.738 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:00:13.738Z,1761508813.738 [marl:UpdateSpeed] Stopped
2025-10-26T20:00:13.738Z,1761508813.738 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:00:14.068Z,1761508814.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932893,0.359346,0.024099],[-0.339320,0.854531,0.393242],[0.120716,-0.375030,0.919119]]
2025-10-26T20:00:14.471Z,1761508814.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928977,0.368622,0.033470],[-0.351114,0.849002,0.394859],[0.117138,-0.378567,0.918132]]
2025-10-26T20:00:14.823Z,1761508814.823 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:00:14.0149

2025-10-26T20:00:14.824Z,1761508814.824 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:00:14.874Z,1761508814.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924886,0.377776,0.043253],[-0.363091,0.843652,0.395495],[0.112918,-0.381493,0.917449]]
2025-10-26T20:00:15.286Z,1761508815.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919950,0.388387,0.053358],[-0.376656,0.837891,0.395057],[0.108727,-0.383530,0.917106]]
2025-10-26T20:00:15.686Z,1761508815.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914323,0.399996,0.063375],[-0.391210,0.831875,0.393622],[0.104727,-0.384690,0.917085]]
2025-10-26T20:00:16.089Z,1761508816.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907873,0.412844,0.072984],[-0.406882,0.825678,0.390772],[0.101067,-0.384467,0.917589]]
2025-10-26T20:00:16.308Z,1761508816.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:00:16.490Z,1761508816.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900986,0.426099,0.081636],[-0.422696,0.819754,0.386435],[0.097738,-0.382679,0.918697]]
2025-10-26T20:00:16.899Z,1761508816.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893586,0.439906,0.089364],[-0.438732,0.813767,0.381180],[0.094962,-0.379824,0.920172]]
2025-10-26T20:00:17.304Z,1761508817.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877435,0.468022,0.105179],[-0.471252,0.800062,0.371244],[0.089601,-0.375308,0.922559]]
2025-10-26T20:00:17.312Z,1761508817.312 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-26T20:00:17.312Z,1761508817.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:00:17.713Z,1761508817.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869204,0.481528,0.112320],[-0.486714,0.793191,0.366003],[0.087149,-0.372799,0.923811]]
2025-10-26T20:00:18.125Z,1761508818.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861837,0.493007,0.119084],[-0.500089,0.786882,0.361563],[0.084548,-0.371161,0.924711]]
2025-10-26T20:00:18.514Z,1761508818.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853804,0.504789,0.127308],[-0.514098,0.779033,0.358903],[0.081994,-0.371882,0.924652]]
2025-10-26T20:00:18.917Z,1761508818.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844975,0.517071,0.136584],[-0.528894,0.770050,0.356783],[0.079306,-0.373711,0.924149]]
2025-10-26T20:00:19.319Z,1761508819.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835661,0.529154,0.147197],[-0.543990,0.760402,0.354774],[0.075801,-0.376544,0.923292]]
2025-10-26T20:00:19.730Z,1761508819.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825312,0.542069,0.158180],[-0.560095,0.750228,0.351357],[0.071789,-0.378575,0.922782]]
2025-10-26T20:00:20.127Z,1761508820.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813786,0.556236,0.168387],[-0.577252,0.740070,0.345074],[0.067324,-0.378018,0.923347]]
2025-10-26T20:00:20.532Z,1761508820.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801102,0.571209,0.178762],[-0.595254,0.729160,0.337636],[0.062515,-0.376890,0.924146]]
2025-10-26T20:00:20.934Z,1761508820.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788221,0.585831,0.188441],[-0.612699,0.718460,0.329264],[0.057506,-0.374990,0.925244]]
2025-10-26T20:00:20.966Z,1761508820.966 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050223483891,35.0, +1.0,1506.6,  0
2025-10-26T20:00:21.339Z,1761508821.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774748,0.600659,0.197417],[-0.630083,0.707524,0.320007],[0.052538,-0.372314,0.926619]]
2025-10-26T20:00:21.744Z,1761508821.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760944,0.615552,0.205087],[-0.647012,0.696350,0.310601],[0.048378,-0.369044,0.928152]]
2025-10-26T20:00:21.774Z,1761508821.774 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:00:21.880Z,1761508821.880 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:00:21.931Z,1761508821.931 [DAT](INFO): entering command mode
2025-10-26T20:00:22.132Z,1761508822.132 [DAT](INFO): DAT read: 

2025-10-26T20:00:22.133Z,1761508822.133 [DAT](INFO): DAT read: user:26>

2025-10-26T20:00:22.133Z,1761508822.133 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:00:22.133Z,1761508822.133 [DAT](INFO): setting remote address to 0
2025-10-26T20:00:22.189Z,1761508822.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746789,0.630901,0.210404],[-0.663448,0.684697,0.301705],[0.046283,-0.364902,0.929895]]
2025-10-26T20:00:22.384Z,1761508822.384 [DAT](INFO): DAT read: user:26>

2025-10-26T20:00:22.385Z,1761508822.385 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:00:22.385Z,1761508822.385 [DAT](INFO): set remote address to 0
2025-10-26T20:00:22.386Z,1761508822.386 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:00:22.386Z,1761508822.386 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:00:22.550Z,1761508822.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731995,0.646685,0.214435],[-0.679682,0.671388,0.295415],[0.047072,-0.361990,0.930993]]
2025-10-26T20:00:22.636Z,1761508822.636 [DAT](INFO): DAT read: user:27>

2025-10-26T20:00:22.637Z,1761508822.637 [DAT](INFO): DAT read: Tx time:20:00:21.7661

2025-10-26T20:00:22.638Z,1761508822.638 [DAT](INFO): Ping request sent.
2025-10-26T20:00:22.638Z,1761508822.638 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:00:22.639Z,1761508822.639 [DAT](INFO): publishing transmit ping time
2025-10-26T20:00:22.640Z,1761508822.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002151
2025-10-26T20:00:22.888Z,1761508822.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250490
2025-10-26T20:00:22.954Z,1761508822.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716874,0.662531,0.217127],[-0.695372,0.656888,0.291471],[0.050481,-0.359932,0.931612]]
2025-10-26T20:00:23.141Z,1761508823.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503190
2025-10-26T20:00:23.358Z,1761508823.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703789,0.675569,0.219746],[-0.708360,0.643862,0.289255],[0.053925,-0.359234,0.931688]]
2025-10-26T20:00:23.393Z,1761508823.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754877
2025-10-26T20:00:23.646Z,1761508823.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007613
2025-10-26T20:00:23.762Z,1761508823.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692800,0.684953,0.225536],[-0.718993,0.632038,0.289098],[0.055472,-0.362446,0.930352]]
2025-10-26T20:00:23.896Z,1761508823.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258347
2025-10-26T20:00:24.149Z,1761508824.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510801
2025-10-26T20:00:24.177Z,1761508824.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682943,0.691904,0.234218],[-0.728359,0.620646,0.290330],[0.055514,-0.368873,0.927820]]
2025-10-26T20:00:24.400Z,1761508824.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762492
2025-10-26T20:00:24.572Z,1761508824.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672679,0.698897,0.242994],[-0.737893,0.609244,0.290406],[0.054921,-0.374654,0.925537]]
2025-10-26T20:00:24.653Z,1761508824.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015069
2025-10-26T20:00:24.907Z,1761508824.907 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:00:24.907Z,1761508824.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269482
2025-10-26T20:00:24.974Z,1761508824.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662603,0.706109,0.249735],[-0.747011,0.598943,0.288518],[0.054148,-0.377728,0.924332]]
2025-10-26T20:00:25.047Z,1761508825.047 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:00:25.047Z,1761508825.047 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:00:25.048Z,1761508825.048 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:00:25.048Z,1761508825.048 [marl:UpdateRudder:A] Stopped
2025-10-26T20:00:25.048Z,1761508825.048 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:00:25.048Z,1761508825.048 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:00:25.048Z,1761508825.048 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:00:25.048Z,1761508825.048 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:00:25.049Z,1761508825.049 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:00:25.049Z,1761508825.049 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:00:25.049Z,1761508825.049 [marl:UpdateCommandMode] Stopped
2025-10-26T20:00:25.049Z,1761508825.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:00:25.157Z,1761508825.157 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:00:25.157Z,1761508825.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519401
2025-10-26T20:00:25.378Z,1761508825.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652749,0.713394,0.254927],[-0.755682,0.589382,0.285611],[0.053503,-0.379076,0.923817]]
2025-10-26T20:00:25.408Z,1761508825.408 [DAT](INFO): setting remote address to 6
2025-10-26T20:00:25.409Z,1761508825.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770738
2025-10-26T20:00:25.423Z,1761508825.423 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:00:25.423Z,1761508825.423 [marl:UpdateRudder:B] Stopped
2025-10-26T20:00:25.423Z,1761508825.423 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:00:25.423Z,1761508825.423 [marl:UpdateRudder] Stopped
2025-10-26T20:00:25.424Z,1761508825.424 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:00:25.661Z,1761508825.661 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:25.662Z,1761508825.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023938
2025-10-26T20:00:25.783Z,1761508825.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642637,0.720938,0.259358],[-0.764347,0.579915,0.281909],[0.052833,-0.379405,0.923721]]
2025-10-26T20:00:25.912Z,1761508825.912 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:25.912Z,1761508825.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274562
2025-10-26T20:00:26.165Z,1761508826.165 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:26.165Z,1761508826.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527304
2025-10-26T20:00:26.201Z,1761508826.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632495,0.728236,0.263861],[-0.772817,0.570459,0.278083],[0.051988,-0.379802,0.923606]]
2025-10-26T20:00:26.416Z,1761508826.416 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:26.416Z,1761508826.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778514
2025-10-26T20:00:26.590Z,1761508826.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621710,0.735107,0.270359],[-0.781603,0.559916,0.274939],[0.050731,-0.382246,0.922667]]
2025-10-26T20:00:26.669Z,1761508826.669 [DAT](INFO): DAT read: Rx Time:20:00:25.4332

2025-10-26T20:00:26.669Z,1761508826.669 [DAT](INFO): Rx dataTimestamp_ set to:1761508826.668741
2025-10-26T20:00:26.669Z,1761508826.669 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:26.670Z,1761508826.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031766
2025-10-26T20:00:26.920Z,1761508826.920 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:26.920Z,1761508826.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282508
2025-10-26T20:00:26.994Z,1761508826.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611148,0.741545,0.276782],[-0.789998,0.549823,0.271288],[0.048991,-0.384455,0.921843]]
2025-10-26T20:00:27.057Z,1761508827.057 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:00:27.057Z,1761508827.057 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:00:27.057Z,1761508827.057 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:00:27.058Z,1761508827.058 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:00:27.058Z,1761508827.058 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:00:27.058Z,1761508827.058 [marl:UpdateSpeed] Stopped
2025-10-26T20:00:27.058Z,1761508827.058 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:00:27.175Z,1761508827.175 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:27.176Z,1761508827.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538247
2025-10-26T20:00:27.399Z,1761508827.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601068,0.747432,0.282954],[-0.797795,0.540187,0.267807],[0.047319,-0.386710,0.920987]]
2025-10-26T20:00:27.431Z,1761508827.431 [DAT](INFO): DAT read: 20:00:25.4331 LVL= 15344, 28289, 26754, 32755, AGC= 75, IDX=  65,-0.12, 2.140, 0.264, 0.567, 1.726, PHS= 0.516,-1.417,-1.203, RAW=  95.8,  22.1, CAL=  95.5,  27.3, ROT=  54.5, -27.3

2025-10-26T20:00:27.432Z,1761508827.432 [DAT](INFO): got valid direction response:
 20:00:25.4331 LVL= 15344, 28289, 26754, 32755, AGC= 75, IDX=  65,-0.12, 2.140, 0.264, 0.567, 1.726, PHS= 0.516,-1.417,-1.203, RAW=  95.8,  22.1, CAL=  95.5,  27.3, ROT=  54.5, -27.3

2025-10-26T20:00:27.433Z,1761508827.433 [DAT](INFO): DAT read: Bearing   9, -23 (Remote)

2025-10-26T20:00:27.433Z,1761508827.433 [DAT](INFO): Remote Bearing received:Bearing   9, -23 (Remote)

2025-10-26T20:00:27.434Z,1761508827.434 [DAT](INFO): DAT read: Bearing 150.3,  31.1 (Local)

2025-10-26T20:00:27.434Z,1761508827.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.3,  31.1 (Local)

2025-10-26T20:00:27.436Z,1761508827.436 [DAT](INFO): DAT read: Range 11 to 20 : 1228.4 m  (Round-trip  1637.9 ms) speed -0.4 m/s

2025-10-26T20:00:27.437Z,1761508827.437 [DAT](INFO): DAT read: user:28>

2025-10-26T20:00:27.438Z,1761508827.438 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:00:27.438Z,1761508827.438 [DAT](INFO): set remote address to 6
2025-10-26T20:00:27.439Z,1761508827.439 [DAT](INFO): entering online mode
2025-10-26T20:00:27.676Z,1761508827.676 [DAT](INFO): DAT read: user:29>

2025-10-26T20:00:27.677Z,1761508827.677 [DAT](INFO): DAT read: 

2025-10-26T20:00:27.678Z,1761508827.678 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:00:27.678Z,1761508827.678 [DAT](INFO): commRate: 600
2025-10-26T20:00:27.678Z,1761508827.678 [DAT](INFO): online mode acknowledged
2025-10-26T20:00:27.679Z,1761508827.679 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:00:27.679Z,1761508827.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041138
2025-10-26T20:00:27.802Z,1761508827.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590480,0.753785,0.288343],[-0.805705,0.529956,0.264548],[0.046603,-0.388530,0.920257]]
2025-10-26T20:00:27.928Z,1761508827.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290492
2025-10-26T20:00:28.180Z,1761508828.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542403
2025-10-26T20:00:28.210Z,1761508828.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580076,0.759975,0.293171],[-0.813215,0.519618,0.262065],[0.046826,-0.390429,0.919441]]
2025-10-26T20:00:28.432Z,1761508828.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794379
2025-10-26T20:00:28.611Z,1761508828.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569516,0.765872,0.298483],[-0.820595,0.508676,0.260524],[0.047697,-0.393306,0.918170]]
2025-10-26T20:00:28.685Z,1761508828.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047457
2025-10-26T20:00:28.936Z,1761508828.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298431
2025-10-26T20:00:29.016Z,1761508829.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558470,0.771686,0.304323],[-0.828093,0.497091,0.259156],[0.048711,-0.396738,0.916638]]
2025-10-26T20:00:29.188Z,1761508829.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550367
2025-10-26T20:00:29.419Z,1761508829.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546795,0.777033,0.311826],[-0.835834,0.484813,0.257563],[0.048958,-0.401469,0.914563]]
2025-10-26T20:00:29.441Z,1761508829.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802998
2025-10-26T20:00:29.693Z,1761508829.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055091
2025-10-26T20:00:29.822Z,1761508829.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533948,0.782781,0.319614],[-0.844128,0.471863,0.254543],[0.048438,-0.405708,0.912718]]
2025-10-26T20:00:29.945Z,1761508829.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307088
2025-10-26T20:00:30.196Z,1761508830.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558410
2025-10-26T20:00:30.230Z,1761508830.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520071,0.789346,0.326281],[-0.852807,0.458688,0.249651],[0.047400,-0.408091,0.911710]]
2025-10-26T20:00:30.449Z,1761508830.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810755
2025-10-26T20:00:30.635Z,1761508830.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505281,0.796991,0.330902],[-0.861720,0.445483,0.242867],[0.046152,-0.407861,0.911877]]
2025-10-26T20:00:30.701Z,1761508830.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062677
2025-10-26T20:00:30.953Z,1761508830.953 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:00:30.1648

2025-10-26T20:00:30.953Z,1761508830.953 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:00:30.954Z,1761508830.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315589
2025-10-26T20:00:31.034Z,1761508831.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489729,0.806638,0.330909],[-0.870683,0.432632,0.233966],[0.045563,-0.402697,0.914199]]
2025-10-26T20:00:31.204Z,1761508831.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566501
2025-10-26T20:00:31.438Z,1761508831.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473415,0.817547,0.327863],[-0.879636,0.419347,0.224476],[0.046031,-0.394670,0.917669]]
2025-10-26T20:00:31.456Z,1761508831.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818532
2025-10-26T20:00:31.714Z,1761508831.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075256
2025-10-26T20:00:31.842Z,1761508831.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456313,0.828847,0.323714],[-0.888534,0.404886,0.215811],[0.047806,-0.386108,0.921214]]
2025-10-26T20:00:31.961Z,1761508831.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322793
2025-10-26T20:00:32.212Z,1761508832.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574381
2025-10-26T20:00:32.258Z,1761508832.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438409,0.839867,0.320034],[-0.897361,0.389059,0.208268],[0.050405,-0.378493,0.924231]]
2025-10-26T20:00:32.465Z,1761508832.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826571
2025-10-26T20:00:32.658Z,1761508832.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420452,0.849758,0.318012],[-0.905757,0.372573,0.201973],[0.053145,-0.372961,0.926324]]
2025-10-26T20:00:32.732Z,1761508832.732 [DAT](INFO): Reached modem response timeout
2025-10-26T20:00:33.054Z,1761508833.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402222,0.858349,0.318518],[-0.913846,0.355231,0.196715],[0.055702,-0.370200,0.927281]]
2025-10-26T20:00:33.459Z,1761508833.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383616,0.865831,0.321209],[-0.921699,0.337295,0.191582],[0.057535,-0.369552,0.927427]]
2025-10-26T20:00:33.874Z,1761508833.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364313,0.872905,0.324519],[-0.929378,0.318541,0.186518],[0.059440,-0.369552,0.927307]]
2025-10-26T20:00:34.266Z,1761508834.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344643,0.880290,0.326053],[-0.936707,0.299680,0.181029],[0.061646,-0.367807,0.927857]]
2025-10-26T20:00:34.670Z,1761508834.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325241,0.887042,0.327681],[-0.943441,0.280815,0.176242],[0.064316,-0.366469,0.928205]]
2025-10-26T20:00:35.074Z,1761508835.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306926,0.892843,0.329587],[-0.949387,0.262920,0.171866],[0.066794,-0.365656,0.928350]]
2025-10-26T20:00:35.478Z,1761508835.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289591,0.897361,0.332988],[-0.954688,0.245866,0.167692],[0.068610,-0.366461,0.927900]]
2025-10-26T20:00:35.882Z,1761508835.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272083,0.900947,0.338030],[-0.959705,0.228416,0.163682],[0.070258,-0.368945,0.926792]]
2025-10-26T20:00:36.290Z,1761508836.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254796,0.903442,0.344776],[-0.964332,0.210954,0.159881],[0.071711,-0.373216,0.924969]]
2025-10-26T20:00:36.692Z,1761508836.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237238,0.905605,0.351564],[-0.968662,0.193117,0.156205],[0.073567,-0.377604,0.923040]]
2025-10-26T20:00:37.094Z,1761508837.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220439,0.907235,0.358233],[-0.972431,0.175772,0.153239],[0.076056,-0.382137,0.920971]]
2025-10-26T20:00:37.498Z,1761508837.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204841,0.908539,0.364140],[-0.975580,0.159382,0.151133],[0.079273,-0.386206,0.919000]]
2025-10-26T20:00:37.902Z,1761508837.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190553,0.909574,0.369276],[-0.978120,0.143923,0.150226],[0.083495,-0.389822,0.917097]]
2025-10-26T20:00:38.314Z,1761508838.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177579,0.909856,0.375004],[-0.980100,0.129161,0.150737],[0.088713,-0.394309,0.914686]]
2025-10-26T20:00:38.378Z,1761508838.378 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:00:38.378Z,1761508838.378 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:00:38.378Z,1761508838.378 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:00:38.378Z,1761508838.378 [marl:UpdateRudder:A] Stopped
2025-10-26T20:00:38.378Z,1761508838.378 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:00:38.378Z,1761508838.378 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:00:38.379Z,1761508838.379 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:00:38.379Z,1761508838.379 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:00:38.379Z,1761508838.379 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:00:38.384Z,1761508838.384 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:00:38.384Z,1761508838.384 [marl:UpdateCommandMode] Stopped
2025-10-26T20:00:38.384Z,1761508838.384 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:00:38.720Z,1761508838.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165420,0.909441,0.381515],[-0.981664,0.114683,0.152260],[0.094718,-0.399706,0.911736]]
2025-10-26T20:00:38.839Z,1761508838.839 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:00:38.843Z,1761508838.843 [marl:UpdateRudder:B] Stopped
2025-10-26T20:00:38.843Z,1761508838.843 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:00:38.844Z,1761508838.844 [marl:UpdateRudder] Stopped
2025-10-26T20:00:38.844Z,1761508838.844 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:00:39.116Z,1761508839.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154275,0.908662,0.387984],[-0.982840,0.100950,0.154383],[0.101115,-0.405144,0.908644]]
2025-10-26T20:00:39.518Z,1761508839.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143632,0.906854,0.396213],[-0.983752,0.087260,0.156901],[0.107713,-0.412311,0.904653]]
2025-10-26T20:00:39.922Z,1761508839.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133106,0.905206,0.403591],[-0.984543,0.073993,0.158748],[0.113837,-0.418482,0.901063]]
2025-10-26T20:00:40.334Z,1761508840.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122684,0.904144,0.409234],[-0.985299,0.061567,0.159358],[0.118887,-0.422768,0.898406]]
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed] Stopped
2025-10-26T20:00:40.358Z,1761508840.358 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:00:40.735Z,1761508840.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112059,0.904126,0.412309],[-0.986148,0.050120,0.158114],[0.122290,-0.424316,0.897219]]
2025-10-26T20:00:41.048Z,1761508841.048 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:00:41.141Z,1761508841.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101324,0.905125,0.412895],[-0.987090,0.039716,0.155167],[0.124047,-0.423286,0.897464]]
2025-10-26T20:00:41.160Z,1761508841.160 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1078.69, 586.54,1644.99
2025-10-26T20:00:41.300Z,1761508841.300 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:00:41.538Z,1761508841.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090690,0.907884,0.409293],[-0.988134,0.030877,0.150458],[0.123961,-0.418082,0.899912]]
2025-10-26T20:00:41.553Z,1761508841.553 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:00:41.945Z,1761508841.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079015,0.911584,0.403450],[-0.989385,0.022198,0.143612],[0.121959,-0.410515,0.903661]]
2025-10-26T20:00:42.346Z,1761508842.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066088,0.916472,0.394604],[-0.990699,0.013125,0.135439],[0.118947,-0.399884,0.908815]]
2025-10-26T20:00:42.755Z,1761508842.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052209,0.921725,0.384315],[-0.991860,0.003105,0.127298],[0.116140,-0.387832,0.914384]]
2025-10-26T20:00:43.154Z,1761508843.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036199,0.926481,0.374596],[-0.992737,-0.009696,0.119913],[0.114729,-0.376216,0.919401]]
2025-10-26T20:00:43.558Z,1761508843.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017191,0.930755,0.365238],[-0.993149,-0.026333,0.113851],[0.115585,-0.364693,0.923926]]
2025-10-26T20:00:43.963Z,1761508843.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004140,0.933515,0.358514],[-0.992966,-0.046260,0.108987],[0.118326,-0.355541,0.927141]]
2025-10-26T20:00:44.366Z,1761508844.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025484,0.933921,0.356569],[-0.992337,-0.066773,0.103967],[0.120906,-0.351187,0.928466]]
2025-10-26T20:00:44.808Z,1761508844.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047031,0.932138,0.359037],[-0.991284,-0.087834,0.098186],[0.123059,-0.351290,0.928145]]
2025-10-26T20:00:44.829Z,1761508844.829 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:00:44.0148

2025-10-26T20:00:44.829Z,1761508844.829 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:00:45.174Z,1761508845.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069419,0.927942,0.366203],[-0.989780,-0.109903,0.090863],[0.124562,-0.356153,0.926088]]
2025-10-26T20:00:45.580Z,1761508845.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093245,0.922158,0.375408],[-0.987613,-0.133458,0.082521],[0.126199,-0.363063,0.923179]]
2025-10-26T20:00:45.982Z,1761508845.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117830,0.915447,0.384802],[-0.984746,-0.157676,0.073574],[0.128027,-0.370263,0.920062]]
2025-10-26T20:00:46.386Z,1761508846.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143037,0.906999,0.396099],[-0.980998,-0.182934,0.064636],[0.131085,-0.379327,0.915930]]
2025-10-26T20:00:46.826Z,1761508846.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166796,0.898546,0.405949],[-0.976640,-0.207132,0.057193],[0.135476,-0.386926,0.912104]]
2025-10-26T20:00:47.195Z,1761508847.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186479,0.889626,0.416883],[-0.972314,-0.227936,0.051482],[0.140822,-0.395742,0.907501]]
2025-10-26T20:00:47.432Z,1761508847.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:00:47.599Z,1761508847.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202689,0.881184,0.427121],[-0.968169,-0.245741,0.047540],[0.146852,-0.403890,0.902944]]
2025-10-26T20:00:48.002Z,1761508848.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216642,0.871941,0.439073],[-0.964154,-0.261680,0.043942],[0.153211,-0.413814,0.897376]]
2025-10-26T20:00:48.409Z,1761508848.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228968,0.863926,0.448560],[-0.960397,-0.275650,0.040667],[0.158779,-0.421485,0.892827]]
2025-10-26T20:00:48.436Z,1761508848.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:00:48.831Z,1761508848.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240576,0.856892,0.455916],[-0.956966,-0.287932,0.036199],[0.162291,-0.427588,0.889286]]
2025-10-26T20:00:49.215Z,1761508849.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251621,0.852971,0.457304],[-0.953998,-0.298180,0.031254],[0.163018,-0.428403,0.888761]]
2025-10-26T20:00:49.343Z,1761508849.343 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:00:49.344Z,1761508849.344 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:00:49.625Z,1761508849.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262277,0.851607,0.453846],[-0.951478,-0.306654,0.025555],[0.160937,-0.425121,0.890714]]
2025-10-26T20:00:50.022Z,1761508850.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272883,0.852061,0.446684],[-0.949114,-0.314314,0.019741],[0.157219,-0.418566,0.894474]]
2025-10-26T20:00:50.434Z,1761508850.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285656,0.852653,0.437474],[-0.945965,-0.323976,0.013757],[0.153461,-0.409905,0.899126]]
2025-10-26T20:00:50.835Z,1761508850.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301688,0.852131,0.427617],[-0.941298,-0.337473,0.008402],[0.151469,-0.399981,0.903921]]
2025-10-26T20:00:51.234Z,1761508851.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322301,0.849714,0.417262],[-0.934466,-0.356037,0.003236],[0.151311,-0.388874,0.908780]]
2025-10-26T20:00:51.638Z,1761508851.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344989,0.844977,0.408652],[-0.926313,-0.376744,-0.003005],[0.151418,-0.379576,0.912685]]
2025-10-26T20:00:51.663Z,1761508851.663 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:00:51.663Z,1761508851.663 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:00:51.663Z,1761508851.663 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateRudder:A] Stopped
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:00:51.664Z,1761508851.664 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:00:51.665Z,1761508851.665 [marl:UpdateCommandMode] Stopped
2025-10-26T20:00:51.665Z,1761508851.665 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:00:52.045Z,1761508852.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367504,0.838382,0.402562],[-0.917554,-0.397490,-0.009829],[0.151774,-0.372984,0.915340]]
2025-10-26T20:00:52.073Z,1761508852.073 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:00:52.073Z,1761508852.073 [marl:UpdateRudder:B] Stopped
2025-10-26T20:00:52.073Z,1761508852.073 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:00:52.073Z,1761508852.073 [marl:UpdateRudder] Stopped
2025-10-26T20:00:52.073Z,1761508852.073 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:00:52.075Z,1761508852.075 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:00:52.148Z,1761508852.148 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:00:52.199Z,1761508852.199 [DAT](INFO): entering command mode
2025-10-26T20:00:52.400Z,1761508852.400 [DAT](INFO): DAT read: 

2025-10-26T20:00:52.401Z,1761508852.401 [DAT](INFO): DAT read: user:30>

2025-10-26T20:00:52.401Z,1761508852.401 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:00:52.401Z,1761508852.401 [DAT](INFO): setting remote address to 0
2025-10-26T20:00:52.447Z,1761508852.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389725,0.828919,0.401257],[-0.908097,-0.418385,-0.017695],[0.153212,-0.371277,0.915794]]
2025-10-26T20:00:52.652Z,1761508852.652 [DAT](INFO): DAT read: user:30>

2025-10-26T20:00:52.653Z,1761508852.653 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:00:52.653Z,1761508852.653 [DAT](INFO): set remote address to 0
2025-10-26T20:00:52.654Z,1761508852.654 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:00:52.654Z,1761508852.654 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:00:52.850Z,1761508852.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410392,0.817354,0.404366],[-0.898478,-0.438247,-0.026028],[0.155938,-0.373995,0.914227]]
2025-10-26T20:00:52.904Z,1761508852.904 [DAT](INFO): DAT read: user:31>

2025-10-26T20:00:52.905Z,1761508852.905 [DAT](INFO): DAT read: Tx time:20:00:52.0159

2025-10-26T20:00:52.905Z,1761508852.905 [DAT](INFO): Ping request sent.
2025-10-26T20:00:52.905Z,1761508852.905 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:00:52.906Z,1761508852.906 [DAT](INFO): publishing transmit ping time
2025-10-26T20:00:52.906Z,1761508852.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969
2025-10-26T20:00:53.156Z,1761508853.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250907
2025-10-26T20:00:53.255Z,1761508853.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429379,0.804353,0.410670],[-0.888822,-0.456969,-0.034280],[0.160091,-0.379732,0.911139]]
2025-10-26T20:00:53.408Z,1761508853.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502917
2025-10-26T20:00:53.658Z,1761508853.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445570,0.790361,0.420473],[-0.879907,-0.473201,-0.042954],[0.165019,-0.389116,0.906288]]
2025-10-26T20:00:53.660Z,1761508853.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754883
2025-10-26T20:00:53.742Z,1761508853.742 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:00:53.743Z,1761508853.743 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:00:53.743Z,1761508853.743 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:00:53.743Z,1761508853.743 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:00:53.747Z,1761508853.747 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:00:53.747Z,1761508853.747 [marl:UpdateSpeed] Stopped
2025-10-26T20:00:53.748Z,1761508853.748 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:00:53.913Z,1761508853.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006973
2025-10-26T20:00:54.062Z,1761508854.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458505,0.776614,0.432023],[-0.872227,-0.486400,-0.051329],[0.170273,-0.400357,0.900401]]
2025-10-26T20:00:54.165Z,1761508854.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259912
2025-10-26T20:00:54.417Z,1761508854.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511483
2025-10-26T20:00:54.472Z,1761508854.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469307,0.763391,0.443831],[-0.865414,-0.497532,-0.059331],[0.175528,-0.411942,0.894144]]
2025-10-26T20:00:54.668Z,1761508854.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762894
2025-10-26T20:00:54.872Z,1761508854.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478754,0.752715,0.451901],[-0.859358,-0.507135,-0.065707],[0.179716,-0.419803,0.889645]]
2025-10-26T20:00:54.924Z,1761508854.924 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:00:54.924Z,1761508854.924 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:00:54.925Z,1761508854.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019138
2025-10-26T20:00:55.176Z,1761508855.176 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:00:55.176Z,1761508855.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270916
2025-10-26T20:00:55.274Z,1761508855.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487091,0.745428,0.455060],[-0.854132,-0.515304,-0.070140],[0.182210,-0.422846,0.887694]]
2025-10-26T20:00:55.428Z,1761508855.428 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:00:55.429Z,1761508855.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523080
2025-10-26T20:00:55.679Z,1761508855.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494957,0.742336,0.451614],[-0.849560,-0.522527,-0.072198],[0.182386,-0.419408,0.889287]]
2025-10-26T20:00:55.680Z,1761508855.680 [DAT](INFO): setting remote address to 6
2025-10-26T20:00:55.681Z,1761508855.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775031
2025-10-26T20:00:55.934Z,1761508855.934 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:55.935Z,1761508855.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028778
2025-10-26T20:00:56.090Z,1761508856.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503011,0.743004,0.441503],[-0.845295,-0.529411,-0.072115],[0.180155,-0.409475,0.894357]]
2025-10-26T20:00:56.184Z,1761508856.184 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:56.184Z,1761508856.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278954
2025-10-26T20:00:56.436Z,1761508856.436 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:56.436Z,1761508856.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530956
2025-10-26T20:00:56.499Z,1761508856.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511945,0.745327,0.427083],[-0.840878,-0.536443,-0.071784],[0.175603,-0.395874,0.901359]]
2025-10-26T20:00:56.689Z,1761508856.689 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:56.689Z,1761508856.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783562
2025-10-26T20:00:56.890Z,1761508856.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521772,0.748526,0.409222],[-0.836003,-0.544167,-0.070573],[0.169860,-0.378934,0.909701]]
2025-10-26T20:00:56.942Z,1761508856.942 [DAT](INFO): DAT read: Rx Time:20:00:55.7019

2025-10-26T20:00:56.943Z,1761508856.943 [DAT](INFO): Rx dataTimestamp_ set to:1761508856.942339
2025-10-26T20:00:56.943Z,1761508856.943 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:56.943Z,1761508856.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037899
2025-10-26T20:00:57.192Z,1761508857.192 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:57.192Z,1761508857.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286882
2025-10-26T20:00:57.294Z,1761508857.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533970,0.749376,0.391550],[-0.829387,-0.554229,-0.070342],[0.164296,-0.362307,0.917464]]
2025-10-26T20:00:57.445Z,1761508857.445 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:00:57.446Z,1761508857.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539914
2025-10-26T20:00:57.705Z,1761508857.705 [DAT](INFO): DAT read: 20:00:55.7019 LVL= 24480, 25153, 32754, 32755, AGC= 85, IDX=  67,-0.16, 0.183, 1.256,-0.812, 0.768, PHS=-0.483, 0.533,-1.624, RAW=   1.9,  16.6, CAL=   2.2,  20.8, ROT= 147.8, -20.8

2025-10-26T20:00:57.706Z,1761508857.706 [DAT](INFO): got valid direction response:
 20:00:55.7019 LVL= 24480, 25153, 32754, 32755, AGC= 85, IDX=  67,-0.16, 0.183, 1.256,-0.812, 0.768, PHS=-0.483, 0.533,-1.624, RAW=   1.9,  16.6, CAL=   2.2,  20.8, ROT= 147.8, -20.8

2025-10-26T20:00:57.708Z,1761508857.708 [DAT](INFO): DAT read: Bearing   9, -11 (Remote)

2025-10-26T20:00:57.708Z,1761508857.708 [DAT](INFO): Remote Bearing received:Bearing   9, -11 (Remote)

2025-10-26T20:00:57.710Z,1761508857.710 [DAT](INFO): DAT read: Bearing 170.0,  10.0 (Local)

2025-10-26T20:00:57.710Z,1761508857.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.0,  10.0 (Local)

2025-10-26T20:00:57.717Z,1761508857.717 [DAT](INFO): DAT read: Range 11 to 20 : 1242.6 m  (Round-trip  1656.9 ms) speed -0.5 m/s

2025-10-26T20:00:57.718Z,1761508857.718 [DAT](INFO): DAT read: user:32>

2025-10-26T20:00:57.719Z,1761508857.719 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:00:57.720Z,1761508857.720 [DAT](INFO): set remote address to 6
2025-10-26T20:00:57.721Z,1761508857.721 [DAT](INFO): entering online mode
2025-10-26T20:00:57.724Z,1761508857.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549422,0.746011,0.376301],[-0.820066,-0.567748,-0.071793],[0.160086,-0.348036,0.923712]]
2025-10-26T20:00:57.949Z,1761508857.949 [DAT](INFO): DAT read: user:33>

2025-10-26T20:00:57.950Z,1761508857.950 [DAT](INFO): DAT read: 

2025-10-26T20:00:57.951Z,1761508857.951 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:00:57.956Z,1761508857.956 [DAT](INFO): commRate: 600
2025-10-26T20:00:57.956Z,1761508857.956 [DAT](INFO): online mode acknowledged
2025-10-26T20:00:57.956Z,1761508857.956 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:00:57.957Z,1761508857.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051140
2025-10-26T20:00:58.109Z,1761508858.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567959,0.737344,0.365714],[-0.807813,-0.584510,-0.076072],[0.157672,-0.338634,0.927613]]
2025-10-26T20:00:58.200Z,1761508858.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294882
2025-10-26T20:00:58.452Z,1761508858.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546886
2025-10-26T20:00:58.506Z,1761508858.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588339,0.723459,0.361199],[-0.793229,-0.603088,-0.084102],[0.156990,-0.335993,0.928689]]
2025-10-26T20:00:58.705Z,1761508858.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799107
2025-10-26T20:00:58.948Z,1761508858.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631248,0.685120,0.363506],[-0.758988,-0.642122,-0.107780],[0.159574,-0.343932,0.925336]]
2025-10-26T20:00:58.957Z,1761508858.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051103
2025-10-26T20:00:59.208Z,1761508859.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302925
2025-10-26T20:00:59.460Z,1761508859.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554823
2025-10-26T20:00:59.713Z,1761508859.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807665
2025-10-26T20:00:59.733Z,1761508859.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653104,0.661572,0.368480],[-0.739700,-0.661538,-0.123332],[0.162170,-0.353114,0.921418]]
2025-10-26T20:00:59.964Z,1761508859.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058960
2025-10-26T20:01:00.122Z,1761508860.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674534,0.637157,0.372873],[-0.719542,-0.680389,-0.139031],[0.165114,-0.362079,0.917407]]
2025-10-26T20:01:00.217Z,1761508860.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311345
2025-10-26T20:01:00.468Z,1761508860.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562832
2025-10-26T20:01:00.529Z,1761508860.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694611,0.612129,0.377907],[-0.699567,-0.697222,-0.156484],[0.167697,-0.373067,0.912523]]
2025-10-26T20:01:00.721Z,1761508860.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815465
2025-10-26T20:01:00.930Z,1761508860.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713136,0.587647,0.382240],[-0.680086,-0.712215,-0.173876],[0.170059,-0.383954,0.907557]]
2025-10-26T20:01:00.972Z,1761508860.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066928
2025-10-26T20:01:01.225Z,1761508861.225 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:01:00.4161

2025-10-26T20:01:01.225Z,1761508861.225 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:01:01.226Z,1761508861.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320106
2025-10-26T20:01:01.334Z,1761508861.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729718,0.564482,0.385838],[-0.661640,-0.725291,-0.190227],[0.172465,-0.394097,0.902742]]
2025-10-26T20:01:01.476Z,1761508861.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570953
2025-10-26T20:01:01.732Z,1761508861.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826814
2025-10-26T20:01:01.743Z,1761508861.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743675,0.543540,0.389246],[-0.645245,-0.735918,-0.205145],[0.174948,-0.403720,0.898000]]
2025-10-26T20:01:01.984Z,1761508861.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078847
2025-10-26T20:01:02.148Z,1761508862.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755063,0.525257,0.392410],[-0.631195,-0.744274,-0.218285],[0.177405,-0.412506,0.893513]]
2025-10-26T20:01:02.236Z,1761508862.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330928
2025-10-26T20:01:02.488Z,1761508862.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582825
2025-10-26T20:01:02.554Z,1761508862.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770668,0.500463,0.394472],[-0.610940,-0.756274,-0.234098],[0.181171,-0.421410,0.888589]]
2025-10-26T20:01:02.744Z,1761508862.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837513
2025-10-26T20:01:02.955Z,1761508862.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775737,0.493722,0.393029],[-0.604206,-0.760833,-0.236789],[0.182121,-0.421156,0.888515]]
2025-10-26T20:01:02.992Z,1761508862.992 [DAT](INFO): Reached modem response timeout
2025-10-26T20:01:03.358Z,1761508863.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779957,0.490521,0.388658],[-0.598781,-0.765511,-0.235488],[0.182010,-0.416392,0.890781]]
2025-10-26T20:01:03.766Z,1761508863.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783521,0.489526,0.382699],[-0.594403,-0.769950,-0.232081],[0.181049,-0.409318,0.894248]]
2025-10-26T20:01:04.163Z,1761508864.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786846,0.489737,0.375542],[-0.590419,-0.774504,-0.227045],[0.179666,-0.400376,0.898565]]
2025-10-26T20:01:04.970Z,1761508864.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794253,0.489024,0.360581],[-0.581091,-0.784730,-0.215711],[0.177471,-0.380859,0.907441]]
2025-10-26T20:01:05.050Z,1761508865.050 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:01:05.050Z,1761508865.050 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:01:05.051Z,1761508865.051 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:01:05.055Z,1761508865.055 [marl:UpdateRudder:A] Stopped
2025-10-26T20:01:05.056Z,1761508865.056 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:01:05.056Z,1761508865.056 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:01:05.056Z,1761508865.056 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:01:05.056Z,1761508865.056 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:01:05.057Z,1761508865.057 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:01:05.057Z,1761508865.057 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:01:05.057Z,1761508865.057 [marl:UpdateCommandMode] Stopped
2025-10-26T20:01:05.058Z,1761508865.058 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:01:05.374Z,1761508865.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799484,0.484813,0.354658],[-0.573883,-0.790871,-0.212557],[0.177438,-0.373468,0.910515]]
2025-10-26T20:01:05.422Z,1761508865.422 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:01:05.422Z,1761508865.422 [marl:UpdateRudder:B] Stopped
2025-10-26T20:01:05.422Z,1761508865.422 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:01:05.422Z,1761508865.422 [marl:UpdateRudder] Stopped
2025-10-26T20:01:05.422Z,1761508865.422 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:01:05.805Z,1761508865.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806339,0.476981,0.349724],[-0.563940,-0.798272,-0.211501],[0.178293,-0.367765,0.912667]]
2025-10-26T20:01:06.182Z,1761508866.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814442,0.465954,0.345789],[-0.551818,-0.806222,-0.213314],[0.179388,-0.364545,0.913743]]
2025-10-26T20:01:06.590Z,1761508866.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823171,0.452419,0.343085],[-0.538283,-0.814079,-0.218007],[0.180668,-0.364134,0.913655]]
2025-10-26T20:01:06.999Z,1761508866.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831812,0.437522,0.341561],[-0.524443,-0.821051,-0.225464],[0.181793,-0.366673,0.912416]]
2025-10-26T20:01:07.072Z,1761508867.072 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:01:07.072Z,1761508867.072 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:01:07.072Z,1761508867.072 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:01:07.073Z,1761508867.073 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:01:07.073Z,1761508867.073 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:01:07.073Z,1761508867.073 [marl:UpdateSpeed] Stopped
2025-10-26T20:01:07.073Z,1761508867.073 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:01:07.394Z,1761508867.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840414,0.422232,0.339743],[-0.510255,-0.827711,-0.233528],[0.182606,-0.369615,0.911065]]
2025-10-26T20:01:07.799Z,1761508867.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848767,0.407203,0.337314],[-0.496122,-0.833954,-0.241626],[0.182913,-0.372433,0.909855]]
2025-10-26T20:01:08.203Z,1761508868.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857626,0.390903,0.334176],[-0.480709,-0.840246,-0.250809],[0.182748,-0.375742,0.908527]]
2025-10-26T20:01:08.612Z,1761508868.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866638,0.373737,0.330543],[-0.464432,-0.846363,-0.260715],[0.182321,-0.379460,0.907066]]
2025-10-26T20:01:09.016Z,1761508869.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876208,0.355908,0.324944],[-0.446450,-0.853364,-0.269168],[0.181496,-0.380918,0.906620]]
2025-10-26T20:01:09.414Z,1761508869.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886177,0.336434,0.318595],[-0.426686,-0.860598,-0.278048],[0.180637,-0.382340,0.906193]]
2025-10-26T20:01:09.819Z,1761508869.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896202,0.316384,0.311004],[-0.405572,-0.868402,-0.285287],[0.179816,-0.381809,0.906580]]
2025-10-26T20:01:10.225Z,1761508870.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906225,0.294830,0.303038],[-0.382903,-0.876241,-0.292552],[0.179281,-0.381152,0.906963]]
2025-10-26T20:01:10.626Z,1761508870.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915811,0.272524,0.294993],[-0.359485,-0.883751,-0.299590],[0.179055,-0.380413,0.907318]]
2025-10-26T20:01:11.036Z,1761508871.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924859,0.249507,0.287024],[-0.335510,-0.890660,-0.306851],[0.179079,-0.380093,0.907447]]
2025-10-26T20:01:11.316Z,1761508871.316 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:01:11.434Z,1761508871.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933393,0.226117,0.278654],[-0.311149,-0.896810,-0.314513],[0.178783,-0.380267,0.907432]]
2025-10-26T20:01:11.568Z,1761508871.568 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:01:11.820Z,1761508871.820 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:01:11.850Z,1761508871.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941364,0.202936,0.269539],[-0.286774,-0.902144,-0.322332],[0.177750,-0.380728,0.907442]]
2025-10-26T20:01:12.242Z,1761508872.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948584,0.180719,0.259864],[-0.263107,-0.906595,-0.329941],[0.175965,-0.381348,0.907530]]
2025-10-26T20:01:12.646Z,1761508872.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954928,0.160248,0.249864],[-0.240776,-0.910463,-0.336279],[0.173604,-0.381284,0.908011]]
2025-10-26T20:01:13.056Z,1761508873.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960408,0.141049,0.240253],[-0.219734,-0.913650,-0.341994],[0.171269,-0.381246,0.908470]]
2025-10-26T20:01:13.455Z,1761508873.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965346,0.122336,0.230524],[-0.199105,-0.916294,-0.347510],[0.168714,-0.381366,0.908898]]
2025-10-26T20:01:13.859Z,1761508873.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969512,0.104660,0.221571],[-0.179746,-0.918296,-0.352739],[0.166550,-0.381811,0.909110]]
2025-10-26T20:01:14.262Z,1761508874.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973176,0.087362,0.212829],[-0.160999,-0.919438,-0.358767],[0.164340,-0.383408,0.908840]]
2025-10-26T20:01:14.666Z,1761508874.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976467,0.070549,0.203802],[-0.142417,-0.920570,-0.363687],[0.161956,-0.384153,0.908954]]
2025-10-26T20:01:15.074Z,1761508875.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979248,0.054613,0.195171],[-0.124780,-0.921309,-0.368266],[0.159700,-0.384977,0.909004]]
2025-10-26T20:01:15.105Z,1761508875.105 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:01:14.2646

2025-10-26T20:01:15.105Z,1761508875.105 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:01:15.474Z,1761508875.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981500,0.040299,0.187174],[-0.108780,-0.921861,-0.371940],[0.157559,-0.385420,0.909190]]
2025-10-26T20:01:15.878Z,1761508875.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983457,0.025828,0.179289],[-0.092502,-0.922603,-0.374495],[0.155740,-0.384885,0.909730]]
2025-10-26T20:01:16.282Z,1761508876.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985097,0.011715,0.171598],[-0.076539,-0.923308,-0.376356],[0.154029,-0.383881,0.910445]]
2025-10-26T20:01:16.686Z,1761508876.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986347,-0.001095,0.164677],[-0.061973,-0.924000,-0.377338],[0.152575,-0.382392,0.911316]]
2025-10-26T20:01:17.090Z,1761508877.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987326,-0.012018,0.158252],[-0.049303,-0.924569,-0.377812],[0.150856,-0.380825,0.912258]]
2025-10-26T20:01:17.494Z,1761508877.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988084,-0.022582,0.152249],[-0.037095,-0.925081,-0.377953],[0.149377,-0.379097,0.913221]]
2025-10-26T20:01:17.898Z,1761508877.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988648,-0.032704,0.146649],[-0.025549,-0.925219,-0.378573],[0.148063,-0.378022,0.913880]]
2025-10-26T20:01:17.950Z,1761508877.950 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:01:17.950Z,1761508877.950 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:01:17.950Z,1761508877.950 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:01:17.950Z,1761508877.950 [marl:UpdateRudder:A] Stopped
2025-10-26T20:01:17.950Z,1761508877.950 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:01:17.950Z,1761508877.950 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:01:17.951Z,1761508877.951 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:01:17.951Z,1761508877.951 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:01:17.951Z,1761508877.951 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:01:17.951Z,1761508877.951 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:01:17.951Z,1761508877.951 [marl:UpdateCommandMode] Stopped
2025-10-26T20:01:17.951Z,1761508877.951 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:01:18.303Z,1761508878.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989051,-0.042244,0.141401],[-0.014758,-0.925038,-0.379588],[0.146837,-0.377518,0.914286]]
2025-10-26T20:01:18.350Z,1761508878.350 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:01:18.350Z,1761508878.350 [marl:UpdateRudder:B] Stopped
2025-10-26T20:01:18.350Z,1761508878.350 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:01:18.350Z,1761508878.350 [marl:UpdateRudder] Stopped
2025-10-26T20:01:18.350Z,1761508878.350 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:01:18.565Z,1761508878.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:01:18.713Z,1761508878.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989384,-0.052074,0.135672],[-0.003741,-0.924158,-0.381992],[0.145274,-0.378444,0.914153]]
2025-10-26T20:01:19.111Z,1761508879.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989651,-0.062601,0.129124],[0.007980,-0.922444,-0.386049],[0.143276,-0.381023,0.913397]]
2025-10-26T20:01:19.522Z,1761508879.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989805,-0.073694,0.121880],[0.020737,-0.921181,-0.388580],[0.140909,-0.382091,0.913318]]
2025-10-26T20:01:19.568Z,1761508879.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:01:19.919Z,1761508879.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989769,-0.085800,0.113998],[0.034701,-0.919753,-0.390960],[0.138395,-0.383005,0.913320]]
2025-10-26T20:01:20.322Z,1761508880.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989371,-0.100380,0.105212],[0.051624,-0.918855,-0.391204],[0.135943,-0.381614,0.914270]]
2025-10-26T20:01:20.366Z,1761508880.366 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:01:20.366Z,1761508880.366 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:01:20.366Z,1761508880.366 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:01:20.367Z,1761508880.367 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:01:20.367Z,1761508880.367 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:01:20.367Z,1761508880.367 [marl:UpdateSpeed] Stopped
2025-10-26T20:01:20.367Z,1761508880.367 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:01:20.730Z,1761508880.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988579,-0.116590,0.095490],[0.070392,-0.917491,-0.391478],[0.133253,-0.380285,0.915220]]
2025-10-26T20:01:21.130Z,1761508881.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987408,-0.133234,0.085285],[0.089689,-0.915598,-0.391965],[0.130310,-0.379380,0.916019]]
2025-10-26T20:01:21.161Z,1761508881.161 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       +87.30,     +4      -9.04,  20.00,  0.00
2025-10-26T20:01:21.538Z,1761508881.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985728,-0.150875,0.074682],[0.110118,-0.913413,-0.391855],[0.127337,-0.378039,0.916991]]
2025-10-26T20:01:21.938Z,1761508881.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983522,-0.169101,0.063950],[0.131061,-0.910549,-0.392075],[0.124530,-0.377233,0.917708]]
2025-10-26T20:01:22.342Z,1761508882.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980784,-0.187746,0.053046],[0.152384,-0.906984,-0.392632],[0.121827,-0.377004,0.918165]]
2025-10-26T20:01:22.386Z,1761508882.386 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:01:22.418Z,1761508882.418 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:01:22.472Z,1761508882.472 [DAT](INFO): entering command mode
2025-10-26T20:01:22.668Z,1761508882.668 [DAT](INFO): DAT read: 

2025-10-26T20:01:22.668Z,1761508882.668 [DAT](INFO): DAT read: user:34>

2025-10-26T20:01:22.669Z,1761508882.669 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:01:22.669Z,1761508882.669 [DAT](INFO): setting remote address to 0
2025-10-26T20:01:22.750Z,1761508882.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977560,-0.206425,0.042020],[0.173804,-0.903042,-0.392820],[0.119034,-0.376702,0.918655]]
2025-10-26T20:01:22.920Z,1761508882.920 [DAT](INFO): DAT read: user:34>

2025-10-26T20:01:22.921Z,1761508882.921 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:01:22.922Z,1761508882.922 [DAT](INFO): set remote address to 0
2025-10-26T20:01:22.922Z,1761508882.922 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:01:22.922Z,1761508882.922 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:01:23.151Z,1761508883.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973923,-0.224729,0.031147],[0.194756,-0.898540,-0.393315],[0.116376,-0.376992,0.918876]]
2025-10-26T20:01:23.172Z,1761508883.172 [DAT](INFO): DAT read: user:35>

2025-10-26T20:01:23.173Z,1761508883.173 [DAT](INFO): DAT read: Tx time:20:01:22.3158

2025-10-26T20:01:23.173Z,1761508883.173 [DAT](INFO): Ping request sent.
2025-10-26T20:01:23.173Z,1761508883.173 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:01:23.174Z,1761508883.174 [DAT](INFO): publishing transmit ping time
2025-10-26T20:01:23.174Z,1761508883.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000968
2025-10-26T20:01:23.425Z,1761508883.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251053
2025-10-26T20:01:23.554Z,1761508883.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969994,-0.242299,0.020056],[0.215005,-0.893385,-0.394508],[0.113506,-0.378359,0.918674]]
2025-10-26T20:01:23.677Z,1761508883.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503867
2025-10-26T20:01:23.928Z,1761508883.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754899
2025-10-26T20:01:23.958Z,1761508883.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965700,-0.259489,0.009438],[0.234921,-0.888600,-0.393958],[0.110614,-0.378228,0.919080]]
2025-10-26T20:01:24.180Z,1761508884.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006917
2025-10-26T20:01:24.362Z,1761508884.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961090,-0.276232,-0.001565],[0.254580,-0.883529,-0.393147],[0.107218,-0.378248,0.919474]]
2025-10-26T20:01:24.433Z,1761508884.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259166
2025-10-26T20:01:24.684Z,1761508884.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853
2025-10-26T20:01:24.801Z,1761508884.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956165,-0.292570,-0.012263],[0.273803,-0.878415,-0.391688],[0.103824,-0.377876,0.920017]]
2025-10-26T20:01:24.937Z,1761508884.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763632
2025-10-26T20:01:25.170Z,1761508885.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951229,-0.307705,-0.021947],[0.291587,-0.873612,-0.389589],[0.100705,-0.376987,0.920727]]
2025-10-26T20:01:25.188Z,1761508885.188 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:01:25.189Z,1761508885.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015079
2025-10-26T20:01:25.440Z,1761508885.440 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:01:25.441Z,1761508885.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028
2025-10-26T20:01:25.574Z,1761508885.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945974,-0.322733,-0.031236],[0.309187,-0.868844,-0.386671],[0.097652,-0.375438,0.921689]]
2025-10-26T20:01:25.693Z,1761508885.693 [DAT](INFO): setting remote address to 6
2025-10-26T20:01:25.693Z,1761508885.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519785
2025-10-26T20:01:25.944Z,1761508885.944 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:25.944Z,1761508885.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770941
2025-10-26T20:01:25.980Z,1761508885.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940418,-0.337587,-0.040604],[0.326616,-0.863681,-0.383896],[0.094529,-0.374285,0.922483]]
2025-10-26T20:01:26.196Z,1761508886.196 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:26.196Z,1761508886.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022962
2025-10-26T20:01:26.383Z,1761508886.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934652,-0.352197,-0.048820],[0.343486,-0.858866,-0.379955],[0.091890,-0.371895,0.923716]]
2025-10-26T20:01:26.448Z,1761508886.448 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:26.449Z,1761508886.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275099
2025-10-26T20:01:26.700Z,1761508886.700 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:26.701Z,1761508886.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527300
2025-10-26T20:01:26.824Z,1761508886.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928623,-0.366630,-0.056943],[0.360054,-0.853438,-0.376835],[0.089561,-0.370440,0.924528]]
2025-10-26T20:01:26.953Z,1761508886.953 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:26.953Z,1761508886.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779531
2025-10-26T20:01:27.190Z,1761508887.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922131,-0.381441,-0.064625],[0.376786,-0.847558,-0.373735],[0.087785,-0.368983,0.925281]]
2025-10-26T20:01:27.204Z,1761508887.204 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:27.205Z,1761508887.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031018
2025-10-26T20:01:27.456Z,1761508887.456 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:27.456Z,1761508887.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282944
2025-10-26T20:01:27.595Z,1761508887.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915340,-0.396109,-0.072454],[0.393349,-0.841022,-0.371428],[0.086190,-0.368483,0.925630]]
2025-10-26T20:01:27.708Z,1761508887.708 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:27.709Z,1761508887.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535396
2025-10-26T20:01:27.960Z,1761508887.960 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:27.961Z,1761508887.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787016
2025-10-26T20:01:28.013Z,1761508888.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908362,-0.410448,-0.080062],[0.409566,-0.834518,-0.368559],[0.084461,-0.367575,0.926150]]
2025-10-26T20:01:28.212Z,1761508888.212 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:28.212Z,1761508888.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038978
2025-10-26T20:01:28.402Z,1761508888.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900732,-0.425330,-0.088177],[0.426457,-0.827322,-0.365613],[0.082555,-0.366923,0.926581]]
2025-10-26T20:01:28.482Z,1761508888.482 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:28.483Z,1761508888.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.309363
2025-10-26T20:01:28.732Z,1761508888.732 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:28.733Z,1761508888.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559034
2025-10-26T20:01:28.837Z,1761508888.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892952,-0.439740,-0.096252],[0.442910,-0.820071,-0.362373],[0.080416,-0.366213,0.927050]]
2025-10-26T20:01:28.985Z,1761508888.985 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:28.985Z,1761508888.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.811664
2025-10-26T20:01:29.236Z,1761508889.236 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:29.236Z,1761508889.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062994
2025-10-26T20:01:29.489Z,1761508889.489 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:29.490Z,1761508889.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.316210
2025-10-26T20:01:29.614Z,1761508889.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876563,-0.468121,-0.111806],[0.475281,-0.805357,-0.354272],[0.075799,-0.363681,0.928435]]
2025-10-26T20:01:29.740Z,1761508889.740 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:29.740Z,1761508889.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566910
2025-10-26T20:01:29.992Z,1761508889.992 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:29.993Z,1761508889.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.819566
2025-10-26T20:01:30.018Z,1761508890.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868457,-0.480592,-0.121707],[0.490461,-0.797067,-0.352323],[0.072315,-0.365670,0.927931]]
2025-10-26T20:01:30.244Z,1761508890.244 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:30.245Z,1761508890.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071327
2025-10-26T20:01:30.422Z,1761508890.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860283,-0.492346,-0.132322],[0.505252,-0.788704,-0.350238],[0.068075,-0.368159,0.927267]]
2025-10-26T20:01:30.497Z,1761508890.497 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:30.497Z,1761508890.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323823
2025-10-26T20:01:30.752Z,1761508890.752 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:30.752Z,1761508890.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578494
2025-10-26T20:01:30.856Z,1761508890.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852559,-0.502530,-0.143547],[0.518739,-0.780211,-0.349543],[0.063659,-0.372470,0.925858]]
2025-10-26T20:01:31.005Z,1761508891.005 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:31.005Z,1761508891.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.831618
2025-10-26T20:01:31.256Z,1761508891.256 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:31.257Z,1761508891.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.083020
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateRudder:A] Stopped
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:01:31.304Z,1761508891.304 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:01:31.305Z,1761508891.305 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:01:31.305Z,1761508891.305 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:01:31.305Z,1761508891.305 [marl:UpdateCommandMode] Stopped
2025-10-26T20:01:31.305Z,1761508891.305 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:01:31.508Z,1761508891.508 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:31.508Z,1761508891.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334968
2025-10-26T20:01:31.634Z,1761508891.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837336,-0.522357,-0.161280],[0.543840,-0.765824,-0.343151],[0.055735,-0.375043,0.925330]]
2025-10-26T20:01:31.678Z,1761508891.678 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:01:31.678Z,1761508891.678 [marl:UpdateRudder:B] Stopped
2025-10-26T20:01:31.678Z,1761508891.678 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:01:31.678Z,1761508891.678 [marl:UpdateRudder] Stopped
2025-10-26T20:01:31.678Z,1761508891.678 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:01:31.760Z,1761508891.760 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:31.760Z,1761508891.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586910
2025-10-26T20:01:32.012Z,1761508892.012 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:32.012Z,1761508892.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838939
2025-10-26T20:01:32.038Z,1761508892.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829647,-0.532356,-0.168175],[0.555795,-0.759143,-0.338812],[0.052700,-0.374565,0.925702]]
2025-10-26T20:01:32.264Z,1761508892.264 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:32.264Z,1761508892.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.090966
2025-10-26T20:01:32.443Z,1761508892.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821670,-0.542455,-0.174933],[0.567755,-0.751989,-0.334914],[0.050128,-0.374508,0.925868]]
2025-10-26T20:01:32.516Z,1761508892.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:32.517Z,1761508892.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343081
2025-10-26T20:01:32.770Z,1761508892.770 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:32.781Z,1761508892.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.597560
2025-10-26T20:01:32.846Z,1761508892.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813360,-0.552570,-0.181967],[0.579799,-0.744276,-0.331492],[0.047739,-0.375126,0.925744]]
2025-10-26T20:01:33.020Z,1761508893.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:33.021Z,1761508893.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.847402
2025-10-26T20:01:33.250Z,1761508893.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804736,-0.562839,-0.188712],[0.591848,-0.736064,-0.328521],[0.046000,-0.376061,0.925452]]
2025-10-26T20:01:33.272Z,1761508893.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:33.273Z,1761508893.273 [DAT](INFO): Reached modem response timeout
2025-10-26T20:01:33.525Z,1761508893.525 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:33.654Z,1761508893.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795582,-0.573616,-0.194974],[0.604213,-0.727613,-0.324816],[0.044454,-0.376223,0.925462]]
2025-10-26T20:01:33.708Z,1761508893.708 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:01:33.708Z,1761508893.708 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:01:33.708Z,1761508893.708 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:01:33.708Z,1761508893.708 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:01:33.709Z,1761508893.709 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:01:33.709Z,1761508893.709 [marl:UpdateSpeed] Stopped
2025-10-26T20:01:33.709Z,1761508893.709 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:01:33.779Z,1761508893.779 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:34.029Z,1761508894.029 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:34.060Z,1761508894.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785058,-0.585311,-0.202718],[0.617976,-0.717744,-0.320857],[0.042301,-0.377167,0.925179]]
2025-10-26T20:01:34.280Z,1761508894.280 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:34.473Z,1761508894.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773876,-0.597572,-0.209821],[0.632083,-0.707886,-0.315228],[0.039842,-0.376571,0.925530]]
2025-10-26T20:01:34.533Z,1761508894.533 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:34.786Z,1761508894.786 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:34.866Z,1761508894.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761583,-0.610439,-0.217614],[0.647019,-0.697111,-0.308873],[0.036847,-0.376032,0.925874]]
2025-10-26T20:01:35.036Z,1761508895.036 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:35.288Z,1761508895.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:01:35.540Z,1761508895.540 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:01:35.541Z,1761508895.541 [DAT](INFO): response not received
2025-10-26T20:01:35.541Z,1761508895.541 [DAT](INFO): DAT read: user:36>

2025-10-26T20:01:35.542Z,1761508895.542 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:01:35.542Z,1761508895.542 [DAT](INFO): set remote address to 6
2025-10-26T20:01:35.543Z,1761508895.543 [DAT](INFO): entering online mode
2025-10-26T20:01:35.675Z,1761508895.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735435,-0.635874,-0.234092],[0.676933,-0.674201,-0.295321],[0.029962,-0.375654,0.926275]]
2025-10-26T20:01:35.792Z,1761508895.792 [DAT](INFO): DAT read: user:37>

2025-10-26T20:01:35.793Z,1761508895.793 [DAT](INFO): DAT read: 

2025-10-26T20:01:35.794Z,1761508895.794 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:01:35.794Z,1761508895.794 [DAT](INFO): commRate: 600
2025-10-26T20:01:35.794Z,1761508895.794 [DAT](INFO): online mode acknowledged
2025-10-26T20:01:35.795Z,1761508895.795 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:01:36.078Z,1761508896.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722298,-0.647851,-0.242021],[0.691098,-0.663057,-0.287646],[0.025878,-0.375026,0.926653]]
2025-10-26T20:01:36.485Z,1761508896.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709709,-0.658909,-0.249303],[0.704172,-0.652768,-0.279348],[0.021328,-0.373808,0.927261]]
2025-10-26T20:01:36.886Z,1761508896.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697679,-0.669146,-0.255906],[0.716223,-0.643309,-0.270513],[0.016386,-0.372017,0.928081]]
2025-10-26T20:01:37.292Z,1761508897.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686355,-0.677815,-0.263597],[0.727176,-0.633896,-0.263422],[0.011459,-0.372482,0.927969]]
2025-10-26T20:01:37.700Z,1761508897.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675815,-0.685586,-0.270638],[0.737039,-0.625161,-0.256801],[0.006867,-0.373021,0.927797]]
2025-10-26T20:01:38.098Z,1761508898.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665356,-0.693311,-0.276806],[0.746522,-0.616561,-0.250117],[0.002742,-0.373058,0.927804]]
2025-10-26T20:01:38.502Z,1761508898.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654593,-0.700786,-0.283561],[0.755981,-0.607235,-0.244457],[-0.000876,-0.374386,0.927272]]
2025-10-26T20:01:38.960Z,1761508898.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643136,-0.708959,-0.289401],[0.765744,-0.597147,-0.238854],[-0.003478,-0.375223,0.926928]]
2025-10-26T20:01:39.069Z,1761508899.069 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:01:38.2645

2025-10-26T20:01:39.069Z,1761508899.069 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:01:39.310Z,1761508899.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631168,-0.717653,-0.294279],[0.775631,-0.586275,-0.233833],[-0.004718,-0.375840,0.926673]]
2025-10-26T20:01:39.721Z,1761508899.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618153,-0.726976,-0.298986],[0.786044,-0.573959,-0.229577],[-0.004709,-0.376930,0.926230]]
2025-10-26T20:01:40.118Z,1761508900.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605144,-0.736498,-0.302278],[0.796109,-0.561412,-0.225892],[-0.003334,-0.377343,0.926067]]
2025-10-26T20:01:40.523Z,1761508900.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591503,-0.746392,-0.304997],[0.806303,-0.547786,-0.223173],[-0.000498,-0.377927,0.925835]]
2025-10-26T20:01:41.736Z,1761508901.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544181,-0.779717,-0.309691],[0.838912,-0.501435,-0.211636],[0.009726,-0.374972,0.926985]]
2025-10-26T20:01:42.146Z,1761508902.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526765,-0.790520,-0.312404],[0.849922,-0.484510,-0.207083],[0.012341,-0.374603,0.927103]]
2025-10-26T20:01:42.542Z,1761508902.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509422,-0.800500,-0.315736],[0.860397,-0.467688,-0.202448],[0.014394,-0.374790,0.926998]]
2025-10-26T20:01:42.954Z,1761508902.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492297,-0.809743,-0.319312],[0.870290,-0.451378,-0.197113],[0.015481,-0.374932,0.926923]]
2025-10-26T20:01:43.350Z,1761508903.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475292,-0.817971,-0.324070],[0.879694,-0.435390,-0.191241],[0.015333,-0.375978,0.926502]]
2025-10-26T20:01:43.755Z,1761508903.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458179,-0.825708,-0.329057],[0.888759,-0.420016,-0.183557],[0.013355,-0.376554,0.926298]]
2025-10-26T20:01:44.162Z,1761508904.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440649,-0.832743,-0.335214],[0.897631,-0.404885,-0.174143],[0.009293,-0.377634,0.925908]]
2025-10-26T20:01:44.566Z,1761508904.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422586,-0.839205,-0.342280],[0.906318,-0.390042,-0.162650],[0.002993,-0.378948,0.925413]]
2025-10-26T20:01:44.627Z,1761508904.627 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:01:44.627Z,1761508904.627 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:01:44.627Z,1761508904.627 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:01:44.628Z,1761508904.628 [marl:UpdateRudder:A] Stopped
2025-10-26T20:01:44.628Z,1761508904.628 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:01:44.628Z,1761508904.628 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:01:44.628Z,1761508904.628 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:01:44.628Z,1761508904.628 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:01:44.628Z,1761508904.628 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:01:44.629Z,1761508904.629 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:01:44.629Z,1761508904.629 [marl:UpdateCommandMode] Stopped
2025-10-26T20:01:44.629Z,1761508904.629 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:01:44.970Z,1761508904.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403764,-0.844964,-0.350728],[0.914846,-0.375234,-0.149183],[-0.005550,-0.381097,0.924518]]
2025-10-26T20:01:45.037Z,1761508905.037 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:01:45.037Z,1761508905.037 [marl:UpdateRudder:B] Stopped
2025-10-26T20:01:45.037Z,1761508905.037 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:01:45.038Z,1761508905.038 [marl:UpdateRudder] Stopped
2025-10-26T20:01:45.038Z,1761508905.038 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:01:45.375Z,1761508905.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384179,-0.851181,-0.357627],[0.923120,-0.360852,-0.132801],[-0.016013,-0.381152,0.924374]]
2025-10-26T20:01:45.779Z,1761508905.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364569,-0.857043,-0.364097],[0.930761,-0.347066,-0.115015],[-0.027793,-0.380819,0.924232]]
2025-10-26T20:01:46.182Z,1761508906.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346055,-0.862250,-0.369825],[0.937379,-0.334376,-0.097531],[-0.039565,-0.380418,0.923968]]
2025-10-26T20:01:46.586Z,1761508906.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330056,-0.866125,-0.375354],[0.942642,-0.323433,-0.082564],[-0.049891,-0.381075,0.923197]]
2025-10-26T20:01:46.996Z,1761508906.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316874,-0.869119,-0.379767],[0.946707,-0.314210,-0.070835],[-0.057763,-0.381974,0.922366]]
2025-10-26T20:01:47.039Z,1761508907.039 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:01:47.039Z,1761508907.039 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:01:47.039Z,1761508907.039 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:01:47.055Z,1761508907.055 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:01:47.056Z,1761508907.056 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:01:47.056Z,1761508907.056 [marl:UpdateSpeed] Stopped
2025-10-26T20:01:47.056Z,1761508907.056 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:01:47.414Z,1761508907.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293153,-0.873479,-0.388711],[0.953692,-0.295797,-0.054553],[-0.067329,-0.386703,0.919743]]
2025-10-26T20:01:47.803Z,1761508907.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281608,-0.876050,-0.391450],[0.957062,-0.285686,-0.049155],[-0.068769,-0.388484,0.918886]]
2025-10-26T20:01:48.207Z,1761508908.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270318,-0.878862,-0.393102],[0.960382,-0.274895,-0.045825],[-0.067787,-0.389915,0.918352]]
2025-10-26T20:01:48.612Z,1761508908.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259327,-0.882245,-0.392929],[0.963643,-0.263481,-0.044393],[-0.064364,-0.390155,0.918497]]
2025-10-26T20:01:49.013Z,1761508909.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248895,-0.885462,-0.392438],[0.966734,-0.251793,-0.045006],[-0.058962,-0.390585,0.918676]]
2025-10-26T20:01:49.148Z,1761508909.148 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:01:49.400Z,1761508909.400 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:01:49.426Z,1761508909.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238428,-0.889159,-0.390574],[0.969759,-0.239577,-0.046588],[-0.052149,-0.389871,0.919392]]
2025-10-26T20:01:49.579Z,1761508909.579 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:01:49.580Z,1761508909.580 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:01:49.653Z,1761508909.653 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:01:49.696Z,1761508909.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:01:49.818Z,1761508909.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227882,-0.893394,-0.387192],[0.972674,-0.227024,-0.048638],[-0.044449,-0.387695,0.920715]]
2025-10-26T20:01:50.226Z,1761508910.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215981,-0.897958,-0.383438],[0.975706,-0.213264,-0.050157],[-0.036734,-0.384955,0.922204]]
2025-10-26T20:01:50.626Z,1761508910.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201730,-0.902683,-0.380090],[0.978969,-0.197877,-0.049639],[-0.030403,-0.382110,0.923617]]
2025-10-26T20:01:50.700Z,1761508910.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:01:51.030Z,1761508911.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183995,-0.907180,-0.378378],[0.982579,-0.180004,-0.046233],[-0.026168,-0.380292,0.924496]]
2025-10-26T20:01:51.441Z,1761508911.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163977,-0.912121,-0.375695],[0.986181,-0.160703,-0.040272],[-0.023642,-0.377107,0.925868]]
2025-10-26T20:01:51.840Z,1761508911.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142564,-0.915943,-0.375133],[0.989534,-0.140432,-0.033173],[-0.022296,-0.375936,0.926377]]
2025-10-26T20:01:52.242Z,1761508912.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120784,-0.919232,-0.374731],[0.992440,-0.120106,-0.025259],[-0.021788,-0.374949,0.926789]]
2025-10-26T20:01:52.646Z,1761508912.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098632,-0.922321,-0.373624],[0.994876,-0.099776,-0.016331],[-0.022216,-0.373321,0.927436]]
2025-10-26T20:01:52.693Z,1761508912.693 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:01:52.929Z,1761508912.929 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:01:52.1144

2025-10-26T20:01:52.929Z,1761508912.929 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:01:52.929Z,1761508912.929 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:01:52.983Z,1761508912.983 [DAT](INFO): entering command mode
2025-10-26T20:01:53.050Z,1761508913.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076459,-0.924304,-0.373921],[0.996793,-0.079748,-0.006692],[-0.023634,-0.373233,0.927436]]
2025-10-26T20:01:53.181Z,1761508913.181 [DAT](INFO): DAT read: 

2025-10-26T20:01:53.181Z,1761508913.181 [DAT](INFO): DAT read: user:38>

2025-10-26T20:01:53.182Z,1761508913.182 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:01:53.182Z,1761508913.182 [DAT](INFO): setting remote address to 0
2025-10-26T20:01:53.432Z,1761508913.432 [DAT](INFO): DAT read: user:38>

2025-10-26T20:01:53.433Z,1761508913.433 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:01:53.433Z,1761508913.433 [DAT](INFO): set remote address to 0
2025-10-26T20:01:53.434Z,1761508913.434 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:01:53.434Z,1761508913.434 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:01:53.684Z,1761508913.684 [DAT](INFO): DAT read: user:39>

2025-10-26T20:01:53.685Z,1761508913.685 [DAT](INFO): DAT read: Tx time:20:01:52.8156

2025-10-26T20:01:53.685Z,1761508913.685 [DAT](INFO): Ping request sent.
2025-10-26T20:01:53.685Z,1761508913.685 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:01:53.686Z,1761508913.686 [DAT](INFO): publishing transmit ping time
2025-10-26T20:01:53.686Z,1761508913.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000971
2025-10-26T20:01:53.858Z,1761508913.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028979,-0.926812,-0.374407],[0.999136,-0.038018,0.016776],[-0.029782,-0.373598,0.927113]]
2025-10-26T20:01:53.936Z,1761508913.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250854
2025-10-26T20:01:54.188Z,1761508914.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502936
2025-10-26T20:01:54.262Z,1761508914.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004044,-0.927015,-0.375004],[0.999404,-0.016606,0.030272],[-0.034290,-0.374658,0.926529]]
2025-10-26T20:01:54.441Z,1761508914.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755783
2025-10-26T20:01:54.666Z,1761508914.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021135,-0.926523,-0.375644],[0.998986,0.004635,0.044774],[-0.039743,-0.376210,0.925682]]
2025-10-26T20:01:54.693Z,1761508914.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007565
2025-10-26T20:01:54.944Z,1761508914.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933
2025-10-26T20:01:55.072Z,1761508915.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044963,-0.924995,-0.377311],[0.997975,0.024581,0.058664],[-0.044989,-0.379184,0.924227]]
2025-10-26T20:01:55.196Z,1761508915.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510995
2025-10-26T20:01:55.448Z,1761508915.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762892
2025-10-26T20:01:55.478Z,1761508915.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065588,-0.923631,-0.377630],[0.996635,0.041994,0.070389],[-0.049155,-0.380976,0.923277]]
2025-10-26T20:01:55.701Z,1761508915.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015254
2025-10-26T20:01:55.878Z,1761508915.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083598,-0.922272,-0.377394],[0.995122,0.057355,0.080270],[-0.052385,-0.382263,0.922567]]
2025-10-26T20:01:55.967Z,1761508915.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281760
2025-10-26T20:01:56.221Z,1761508916.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535084
2025-10-26T20:01:56.282Z,1761508916.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100289,-0.921299,-0.375700],[0.993433,0.071823,0.089060],[-0.055068,-0.382164,0.922452]]
2025-10-26T20:01:56.477Z,1761508916.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.791528
2025-10-26T20:01:56.687Z,1761508916.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115834,-0.920256,-0.373779],[0.991617,0.085452,0.096918],[-0.057250,-0.381872,0.922440]]
2025-10-26T20:01:56.725Z,1761508916.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039744
2025-10-26T20:01:56.976Z,1761508916.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290795
2025-10-26T20:01:57.090Z,1761508917.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130359,-0.918715,-0.372787],[0.989699,0.098134,0.104239],[-0.059182,-0.382535,0.922044]]
2025-10-26T20:01:57.229Z,1761508917.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543545
2025-10-26T20:01:57.480Z,1761508917.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794988
2025-10-26T20:01:57.496Z,1761508917.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144441,-0.916922,-0.372009],[0.987636,0.110445,0.111249],[-0.060920,-0.383478,0.921538]]
2025-10-26T20:01:57.733Z,1761508917.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.047191
2025-10-26T20:01:57.907Z,1761508917.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158364,-0.914887,-0.371352],[0.985412,0.122708,0.117921],[-0.062317,-0.384609,0.920974]]
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateRudder:A] Stopped
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:01:57.940Z,1761508917.940 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:01:57.941Z,1761508917.941 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:01:57.941Z,1761508917.941 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:01:57.941Z,1761508917.941 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:01:57.941Z,1761508917.941 [marl:UpdateCommandMode] Stopped
2025-10-26T20:01:57.941Z,1761508917.941 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:01:57.985Z,1761508917.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.299669
2025-10-26T20:01:58.236Z,1761508918.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.551001
2025-10-26T20:01:58.302Z,1761508918.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171464,-0.913041,-0.370075],[0.983158,0.134462,0.123779],[-0.063254,-0.385065,0.920719]]
2025-10-26T20:01:58.349Z,1761508918.349 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:01:58.349Z,1761508918.349 [marl:UpdateRudder:B] Stopped
2025-10-26T20:01:58.349Z,1761508918.349 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:01:58.349Z,1761508918.349 [marl:UpdateRudder] Stopped
2025-10-26T20:01:58.349Z,1761508918.349 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:01:58.488Z,1761508918.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.803024
2025-10-26T20:01:58.713Z,1761508918.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184617,-0.910418,-0.370210],[0.980706,0.146015,0.129981],[-0.064281,-0.387064,0.919810]]
2025-10-26T20:01:58.743Z,1761508918.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.057406
2025-10-26T20:01:58.992Z,1761508918.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306881
2025-10-26T20:01:59.113Z,1761508919.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197920,-0.908001,-0.369271],[0.978055,0.157917,0.135910],[-0.065092,-0.388067,0.919330]]
2025-10-26T20:01:59.244Z,1761508919.244 [DAT](INFO): DAT read: Rx Time:20:01:57.8821

2025-10-26T20:01:59.245Z,1761508919.245 [DAT](INFO): Rx dataTimestamp_ set to:1761508919.244535
2025-10-26T20:01:59.245Z,1761508919.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.559980
2025-10-26T20:01:59.496Z,1761508919.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.810926
2025-10-26T20:01:59.523Z,1761508919.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211149,-0.906146,-0.366492],[0.975238,0.170069,0.141374],[-0.065777,-0.387268,0.919618]]
2025-10-26T20:01:59.754Z,1761508919.754 [DAT](INFO): DAT read: 20:01:57.8821 LVL= 23392, 23777, 16290, 21139, AGC= 72, IDX= 366,-0.17,-1.160,-1.263, 0.895,-0.817, PHS=-0.240,-0.401, 1.668, RAW= 206.0, -10.3, CAL= 205.3, -13.4, ROT= 304.7,  13.4

2025-10-26T20:01:59.755Z,1761508919.755 [DAT](INFO): got valid direction response:
 20:01:57.8821 LVL= 23392, 23777, 16290, 21139, AGC= 72, IDX= 366,-0.17,-1.160,-1.263, 0.895,-0.817, PHS=-0.240,-0.401, 1.668, RAW= 206.0, -10.3, CAL= 205.3, -13.4, ROT= 304.7,  13.4

2025-10-26T20:01:59.756Z,1761508919.756 [DAT](INFO): DAT read: Bearing   7, -13 (Remote)

2025-10-26T20:01:59.757Z,1761508919.757 [DAT](INFO): Remote Bearing received:Bearing   7, -13 (Remote)

2025-10-26T20:01:59.758Z,1761508919.758 [DAT](INFO): DAT read: Bearing 178.1, -42.2 (Local)

2025-10-26T20:01:59.758Z,1761508919.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1, -42.2 (Local)

2025-10-26T20:01:59.764Z,1761508919.764 [DAT](INFO): DAT read: Range 11 to 20 : 2278.0 m  (Round-trip  3037.4 ms) speed  0.3 m/s

2025-10-26T20:01:59.765Z,1761508919.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:01:59.766Z,1761508919.766 [DAT](INFO): direction in FSK: [0.553782,-0.799762,-0.231748]
2025-10-26T20:01:59.766Z,1761508919.766 [DAT](INFO): publishing direction and range info
2025-10-26T20:01:59.918Z,1761508919.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224108,-0.903691,-0.364854],[0.972303,0.181840,0.146837],[-0.066350,-0.387656,0.919413]]
2025-10-26T20:01:59.965Z,1761508919.965 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:01:59.966Z,1761508919.966 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:01:59.966Z,1761508919.966 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:01:59.966Z,1761508919.966 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:01:59.966Z,1761508919.966 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:01:59.966Z,1761508919.966 [marl:UpdateSpeed] Stopped
2025-10-26T20:01:59.966Z,1761508919.966 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:01:59.973Z,1761508919.973 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761508864.00. Resetting abort timer.
2025-10-26T20:02:00.322Z,1761508920.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236816,-0.901611,-0.361960],[0.969277,0.193759,0.151523],[-0.066482,-0.386723,0.919796]]
2025-10-26T20:02:00.730Z,1761508920.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249612,-0.899202,-0.359347],[0.966055,0.205731,0.156242],[-0.066564,-0.386149,0.920032]]
2025-10-26T20:02:01.130Z,1761508921.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262517,-0.896512,-0.356863],[0.962633,0.217839,0.160882],[-0.066494,-0.385763,0.920199]]
2025-10-26T20:02:01.534Z,1761508921.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275145,-0.894286,-0.352914],[0.959120,0.230047,0.164827],[-0.066216,-0.383838,0.921023]]
2025-10-26T20:02:01.939Z,1761508921.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287673,-0.891700,-0.349450],[0.955456,0.242082,0.168820],[-0.065942,-0.382449,0.921620]]
2025-10-26T20:02:02.345Z,1761508922.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300217,-0.888960,-0.345861],[0.951598,0.254102,0.172899],[-0.065816,-0.381027,0.922218]]
2025-10-26T20:02:02.752Z,1761508922.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312409,-0.885804,-0.343150],[0.947693,0.265747,0.176796],[-0.065416,-0.380433,0.922492]]
2025-10-26T20:02:03.024Z,1761508923.024 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:02:03.024Z,1761508923.024 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:02:03.150Z,1761508923.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324552,-0.882849,-0.339474],[0.943644,0.277622,0.180172],[-0.064820,-0.378818,0.923198]]
2025-10-26T20:02:03.276Z,1761508923.276 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:02:03.528Z,1761508923.528 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:02:03.558Z,1761508923.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336713,-0.879098,-0.337357],[0.939435,0.289316,0.183731],[-0.063915,-0.378790,0.923273]]
2025-10-26T20:02:03.780Z,1761508923.780 [DAT](INFO): setting remote address to 6
2025-10-26T20:02:03.959Z,1761508923.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350049,-0.874812,-0.334918],[0.934622,0.302194,0.187510],[-0.062826,-0.378659,0.923401]]
2025-10-26T20:02:04.033Z,1761508924.033 [DAT](INFO): DAT read: user:40>

2025-10-26T20:02:04.034Z,1761508924.034 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:02:04.034Z,1761508924.034 [DAT](INFO): set remote address to 6
2025-10-26T20:02:04.034Z,1761508924.034 [DAT](INFO): entering online mode
2025-10-26T20:02:04.284Z,1761508924.284 [DAT](INFO): DAT read: user:41>

2025-10-26T20:02:04.285Z,1761508924.285 [DAT](INFO): DAT read: 

2025-10-26T20:02:04.286Z,1761508924.286 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:02:04.286Z,1761508924.286 [DAT](INFO): commRate: 600
2025-10-26T20:02:04.286Z,1761508924.286 [DAT](INFO): online mode acknowledged
2025-10-26T20:02:04.287Z,1761508924.287 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:02:04.371Z,1761508924.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364881,-0.869486,-0.332949],[0.929016,0.316358,0.191957],[-0.061573,-0.379356,0.923200]]
2025-10-26T20:02:04.805Z,1761508924.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380823,-0.863346,-0.331070],[0.922695,0.331565,0.196721],[-0.060067,-0.380393,0.922872]]
2025-10-26T20:02:05.171Z,1761508925.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397822,-0.856394,-0.329131],[0.915611,0.347814,0.201696],[-0.058255,-0.381595,0.922492]]
2025-10-26T20:02:05.581Z,1761508925.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416019,-0.848518,-0.327026],[0.907616,0.365204,0.207026],[-0.056234,-0.382940,0.922060]]
2025-10-26T20:02:05.978Z,1761508925.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434327,-0.840703,-0.323384],[0.899108,0.382930,0.212060],[-0.054446,-0.382861,0.922200]]
2025-10-26T20:02:06.387Z,1761508926.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453559,-0.832139,-0.319106],[0.889647,0.401435,0.217665],[-0.053027,-0.382616,0.922385]]
2025-10-26T20:02:06.823Z,1761508926.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473341,-0.822513,-0.315310],[0.879328,0.419969,0.224517],[-0.052248,-0.383534,0.922048]]
2025-10-26T20:02:07.191Z,1761508927.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494005,-0.812178,-0.310366],[0.867873,0.439067,0.232414],[-0.052490,-0.384172,0.921768]]
2025-10-26T20:02:07.561Z,1761508927.561 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:02:06.7643

2025-10-26T20:02:07.561Z,1761508927.561 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:02:07.594Z,1761508927.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514744,-0.801300,-0.304888],[0.855658,0.457860,0.241274],[-0.053737,-0.385074,0.921320]]
2025-10-26T20:02:07.999Z,1761508927.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535096,-0.790407,-0.298210],[0.842955,0.476295,0.250142],[-0.055678,-0.385228,0.921140]]
2025-10-26T20:02:08.404Z,1761508928.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553416,-0.780335,-0.291218],[0.830886,0.492902,0.258218],[-0.057954,-0.384870,0.921149]]
2025-10-26T20:02:08.830Z,1761508928.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570279,-0.770629,-0.284452],[0.819244,0.508194,0.265666],[-0.060173,-0.384539,0.921145]]
2025-10-26T20:02:09.210Z,1761508929.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585654,-0.761384,-0.278035],[0.808152,0.522056,0.272669],[-0.062455,-0.384384,0.921058]]
2025-10-26T20:02:09.617Z,1761508929.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599958,-0.752430,-0.271844],[0.797434,0.535070,0.278926],[-0.064417,-0.384121,0.921033]]
2025-10-26T20:02:10.019Z,1761508930.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613586,-0.743290,-0.266517],[0.786866,0.547354,0.285036],[-0.065985,-0.384607,0.920719]]
2025-10-26T20:02:10.422Z,1761508930.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626823,-0.734165,-0.260948],[0.776258,0.559539,0.290411],[-0.067199,-0.384600,0.920634]]
2025-10-26T20:02:10.869Z,1761508930.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639574,-0.724557,-0.256832],[0.765712,0.570884,0.296270],[-0.068043,-0.386146,0.919924]]
2025-10-26T20:02:11.230Z,1761508931.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651514,-0.715180,-0.253077],[0.755530,0.581515,0.301686],[-0.068592,-0.387760,0.919205]]
2025-10-26T20:02:11.253Z,1761508931.253 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateRudder:A] Stopped
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:02:11.254Z,1761508931.254 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:02:11.255Z,1761508931.255 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:02:11.255Z,1761508931.255 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:02:11.255Z,1761508931.255 [marl:UpdateCommandMode] Stopped
2025-10-26T20:02:11.255Z,1761508931.255 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:02:11.641Z,1761508931.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662993,-0.705825,-0.249502],[0.745468,0.591871,0.306540],[-0.068690,-0.389229,0.918576]]
2025-10-26T20:02:11.707Z,1761508931.707 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:02:11.707Z,1761508931.707 [marl:UpdateRudder:B] Stopped
2025-10-26T20:02:11.712Z,1761508931.712 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:02:11.712Z,1761508931.712 [marl:UpdateRudder] Stopped
2025-10-26T20:02:11.712Z,1761508931.712 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:02:12.038Z,1761508932.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673665,-0.696770,-0.246347],[0.735854,0.601496,0.311000],[-0.068519,-0.390785,0.917928]]
2025-10-26T20:02:12.442Z,1761508932.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683556,-0.688391,-0.242631],[0.726730,0.610950,0.314012],[-0.067928,-0.390972,0.917893]]
2025-10-26T20:02:12.857Z,1761508932.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692494,-0.680567,-0.239333],[0.718306,0.619649,0.316341],[-0.066989,-0.390979,0.917958]]
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed] Stopped
2025-10-26T20:02:12.910Z,1761508932.910 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:02:13.250Z,1761508933.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700661,-0.673284,-0.236141],[0.710457,0.627852,0.317889],[-0.065768,-0.390500,0.918251]]
2025-10-26T20:02:13.654Z,1761508933.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708481,-0.666198,-0.232887],[0.702812,0.636051,0.318582],[-0.064111,-0.389385,0.918841]]
2025-10-26T20:02:14.058Z,1761508934.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716261,-0.658765,-0.230215],[0.695073,0.644178,0.319231],[-0.061999,-0.388669,0.919289]]
2025-10-26T20:02:14.463Z,1761508934.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723962,-0.651231,-0.227545],[0.687253,0.652341,0.319587],[-0.059688,-0.387749,0.919830]]
2025-10-26T20:02:14.869Z,1761508934.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731608,-0.643569,-0.224876],[0.679349,0.660732,0.319246],[-0.056874,-0.386333,0.920604]]
2025-10-26T20:02:15.270Z,1761508935.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739323,-0.635532,-0.222487],[0.671236,0.669437,0.318271],[-0.053331,-0.384646,0.921522]]
2025-10-26T20:02:15.674Z,1761508935.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747451,-0.626454,-0.221068],[0.662457,0.677999,0.318541],[-0.049668,-0.384542,0.921770]]
2025-10-26T20:02:16.080Z,1761508936.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755949,-0.616555,-0.220002],[0.653042,0.686858,0.319003],[-0.045573,-0.384820,0.921866]]
2025-10-26T20:02:16.482Z,1761508936.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764952,-0.606083,-0.217971],[0.642781,0.696811,0.318257],[-0.041006,-0.383558,0.922606]]
2025-10-26T20:02:16.886Z,1761508936.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774136,-0.594887,-0.216387],[0.631971,0.706629,0.318258],[-0.036422,-0.383125,0.922978]]
2025-10-26T20:02:17.290Z,1761508937.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784044,-0.582356,-0.214794],[0.619902,0.717043,0.318703],[-0.031582,-0.383028,0.923197]]
2025-10-26T20:02:17.656Z,1761508937.656 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:02:17.709Z,1761508937.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794655,-0.568496,-0.212920],[0.606458,0.727810,0.320159],[-0.027043,-0.383543,0.923127]]
2025-10-26T20:02:17.908Z,1761508937.908 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:02:18.098Z,1761508938.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805609,-0.553718,-0.210691],[0.592014,0.738785,0.322049],[-0.022669,-0.384178,0.922981]]
2025-10-26T20:02:18.161Z,1761508938.161 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:02:18.502Z,1761508938.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817057,-0.537962,-0.207401],[0.576251,0.750236,0.324163],[-0.018788,-0.384375,0.922986]]
2025-10-26T20:02:18.955Z,1761508938.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828600,-0.521709,-0.203081],[0.559633,0.761978,0.325884],[-0.015273,-0.383678,0.923341]]
2025-10-26T20:02:19.336Z,1761508939.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840069,-0.504511,-0.199380],[0.542337,0.772662,0.329946],[-0.012408,-0.385309,0.922704]]
2025-10-26T20:02:19.720Z,1761508939.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851437,-0.486929,-0.194821],[0.524361,0.783268,0.333971],[-0.010024,-0.386512,0.922230]]
2025-10-26T20:02:20.118Z,1761508940.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861912,-0.470317,-0.189498],[0.506991,0.793278,0.337151],[-0.008244,-0.386668,0.922182]]
2025-10-26T20:02:20.524Z,1761508940.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871983,-0.453518,-0.184299],[0.489487,0.802452,0.341281],[-0.006886,-0.387803,0.921716]]
2025-10-26T20:02:20.821Z,1761508940.821 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:02:20.926Z,1761508940.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881071,-0.437524,-0.179687],[0.472949,0.810290,0.346049],[-0.005807,-0.389876,0.920849]]
2025-10-26T20:02:21.336Z,1761508941.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889307,-0.422443,-0.175144],[0.457286,0.817429,0.350284],[-0.004807,-0.391601,0.920122]]
2025-10-26T20:02:21.437Z,1761508941.437 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:02:20.6143

2025-10-26T20:02:21.437Z,1761508941.437 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:02:21.738Z,1761508941.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896886,-0.408030,-0.170610],[0.442246,0.824061,0.354038],[-0.003865,-0.392982,0.919538]]
2025-10-26T20:02:21.824Z,1761508941.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:02:22.140Z,1761508942.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903712,-0.394281,-0.166876],[0.428134,0.829949,0.357612],[-0.002501,-0.394623,0.918840]]
2025-10-26T20:02:22.542Z,1761508942.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910136,-0.381078,-0.162581],[0.414309,0.836192,0.359348],[-0.000991,-0.394414,0.918932]]
2025-10-26T20:02:22.946Z,1761508942.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916045,-0.368239,-0.158940],[0.401075,0.841820,0.361217],[0.000784,-0.394638,0.918836]]
2025-10-26T20:02:22.996Z,1761508942.996 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:02:23.200Z,1761508943.200 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:02:23.252Z,1761508943.252 [DAT](INFO): entering command mode
2025-10-26T20:02:23.350Z,1761508943.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921287,-0.356196,-0.156060],[0.388872,0.846889,0.362709],[0.002970,-0.394846,0.918742]]
2025-10-26T20:02:23.452Z,1761508943.452 [DAT](INFO): DAT read: 

2025-10-26T20:02:23.453Z,1761508943.453 [DAT](INFO): DAT read: user:42>

2025-10-26T20:02:23.453Z,1761508943.453 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:02:23.454Z,1761508943.454 [DAT](INFO): setting remote address to 0
2025-10-26T20:02:23.705Z,1761508943.705 [DAT](INFO): DAT read: user:42>

2025-10-26T20:02:23.706Z,1761508943.706 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:02:23.706Z,1761508943.706 [DAT](INFO): set remote address to 0
2025-10-26T20:02:23.707Z,1761508943.707 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:02:23.707Z,1761508943.707 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:02:23.768Z,1761508943.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926592,-0.343649,-0.152752],[0.376031,0.852408,0.363320],[0.005353,-0.394089,0.919057]]
2025-10-26T20:02:23.956Z,1761508943.956 [DAT](INFO): DAT read: user:43>

2025-10-26T20:02:23.957Z,1761508943.957 [DAT](INFO): DAT read: Tx time:20:02:23.0655

2025-10-26T20:02:23.957Z,1761508943.957 [DAT](INFO): Ping request sent.
2025-10-26T20:02:23.957Z,1761508943.957 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:02:23.958Z,1761508943.958 [DAT](INFO): publishing transmit ping time
2025-10-26T20:02:23.958Z,1761508943.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000972
2025-10-26T20:02:24.158Z,1761508944.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931538,-0.331506,-0.149466],[0.363558,0.857893,0.363105],[0.007855,-0.392586,0.919682]]
2025-10-26T20:02:24.208Z,1761508944.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992
2025-10-26T20:02:24.222Z,1761508944.222 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:02:24.222Z,1761508944.222 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:02:24.222Z,1761508944.222 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:02:24.222Z,1761508944.222 [marl:UpdateRudder:A] Stopped
2025-10-26T20:02:24.222Z,1761508944.222 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:02:24.222Z,1761508944.222 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:02:24.223Z,1761508944.223 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:02:24.223Z,1761508944.223 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:02:24.223Z,1761508944.223 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:02:24.223Z,1761508944.223 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:02:24.223Z,1761508944.223 [marl:UpdateCommandMode] Stopped
2025-10-26T20:02:24.223Z,1761508944.223 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:02:24.461Z,1761508944.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503152
2025-10-26T20:02:24.563Z,1761508944.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936403,-0.318986,-0.146279],[0.350773,0.863117,0.363300],[0.010368,-0.391506,0.920117]]
2025-10-26T20:02:24.588Z,1761508944.588 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:02:24.588Z,1761508944.588 [marl:UpdateRudder:B] Stopped
2025-10-26T20:02:24.588Z,1761508944.588 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:02:24.588Z,1761508944.588 [marl:UpdateRudder] Stopped
2025-10-26T20:02:24.588Z,1761508944.588 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:02:24.747Z,1761508944.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.781608
2025-10-26T20:02:24.964Z,1761508944.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006776
2025-10-26T20:02:24.967Z,1761508944.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940874,-0.306968,-0.143269],[0.338512,0.868002,0.363294],[0.012838,-0.390313,0.920593]]
2025-10-26T20:02:25.220Z,1761508945.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262778
2025-10-26T20:02:25.370Z,1761508945.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945243,-0.294825,-0.139976],[0.326023,0.872657,0.363565],[0.014963,-0.389293,0.920992]]
2025-10-26T20:02:25.468Z,1761508945.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510831
2025-10-26T20:02:25.721Z,1761508945.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763554
2025-10-26T20:02:25.780Z,1761508945.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949344,-0.283143,-0.136294],[0.313807,0.876964,0.363950],[0.016475,-0.388283,0.921393]]
2025-10-26T20:02:25.972Z,1761508945.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014947
2025-10-26T20:02:26.178Z,1761508946.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953447,-0.270752,-0.132787],[0.301015,0.880973,0.365072],[0.018138,-0.388047,0.921461]]
2025-10-26T20:02:26.215Z,1761508946.215 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:02:26.215Z,1761508946.215 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:02:26.215Z,1761508946.215 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:02:26.216Z,1761508946.216 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:02:26.216Z,1761508946.216 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:02:26.216Z,1761508946.216 [marl:UpdateSpeed] Stopped
2025-10-26T20:02:26.216Z,1761508946.216 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:02:26.224Z,1761508946.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266959
2025-10-26T20:02:26.477Z,1761508946.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519342
2025-10-26T20:02:26.582Z,1761508946.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957452,-0.258160,-0.128992],[0.287928,0.884833,0.366290],[0.019575,-0.387845,0.921517]]
2025-10-26T20:02:26.729Z,1761508946.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771311
2025-10-26T20:02:26.981Z,1761508946.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023616
2025-10-26T20:02:26.990Z,1761508946.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961561,-0.244624,-0.124738],[0.273816,0.888312,0.368683],[0.020618,-0.388666,0.921148]]
2025-10-26T20:02:27.232Z,1761508947.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854
2025-10-26T20:02:27.391Z,1761508947.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965490,-0.230868,-0.120536],[0.259522,0.891667,0.370916],[0.021846,-0.389397,0.920811]]
2025-10-26T20:02:27.485Z,1761508947.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527579
2025-10-26T20:02:27.736Z,1761508947.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778923
2025-10-26T20:02:27.809Z,1761508947.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969622,-0.215509,-0.115716],[0.243526,0.894977,0.373780],[0.023010,-0.390605,0.920271]]
2025-10-26T20:02:27.988Z,1761508947.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030958
2025-10-26T20:02:28.198Z,1761508948.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973363,-0.200815,-0.110628],[0.228017,0.898291,0.375607],[0.023949,-0.390827,0.920153]]
2025-10-26T20:02:28.241Z,1761508948.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283439
2025-10-26T20:02:28.492Z,1761508948.492 [DAT](INFO): DAT read: Rx Time:20:02:27.1645

2025-10-26T20:02:28.493Z,1761508948.493 [DAT](INFO): Rx dataTimestamp_ set to:1761508948.492635
2025-10-26T20:02:28.493Z,1761508948.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536038
2025-10-26T20:02:28.602Z,1761508948.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976752,-0.186518,-0.105673],[0.212920,0.901357,0.377122],[0.024909,-0.390854,0.920115]]
2025-10-26T20:02:28.745Z,1761508948.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787373
2025-10-26T20:02:29.002Z,1761508949.002 [DAT](INFO): DAT read: 20:02:27.1645 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 185, 0.21, 0.082,-1.624,-0.044,-0.272, PHS= 0.457,-1.307, 0.184, RAW= 141.7,   8.2, CAL= 141.3,   9.0, ROT=   8.7,  -9.0

2025-10-26T20:02:29.003Z,1761508949.003 [DAT](INFO): got valid direction response:
 20:02:27.1645 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 185, 0.21, 0.082,-1.624,-0.044,-0.272, PHS= 0.457,-1.307, 0.184, RAW= 141.7,   8.2, CAL= 141.3,   9.0, ROT=   8.7,  -9.0

2025-10-26T20:02:29.004Z,1761508949.004 [DAT](INFO): DAT read: Bearing 166.3,   5.3 (Local)

2025-10-26T20:02:29.004Z,1761508949.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.3,   5.3 (Local)

2025-10-26T20:02:29.006Z,1761508949.006 [DAT](INFO): DAT read: Range 11 to 20 : 1271.2 m  (Round-trip  1695.0 ms) speed  0.9 m/s

2025-10-26T20:02:29.006Z,1761508949.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:02:29.007Z,1761508949.007 [DAT](INFO): direction in FSK: [0.976324,0.149399,0.156434]
2025-10-26T20:02:29.008Z,1761508949.008 [DAT](INFO): publishing direction and range info
2025-10-26T20:02:29.030Z,1761508949.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979977,-0.171786,-0.100674],[0.197390,0.904522,0.377991],[0.026129,-0.390294,0.920319]]
2025-10-26T20:02:29.154Z,1761508949.154 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761508992.00. Resetting abort timer.
2025-10-26T20:02:29.411Z,1761508949.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982916,-0.157032,-0.096011],[0.182014,0.906802,0.380239],[0.027353,-0.391218,0.919891]]
2025-10-26T20:02:29.817Z,1761508949.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985469,-0.143046,-0.091589],[0.167431,0.908859,0.382023],[0.028594,-0.391807,0.919603]]
2025-10-26T20:02:30.218Z,1761508950.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987886,-0.128652,-0.086776],[0.152290,0.911184,0.382821],[0.029818,-0.391398,0.919738]]
2025-10-26T20:02:30.622Z,1761508950.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990082,-0.114049,-0.082040],[0.136991,0.913248,0.383682],[0.031164,-0.391115,0.919814]]
2025-10-26T20:02:31.027Z,1761508951.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992136,-0.098598,-0.077107],[0.120861,0.914845,0.385293],[0.032552,-0.391582,0.919567]]
2025-10-26T20:02:31.432Z,1761508951.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993980,-0.082738,-0.071815],[0.104179,0.916667,0.385836],[0.033907,-0.390995,0.919768]]
2025-10-26T20:02:31.516Z,1761508951.516 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:02:31.769Z,1761508951.769 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:02:31.834Z,1761508951.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995636,-0.066066,-0.065907],[0.086467,0.918752,0.385251],[0.035100,-0.389268,0.920455]]
2025-10-26T20:02:32.021Z,1761508952.021 [DAT](INFO): setting remote address to 6
2025-10-26T20:02:32.238Z,1761508952.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997041,-0.048522,-0.059616],[0.067826,0.920284,0.385328],[0.036166,-0.388231,0.920852]]
2025-10-26T20:02:32.274Z,1761508952.274 [DAT](INFO): DAT read: user:44>

2025-10-26T20:02:32.275Z,1761508952.275 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:02:32.275Z,1761508952.275 [DAT](INFO): set remote address to 6
2025-10-26T20:02:32.276Z,1761508952.276 [DAT](INFO): entering online mode
2025-10-26T20:02:32.524Z,1761508952.524 [DAT](INFO): DAT read: user:45>

2025-10-26T20:02:32.525Z,1761508952.525 [DAT](INFO): DAT read: 

2025-10-26T20:02:32.526Z,1761508952.526 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:02:32.526Z,1761508952.526 [DAT](INFO): commRate: 600
2025-10-26T20:02:32.526Z,1761508952.526 [DAT](INFO): online mode acknowledged
2025-10-26T20:02:32.527Z,1761508952.527 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:02:32.648Z,1761508952.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998910,-0.011455,-0.045251],[0.027883,0.923890,0.381641],[0.037435,-0.382487,0.923202]]
2025-10-26T20:02:33.054Z,1761508953.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999255,0.006957,-0.037967],[0.008007,0.924868,0.380204],[0.037759,-0.380225,0.924123]]
2025-10-26T20:02:33.454Z,1761508953.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999200,0.025536,-0.030768],[-0.011956,0.925111,0.379509],[0.038155,-0.378838,0.924676]]
2025-10-26T20:02:33.859Z,1761508953.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998781,0.043261,-0.023785],[-0.031079,0.925312,0.377931],[0.038359,-0.376731,0.925528]]
2025-10-26T20:02:34.263Z,1761508954.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998041,0.060189,-0.017061],[-0.049334,0.924906,0.376983],[0.038470,-0.375403,0.926063]]
2025-10-26T20:02:34.664Z,1761508954.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997105,0.075181,-0.011401],[-0.065437,0.924732,0.374952],[0.038732,-0.373120,0.926974]]
2025-10-26T20:02:35.066Z,1761508955.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996039,0.088709,-0.006116],[-0.080021,0.924233,0.373350],[0.038772,-0.371382,0.927670]]
2025-10-26T20:02:35.470Z,1761508955.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994831,0.101539,-0.001098],[-0.093802,0.923067,0.373026],[0.038891,-0.370995,0.927820]]
2025-10-26T20:02:35.805Z,1761508955.805 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:02:35.0142

2025-10-26T20:02:35.805Z,1761508955.805 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:02:35.883Z,1761508955.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993480,0.113950,0.003622],[-0.107031,0.921271,0.373905],[0.039270,-0.371855,0.927460]]
2025-10-26T20:02:36.286Z,1761508956.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991979,0.126094,0.008830],[-0.120115,0.918569,0.376567],[0.039372,-0.374607,0.926347]]
2025-10-26T20:02:36.682Z,1761508956.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990272,0.138390,0.014477],[-0.133493,0.915538,0.379434],[0.039256,-0.377675,0.925106]]
2025-10-26T20:02:37.087Z,1761508957.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988186,0.151854,0.020734],[-0.148184,0.912123,0.382196],[0.039126,-0.380753,0.923849]]
2025-10-26T20:02:37.129Z,1761508957.129 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:02:37.129Z,1761508957.129 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateRudder:A] Stopped
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:02:37.130Z,1761508957.130 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:02:37.131Z,1761508957.131 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:02:37.131Z,1761508957.131 [marl:UpdateCommandMode] Stopped
2025-10-26T20:02:37.131Z,1761508957.131 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:02:37.490Z,1761508957.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985602,0.166770,0.027857],[-0.164545,0.908154,0.384944],[0.038898,-0.383985,0.922520]]
2025-10-26T20:02:37.530Z,1761508957.530 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:02:37.530Z,1761508957.530 [marl:UpdateRudder:B] Stopped
2025-10-26T20:02:37.530Z,1761508957.530 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:02:37.530Z,1761508957.530 [marl:UpdateRudder] Stopped
2025-10-26T20:02:37.531Z,1761508957.531 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:02:37.895Z,1761508957.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982504,0.182914,0.035041],[-0.182081,0.903866,0.387134],[0.039140,-0.386742,0.921357]]
2025-10-26T20:02:38.298Z,1761508958.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978779,0.200309,0.043228],[-0.201192,0.899290,0.388328],[0.038911,-0.388785,0.920507]]
2025-10-26T20:02:38.709Z,1761508958.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974543,0.218319,0.051024],[-0.220793,0.895006,0.387576],[0.038948,-0.388975,0.920425]]
2025-10-26T20:02:39.107Z,1761508959.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969920,0.236306,0.058437],[-0.240297,0.891104,0.384956],[0.038894,-0.387419,0.921083]]
2025-10-26T20:02:39.510Z,1761508959.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964829,0.254622,0.065365],[-0.260015,0.887744,0.379871],[0.038696,-0.383507,0.922727]]
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed] Stopped
2025-10-26T20:02:39.566Z,1761508959.566 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:02:39.914Z,1761508959.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959559,0.272215,0.071735],[-0.278889,0.884569,0.373842],[0.038311,-0.378729,0.924714]]
2025-10-26T20:02:40.727Z,1761508960.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949116,0.303613,0.083656],[-0.312783,0.877844,0.362708],[0.036686,-0.370419,0.928140]]
2025-10-26T20:02:41.126Z,1761508961.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944347,0.316767,0.088694],[-0.327006,0.874731,0.357648],[0.035708,-0.366747,0.929635]]
2025-10-26T20:02:41.531Z,1761508961.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939686,0.328820,0.094163],[-0.340272,0.870776,0.354916],[0.034709,-0.365550,0.930144]]
2025-10-26T20:02:41.936Z,1761508961.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934788,0.340827,0.100043],[-0.353585,0.865970,0.353659],[0.033902,-0.365970,0.930009]]
2025-10-26T20:02:42.339Z,1761508962.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929692,0.352556,0.106661],[-0.366832,0.860078,0.354543],[0.033259,-0.368742,0.928936]]
2025-10-26T20:02:42.754Z,1761508962.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924313,0.364311,0.113676],[-0.380223,0.853498,0.356331],[0.032793,-0.372584,0.927419]]
2025-10-26T20:02:43.146Z,1761508963.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918730,0.375590,0.121932],[-0.393596,0.846038,0.359585],[0.031897,-0.378353,0.925112]]
2025-10-26T20:02:43.551Z,1761508963.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912939,0.386448,0.131153],[-0.406948,0.837984,0.363560],[0.030593,-0.385280,0.922292]]
2025-10-26T20:02:43.954Z,1761508963.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907127,0.396676,0.140600],[-0.419885,0.830347,0.366362],[0.028580,-0.391373,0.919788]]
2025-10-26T20:02:44.361Z,1761508964.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901395,0.406144,0.150112],[-0.432231,0.823386,0.367710],[0.025743,-0.396336,0.917745]]
2025-10-26T20:02:44.789Z,1761508964.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895240,0.416002,0.159647],[-0.445021,0.816742,0.367273],[0.022396,-0.399843,0.916310]]
2025-10-26T20:02:45.168Z,1761508965.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887628,0.428547,0.168716],[-0.460149,0.809670,0.364277],[0.019505,-0.400977,0.915881]]
2025-10-26T20:02:45.570Z,1761508965.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878600,0.443274,0.177679],[-0.477271,0.802137,0.358872],[0.016556,-0.400106,0.916319]]
2025-10-26T20:02:45.884Z,1761508965.884 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:02:46.136Z,1761508966.136 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:02:46.381Z,1761508966.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857966,0.475845,0.193563],[-0.513615,0.787478,0.340702],[0.009695,-0.391727,0.920030]]
2025-10-26T20:02:46.388Z,1761508966.388 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:02:46.821Z,1761508966.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847179,0.492402,0.199568],[-0.531275,0.780997,0.328315],[0.005801,-0.384167,0.923245]]
2025-10-26T20:02:47.186Z,1761508967.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836640,0.508311,0.204093],[-0.547749,0.774844,0.315576],[0.002271,-0.375815,0.926692]]
2025-10-26T20:02:47.590Z,1761508967.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825733,0.524629,0.207194],[-0.564061,0.768414,0.302285],[-0.000624,-0.366477,0.930427]]
2025-10-26T20:02:47.994Z,1761508967.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814329,0.541096,0.209961],[-0.580398,0.760828,0.290308],[-0.002660,-0.358267,0.933616]]
2025-10-26T20:02:48.408Z,1761508968.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802709,0.557273,0.212379],[-0.596362,0.752090,0.280559],[-0.003380,-0.351862,0.936046]]
2025-10-26T20:02:48.828Z,1761508968.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789997,0.574345,0.214550],[-0.613105,0.741503,0.272537],[-0.002560,-0.346845,0.937919]]
2025-10-26T20:02:49.205Z,1761508969.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776283,0.591673,0.217505],[-0.630385,0.728723,0.267541],[-0.000204,-0.344799,0.938676]]
2025-10-26T20:02:49.610Z,1761508969.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762361,0.608158,0.221246],[-0.647145,0.714846,0.264951],[0.002975,-0.345166,0.938537]]
2025-10-26T20:02:49.665Z,1761508969.665 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:02:48.8641

2025-10-26T20:02:49.665Z,1761508969.665 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:02:49.755Z,1761508969.755 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:02:49.755Z,1761508969.755 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:02:50.015Z,1761508970.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750558,0.620968,0.225969],[-0.660784,0.702553,0.264165],[0.005283,-0.347588,0.937633]]
2025-10-26T20:02:50.047Z,1761508970.047 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:02:50.047Z,1761508970.047 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:02:50.047Z,1761508970.047 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateRudder:A] Stopped
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:02:50.048Z,1761508970.048 [marl:UpdateCommandMode] Stopped
2025-10-26T20:02:50.049Z,1761508970.049 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:02:50.441Z,1761508970.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740514,0.631164,0.230806],[-0.672010,0.692126,0.263372],[0.006484,-0.350135,0.936677]]
2025-10-26T20:02:50.498Z,1761508970.498 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:02:50.498Z,1761508970.498 [marl:UpdateRudder:B] Stopped
2025-10-26T20:02:50.498Z,1761508970.498 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:02:50.498Z,1761508970.498 [marl:UpdateRudder] Stopped
2025-10-26T20:02:50.498Z,1761508970.498 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:02:50.832Z,1761508970.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731524,0.639181,0.237321],[-0.681777,0.681993,0.264699],[0.007339,-0.355433,0.934673]]
2025-10-26T20:02:51.233Z,1761508971.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722464,0.646543,0.245007],[-0.691363,0.671459,0.266759],[0.007959,-0.362112,0.932101]]
2025-10-26T20:02:51.632Z,1761508971.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713474,0.652794,0.254589],[-0.700634,0.660410,0.270130],[0.008206,-0.371105,0.928555]]
2025-10-26T20:02:51.944Z,1761508971.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:02:52.035Z,1761508972.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704614,0.658700,0.263882],[-0.709544,0.649761,0.272687],[0.008159,-0.379375,0.925207]]
2025-10-26T20:02:52.444Z,1761508972.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695774,0.664230,0.273309],[-0.718225,0.639581,0.274025],[0.007212,-0.386956,0.922070]]
2025-10-26T20:02:52.496Z,1761508972.496 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:02:52.496Z,1761508972.496 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:02:52.496Z,1761508972.496 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:02:52.497Z,1761508972.497 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:02:52.497Z,1761508972.497 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:02:52.497Z,1761508972.497 [marl:UpdateSpeed] Stopped
2025-10-26T20:02:52.497Z,1761508972.497 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:02:52.842Z,1761508972.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686895,0.670007,0.281544],[-0.726737,0.630365,0.272935],[0.005393,-0.392086,0.919913]]
2025-10-26T20:02:52.948Z,1761508972.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:02:53.247Z,1761508973.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678597,0.674716,0.290282],[-0.734508,0.622269,0.270701],[0.002013,-0.396911,0.917855]]
2025-10-26T20:02:53.272Z,1761508973.272 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:02:53.445Z,1761508973.445 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:02:53.502Z,1761508973.502 [DAT](INFO): entering command mode
2025-10-26T20:02:53.650Z,1761508973.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668846,0.681289,0.297475],[-0.743399,0.614011,0.265233],[-0.001953,-0.398542,0.917148]]
2025-10-26T20:02:53.697Z,1761508973.697 [DAT](INFO): DAT read: 

2025-10-26T20:02:53.698Z,1761508973.698 [DAT](INFO): DAT read: user:46>

2025-10-26T20:02:53.699Z,1761508973.699 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:02:53.700Z,1761508973.700 [DAT](INFO): setting remote address to 0
2025-10-26T20:02:53.948Z,1761508973.948 [DAT](INFO): DAT read: user:46>

2025-10-26T20:02:53.949Z,1761508973.949 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:02:53.949Z,1761508973.949 [DAT](INFO): set remote address to 0
2025-10-26T20:02:53.950Z,1761508973.950 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:02:53.950Z,1761508973.950 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:02:54.054Z,1761508974.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657286,0.689815,0.303530],[-0.753622,0.604531,0.258064],[-0.005477,-0.398369,0.917209]]
2025-10-26T20:02:54.201Z,1761508974.201 [DAT](INFO): DAT read: user:47>

2025-10-26T20:02:54.202Z,1761508974.202 [DAT](INFO): DAT read: Tx time:20:02:53.3153

2025-10-26T20:02:54.203Z,1761508974.203 [DAT](INFO): Ping request sent.
2025-10-26T20:02:54.204Z,1761508974.204 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:02:54.204Z,1761508974.204 [DAT](INFO): publishing transmit ping time
2025-10-26T20:02:54.206Z,1761508974.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002494
2025-10-26T20:02:54.453Z,1761508974.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249643
2025-10-26T20:02:54.460Z,1761508974.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643387,0.700160,0.309563],[-0.765496,0.592799,0.250209],[-0.008323,-0.397951,0.917369]]
2025-10-26T20:02:54.705Z,1761508974.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501983
2025-10-26T20:02:54.862Z,1761508974.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628019,0.712064,0.313937],[-0.778124,0.580133,0.240766],[-0.010684,-0.395487,0.918409]]
2025-10-26T20:02:54.957Z,1761508974.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754220
2025-10-26T20:02:55.209Z,1761508975.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005729
2025-10-26T20:02:55.266Z,1761508975.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611789,0.724213,0.318166],[-0.790911,0.566763,0.230737],[-0.013222,-0.392803,0.919528]]
2025-10-26T20:02:55.461Z,1761508975.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257509
2025-10-26T20:02:55.670Z,1761508975.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595110,0.737016,0.320391],[-0.803501,0.553206,0.219887],[-0.015182,-0.388292,0.921412]]
2025-10-26T20:02:55.714Z,1761508975.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510544
2025-10-26T20:02:55.964Z,1761508975.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761423
2025-10-26T20:02:56.217Z,1761508976.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014127
2025-10-26T20:02:56.468Z,1761508976.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265354
2025-10-26T20:02:56.480Z,1761508976.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562129,0.761870,0.321815],[-0.826839,0.526484,0.197870],[-0.018679,-0.377318,0.925895]]
2025-10-26T20:02:56.721Z,1761508976.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518017
2025-10-26T20:02:56.882Z,1761508976.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546021,0.773693,0.321340],[-0.837523,0.513455,0.186869],[-0.020415,-0.371164,0.928343]]
2025-10-26T20:02:56.972Z,1761508976.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769433
2025-10-26T20:02:57.224Z,1761508977.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021298
2025-10-26T20:02:57.288Z,1761508977.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530178,0.784269,0.322230],[-0.847592,0.500244,0.177042],[-0.022345,-0.366984,0.929959]]
2025-10-26T20:02:57.477Z,1761508977.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273538
2025-10-26T20:02:57.698Z,1761508977.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514347,0.794177,0.323621],[-0.857229,0.486951,0.167443],[-0.024608,-0.363541,0.931253]]
2025-10-26T20:02:57.729Z,1761508977.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525765
2025-10-26T20:02:57.980Z,1761508977.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777345
2025-10-26T20:02:58.094Z,1761508978.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498163,0.803657,0.325530],[-0.866654,0.473313,0.157754],[-0.027297,-0.360709,0.932279]]
2025-10-26T20:02:58.232Z,1761508978.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029400
2025-10-26T20:02:58.489Z,1761508978.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286414
2025-10-26T20:02:58.500Z,1761508978.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481131,0.812964,0.328029],[-0.876127,0.458822,0.147933],[-0.030242,-0.358570,0.933013]]
2025-10-26T20:02:58.736Z,1761508978.736 [DAT](INFO): DAT read: Rx Time:20:02:57.3873

2025-10-26T20:02:58.737Z,1761508978.737 [DAT](INFO): Rx dataTimestamp_ set to:1761508978.736579
2025-10-26T20:02:58.737Z,1761508978.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534451
2025-10-26T20:02:58.948Z,1761508978.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463271,0.822251,0.330580],[-0.885596,0.443489,0.137977],[-0.033157,-0.356681,0.933637]]
2025-10-26T20:02:58.989Z,1761508978.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785540
2025-10-26T20:02:59.246Z,1761508979.246 [DAT](INFO): DAT read: 20:02:57.3873 LVL= 16336, 23377, 22770, 28787, AGC= 78, IDX=  99, 0.36,-0.743,-2.394,-2.828,-1.531, PHS= 0.890,-0.818,-1.341, RAW=  77.0,  12.5, CAL=  76.5,  16.5, ROT=  73.5, -16.5

2025-10-26T20:02:59.247Z,1761508979.247 [DAT](INFO): got valid direction response:
 20:02:57.3873 LVL= 16336, 23377, 22770, 28787, AGC= 78, IDX=  99, 0.36,-0.743,-2.394,-2.828,-1.531, PHS= 0.890,-0.818,-1.341, RAW=  77.0,  12.5, CAL=  76.5,  16.5, ROT=  73.5, -16.5

2025-10-26T20:02:59.248Z,1761508979.248 [DAT](INFO): DAT read: Bearing 144.1,  47.6 (Local)

2025-10-26T20:02:59.248Z,1761508979.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.1,  47.6 (Local)

2025-10-26T20:02:59.249Z,1761508979.249 [DAT](INFO): DAT read: Range 11 to 20 : 1250.9 m  (Round-trip  1667.9 ms) speed  0.4 m/s

2025-10-26T20:02:59.250Z,1761508979.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:02:59.251Z,1761508979.251 [DAT](INFO): direction in FSK: [0.272320,0.919335,0.284015]
2025-10-26T20:02:59.255Z,1761508979.255 [DAT](INFO): publishing direction and range info
2025-10-26T20:02:59.306Z,1761508979.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444752,0.831747,0.332254],[-0.894929,0.427609,0.127488],[-0.036037,-0.354045,0.934534]]
2025-10-26T20:02:59.390Z,1761508979.390 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761508992.00. Resetting abort timer.
2025-10-26T20:02:59.717Z,1761508979.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426121,0.840409,0.334864],[-0.903837,0.411333,0.117828],[-0.038717,-0.352871,0.934870]]
2025-10-26T20:02:59.748Z,1761508979.748 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:02:59.748Z,1761508979.748 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:02:59.000Z,1761508980.000 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:03:00.115Z,1761508980.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407406,0.848615,0.337451],[-0.912317,0.394859,0.108461],[-0.041204,-0.352050,0.935074]]
2025-10-26T20:03:00.252Z,1761508980.252 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:03:00.509Z,1761508980.509 [DAT](INFO): setting remote address to 6
2025-10-26T20:03:00.522Z,1761508980.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389028,0.855907,0.340706],[-0.920201,0.378484,0.099901],[-0.043446,-0.352383,0.934847]]
2025-10-26T20:03:00.762Z,1761508980.762 [DAT](INFO): DAT read: user:48>

2025-10-26T20:03:00.766Z,1761508980.766 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:03:00.767Z,1761508980.767 [DAT](INFO): set remote address to 6
2025-10-26T20:03:00.768Z,1761508980.768 [DAT](INFO): entering online mode
2025-10-26T20:03:00.922Z,1761508980.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372049,0.862292,0.343559],[-0.927106,0.363288,0.092178],[-0.045327,-0.352810,0.934596]]
2025-10-26T20:03:01.012Z,1761508981.012 [DAT](INFO): DAT read: user:49>

2025-10-26T20:03:01.013Z,1761508981.013 [DAT](INFO): DAT read: 

2025-10-26T20:03:01.014Z,1761508981.014 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:03:01.014Z,1761508981.014 [DAT](INFO): commRate: 600
2025-10-26T20:03:01.014Z,1761508981.014 [DAT](INFO): online mode acknowledged
2025-10-26T20:03:01.015Z,1761508981.015 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:03:01.326Z,1761508981.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355734,0.867131,0.348622],[-0.933383,0.348560,0.085449],[-0.047420,-0.355796,0.933360]]
2025-10-26T20:03:01.735Z,1761508981.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339896,0.871100,0.354480],[-0.939172,0.334137,0.079424],[-0.049258,-0.359913,0.931684]]
2025-10-26T20:03:02.135Z,1761508982.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324640,0.873740,0.362197],[-0.944449,0.320198,0.074091],[-0.051239,-0.366129,0.929152]]
2025-10-26T20:03:02.539Z,1761508982.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310157,0.875986,0.369393],[-0.949190,0.307120,0.068668],[-0.053296,-0.371922,0.926733]]
2025-10-26T20:03:02.942Z,1761508982.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296139,0.877926,0.376227],[-0.953548,0.294510,0.063325],[-0.055208,-0.377504,0.924361]]
2025-10-26T20:03:03.347Z,1761508983.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282633,0.880282,0.381081],[-0.957549,0.282418,0.057802],[-0.056742,-0.381240,0.922733]]
2025-10-26T20:03:03.408Z,1761508983.408 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:03:03.408Z,1761508983.408 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:03:03.408Z,1761508983.408 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:03:03.408Z,1761508983.408 [marl:UpdateRudder:A] Stopped
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode] Stopped
2025-10-26T20:03:03.409Z,1761508983.409 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:03:03.750Z,1761508983.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269835,0.882512,0.385177],[-0.961154,0.270977,0.052476],[-0.058064,-0.384374,0.921350]]
2025-10-26T20:03:03.786Z,1761508983.786 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:03:03.786Z,1761508983.786 [marl:UpdateRudder:B] Stopped
2025-10-26T20:03:03.786Z,1761508983.786 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:03:03.786Z,1761508983.786 [marl:UpdateRudder] Stopped
2025-10-26T20:03:03.786Z,1761508983.786 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:03:04.154Z,1761508984.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257259,0.884677,0.388799],[-0.964535,0.259674,0.047345],[-0.059075,-0.387190,0.920105]]
2025-10-26T20:03:04.289Z,1761508984.289 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:03:03.4640

2025-10-26T20:03:04.289Z,1761508984.289 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:03:04.558Z,1761508984.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244745,0.887364,0.390750],[-0.967719,0.248568,0.041649],[-0.060170,-0.388329,0.919554]]
2025-10-26T20:03:05.368Z,1761508985.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220105,0.892951,0.392672],[-0.973484,0.226787,0.029946],[-0.062313,-0.388851,0.919191]]
2025-10-26T20:03:05.770Z,1761508985.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207544,0.895535,0.393626],[-0.976152,0.215783,0.023762],[-0.063658,-0.389171,0.918963]]
2025-10-26T20:03:05.815Z,1761508985.815 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:03:05.815Z,1761508985.815 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:03:05.815Z,1761508985.815 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:03:05.815Z,1761508985.815 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:03:05.816Z,1761508985.816 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:03:05.816Z,1761508985.816 [marl:UpdateSpeed] Stopped
2025-10-26T20:03:05.816Z,1761508985.816 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:03:06.182Z,1761508986.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194926,0.898377,0.393602],[-0.978674,0.204672,0.017521],[-0.064819,-0.388623,0.919114]]
2025-10-26T20:03:06.584Z,1761508986.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181535,0.901348,0.393214],[-0.981150,0.192952,0.010670],[-0.066254,-0.387739,0.919385]]
2025-10-26T20:03:06.988Z,1761508986.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167434,0.904037,0.393298],[-0.983540,0.180655,0.003456],[-0.067928,-0.387403,0.919404]]
2025-10-26T20:03:07.390Z,1761508987.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152187,0.906735,0.393283],[-0.985897,0.167302,-0.004218],[-0.069621,-0.387095,0.919408]]
2025-10-26T20:03:07.794Z,1761508987.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135496,0.909599,0.392772],[-0.988181,0.152750,-0.012847],[-0.071682,-0.386389,0.919546]]
2025-10-26T20:03:08.198Z,1761508988.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117015,0.913470,0.389718],[-0.990376,0.136534,-0.022659],[-0.073908,-0.383316,0.920655]]
2025-10-26T20:03:08.609Z,1761508988.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097053,0.917580,0.385524],[-0.992347,0.118925,-0.033237],[-0.076346,-0.379347,0.922099]]
2025-10-26T20:03:09.022Z,1761508989.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076340,0.921604,0.380549],[-0.993955,0.100541,-0.044098],[-0.078901,-0.374882,0.923709]]
2025-10-26T20:03:09.410Z,1761508989.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055028,0.925173,0.375535],[-0.995181,0.081391,-0.054688],[-0.081161,-0.370716,0.925193]]
2025-10-26T20:03:09.814Z,1761508989.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033323,0.927928,0.371268],[-0.996011,0.061600,-0.064561],[-0.082778,-0.367635,0.926279]]
2025-10-26T20:03:10.219Z,1761508990.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011551,0.929872,0.367701],[-0.996484,0.041223,-0.072946],[-0.082988,-0.365565,0.927079]]
2025-10-26T20:03:10.622Z,1761508990.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010175,0.931141,0.364516],[-0.996614,0.020303,-0.079683],[-0.081597,-0.364092,0.927782]]
2025-10-26T20:03:11.027Z,1761508991.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030553,0.931350,0.362841],[-0.996367,0.000491,-0.085160],[-0.079492,-0.364125,0.927952]]
2025-10-26T20:03:11.431Z,1761508991.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047223,0.931032,0.361868],[-0.995832,-0.015580,-0.089867],[-0.078031,-0.364603,0.927888]]
2025-10-26T20:03:11.836Z,1761508991.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060348,0.929729,0.363267],[-0.995196,-0.027937,-0.093828],[-0.077086,-0.367184,0.926948]]
2025-10-26T20:03:12.238Z,1761508992.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072866,0.927876,0.365699],[-0.994409,-0.039495,-0.097929],[-0.076422,-0.370790,0.925567]]
2025-10-26T20:03:12.649Z,1761508992.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084932,0.925967,0.367929],[-0.993462,-0.050424,-0.102427],[-0.076291,-0.374223,0.924195]]
2025-10-26T20:03:13.047Z,1761508993.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097511,0.924074,0.369565],[-0.992266,-0.061610,-0.107760],[-0.076810,-0.377214,0.922935]]
2025-10-26T20:03:13.450Z,1761508993.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111779,0.922833,0.368626],[-0.990667,-0.074367,-0.114227],[-0.077999,-0.377954,0.922533]]
2025-10-26T20:03:13.854Z,1761508993.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128060,0.921813,0.365870],[-0.988570,-0.089048,-0.121656],[-0.079564,-0.377267,0.922680]]
2025-10-26T20:03:14.258Z,1761508994.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147173,0.920755,0.361317],[-0.985785,-0.106610,-0.129856],[-0.081046,-0.375292,0.923357]]
2025-10-26T20:03:14.368Z,1761508994.368 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:03:14.620Z,1761508994.620 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:03:14.677Z,1761508994.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167701,0.919614,0.355228],[-0.982356,-0.125626,-0.138542],[-0.082779,-0.372194,0.924456]]
2025-10-26T20:03:14.872Z,1761508994.872 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:03:15.066Z,1761508995.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189171,0.917486,0.349906],[-0.978296,-0.145406,-0.147630],[-0.084570,-0.370238,0.925079]]
2025-10-26T20:03:15.470Z,1761508995.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211315,0.914361,0.345385],[-0.973627,-0.165822,-0.156698],[-0.086006,-0.369388,0.925287]]
2025-10-26T20:03:15.874Z,1761508995.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233177,0.910272,0.342102],[-0.968538,-0.185937,-0.165410],[-0.086959,-0.369908,0.924990]]
2025-10-26T20:03:16.682Z,1761508996.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273640,0.898793,0.342480],[-0.957847,-0.222266,-0.182007],[-0.087465,-0.377848,0.921727]]
2025-10-26T20:03:16.761Z,1761508996.761 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:03:16.762Z,1761508996.762 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:03:16.762Z,1761508996.762 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:03:16.767Z,1761508996.767 [marl:UpdateRudder:A] Stopped
2025-10-26T20:03:16.768Z,1761508996.768 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:03:16.768Z,1761508996.768 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:03:16.769Z,1761508996.769 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:03:16.769Z,1761508996.769 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:03:16.770Z,1761508996.770 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:03:16.770Z,1761508996.770 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:03:16.771Z,1761508996.771 [marl:UpdateCommandMode] Stopped
2025-10-26T20:03:16.771Z,1761508996.771 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:03:17.086Z,1761508997.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291110,0.892135,0.345469],[-0.952708,-0.237426,-0.189675],[-0.087192,-0.384347,0.919062]]
2025-10-26T20:03:17.162Z,1761508997.162 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:03:17.162Z,1761508997.162 [marl:UpdateRudder:B] Stopped
2025-10-26T20:03:17.163Z,1761508997.163 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:03:17.163Z,1761508997.163 [marl:UpdateRudder] Stopped
2025-10-26T20:03:17.163Z,1761508997.163 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:03:17.497Z,1761508997.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320162,0.879918,0.351056],[-0.943423,-0.262372,-0.202766],[-0.086310,-0.396112,0.914137]]
2025-10-26T20:03:17.903Z,1761508997.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332895,0.874372,0.353064],[-0.939079,-0.273456,-0.208212],[-0.085508,-0.400868,0.912137]]
2025-10-26T20:03:18.150Z,1761508998.150 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:03:17.3139

2025-10-26T20:03:18.150Z,1761508998.150 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:03:18.303Z,1761508998.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344957,0.869388,0.353792],[-0.934778,-0.284143,-0.213197],[-0.084823,-0.404260,0.910702]]
2025-10-26T20:03:18.711Z,1761508998.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355990,0.865955,0.351274],[-0.930695,-0.294699,-0.216702],[-0.084134,-0.404072,0.910850]]
2025-10-26T20:03:19.112Z,1761508999.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366019,0.862342,0.349852],[-0.926843,-0.304016,-0.220310],[-0.083622,-0.404895,0.910531]]
2025-10-26T20:03:19.201Z,1761508999.201 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:03:19.201Z,1761508999.201 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:03:19.201Z,1761508999.201 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:03:19.202Z,1761508999.202 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:03:19.202Z,1761508999.202 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:03:19.202Z,1761508999.202 [marl:UpdateSpeed] Stopped
2025-10-26T20:03:19.202Z,1761508999.202 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:03:19.511Z,1761508999.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375196,0.859552,0.346985],[-0.923189,-0.312841,-0.223276],[-0.083366,-0.404106,0.910906]]
2025-10-26T20:03:19.914Z,1761508999.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383818,0.856763,0.344443],[-0.919651,-0.321050,-0.226206],[-0.083222,-0.403589,0.911148]]
2025-10-26T20:03:20.318Z,1761509000.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392020,0.854155,0.341670],[-0.916254,-0.329231,-0.228221],[-0.082448,-0.402525,0.911689]]
2025-10-26T20:03:20.729Z,1761509000.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399895,0.851742,0.338554],[-0.912939,-0.337341,-0.229659],[-0.081402,-0.400919,0.912490]]
2025-10-26T20:03:21.134Z,1761509001.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407901,0.849217,0.335332],[-0.909491,-0.345638,-0.230998],[-0.080264,-0.399206,0.913342]]
2025-10-26T20:03:21.530Z,1761509001.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416764,0.846253,0.331909],[-0.905576,-0.354791,-0.232500],[-0.078995,-0.397466,0.914210]]
2025-10-26T20:03:21.934Z,1761509001.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427114,0.842352,0.328658],[-0.900855,-0.365205,-0.234701],[-0.077673,-0.396317,0.914822]]
2025-10-26T20:03:22.339Z,1761509002.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439317,0.837807,0.324161],[-0.895086,-0.377592,-0.237160],[-0.076293,-0.394341,0.915792]]
2025-10-26T20:03:22.746Z,1761509002.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453520,0.833511,0.315562],[-0.888047,-0.392646,-0.239169],[-0.075446,-0.388702,0.918270]]
2025-10-26T20:03:23.069Z,1761509003.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:03:23.147Z,1761509003.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468954,0.828540,0.305948],[-0.879983,-0.408667,-0.242116],[-0.075572,-0.382770,0.920748]]
2025-10-26T20:03:23.550Z,1761509003.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485205,0.823232,0.294730],[-0.871046,-0.425560,-0.245312],[-0.076523,-0.375750,0.923556]]
2025-10-26T20:03:23.637Z,1761509003.637 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:03:23.714Z,1761509003.714 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:23.768Z,1761509003.768 [DAT](INFO): entering command mode
2025-10-26T20:03:23.956Z,1761509003.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502697,0.816624,0.283585],[-0.860953,-0.443419,-0.249277],[-0.077819,-0.369464,0.925981]]
2025-10-26T20:03:23.964Z,1761509003.964 [DAT](INFO): DAT read: 

2025-10-26T20:03:23.965Z,1761509003.965 [DAT](INFO): DAT read: user:50>

2025-10-26T20:03:23.965Z,1761509003.965 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:23.965Z,1761509003.965 [DAT](INFO): setting remote address to 0
2025-10-26T20:03:24.072Z,1761509004.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:03:24.216Z,1761509004.216 [DAT](INFO): DAT read: user:50>

2025-10-26T20:03:24.217Z,1761509004.217 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:03:24.217Z,1761509004.217 [DAT](INFO): set remote address to 0
2025-10-26T20:03:24.218Z,1761509004.218 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:24.218Z,1761509004.218 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:03:24.358Z,1761509004.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520711,0.808127,0.275301],[-0.850073,-0.460955,-0.254748],[-0.078968,-0.366676,0.926991]]
2025-10-26T20:03:24.469Z,1761509004.469 [DAT](INFO): DAT read: user:51>

2025-10-26T20:03:24.469Z,1761509004.469 [DAT](INFO): DAT read: Tx time:20:03:23.6151

2025-10-26T20:03:24.470Z,1761509004.470 [DAT](INFO): Ping request sent.
2025-10-26T20:03:24.470Z,1761509004.470 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:03:24.470Z,1761509004.470 [DAT](INFO): publishing transmit ping time
2025-10-26T20:03:24.471Z,1761509004.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000985
2025-10-26T20:03:24.722Z,1761509004.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251837
2025-10-26T20:03:24.794Z,1761509004.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539889,0.798156,0.267332],[-0.837975,-0.479660,-0.260240],[-0.079484,-0.364518,0.927798]]
2025-10-26T20:03:24.972Z,1761509004.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502585
2025-10-26T20:03:25.166Z,1761509005.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559702,0.786147,0.262119],[-0.824939,-0.498483,-0.266440],[-0.078800,-0.365359,0.927525]]
2025-10-26T20:03:25.228Z,1761509005.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758428
2025-10-26T20:03:25.476Z,1761509005.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667
2025-10-26T20:03:25.572Z,1761509005.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580056,0.772349,0.258866],[-0.810950,-0.517584,-0.272887],[-0.076779,-0.368218,0.926564]]
2025-10-26T20:03:25.729Z,1761509005.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259025
2025-10-26T20:03:25.980Z,1761509005.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510553
2025-10-26T20:03:26.233Z,1761509006.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762746
2025-10-26T20:03:26.378Z,1761509006.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621194,0.739351,0.259765],[-0.780741,-0.555324,-0.286461],[-0.067541,-0.380757,0.922205]]
2025-10-26T20:03:26.484Z,1761509006.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014628
2025-10-26T20:03:26.736Z,1761509006.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266617
2025-10-26T20:03:26.832Z,1761509006.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640602,0.722015,0.261387],[-0.765450,-0.573419,-0.292023],[-0.060960,-0.387149,0.920000]]
2025-10-26T20:03:26.988Z,1761509006.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518659
2025-10-26T20:03:27.187Z,1761509007.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656881,0.706322,0.263851],[-0.751981,-0.588145,-0.297676],[-0.055072,-0.393948,0.917481]]
2025-10-26T20:03:27.240Z,1761509007.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770599
2025-10-26T20:03:27.493Z,1761509007.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023194
2025-10-26T20:03:27.599Z,1761509007.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667794,0.694756,0.267142],[-0.742603,-0.597293,-0.302956],[-0.050919,-0.400693,0.914796]]
2025-10-26T20:03:27.744Z,1761509007.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274701
2025-10-26T20:03:27.994Z,1761509007.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675770,0.685767,0.270293],[-0.735597,-0.603907,-0.306908],[-0.047236,-0.406226,0.912551]]
2025-10-26T20:03:27.996Z,1761509007.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526663
2025-10-26T20:03:28.248Z,1761509008.248 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:03:28.248Z,1761509008.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778741
2025-10-26T20:03:28.398Z,1761509008.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682949,0.677867,0.272170],[-0.729143,-0.610208,-0.309833],[-0.043945,-0.410052,0.911003]]
2025-10-26T20:03:28.500Z,1761509008.500 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:03:28.501Z,1761509008.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030796
2025-10-26T20:03:28.752Z,1761509008.752 [DAT](INFO): DAT read: Rx Time:20:03:27.3136

2025-10-26T20:03:28.753Z,1761509008.753 [DAT](INFO): Rx dataTimestamp_ set to:1761509008.752578
2025-10-26T20:03:28.754Z,1761509008.754 [DAT](INFO): setting remote address to 6
2025-10-26T20:03:28.757Z,1761509008.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286452
2025-10-26T20:03:28.845Z,1761509008.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689655,0.671712,0.270516],[-0.722975,-0.617529,-0.309783],[-0.041034,-0.409219,0.911513]]
2025-10-26T20:03:29.005Z,1761509009.005 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:03:29.006Z,1761509009.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535962
2025-10-26T20:03:29.263Z,1761509009.263 [DAT](INFO): DAT read: 20:03:27.3136 LVL= 21072, 17265, 30610, 32755, AGC= 82, IDX= 132, 0.29,-0.216, 1.154,-0.788, 0.336, PHS=-0.450, 0.863,-1.168, RAW= 350.4,   8.5, CAL= 350.4,   8.7, ROT= 159.6,  -8.7

2025-10-26T20:03:29.276Z,1761509009.276 [DAT](INFO): got valid direction response:
 20:03:27.3136 LVL= 21072, 17265, 30610, 32755, AGC= 82, IDX= 132, 0.29,-0.216, 1.154,-0.788, 0.336, PHS=-0.450, 0.863,-1.168, RAW= 350.4,   8.5, CAL= 350.4,   8.7, ROT= 159.6,  -8.7

2025-10-26T20:03:29.277Z,1761509009.277 [DAT](INFO): DAT read: Bearing   5, -12 (Remote)

2025-10-26T20:03:29.277Z,1761509009.277 [DAT](INFO): Remote Bearing received:Bearing   5, -12 (Remote)

2025-10-26T20:03:29.278Z,1761509009.278 [DAT](INFO): DAT read: Bearing 169.6,  16.3 (Local)

2025-10-26T20:03:29.279Z,1761509009.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.6,  16.3 (Local)

2025-10-26T20:03:29.280Z,1761509009.280 [DAT](INFO): DAT read: Range 11 to 20 : 1252.1 m  (Round-trip  1669.5 ms) speed -0.7 m/s

2025-10-26T20:03:29.281Z,1761509009.281 [DAT](INFO): DAT read: user:52>

2025-10-26T20:03:29.282Z,1761509009.282 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:03:29.282Z,1761509009.282 [DAT](INFO): set remote address to 6
2025-10-26T20:03:29.292Z,1761509009.292 [DAT](INFO): entering online mode
2025-10-26T20:03:29.508Z,1761509009.508 [DAT](INFO): DAT read: user:53>

2025-10-26T20:03:29.509Z,1761509009.509 [DAT](INFO): DAT read: 

2025-10-26T20:03:29.510Z,1761509009.510 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:03:29.510Z,1761509009.510 [DAT](INFO): commRate: 600
2025-10-26T20:03:29.510Z,1761509009.510 [DAT](INFO): online mode acknowledged
2025-10-26T20:03:29.511Z,1761509009.511 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:03:29.512Z,1761509009.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041406
2025-10-26T20:03:29.621Z,1761509009.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703942,0.659421,0.263875],[-0.709363,-0.634090,-0.307789],[-0.035642,-0.403849,0.914131]]
2025-10-26T20:03:29.760Z,1761509009.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290582
2025-10-26T20:03:30.016Z,1761509010.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546682
2025-10-26T20:03:30.020Z,1761509010.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712514,0.652108,0.258997],[-0.700898,-0.644311,-0.305948],[-0.032637,-0.399523,0.916142]]
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateRudder:A] Stopped
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:03:30.077Z,1761509010.077 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:03:30.078Z,1761509010.078 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:03:30.078Z,1761509010.078 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:03:30.078Z,1761509010.078 [marl:UpdateCommandMode] Stopped
2025-10-26T20:03:30.078Z,1761509010.078 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:03:30.268Z,1761509010.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798591
2025-10-26T20:03:30.422Z,1761509010.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722055,0.644070,0.252607],[-0.691194,-0.655859,-0.303479],[-0.029787,-0.393729,0.918744]]
2025-10-26T20:03:30.471Z,1761509010.471 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:03:30.471Z,1761509010.471 [marl:UpdateRudder:B] Stopped
2025-10-26T20:03:30.471Z,1761509010.471 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:03:30.471Z,1761509010.471 [marl:UpdateRudder] Stopped
2025-10-26T20:03:30.471Z,1761509010.471 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:03:30.520Z,1761509010.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050715
2025-10-26T20:03:30.775Z,1761509010.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304715
2025-10-26T20:03:30.840Z,1761509010.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732188,0.634764,0.246932],[-0.680579,-0.667638,-0.301781],[-0.026699,-0.389018,0.920843]]
2025-10-26T20:03:31.024Z,1761509011.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554576
2025-10-26T20:03:31.230Z,1761509011.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742668,0.624464,0.241846],[-0.669245,-0.679397,-0.300883],[-0.023581,-0.385310,0.922486]]
2025-10-26T20:03:31.277Z,1761509011.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807290
2025-10-26T20:03:31.528Z,1761509011.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058664
2025-10-26T20:03:31.637Z,1761509011.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753433,0.613732,0.235948],[-0.657205,-0.691718,-0.299345],[-0.020508,-0.380603,0.924511]]
2025-10-26T20:03:31.780Z,1761509011.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310558
2025-10-26T20:03:32.032Z,1761509012.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562711
2025-10-26T20:03:32.047Z,1761509012.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764381,0.602244,0.230272],[-0.644527,-0.704000,-0.298276],[-0.017523,-0.376412,0.926286]]
2025-10-26T20:03:32.070Z,1761509012.070 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:03:32.070Z,1761509012.070 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:03:32.070Z,1761509012.070 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:03:32.070Z,1761509012.070 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:03:32.070Z,1761509012.070 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:03:32.070Z,1761509012.070 [marl:UpdateSpeed] Stopped
2025-10-26T20:03:32.071Z,1761509012.071 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:03:32.284Z,1761509012.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814633
2025-10-26T20:03:32.442Z,1761509012.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775638,0.589611,0.225265],[-0.631009,-0.716110,-0.298352],[-0.014597,-0.373558,0.927492]]
2025-10-26T20:03:32.540Z,1761509012.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070358
2025-10-26T20:03:32.792Z,1761509012.792 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:03:31.9638

2025-10-26T20:03:32.793Z,1761509012.793 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:03:32.796Z,1761509012.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325197
2025-10-26T20:03:32.846Z,1761509012.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787247,0.576045,0.220034],[-0.616525,-0.728450,-0.298761],[-0.011816,-0.370855,0.928616]]
2025-10-26T20:03:33.040Z,1761509013.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570671
2025-10-26T20:03:33.251Z,1761509013.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799301,0.560856,0.215774],[-0.600862,-0.740483,-0.301081],[-0.009086,-0.370304,0.928866]]
2025-10-26T20:03:33.292Z,1761509013.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822733
2025-10-26T20:03:33.545Z,1761509013.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075627
2025-10-26T20:03:33.654Z,1761509013.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810938,0.545426,0.211875],[-0.585095,-0.751740,-0.304223],[-0.006656,-0.370673,0.928740]]
2025-10-26T20:03:33.796Z,1761509013.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326666
2025-10-26T20:03:34.048Z,1761509014.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578678
2025-10-26T20:03:34.060Z,1761509014.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822449,0.529351,0.208243],[-0.568821,-0.762444,-0.308417],[-0.004487,-0.372111,0.928178]]
2025-10-26T20:03:34.300Z,1761509014.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830552
2025-10-26T20:03:34.462Z,1761509014.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832977,0.513534,0.205989],[-0.553302,-0.771580,-0.313879],[-0.002250,-0.375429,0.926849]]
2025-10-26T20:03:34.552Z,1761509014.552 [DAT](INFO): Reached modem response timeout
2025-10-26T20:03:34.867Z,1761509014.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842118,0.499191,0.204074],[-0.539294,-0.779321,-0.319094],[-0.000250,-0.378770,0.925491]]
2025-10-26T20:03:35.270Z,1761509015.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850220,0.485705,0.203018],[-0.526425,-0.785603,-0.325123],[0.001577,-0.383300,0.923623]]
2025-10-26T20:03:35.674Z,1761509015.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857072,0.473659,0.202669],[-0.515184,-0.790636,-0.330878],[0.003514,-0.387998,0.921653]]
2025-10-26T20:03:36.483Z,1761509016.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869016,0.452210,0.200790],[-0.494721,-0.800596,-0.338078],[0.007870,-0.393130,0.919449]]
2025-10-26T20:03:36.886Z,1761509016.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874992,0.441734,0.198144],[-0.484036,-0.806586,-0.339305],[0.009938,-0.392798,0.919571]]
2025-10-26T20:03:37.290Z,1761509017.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881330,0.430788,0.194112],[-0.472350,-0.813670,-0.338861],[0.011966,-0.390337,0.920594]]
2025-10-26T20:03:37.697Z,1761509017.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888637,0.417815,0.189088],[-0.458392,-0.821936,-0.338080],[0.014163,-0.387107,0.921926]]
2025-10-26T20:03:38.099Z,1761509018.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896557,0.403142,0.183474],[-0.442630,-0.830697,-0.337671],[0.016282,-0.383952,0.923210]]
2025-10-26T20:03:38.502Z,1761509018.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905105,0.386858,0.176425],[-0.424809,-0.840300,-0.336798],[0.017957,-0.379784,0.924901]]
2025-10-26T20:03:38.906Z,1761509018.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913906,0.368847,0.169494],[-0.405451,-0.849654,-0.337189],[0.019640,-0.376881,0.926054]]
2025-10-26T20:03:39.315Z,1761509019.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922594,0.349626,0.163042],[-0.385182,-0.858251,-0.339176],[0.021346,-0.375723,0.926486]]
2025-10-26T20:03:39.725Z,1761509019.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930897,0.329903,0.156824],[-0.364537,-0.866407,-0.341249],[0.023295,-0.374837,0.926798]]
2025-10-26T20:03:40.118Z,1761509020.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938439,0.310497,0.151404],[-0.344477,-0.873918,-0.342932],[0.025835,-0.373976,0.927078]]
2025-10-26T20:03:40.522Z,1761509020.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944991,0.291915,0.147575],[-0.325842,-0.879600,-0.346598],[0.028630,-0.375618,0.926332]]
2025-10-26T20:03:40.940Z,1761509020.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950459,0.275347,0.144263],[-0.309292,-0.884088,-0.350325],[0.031080,-0.377589,0.925452]]
2025-10-26T20:03:41.340Z,1761509021.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955362,0.259701,0.140852],[-0.293566,-0.888070,-0.353767],[0.033213,-0.379324,0.924668]]
2025-10-26T20:03:41.736Z,1761509021.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959696,0.244748,0.138136],[-0.278811,-0.890915,-0.358517],[0.035321,-0.382582,0.923246]]
2025-10-26T20:03:42.138Z,1761509022.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963946,0.229896,0.134002],[-0.263501,-0.894860,-0.360267],[0.037089,-0.382588,0.923174]]
2025-10-26T20:03:42.548Z,1761509022.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968177,0.214539,0.128862],[-0.247306,-0.899093,-0.361208],[0.038366,-0.381582,0.923538]]
2025-10-26T20:03:42.868Z,1761509022.868 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:03:42.947Z,1761509022.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972466,0.197924,0.123032],[-0.229723,-0.902968,-0.363147],[0.039219,-0.381412,0.923573]]
2025-10-26T20:03:43.121Z,1761509023.121 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:03:43.353Z,1761509023.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976554,0.180846,0.116779],[-0.211579,-0.906370,-0.365688],[0.039712,-0.381822,0.923382]]
2025-10-26T20:03:43.372Z,1761509023.372 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:03:43.402Z,1761509023.402 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:03:43.402Z,1761509023.402 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:03:43.402Z,1761509023.402 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:03:43.403Z,1761509023.403 [marl:UpdateRudder:A] Stopped
2025-10-26T20:03:43.403Z,1761509023.403 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:03:43.403Z,1761509023.403 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:03:43.403Z,1761509023.403 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:03:43.403Z,1761509023.403 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:03:43.404Z,1761509023.404 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:03:43.404Z,1761509023.404 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:03:43.404Z,1761509023.404 [marl:UpdateCommandMode] Stopped
2025-10-26T20:03:43.404Z,1761509023.404 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:03:43.754Z,1761509023.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980358,0.163667,0.110053],[-0.193197,-0.909146,-0.368955],[0.039669,-0.382970,0.922908]]
2025-10-26T20:03:43.804Z,1761509023.804 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:03:43.804Z,1761509023.804 [marl:UpdateRudder:B] Stopped
2025-10-26T20:03:43.804Z,1761509023.804 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:03:43.804Z,1761509023.804 [marl:UpdateRudder] Stopped
2025-10-26T20:03:43.804Z,1761509023.804 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:03:44.160Z,1761509024.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983739,0.147229,0.102863],[-0.175333,-0.911389,-0.372330],[0.038930,-0.384311,0.922383]]
2025-10-26T20:03:44.569Z,1761509024.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986612,0.131910,0.095895],[-0.158631,-0.912696,-0.376593],[0.037847,-0.386763,0.921402]]
2025-10-26T20:03:44.966Z,1761509024.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988978,0.118076,0.089333],[-0.143436,-0.913685,-0.380272],[0.036721,-0.388894,0.920550]]
2025-10-26T20:03:45.383Z,1761509025.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990806,0.106119,0.083913],[-0.130437,-0.913914,-0.384379],[0.035900,-0.391790,0.919354]]
2025-10-26T20:03:45.423Z,1761509025.423 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:03:45.423Z,1761509025.423 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:03:45.423Z,1761509025.423 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:03:45.424Z,1761509025.424 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:03:45.424Z,1761509025.424 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:03:45.424Z,1761509025.424 [marl:UpdateSpeed] Stopped
2025-10-26T20:03:45.424Z,1761509025.424 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:03:45.774Z,1761509025.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992213,0.095756,0.079651],[-0.119320,-0.914182,-0.387341],[0.035726,-0.393829,0.918489]]
2025-10-26T20:03:46.582Z,1761509026.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994502,0.074735,0.073357],[-0.097567,-0.915710,-0.389815],[0.038041,-0.394829,0.917967]]
2025-10-26T20:03:46.649Z,1761509026.649 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:03:45.8637

2025-10-26T20:03:46.649Z,1761509026.649 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:03:47.390Z,1761509027.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996320,0.051611,0.068433],[-0.074114,-0.919794,-0.385339],[0.043056,-0.388993,0.920234]]
2025-10-26T20:03:47.796Z,1761509027.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997041,0.038962,0.066271],[-0.061492,-0.921561,-0.383333],[0.046137,-0.386274,0.921230]]
2025-10-26T20:03:48.199Z,1761509028.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997615,0.025544,0.064118],[-0.048189,-0.922855,-0.382121],[0.049410,-0.384300,0.921885]]
2025-10-26T20:03:48.602Z,1761509028.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998027,0.011407,0.061745],[-0.034036,-0.924635,-0.379329],[0.052765,-0.380682,0.923199]]
2025-10-26T20:03:49.006Z,1761509029.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998299,-0.003974,0.058163],[-0.018283,-0.926002,-0.377077],[0.055358,-0.377499,0.924354]]
2025-10-26T20:03:49.416Z,1761509029.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998364,-0.020987,0.053180],[-0.000356,-0.927891,-0.372852],[0.057170,-0.372261,0.926366]]
2025-10-26T20:03:49.814Z,1761509029.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998077,-0.040596,0.046851],[0.020525,-0.929526,-0.368186],[0.058497,-0.366516,0.928571]]
2025-10-26T20:03:50.080Z,1761509030.080 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:03:50.080Z,1761509030.080 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:03:50.218Z,1761509030.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997316,-0.062144,0.038715],[0.043721,-0.929622,-0.365911],[0.058730,-0.363236,0.929844]]
2025-10-26T20:03:50.622Z,1761509030.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996019,-0.083989,0.029865],[0.067271,-0.928031,-0.366377],[0.058487,-0.362910,0.929987]]
2025-10-26T20:03:51.040Z,1761509031.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994182,-0.105786,0.020275],[0.090971,-0.925444,-0.367801],[0.057671,-0.363817,0.929684]]
2025-10-26T20:03:51.430Z,1761509031.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992015,-0.125674,0.010571],[0.112882,-0.922160,-0.369971],[0.056244,-0.365823,0.928983]]
2025-10-26T20:03:51.834Z,1761509031.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989551,-0.144182,0.000580],[0.133513,-0.917835,-0.373837],[0.054432,-0.369853,0.927494]]
2025-10-26T20:03:52.239Z,1761509032.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987147,-0.159576,-0.008694],[0.151009,-0.913583,-0.377575],[0.052310,-0.374035,0.925938]]
2025-10-26T20:03:52.644Z,1761509032.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984856,-0.172597,-0.016377],[0.165752,-0.909658,-0.380852],[0.050837,-0.377799,0.924491]]
2025-10-26T20:03:53.048Z,1761509033.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982737,-0.183584,-0.022894],[0.178191,-0.905983,-0.383982],[0.049752,-0.381433,0.923057]]
2025-10-26T20:03:53.450Z,1761509033.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980597,-0.193997,-0.028191],[0.189755,-0.903219,-0.384952],[0.049217,-0.382832,0.922506]]
2025-10-26T20:03:53.915Z,1761509033.915 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:03:53.957Z,1761509033.957 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:54.009Z,1761509034.009 [DAT](INFO): entering command mode
2025-10-26T20:03:54.208Z,1761509034.208 [DAT](INFO): DAT read: 

2025-10-26T20:03:54.208Z,1761509034.208 [DAT](INFO): DAT read: user54>

2025-10-26T20:03:54.209Z,1761509034.209 [DAT](INFO): unknown deviceResponse_: user54>

2025-10-26T20:03:54.209Z,1761509034.209 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:54.209Z,1761509034.209 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:54.211Z,1761509034.211 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:03:54.270Z,1761509034.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975871,-0.215281,-0.036459],[0.212391,-0.897195,-0.387209],[0.050648,-0.385610,0.921271]]
2025-10-26T20:03:54.460Z,1761509034.460 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:54.460Z,1761509034.460 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:54.662Z,1761509034.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972887,-0.227724,-0.040416],[0.225377,-0.894226,-0.386737],[0.051928,-0.385360,0.921304]]
2025-10-26T20:03:54.713Z,1761509034.713 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:54.713Z,1761509034.713 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:54.964Z,1761509034.964 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:54.964Z,1761509034.964 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:55.067Z,1761509035.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969489,-0.240972,-0.044988],[0.239239,-0.890087,-0.387956],[0.053443,-0.386882,0.920579]]
2025-10-26T20:03:55.212Z,1761509035.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:03:55.216Z,1761509035.216 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:55.216Z,1761509035.216 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:55.474Z,1761509035.474 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:55.474Z,1761509035.474 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:55.478Z,1761509035.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965581,-0.255153,-0.050500],[0.254290,-0.885223,-0.389509],[0.054680,-0.388944,0.919637]]
2025-10-26T20:03:55.725Z,1761509035.725 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:55.725Z,1761509035.725 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:55.874Z,1761509035.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961053,-0.270504,-0.056601],[0.270768,-0.880635,-0.388802],[0.055328,-0.388986,0.919581]]
2025-10-26T20:03:55.976Z,1761509035.976 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:55.976Z,1761509035.976 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:56.229Z,1761509036.229 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:56.229Z,1761509036.229 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:56.278Z,1761509036.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956180,-0.285802,-0.063537],[0.287469,-0.875322,-0.388810],[0.055508,-0.390037,0.919125]]
2025-10-26T20:03:56.480Z,1761509036.480 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:56.480Z,1761509036.480 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:56.682Z,1761509036.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950925,-0.301290,-0.070470],[0.304473,-0.870561,-0.386548],[0.055114,-0.389035,0.919573]]
2025-10-26T20:03:56.735Z,1761509036.735 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:03:56.743Z,1761509036.743 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:03:56.743Z,1761509036.743 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:56.743Z,1761509036.743 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateRudder:A] Stopped
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:03:56.825Z,1761509036.825 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:03:56.826Z,1761509036.826 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:03:56.826Z,1761509036.826 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:03:56.826Z,1761509036.826 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:03:56.826Z,1761509036.826 [marl:UpdateCommandMode] Stopped
2025-10-26T20:03:56.826Z,1761509036.826 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:03:56.984Z,1761509036.984 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:03:56.984Z,1761509036.984 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:56.984Z,1761509036.984 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:57.087Z,1761509037.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945542,-0.316064,-0.077800],[0.320919,-0.865261,-0.385142],[0.054412,-0.389136,0.919572]]
2025-10-26T20:03:57.171Z,1761509037.171 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:03:57.171Z,1761509037.171 [marl:UpdateRudder:B] Stopped
2025-10-26T20:03:57.171Z,1761509037.171 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:03:57.171Z,1761509037.171 [marl:UpdateRudder] Stopped
2025-10-26T20:03:57.171Z,1761509037.171 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:03:57.236Z,1761509037.236 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:03:57.237Z,1761509037.237 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:57.237Z,1761509037.237 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:03:57.488Z,1761509037.488 [DAT](INFO): entering online mode
2025-10-26T20:03:57.494Z,1761509037.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939991,-0.330499,-0.084782],[0.336996,-0.860403,-0.382283],[0.053397,-0.387914,0.920148]]
2025-10-26T20:03:57.741Z,1761509037.741 [DAT](INFO): DAT read: user:54>

2025-10-26T20:03:57.741Z,1761509037.741 [DAT](INFO): DAT read: 

2025-10-26T20:03:57.743Z,1761509037.743 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:03:57.743Z,1761509037.743 [DAT](INFO): commRate: 600
2025-10-26T20:03:57.743Z,1761509037.743 [DAT](INFO): online mode acknowledged
2025-10-26T20:03:57.743Z,1761509037.743 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:03:57.744Z,1761509037.744 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:57.894Z,1761509037.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934463,-0.343941,-0.092103],[0.352194,-0.854851,-0.381037],[0.052320,-0.388503,0.919961]]
2025-10-26T20:03:57.996Z,1761509037.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:58.244Z,1761509038.244 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:58.298Z,1761509038.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929067,-0.356384,-0.099118],[0.366331,-0.849246,-0.380241],[0.051336,-0.389579,0.919561]]
2025-10-26T20:03:58.497Z,1761509038.497 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:58.710Z,1761509038.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923429,-0.368964,-0.105566],[0.380410,-0.843715,-0.378727],[0.050669,-0.389886,0.919468]]
2025-10-26T20:03:58.748Z,1761509038.748 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:58.828Z,1761509038.828 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:03:58.828Z,1761509038.828 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:03:58.829Z,1761509038.829 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:03:58.829Z,1761509038.829 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:03:58.829Z,1761509038.829 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:03:58.829Z,1761509038.829 [marl:UpdateSpeed] Stopped
2025-10-26T20:03:58.829Z,1761509038.829 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:03:59.001Z,1761509039.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:59.106Z,1761509039.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917466,-0.381868,-0.111503],[0.394581,-0.837873,-0.377192],[0.050612,-0.390058,0.919398]]
2025-10-26T20:03:59.252Z,1761509039.252 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:59.505Z,1761509039.505 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:59.518Z,1761509039.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911073,-0.395232,-0.117207],[0.409110,-0.831830,-0.375084],[0.050749,-0.389679,0.919551]]
2025-10-26T20:03:59.756Z,1761509039.756 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:03:59.807Z,1761509039.807 [DAT](INFO): entering command mode
2025-10-26T20:03:59.915Z,1761509039.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904284,-0.408696,-0.123443],[0.423885,-0.825002,-0.373755],[0.050911,-0.390306,0.919276]]
2025-10-26T20:04:00.009Z,1761509040.009 [DAT](INFO): DAT read: 

2025-10-26T20:04:00.010Z,1761509040.010 [DAT](INFO): DAT read: user:55>

2025-10-26T20:04:00.011Z,1761509040.011 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:00.011Z,1761509040.011 [DAT](INFO): setting remote address to 0
2025-10-26T20:04:00.260Z,1761509040.260 [DAT](INFO): DAT read: user:55>

2025-10-26T20:04:00.261Z,1761509040.261 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:04:00.262Z,1761509040.262 [DAT](INFO): set remote address to 0
2025-10-26T20:04:00.262Z,1761509040.262 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:00.262Z,1761509040.262 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:04:00.322Z,1761509040.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896922,-0.422769,-0.129602],[0.439251,-0.818110,-0.371152],[0.050883,-0.389822,0.919483]]
2025-10-26T20:04:00.513Z,1761509040.513 [DAT](INFO): DAT read: user:56>

2025-10-26T20:04:00.514Z,1761509040.514 [DAT](INFO): DAT read: Tx time:20:03:59.6149

2025-10-26T20:04:00.514Z,1761509040.514 [DAT](INFO): Ping request sent.
2025-10-26T20:04:00.514Z,1761509040.514 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:04:00.514Z,1761509040.514 [DAT](INFO): publishing transmit ping time
2025-10-26T20:04:00.515Z,1761509040.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000947
2025-10-26T20:04:00.726Z,1761509040.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888596,-0.438195,-0.135583],[0.455879,-0.811006,-0.366666],[0.050713,-0.387628,0.920420]]
2025-10-26T20:04:00.767Z,1761509040.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252496
2025-10-26T20:04:01.016Z,1761509041.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502104
2025-10-26T20:04:01.126Z,1761509041.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879397,-0.454410,-0.142029],[0.473441,-0.803265,-0.361412],[0.050142,-0.385067,0.921525]]
2025-10-26T20:04:01.268Z,1761509041.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754102
2025-10-26T20:04:01.524Z,1761509041.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009955
2025-10-26T20:04:01.547Z,1761509041.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859557,-0.486688,-0.155876],[0.508749,-0.786074,-0.351087],[0.048339,-0.381081,0.923277]]
2025-10-26T20:04:01.776Z,1761509041.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262102
2025-10-26T20:04:02.029Z,1761509042.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514569
2025-10-26T20:04:02.281Z,1761509042.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766661
2025-10-26T20:04:02.343Z,1761509042.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848935,-0.502749,-0.162953],[0.526385,-0.776800,-0.345689],[0.047213,-0.379244,0.924092]]
2025-10-26T20:04:02.532Z,1761509042.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018100
2025-10-26T20:04:02.753Z,1761509042.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826062,-0.533932,-0.180382],[0.561857,-0.755212,-0.337596],[0.044027,-0.380225,0.923846]]
2025-10-26T20:04:02.788Z,1761509042.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272756
2025-10-26T20:04:03.037Z,1761509043.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522559
2025-10-26T20:04:03.152Z,1761509043.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813934,-0.548774,-0.190679],[0.579446,-0.743191,-0.334527],[0.041869,-0.382771,0.922894]]
2025-10-26T20:04:03.289Z,1761509043.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774399
2025-10-26T20:04:03.544Z,1761509043.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029474
2025-10-26T20:04:03.556Z,1761509043.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802274,-0.562352,-0.200294],[0.595636,-0.731790,-0.331213],[0.039685,-0.385026,0.922052]]
2025-10-26T20:04:03.792Z,1761509043.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278041
2025-10-26T20:04:03.959Z,1761509043.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791130,-0.575554,-0.207004],[0.610471,-0.722028,-0.325577],[0.037925,-0.383944,0.922577]]
2025-10-26T20:04:04.044Z,1761509044.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530205
2025-10-26T20:04:04.296Z,1761509044.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782042
2025-10-26T20:04:04.364Z,1761509044.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779905,-0.588031,-0.214401],[0.624880,-0.712001,-0.320280],[0.035681,-0.383763,0.922742]]
2025-10-26T20:04:04.548Z,1761509044.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034058
2025-10-26T20:04:04.803Z,1761509044.803 [DAT](INFO): DAT read: Rx Time:20:04:03.3407

2025-10-26T20:04:04.805Z,1761509044.805 [DAT](INFO): Rx dataTimestamp_ set to:1761509044.803672
2025-10-26T20:04:04.806Z,1761509044.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291729
2025-10-26T20:04:04.822Z,1761509044.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770113,-0.597677,-0.222954],[0.637026,-0.702184,-0.318017],[0.033516,-0.386936,0.921497]]
2025-10-26T20:04:05.052Z,1761509045.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538118
2025-10-26T20:04:05.167Z,1761509045.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760996,-0.606912,-0.229224],[0.648001,-0.694029,-0.313717],[0.031310,-0.387275,0.921433]]
2025-10-26T20:04:05.310Z,1761509045.310 [DAT](INFO): DAT read: 20:04:03.3407 LVL= 25840, 25265, 26162, 23411, AGC= 75, IDX= 104,-0.18, 2.398,-2.177,-2.185,-2.573, PHS=-1.211, 0.441, 0.344, RAW= 273.0,   5.4, CAL= 270.7,  -0.2, ROT= 239.3,   0.2

2025-10-26T20:04:05.311Z,1761509045.311 [DAT](INFO): got valid direction response:
 20:04:03.3407 LVL= 25840, 25265, 26162, 23411, AGC= 75, IDX= 104,-0.18, 2.398,-2.177,-2.185,-2.573, PHS=-1.211, 0.441, 0.344, RAW= 273.0,   5.4, CAL= 270.7,  -0.2, ROT= 239.3,   0.2

2025-10-26T20:04:05.312Z,1761509045.312 [DAT](INFO): DAT read: Bearing 356, -16 (Remote)

2025-10-26T20:04:05.313Z,1761509045.313 [DAT](INFO): Remote Bearing received:Bearing 356, -16 (Remote)

2025-10-26T20:04:05.313Z,1761509045.313 [DAT](INFO): DAT read: Bearing 136.9, -54.5 (Local)

2025-10-26T20:04:05.314Z,1761509045.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.9, -54.5 (Local)

2025-10-26T20:04:05.315Z,1761509045.315 [DAT](INFO): DAT read: Range 11 to 20 : 1272.5 m  (Round-trip  1696.7 ms) speed  0.0 m/s

2025-10-26T20:04:05.316Z,1761509045.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:04:05.317Z,1761509045.317 [DAT](INFO): direction in FSK: [-0.510540,-0.859847,-0.003491]
2025-10-26T20:04:05.317Z,1761509045.317 [DAT](INFO): publishing direction and range info
2025-10-26T20:04:05.586Z,1761509045.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752166,-0.615808,-0.234579],[0.658323,-0.686387,-0.309003],[0.029274,-0.386850,0.921678]]
2025-10-26T20:04:05.654Z,1761509045.654 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761508992.00. Resetting abort timer.
2025-10-26T20:04:06.386Z,1761509046.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734356,-0.633441,-0.243871],[0.678256,-0.670901,-0.299767],[0.026272,-0.385543,0.922316]]
2025-10-26T20:04:06.828Z,1761509046.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724555,-0.643108,-0.247853],[0.688764,-0.662607,-0.294204],[0.024976,-0.383879,0.923045]]
2025-10-26T20:04:07.195Z,1761509047.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714010,-0.653243,-0.251919],[0.699729,-0.653542,-0.288552],[0.023855,-0.382304,0.923729]]
2025-10-26T20:04:07.604Z,1761509047.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702979,-0.663489,-0.256131],[0.710834,-0.643748,-0.283377],[0.023133,-0.381275,0.924172]]
2025-10-26T20:04:07.824Z,1761509047.824 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T20:04:07.824Z,1761509047.824 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:04:08.003Z,1761509048.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691259,-0.673780,-0.261116],[0.722247,-0.632829,-0.279080],[0.022797,-0.381507,0.924085]]
2025-10-26T20:04:08.076Z,1761509048.076 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:04:08.328Z,1761509048.328 [DAT](INFO): setting remote address to 6
2025-10-26T20:04:08.406Z,1761509048.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678867,-0.684173,-0.266548],[0.733920,-0.621189,-0.274745],[0.022397,-0.382141,0.923833]]
2025-10-26T20:04:08.580Z,1761509048.580 [DAT](INFO): DAT read: user:57>

2025-10-26T20:04:08.581Z,1761509048.581 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:04:08.581Z,1761509048.581 [DAT](INFO): set remote address to 6
2025-10-26T20:04:08.582Z,1761509048.582 [DAT](INFO): entering online mode
2025-10-26T20:04:08.832Z,1761509048.832 [DAT](INFO): DAT read: user:58>

2025-10-26T20:04:08.833Z,1761509048.833 [DAT](INFO): DAT read: 

2025-10-26T20:04:08.834Z,1761509048.834 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:04:08.834Z,1761509048.834 [DAT](INFO): commRate: 600
2025-10-26T20:04:08.834Z,1761509048.834 [DAT](INFO): online mode acknowledged
2025-10-26T20:04:08.835Z,1761509048.835 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:04:08.843Z,1761509048.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665804,-0.694641,-0.272356],[0.745804,-0.608857,-0.270314],[0.021945,-0.383100,0.923446]]
2025-10-26T20:04:09.215Z,1761509049.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651894,-0.705346,-0.278425],[0.758002,-0.595656,-0.265757],[0.021605,-0.384292,0.922959]]
2025-10-26T20:04:09.618Z,1761509049.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638081,-0.715487,-0.284482],[0.769661,-0.582253,-0.261923],[0.021762,-0.386083,0.922207]]
2025-10-26T20:04:10.022Z,1761509050.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623482,-0.725120,-0.292356],[0.781523,-0.567407,-0.259367],[0.022188,-0.390194,0.920465]]
2025-10-26T20:04:10.055Z,1761509050.055 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:04:10.055Z,1761509050.055 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:04:10.055Z,1761509050.055 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:04:10.059Z,1761509050.059 [marl:UpdateRudder:A] Stopped
2025-10-26T20:04:10.059Z,1761509050.059 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:04:10.059Z,1761509050.059 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:04:10.059Z,1761509050.059 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:04:10.067Z,1761509050.067 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:04:10.068Z,1761509050.068 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:04:10.068Z,1761509050.068 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:04:10.068Z,1761509050.068 [marl:UpdateCommandMode] Stopped
2025-10-26T20:04:10.068Z,1761509050.068 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:04:10.426Z,1761509050.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608715,-0.734867,-0.299058],[0.793065,-0.552822,-0.255803],[0.022655,-0.392884,0.919309]]
2025-10-26T20:04:10.451Z,1761509050.451 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:04:10.452Z,1761509050.452 [marl:UpdateRudder:B] Stopped
2025-10-26T20:04:10.452Z,1761509050.452 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:04:10.452Z,1761509050.452 [marl:UpdateRudder] Stopped
2025-10-26T20:04:10.452Z,1761509050.452 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:04:10.834Z,1761509050.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593379,-0.744098,-0.306954],[0.804618,-0.537831,-0.251649],[0.022163,-0.396304,0.917852]]
2025-10-26T20:04:11.234Z,1761509051.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577710,-0.753400,-0.314069],[0.815983,-0.523378,-0.245453],[0.020548,-0.398076,0.917122]]
2025-10-26T20:04:11.639Z,1761509051.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562317,-0.762890,-0.319059],[0.826724,-0.510215,-0.237083],[0.018080,-0.397090,0.917602]]
2025-10-26T20:04:12.045Z,1761509052.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547416,-0.771433,-0.324387],[0.836729,-0.497664,-0.228505],[0.014841,-0.396511,0.917910]]
2025-10-26T20:04:12.084Z,1761509052.084 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:04:12.084Z,1761509052.084 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:04:12.084Z,1761509052.084 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:04:12.085Z,1761509052.085 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:04:12.085Z,1761509052.085 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:04:12.085Z,1761509052.085 [marl:UpdateSpeed] Stopped
2025-10-26T20:04:12.085Z,1761509052.085 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:04:12.109Z,1761509052.109 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:04:11.3136

2025-10-26T20:04:12.109Z,1761509052.109 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:04:12.451Z,1761509052.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532843,-0.780249,-0.327552],[0.846143,-0.486237,-0.218212],[0.010992,-0.393429,0.919289]]
2025-10-26T20:04:12.850Z,1761509052.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519325,-0.788807,-0.328762],[0.854550,-0.476277,-0.207135],[0.006808,-0.388514,0.921418]]
2025-10-26T20:04:13.254Z,1761509053.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506693,-0.796484,-0.329962],[0.862123,-0.467008,-0.196591],[0.002487,-0.384079,0.923297]]
2025-10-26T20:04:13.664Z,1761509053.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494363,-0.803132,-0.332542],[0.869253,-0.457739,-0.186747],[-0.002234,-0.381384,0.924414]]
2025-10-26T20:04:14.062Z,1761509054.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482623,-0.809228,-0.335001],[0.875801,-0.448911,-0.177344],[-0.006874,-0.378984,0.925378]]
2025-10-26T20:04:14.471Z,1761509054.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471299,-0.815159,-0.336739],[0.881901,-0.440451,-0.168089],[-0.011298,-0.376191,0.926473]]
2025-10-26T20:04:14.870Z,1761509054.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460397,-0.820538,-0.338749],[0.887585,-0.431977,-0.159964],[-0.015076,-0.374316,0.927179]]
2025-10-26T20:04:15.276Z,1761509055.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449545,-0.825185,-0.342021],[0.893075,-0.422950,-0.153398],[-0.018076,-0.374410,0.927087]]
2025-10-26T20:04:15.679Z,1761509055.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438349,-0.829216,-0.346773],[0.898583,-0.412893,-0.148555],[-0.019996,-0.376723,0.926110]]
2025-10-26T20:04:16.486Z,1761509056.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413591,-0.837428,-0.357291],[0.910251,-0.388792,-0.142424],[-0.019642,-0.384129,0.923070]]
2025-10-26T20:04:16.890Z,1761509056.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399233,-0.841636,-0.363678],[0.916683,-0.373980,-0.140824],[-0.017486,-0.389599,0.920819]]
2025-10-26T20:04:17.294Z,1761509057.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383336,-0.846124,-0.370306],[0.923498,-0.357334,-0.139511],[-0.014279,-0.395457,0.918373]]
2025-10-26T20:04:17.700Z,1761509057.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365785,-0.850993,-0.376844],[0.930641,-0.338993,-0.137810],[-0.010473,-0.401115,0.915968]]
2025-10-26T20:04:18.104Z,1761509058.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346493,-0.856463,-0.382640],[0.938030,-0.319157,-0.135048],[-0.006459,-0.405721,0.913974]]
2025-10-26T20:04:18.506Z,1761509058.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325931,-0.862965,-0.386082],[0.945389,-0.298696,-0.130458],[-0.002741,-0.407518,0.913193]]
2025-10-26T20:04:18.944Z,1761509058.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304733,-0.869549,-0.388616],[0.952438,-0.277964,-0.124894],[0.000580,-0.408192,0.912896]]
2025-10-26T20:04:19.314Z,1761509059.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283585,-0.876149,-0.389798],[0.958942,-0.257821,-0.118144],[0.003013,-0.407297,0.913291]]
2025-10-26T20:04:19.732Z,1761509059.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262596,-0.881918,-0.391491],[0.964897,-0.238251,-0.110500],[0.004179,-0.406765,0.913523]]
2025-10-26T20:04:20.124Z,1761509060.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242174,-0.887477,-0.392093],[0.970225,-0.219907,-0.101508],[0.003862,-0.405001,0.914308]]
2025-10-26T20:04:20.526Z,1761509060.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222239,-0.892166,-0.393255],[0.974990,-0.202619,-0.091319],[0.001791,-0.403715,0.914883]]
2025-10-26T20:04:20.946Z,1761509060.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202610,-0.895691,-0.395837],[0.979257,-0.186227,-0.079844],[-0.002200,-0.403803,0.914843]]
2025-10-26T20:04:21.334Z,1761509061.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183386,-0.899348,-0.396916],[0.983011,-0.170939,-0.066856],[-0.007721,-0.402433,0.915417]]
2025-10-26T20:04:21.745Z,1761509061.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164012,-0.901921,-0.399547],[0.986342,-0.156145,-0.052413],[-0.015115,-0.402686,0.915213]]
2025-10-26T20:04:22.142Z,1761509062.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144601,-0.904680,-0.400806],[0.989203,-0.141918,-0.036550],[-0.023816,-0.401764,0.915433]]
2025-10-26T20:04:22.208Z,1761509062.208 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:04:22.460Z,1761509062.460 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:04:22.546Z,1761509062.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125943,-0.906837,-0.402225],[0.991488,-0.128553,-0.020621],[-0.033007,-0.401399,0.915309]]
2025-10-26T20:04:22.715Z,1761509062.715 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:04:23.354Z,1761509063.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094508,-0.910483,-0.402604],[0.994374,-0.105765,0.005765],[-0.047830,-0.399794,0.915356]]
2025-10-26T20:04:23.402Z,1761509063.402 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:04:23.402Z,1761509063.402 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:04:23.402Z,1761509063.402 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:04:23.403Z,1761509063.403 [marl:UpdateRudder:A] Stopped
2025-10-26T20:04:23.403Z,1761509063.403 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:04:23.403Z,1761509063.403 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:04:23.403Z,1761509063.403 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:04:23.403Z,1761509063.403 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:04:23.404Z,1761509063.404 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:04:23.404Z,1761509063.404 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:04:23.404Z,1761509063.404 [marl:UpdateCommandMode] Stopped
2025-10-26T20:04:23.404Z,1761509063.404 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:04:23.758Z,1761509063.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081623,-0.912146,-0.401656],[0.995271,-0.095890,0.015508],[-0.052661,-0.398491,0.915659]]
2025-10-26T20:04:23.818Z,1761509063.818 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:04:23.818Z,1761509063.818 [marl:UpdateRudder:B] Stopped
2025-10-26T20:04:23.818Z,1761509063.818 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:04:23.818Z,1761509063.818 [marl:UpdateRudder] Stopped
2025-10-26T20:04:23.818Z,1761509063.818 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:04:24.163Z,1761509064.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068300,-0.914617,-0.398511],[0.996044,-0.085274,0.025002],[-0.056850,-0.395226,0.916823]]
2025-10-26T20:04:24.231Z,1761509064.231 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:04:24.476Z,1761509064.476 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:24.527Z,1761509064.527 [DAT](INFO): entering command mode
2025-10-26T20:04:24.573Z,1761509064.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054066,-0.916102,-0.397284],[0.996674,-0.073803,0.034548],[-0.060970,-0.394095,0.917045]]
2025-10-26T20:04:24.731Z,1761509064.731 [DAT](INFO): DAT read: 

2025-10-26T20:04:24.731Z,1761509064.731 [DAT](INFO): DAT read: user:59>

2025-10-26T20:04:24.732Z,1761509064.732 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:24.732Z,1761509064.732 [DAT](INFO): setting remote address to 0
2025-10-26T20:04:24.970Z,1761509064.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039116,-0.916584,-0.397923],[0.997132,-0.061625,0.043929],[-0.064787,-0.395064,0.916366]]
2025-10-26T20:04:24.980Z,1761509064.980 [DAT](INFO): DAT read: user:59>

2025-10-26T20:04:24.981Z,1761509064.981 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:04:24.982Z,1761509064.982 [DAT](INFO): set remote address to 0
2025-10-26T20:04:24.982Z,1761509064.982 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:24.982Z,1761509064.982 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:04:25.232Z,1761509065.232 [DAT](INFO): DAT read: user:60>

2025-10-26T20:04:25.233Z,1761509065.233 [DAT](INFO): DAT read: Tx time:20:04:24.3647

2025-10-26T20:04:25.233Z,1761509065.233 [DAT](INFO): Ping request sent.
2025-10-26T20:04:25.234Z,1761509065.234 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:04:25.234Z,1761509065.234 [DAT](INFO): publishing transmit ping time
2025-10-26T20:04:25.235Z,1761509065.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000943
2025-10-26T20:04:25.332Z,1761509065.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:04:25.378Z,1761509065.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023998,-0.916705,-0.398844],[0.997383,-0.049171,0.053002],[-0.068199,-0.396528,0.915486]]
2025-10-26T20:04:25.404Z,1761509065.404 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:04:25.404Z,1761509065.404 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:04:25.404Z,1761509065.404 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:04:25.405Z,1761509065.405 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:04:25.405Z,1761509065.405 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:04:25.405Z,1761509065.405 [marl:UpdateSpeed] Stopped
2025-10-26T20:04:25.405Z,1761509065.405 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:04:25.485Z,1761509065.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251523
2025-10-26T20:04:25.737Z,1761509065.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502921
2025-10-26T20:04:25.788Z,1761509065.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010260,-0.916493,-0.399920],[0.997437,-0.037701,0.060809],[-0.070808,-0.398271,0.914531]]
2025-10-26T20:04:25.989Z,1761509065.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754907
2025-10-26T20:04:26.243Z,1761509066.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008962
2025-10-26T20:04:26.336Z,1761509066.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:04:26.492Z,1761509066.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258734
2025-10-26T20:04:26.586Z,1761509066.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017374,-0.915813,-0.401228],[0.997129,-0.013711,0.074475],[-0.073707,-0.401370,0.912945]]
2025-10-26T20:04:26.744Z,1761509066.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510866
2025-10-26T20:04:26.990Z,1761509066.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031661,-0.915509,-0.401050],[0.996757,-0.000778,0.080466],[-0.073980,-0.402297,0.912515]]
2025-10-26T20:04:26.996Z,1761509066.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762680
2025-10-26T20:04:27.248Z,1761509067.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014762
2025-10-26T20:04:27.397Z,1761509067.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048428,-0.914964,-0.400619],[0.996040,0.014297,0.087752],[-0.074562,-0.403282,0.912033]]
2025-10-26T20:04:27.501Z,1761509067.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267115
2025-10-26T20:04:27.752Z,1761509067.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518719
2025-10-26T20:04:27.798Z,1761509067.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067208,-0.914712,-0.398479],[0.994871,0.031176,0.096231],[-0.075601,-0.402903,0.912115]]
2025-10-26T20:04:28.004Z,1761509068.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770734
2025-10-26T20:04:28.202Z,1761509068.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087578,-0.914484,-0.395031],[0.993190,0.049570,0.105435],[-0.076837,-0.401575,0.912597]]
2025-10-26T20:04:28.256Z,1761509068.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022883
2025-10-26T20:04:28.508Z,1761509068.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274719
2025-10-26T20:04:28.606Z,1761509068.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108620,-0.914415,-0.389931],[0.991012,0.068797,0.114726],[-0.078082,-0.398888,0.913669]]
2025-10-26T20:04:28.763Z,1761509068.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528749
2025-10-26T20:04:29.010Z,1761509069.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130108,-0.913971,-0.384356],[0.988311,0.088482,0.124149],[-0.079460,-0.396016,0.914799]]
2025-10-26T20:04:29.012Z,1761509069.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778905
2025-10-26T20:04:29.264Z,1761509069.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030738
2025-10-26T20:04:29.421Z,1761509069.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151629,-0.912285,-0.380454],[0.985122,0.107977,0.133701],[-0.080893,-0.395066,0.915084]]
2025-10-26T20:04:29.516Z,1761509069.516 [DAT](INFO): DAT read: Rx Time:20:04:28.0739

2025-10-26T20:04:29.517Z,1761509069.517 [DAT](INFO): Rx dataTimestamp_ set to:1761509069.516529
2025-10-26T20:04:29.517Z,1761509069.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283773
2025-10-26T20:04:29.768Z,1761509069.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534793
2025-10-26T20:04:29.831Z,1761509069.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173162,-0.910058,-0.376575],[0.981402,0.127271,0.143712],[-0.082859,-0.394457,0.915171]]
2025-10-26T20:04:30.026Z,1761509070.026 [DAT](INFO): DAT read: 20:04:28.0739 LVL= 17856, 25169,  9298, 22355, AGC= 68, IDX= 240,-0.08,-2.460,-2.393,-0.409,-1.935, PHS=-0.423,-0.413, 1.482, RAW= 210.3,  -6.9, CAL= 209.4,  -9.8, ROT= 300.6,   9.8

2025-10-26T20:04:30.028Z,1761509070.028 [DAT](INFO): got valid direction response:
 20:04:28.0739 LVL= 17856, 25169,  9298, 22355, AGC= 68, IDX= 240,-0.08,-2.460,-2.393,-0.409,-1.935, PHS=-0.423,-0.413, 1.482, RAW= 210.3,  -6.9, CAL= 209.4,  -9.8, ROT= 300.6,   9.8

2025-10-26T20:04:30.029Z,1761509070.029 [DAT](INFO): DAT read: Bearing 356, -11 (Remote)

2025-10-26T20:04:30.030Z,1761509070.030 [DAT](INFO): Remote Bearing received:Bearing 356, -11 (Remote)

2025-10-26T20:04:30.030Z,1761509070.030 [DAT](INFO): DAT read: Bearing 172.0, -48.4 (Local)

2025-10-26T20:04:30.031Z,1761509070.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.0, -48.4 (Local)

2025-10-26T20:04:30.032Z,1761509070.032 [DAT](INFO): DAT read: Range 11 to 20 : 1260.0 m  (Round-trip  1680.0 ms) speed  1.4 m/s

2025-10-26T20:04:30.033Z,1761509070.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:04:30.034Z,1761509070.034 [DAT](INFO): direction in FSK: [0.501614,-0.848182,-0.170209]
2025-10-26T20:04:30.034Z,1761509070.034 [DAT](INFO): publishing direction and range info
2025-10-26T20:04:30.222Z,1761509070.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195114,-0.907200,-0.372719],[0.977046,0.146658,0.154504],[-0.085504,-0.394310,0.914991]]
2025-10-26T20:04:30.315Z,1761509070.315 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509120.00. Resetting abort timer.
2025-10-26T20:04:30.626Z,1761509070.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217473,-0.904737,-0.366273],[0.971998,0.166515,0.165809],[-0.089024,-0.392075,0.915616]]
2025-10-26T20:04:31.031Z,1761509071.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239771,-0.902348,-0.358158],[0.966345,0.186410,0.177280],[-0.093204,-0.388611,0.916676]]
2025-10-26T20:04:31.434Z,1761509071.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261791,-0.899500,-0.349808],[0.960182,0.206107,0.188601],[-0.097549,-0.385254,0.917640]]
2025-10-26T20:04:31.838Z,1761509071.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282906,-0.895744,-0.342938],[0.953723,0.224736,0.199768],[-0.101870,-0.383583,0.917871]]
2025-10-26T20:04:32.242Z,1761509072.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303249,-0.891172,-0.337419],[0.946970,0.242355,0.210977],[-0.106241,-0.383505,0.917408]]
2025-10-26T20:04:32.648Z,1761509072.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323443,-0.885620,-0.333259],[0.939810,0.259646,0.222130],[-0.110194,-0.385047,0.916295]]
2025-10-26T20:04:32.798Z,1761509072.798 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T20:04:32.799Z,1761509072.799 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:04:33.048Z,1761509073.048 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:04:33.056Z,1761509073.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342763,-0.879745,-0.329488],[0.932555,0.276313,0.232363],[-0.113378,-0.386911,0.915120]]
2025-10-26T20:04:33.301Z,1761509073.301 [DAT](INFO): setting remote address to 6
2025-10-26T20:04:33.454Z,1761509073.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361306,-0.873743,-0.325625],[0.925239,0.292601,0.241491],[-0.115723,-0.388533,0.914139]]
2025-10-26T20:04:33.552Z,1761509073.552 [DAT](INFO): DAT read: user:61>

2025-10-26T20:04:33.553Z,1761509073.553 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:04:33.553Z,1761509073.553 [DAT](INFO): set remote address to 6
2025-10-26T20:04:33.554Z,1761509073.554 [DAT](INFO): entering online mode
2025-10-26T20:04:33.804Z,1761509073.804 [DAT](INFO): DAT read: user:62>

2025-10-26T20:04:33.805Z,1761509073.805 [DAT](INFO): DAT read: 

2025-10-26T20:04:33.806Z,1761509073.806 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:04:33.806Z,1761509073.806 [DAT](INFO): commRate: 600
2025-10-26T20:04:33.806Z,1761509073.806 [DAT](INFO): online mode acknowledged
2025-10-26T20:04:33.807Z,1761509073.807 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:04:33.866Z,1761509073.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379474,-0.867640,-0.321247],[0.917701,0.308853,0.249871],[-0.117581,-0.389628,0.913436]]
2025-10-26T20:04:34.264Z,1761509074.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396470,-0.861625,-0.316882],[0.910353,0.324387,0.256966],[-0.118616,-0.390354,0.912992]]
2025-10-26T20:04:35.071Z,1761509075.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427479,-0.850159,-0.307395],[0.896132,0.353663,0.268086],[-0.119201,-0.390068,0.913038]]
2025-10-26T20:04:35.475Z,1761509075.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441794,-0.844392,-0.303017],[0.889161,0.367261,0.272968],[-0.119206,-0.390027,0.913055]]
2025-10-26T20:04:35.896Z,1761509075.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455809,-0.838467,-0.298682],[0.882072,0.380612,0.277639],[-0.119109,-0.390010,0.913075]]
2025-10-26T20:04:36.282Z,1761509076.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468921,-0.832866,-0.294018],[0.875178,0.393266,0.281789],[-0.119065,-0.389455,0.913317]]
2025-10-26T20:04:36.736Z,1761509076.736 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:04:36.736Z,1761509076.736 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:04:36.736Z,1761509076.736 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:04:36.737Z,1761509076.737 [marl:UpdateRudder:A] Stopped
2025-10-26T20:04:36.737Z,1761509076.737 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:04:36.737Z,1761509076.737 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:04:36.738Z,1761509076.738 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:04:36.738Z,1761509076.738 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:04:36.739Z,1761509076.739 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:04:36.740Z,1761509076.740 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:04:36.740Z,1761509076.740 [marl:UpdateCommandMode] Stopped
2025-10-26T20:04:36.740Z,1761509076.740 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:04:37.091Z,1761509077.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493093,-0.822156,-0.284462],[0.861640,0.416367,0.290199],[-0.120148,-0.388199,0.913710]]
2025-10-26T20:04:37.093Z,1761509077.093 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:04:36.2634

2025-10-26T20:04:37.093Z,1761509077.093 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:04:37.139Z,1761509077.139 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:04:37.159Z,1761509077.159 [marl:UpdateRudder:B] Stopped
2025-10-26T20:04:37.159Z,1761509077.159 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:04:37.160Z,1761509077.160 [marl:UpdateRudder] Stopped
2025-10-26T20:04:37.160Z,1761509077.160 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:04:37.494Z,1761509077.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504019,-0.817475,-0.278746],[0.855195,0.427194,0.293506],[-0.120856,-0.386315,0.914415]]
2025-10-26T20:04:37.905Z,1761509077.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514190,-0.812858,-0.273623],[0.849065,0.437335,0.296357],[-0.121231,-0.384707,0.915043]]
2025-10-26T20:04:38.302Z,1761509078.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524185,-0.808219,-0.268349],[0.842916,0.447508,0.298713],[-0.121337,-0.382776,0.915838]]
2025-10-26T20:04:38.713Z,1761509078.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533539,-0.803675,-0.263522],[0.837131,0.457364,0.300050],[-0.120617,-0.380690,0.916802]]
2025-10-26T20:04:38.825Z,1761509078.825 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:04:38.825Z,1761509078.825 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:04:38.825Z,1761509078.825 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:04:38.825Z,1761509078.825 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:04:38.825Z,1761509078.825 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:04:38.826Z,1761509078.826 [marl:UpdateSpeed] Stopped
2025-10-26T20:04:38.826Z,1761509078.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:04:39.112Z,1761509079.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542349,-0.799242,-0.258977],[0.831668,0.467030,0.300353],[-0.119105,-0.378279,0.917997]]
2025-10-26T20:04:39.514Z,1761509079.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551547,-0.794070,-0.255436],[0.825905,0.476933,0.300692],[-0.116945,-0.376812,0.918878]]
2025-10-26T20:04:39.918Z,1761509079.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562013,-0.788004,-0.251377],[0.819186,0.488270,0.300878],[-0.114353,-0.375022,0.919936]]
2025-10-26T20:04:40.322Z,1761509080.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573010,-0.780672,-0.249423],[0.811955,0.499436,0.302148],[-0.111307,-0.375654,0.920052]]
2025-10-26T20:04:40.742Z,1761509080.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585263,-0.772368,-0.246811],[0.803599,0.511910,0.303606],[-0.108150,-0.376026,0.920276]]
2025-10-26T20:04:41.131Z,1761509081.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598102,-0.763054,-0.244996],[0.794533,0.524587,0.305820],[-0.104835,-0.377569,0.920028]]
2025-10-26T20:04:41.534Z,1761509081.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611803,-0.752947,-0.242421],[0.784452,0.538153,0.308264],[-0.101647,-0.378764,0.919894]]
2025-10-26T20:04:41.941Z,1761509081.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626028,-0.742351,-0.238755],[0.773531,0.552426,0.310604],[-0.098682,-0.379131,0.920066]]
2025-10-26T20:04:42.344Z,1761509082.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640789,-0.730557,-0.235960],[0.761727,0.566693,0.314056],[-0.095719,-0.380980,0.919615]]
2025-10-26T20:04:42.751Z,1761509082.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655758,-0.718396,-0.232139],[0.749210,0.581317,0.317418],[-0.093085,-0.382071,0.919433]]
2025-10-26T20:04:43.151Z,1761509083.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670715,-0.705851,-0.227849],[0.736126,0.595833,0.321094],[-0.090884,-0.383088,0.919230]]
2025-10-26T20:04:43.556Z,1761509083.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685597,-0.692685,-0.223929],[0.722481,0.609687,0.326042],[-0.089317,-0.385318,0.918451]]
2025-10-26T20:04:43.958Z,1761509083.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700237,-0.679302,-0.219585],[0.708472,0.623319,0.330970],[-0.087957,-0.387327,0.917737]]
2025-10-26T20:04:44.369Z,1761509084.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714084,-0.665946,-0.215870],[0.694648,0.635763,0.336555],[-0.086885,-0.390283,0.916586]]
2025-10-26T20:04:44.808Z,1761509084.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739016,-0.640959,-0.207432],[0.668195,0.658140,0.346939],[-0.085854,-0.394998,0.914661]]
2025-10-26T20:04:45.575Z,1761509085.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750521,-0.628791,-0.203323],[0.655290,0.668295,0.352104],[-0.085520,-0.397497,0.913610]]
2025-10-26T20:04:46.008Z,1761509086.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770741,-0.606845,-0.194157],[0.631514,0.687160,0.359167],[-0.084542,-0.399438,0.912854]]
2025-10-26T20:04:46.824Z,1761509086.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789698,-0.584723,-0.185677],[0.607856,0.704798,0.365748],[-0.082996,-0.401696,0.912005]]
2025-10-26T20:04:47.184Z,1761509087.184 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:04:47.201Z,1761509087.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798638,-0.573767,-0.181573],[0.596268,0.713548,0.367849],[-0.081499,-0.402045,0.911986]]
2025-10-26T20:04:47.436Z,1761509087.436 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:04:47.599Z,1761509087.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807176,-0.562481,-0.179113],[0.584963,0.721407,0.370663],[-0.079278,-0.403964,0.911333]]
2025-10-26T20:04:47.692Z,1761509087.692 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:04:48.002Z,1761509088.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815894,-0.550600,-0.176511],[0.573113,0.729698,0.372939],[-0.076541,-0.405439,0.910912]]
2025-10-26T20:04:48.411Z,1761509088.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824165,-0.539153,-0.173394],[0.561581,0.738340,0.373471],[-0.073334,-0.405176,0.911293]]
2025-10-26T20:04:48.831Z,1761509088.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832091,-0.527447,-0.171536],[0.550215,0.745998,0.375166],[-0.069915,-0.406554,0.910948]]
2025-10-26T20:04:49.211Z,1761509089.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840029,-0.515447,-0.169307],[0.538521,0.754248,0.375641],[-0.065923,-0.406725,0.911169]]
2025-10-26T20:04:49.614Z,1761509089.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847685,-0.503427,-0.167304],[0.526881,0.762165,0.376167],[-0.061859,-0.407020,0.911322]]
2025-10-26T20:04:50.019Z,1761509090.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855388,-0.490721,-0.165845],[0.514789,0.769833,0.377293],[-0.057472,-0.408107,0.911123]]
2025-10-26T20:04:50.042Z,1761509090.042 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:04:50.042Z,1761509090.042 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:04:50.043Z,1761509090.043 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:04:50.043Z,1761509090.043 [marl:UpdateRudder:A] Stopped
2025-10-26T20:04:50.043Z,1761509090.043 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:04:50.043Z,1761509090.043 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:04:50.043Z,1761509090.043 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:04:50.044Z,1761509090.044 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:04:50.044Z,1761509090.044 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:04:50.044Z,1761509090.044 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:04:50.045Z,1761509090.045 [marl:UpdateCommandMode] Stopped
2025-10-26T20:04:50.045Z,1761509090.045 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:04:50.136Z,1761509090.136 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:04:50.136Z,1761509090.136 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:04:50.425Z,1761509090.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863094,-0.477842,-0.163512],[0.502261,0.778169,0.377078],[-0.052944,-0.407580,0.911634]]
2025-10-26T20:04:50.479Z,1761509090.479 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:04:50.479Z,1761509090.479 [marl:UpdateRudder:B] Stopped
2025-10-26T20:04:50.495Z,1761509090.495 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:04:50.495Z,1761509090.495 [marl:UpdateRudder] Stopped
2025-10-26T20:04:50.496Z,1761509090.496 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:04:50.839Z,1761509090.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870898,-0.464410,-0.160813],[0.489077,0.786741,0.376621],[-0.048388,-0.406648,0.912302]]
2025-10-26T20:04:50.965Z,1761509090.965 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:04:50.1633

2025-10-26T20:04:50.965Z,1761509090.965 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:04:51.233Z,1761509091.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878874,-0.450037,-0.158262],[0.475041,0.795162,0.376899],[-0.043774,-0.406428,0.912633]]
2025-10-26T20:04:51.634Z,1761509091.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886745,-0.435623,-0.154647],[0.460551,0.803832,0.376492],[-0.039698,-0.405075,0.913421]]
2025-10-26T20:04:52.038Z,1761509092.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894727,-0.420421,-0.150700],[0.445150,0.812194,0.377071],[-0.036131,-0.404460,0.913842]]
2025-10-26T20:04:52.081Z,1761509092.081 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:04:52.081Z,1761509092.081 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:04:52.081Z,1761509092.081 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:04:52.081Z,1761509092.081 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:04:52.082Z,1761509092.082 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:04:52.082Z,1761509092.082 [marl:UpdateSpeed] Stopped
2025-10-26T20:04:52.082Z,1761509092.082 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:04:52.447Z,1761509092.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902064,-0.405961,-0.146551],[0.430338,0.820001,0.377370],[-0.033026,-0.403478,0.914393]]
2025-10-26T20:04:52.853Z,1761509092.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909510,-0.390620,-0.142156],[0.414575,0.827452,0.378749],[-0.030319,-0.403410,0.914517]]
2025-10-26T20:04:53.252Z,1761509093.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916310,-0.376215,-0.137253],[0.399501,0.834909,0.378584],[-0.027835,-0.401732,0.915334]]
2025-10-26T20:04:53.654Z,1761509093.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922665,-0.362058,-0.132676],[0.384741,0.841417,0.379463],[-0.025751,-0.401163,0.915645]]
2025-10-26T20:04:54.059Z,1761509094.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928349,-0.348814,-0.128443],[0.370960,0.847466,0.379724],[-0.023602,-0.400163,0.916140]]
2025-10-26T20:04:54.466Z,1761509094.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933671,-0.335863,-0.124313],[0.357493,0.853350,0.379464],[-0.021365,-0.398736,0.916817]]
2025-10-26T20:04:54.539Z,1761509094.539 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:04:54.749Z,1761509094.749 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:54.800Z,1761509094.800 [DAT](INFO): entering command mode
2025-10-26T20:04:54.866Z,1761509094.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938754,-0.322859,-0.120429],[0.344050,0.858658,0.379916],[-0.019252,-0.398081,0.917148]]
2025-10-26T20:04:55.000Z,1761509095.000 [DAT](INFO): DAT read: 

2025-10-26T20:04:55.001Z,1761509095.001 [DAT](INFO): DAT read: user:63>

2025-10-26T20:04:55.001Z,1761509095.001 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:55.001Z,1761509095.001 [DAT](INFO): setting remote address to 0
2025-10-26T20:04:55.253Z,1761509095.253 [DAT](INFO): DAT read: user:63>

2025-10-26T20:04:55.254Z,1761509095.254 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:04:55.254Z,1761509095.254 [DAT](INFO): set remote address to 0
2025-10-26T20:04:55.255Z,1761509095.255 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:04:55.255Z,1761509095.255 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:04:55.272Z,1761509095.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943662,-0.309671,-0.116641],[0.330479,0.863976,0.379905],[-0.016871,-0.397050,0.917642]]
2025-10-26T20:04:55.504Z,1761509095.504 [DAT](INFO): DAT read: user:64>

2025-10-26T20:04:55.505Z,1761509095.505 [DAT](INFO): DAT read: Tx time:20:04:54.6145

2025-10-26T20:04:55.505Z,1761509095.505 [DAT](INFO): Ping request sent.
2025-10-26T20:04:55.505Z,1761509095.505 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:04:55.506Z,1761509095.506 [DAT](INFO): publishing transmit ping time
2025-10-26T20:04:55.506Z,1761509095.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000978
2025-10-26T20:04:55.676Z,1761509095.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948517,-0.295763,-0.113309],[0.316414,0.869011,0.380398],[-0.014041,-0.396667,0.917855]]
2025-10-26T20:04:55.757Z,1761509095.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252020
2025-10-26T20:04:56.008Z,1761509096.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502982
2025-10-26T20:04:56.078Z,1761509096.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952911,-0.282474,-0.110313],[0.303044,0.873634,0.380693],[-0.011163,-0.396196,0.918098]]
2025-10-26T20:04:56.260Z,1761509096.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909
2025-10-26T20:04:56.456Z,1761509096.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:04:56.486Z,1761509096.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957250,-0.268718,-0.107065],[0.289132,0.877804,0.381920],[-0.008646,-0.396549,0.917973]]
2025-10-26T20:04:56.512Z,1761509096.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006983
2025-10-26T20:04:56.767Z,1761509096.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261278
2025-10-26T20:04:56.891Z,1761509096.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961227,-0.255252,-0.104348],[0.275690,0.881215,0.383998],[-0.006063,-0.397877,0.917419]]
2025-10-26T20:04:57.017Z,1761509097.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511971
2025-10-26T20:04:57.268Z,1761509097.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762948
2025-10-26T20:04:57.294Z,1761509097.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965028,-0.241624,-0.101677],[0.262121,0.884064,0.386942],[-0.003605,-0.400062,0.916481]]
2025-10-26T20:04:57.460Z,1761509097.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:04:57.520Z,1761509097.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919
2025-10-26T20:04:57.700Z,1761509097.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968636,-0.228003,-0.098785],[0.248480,0.886707,0.389882],[-0.001301,-0.402200,0.915551]]
2025-10-26T20:04:57.776Z,1761509097.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270990
2025-10-26T20:04:58.029Z,1761509098.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523465
2025-10-26T20:04:58.104Z,1761509098.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972032,-0.214381,-0.095888],[0.234847,0.888729,0.393710],[0.000814,-0.405218,0.914220]]
2025-10-26T20:04:58.280Z,1761509098.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774913
2025-10-26T20:04:58.506Z,1761509098.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975303,-0.200598,-0.092436],[0.220850,0.891407,0.395750],[0.003012,-0.406391,0.913695]]
2025-10-26T20:04:58.533Z,1761509098.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027638
2025-10-26T20:04:58.788Z,1761509098.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281504
2025-10-26T20:04:59.036Z,1761509099.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530973
2025-10-26T20:04:59.288Z,1761509099.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782854
2025-10-26T20:04:59.322Z,1761509099.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981602,-0.171269,-0.084401],[0.190805,0.896283,0.400338],[0.007082,-0.409077,0.912472]]
2025-10-26T20:04:59.540Z,1761509099.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034956
2025-10-26T20:04:59.725Z,1761509099.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984630,-0.155497,-0.079530],[0.174418,0.899154,0.401373],[0.009097,-0.409075,0.912455]]
2025-10-26T20:04:59.794Z,1761509099.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287875
2025-10-26T20:05:00.044Z,1761509100.044 [DAT](INFO): DAT read: Rx Time:20:04:58.6485

2025-10-26T20:05:00.045Z,1761509100.045 [DAT](INFO): Rx dataTimestamp_ set to:1761509100.044458
2025-10-26T20:05:00.045Z,1761509100.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539904
2025-10-26T20:05:00.122Z,1761509100.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987303,-0.140267,-0.074545],[0.158449,0.902753,0.399913],[0.011201,-0.406647,0.913517]]
2025-10-26T20:05:00.297Z,1761509100.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791530
2025-10-26T20:05:00.528Z,1761509100.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989760,-0.124679,-0.069498],[0.142128,0.905861,0.399019],[0.013206,-0.404810,0.914305]]
2025-10-26T20:05:00.554Z,1761509100.554 [DAT](INFO): DAT read: 20:04:58.6485 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 126, 0.38,-2.784, 1.812, 3.130,-3.132, PHS= 0.449,-1.294,-0.066, RAW= 133.3,  11.7, CAL= 132.8,  12.8, ROT=  17.2, -12.8

2025-10-26T20:05:00.555Z,1761509100.555 [DAT](INFO): got valid direction response:
 20:04:58.6485 LVL= 32752, 32753, 32754, 32755, AGC= 86, IDX= 126, 0.38,-2.784, 1.812, 3.130,-3.132, PHS= 0.449,-1.294,-0.066, RAW= 133.3,  11.7, CAL= 132.8,  12.8, ROT=  17.2, -12.8

2025-10-26T20:05:00.556Z,1761509100.556 [DAT](INFO): DAT read: Bearing 168.1,  10.9 (Local)

2025-10-26T20:05:00.556Z,1761509100.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.1,  10.9 (Local)

2025-10-26T20:05:00.558Z,1761509100.558 [DAT](INFO): DAT read: Range 11 to 20 : 1222.3 m  (Round-trip  1629.8 ms) speed  1.4 m/s

2025-10-26T20:05:00.558Z,1761509100.558 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:05:00.583Z,1761509100.583 [DAT](INFO): direction in FSK: [0.931539,0.288360,0.221548]
2025-10-26T20:05:00.584Z,1761509100.584 [DAT](INFO): publishing direction and range info
2025-10-26T20:05:00.642Z,1761509100.642 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509120.00. Resetting abort timer.
2025-10-26T20:05:00.930Z,1761509100.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991915,-0.109215,-0.064624],[0.125991,0.908438,0.398581],[0.015176,-0.403501,0.914854]]
2025-10-26T20:05:01.052Z,1761509101.052 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:05:01.304Z,1761509101.304 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:05:01.334Z,1761509101.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993811,-0.093789,-0.059522],[0.109773,0.911208,0.397051],[0.016998,-0.401128,0.915864]]
2025-10-26T20:05:01.556Z,1761509101.556 [DAT](INFO): setting remote address to 6
2025-10-26T20:05:01.740Z,1761509101.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995398,-0.078720,-0.054652],[0.093982,0.913397,0.396073],[0.018740,-0.399386,0.916591]]
2025-10-26T20:05:01.809Z,1761509101.809 [DAT](INFO): DAT read: user:65>

2025-10-26T20:05:01.811Z,1761509101.811 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:05:01.812Z,1761509101.812 [DAT](INFO): set remote address to 6
2025-10-26T20:05:01.812Z,1761509101.812 [DAT](INFO): entering online mode
2025-10-26T20:05:02.060Z,1761509102.060 [DAT](INFO): DAT read: user:66>

2025-10-26T20:05:02.061Z,1761509102.061 [DAT](INFO): DAT read: 

2025-10-26T20:05:02.062Z,1761509102.062 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:05:02.062Z,1761509102.062 [DAT](INFO): commRate: 600
2025-10-26T20:05:02.062Z,1761509102.062 [DAT](INFO): online mode acknowledged
2025-10-26T20:05:02.063Z,1761509102.063 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:05:02.144Z,1761509102.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996736,-0.063464,-0.049906],[0.078087,0.914830,0.396218],[0.020510,-0.398822,0.916799]]
2025-10-26T20:05:02.546Z,1761509102.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997819,-0.048292,-0.045012],[0.062182,0.916509,0.395151],[0.022171,-0.397088,0.917513]]
2025-10-26T20:05:02.950Z,1761509102.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998603,-0.034051,-0.040414],[0.047239,0.917988,0.393784],[0.023691,-0.395143,0.918314]]
2025-10-26T20:05:03.354Z,1761509103.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999171,-0.019718,-0.035618],[0.032133,0.919169,0.392550],[0.024999,-0.393369,0.919041]]
2025-10-26T20:05:03.418Z,1761509103.418 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:05:03.418Z,1761509103.418 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:05:03.419Z,1761509103.419 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:05:03.419Z,1761509103.419 [marl:UpdateRudder:A] Stopped
2025-10-26T20:05:03.419Z,1761509103.419 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:05:03.419Z,1761509103.419 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:05:03.427Z,1761509103.427 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:05:03.427Z,1761509103.427 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:05:03.429Z,1761509103.429 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:05:03.429Z,1761509103.429 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:05:03.429Z,1761509103.429 [marl:UpdateCommandMode] Stopped
2025-10-26T20:05:03.430Z,1761509103.430 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:05:03.760Z,1761509103.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999504,-0.004933,-0.031096],[0.016703,0.920294,0.390871],[0.026689,-0.391197,0.919920]]
2025-10-26T20:05:03.790Z,1761509103.790 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:05:03.790Z,1761509103.790 [marl:UpdateRudder:B] Stopped
2025-10-26T20:05:03.790Z,1761509103.790 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:05:03.790Z,1761509103.790 [marl:UpdateRudder] Stopped
2025-10-26T20:05:03.790Z,1761509103.790 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:05:04.162Z,1761509104.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999607,0.008890,-0.026595],[0.002177,0.920955,0.389663],[0.027957,-0.389567,0.920574]]
2025-10-26T20:05:04.566Z,1761509104.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999506,0.021924,-0.022512],[-0.011479,0.921631,0.387899],[0.029253,-0.387449,0.921427]]
2025-10-26T20:05:04.970Z,1761509104.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999232,0.034345,-0.018845],[-0.024401,0.921979,0.386470],[0.030648,-0.385713,0.922110]]
2025-10-26T20:05:05.337Z,1761509105.337 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:05:04.5132

2025-10-26T20:05:05.337Z,1761509105.337 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:05:05.384Z,1761509105.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998808,0.046272,-0.015544],[-0.036718,0.922031,0.385370],[0.032164,-0.384340,0.922631]]
2025-10-26T20:05:05.444Z,1761509105.444 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:05:05.444Z,1761509105.444 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:05:05.444Z,1761509105.444 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:05:05.445Z,1761509105.445 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:05:05.445Z,1761509105.445 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:05:05.445Z,1761509105.445 [marl:UpdateSpeed] Stopped
2025-10-26T20:05:05.445Z,1761509105.445 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:05:05.788Z,1761509105.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998291,0.057024,-0.012819],[-0.047648,0.921047,0.386525],[0.033848,-0.385254,0.922190]]
2025-10-26T20:05:06.182Z,1761509106.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997655,0.067722,-0.009898],[-0.058556,0.919456,0.388809],[0.035431,-0.387317,0.921265]]
2025-10-26T20:05:06.586Z,1761509106.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996874,0.078722,-0.006659],[-0.069810,0.917200,0.392264],[0.036987,-0.390573,0.919829]]
2025-10-26T20:05:06.992Z,1761509106.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995932,0.090060,-0.003089],[-0.081455,0.914381,0.396576],[0.038540,-0.394711,0.917997]]
2025-10-26T20:05:07.394Z,1761509107.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994699,0.102818,0.001393],[-0.094746,0.911175,0.400978],[0.039959,-0.398984,0.916087]]
2025-10-26T20:05:07.802Z,1761509107.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993094,0.117127,0.006753],[-0.109823,0.907829,0.404705],[0.041271,-0.402652,0.914422]]
2025-10-26T20:05:08.202Z,1761509108.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990982,0.133320,0.013460],[-0.127122,0.903611,0.409056],[0.042372,-0.407078,0.912410]]
2025-10-26T20:05:08.611Z,1761509108.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988349,0.150742,0.021060],[-0.145991,0.899743,0.411278],[0.043048,-0.409560,0.911267]]
2025-10-26T20:05:09.010Z,1761509109.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985197,0.168974,0.028894],[-0.165805,0.896447,0.410965],[0.043541,-0.409672,0.911193]]
2025-10-26T20:05:09.414Z,1761509109.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981654,0.187204,0.036198],[-0.185565,0.894352,0.407063],[0.043830,-0.406312,0.912683]]
2025-10-26T20:05:09.818Z,1761509109.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977788,0.205069,0.043324],[-0.204977,0.892437,0.401920],[0.043757,-0.401873,0.914649]]
2025-10-26T20:05:10.223Z,1761509110.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973543,0.223061,0.049568],[-0.224269,0.891194,0.394306],[0.043780,-0.394991,0.917641]]
2025-10-26T20:05:10.633Z,1761509110.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968956,0.241131,0.054589],[-0.243230,0.890168,0.385278],[0.044309,-0.386596,0.921184]]
2025-10-26T20:05:11.036Z,1761509111.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964124,0.258817,0.058979],[-0.261537,0.888139,0.377898],[0.045425,-0.379766,0.923967]]
2025-10-26T20:05:11.434Z,1761509111.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959360,0.275150,0.062619],[-0.278248,0.885442,0.372250],[0.046979,-0.374545,0.926018]]
2025-10-26T20:05:11.838Z,1761509111.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955050,0.289224,0.065034],[-0.292391,0.882879,0.367466],[0.048863,-0.369964,0.927760]]
2025-10-26T20:05:12.243Z,1761509112.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951220,0.301150,0.066999],[-0.304206,0.879401,0.366213],[0.051366,-0.368730,0.928116]]
2025-10-26T20:05:12.646Z,1761509112.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947380,0.312501,0.069384],[-0.315460,0.874604,0.368176],[0.054372,-0.370690,0.927164]]
2025-10-26T20:05:13.054Z,1761509113.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943200,0.324067,0.073176],[-0.327140,0.867560,0.374591],[0.057908,-0.377253,0.924298]]
2025-10-26T20:05:13.454Z,1761509113.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938479,0.336135,0.079180],[-0.339806,0.857986,0.385216],[0.061550,-0.388423,0.919423]]
2025-10-26T20:05:13.859Z,1761509113.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933267,0.348606,0.086519],[-0.353272,0.847365,0.396448],[0.064891,-0.400557,0.913971]]
2025-10-26T20:05:14.274Z,1761509114.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927748,0.360757,0.095598],[-0.367103,0.835980,0.407889],[0.067230,-0.413512,0.908013]]
2025-10-26T20:05:14.667Z,1761509114.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922239,0.371915,0.105614],[-0.380582,0.825219,0.417338],[0.068059,-0.425081,0.902593]]
2025-10-26T20:05:15.070Z,1761509115.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916780,0.382586,0.114643],[-0.393693,0.817343,0.420662],[0.067237,-0.430788,0.899945]]
2025-10-26T20:05:15.420Z,1761509115.420 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:05:15.420Z,1761509115.420 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:05:15.481Z,1761509115.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911378,0.392943,0.122417],[-0.406377,0.812047,0.418852],[0.065176,-0.431481,0.899765]]
2025-10-26T20:05:15.672Z,1761509115.672 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:05:15.878Z,1761509115.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905271,0.404898,0.128615],[-0.420173,0.808594,0.411863],[0.062765,-0.426888,0.902124]]
2025-10-26T20:05:16.282Z,1761509116.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898027,0.419134,0.133697],[-0.435716,0.805322,0.402005],[0.060825,-0.419265,0.905824]]
2025-10-26T20:05:16.692Z,1761509116.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889401,0.435959,0.137497],[-0.453198,0.801568,0.390000],[0.059810,-0.409180,0.910492]]
2025-10-26T20:05:16.800Z,1761509116.800 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:05:16.800Z,1761509116.800 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:05:16.801Z,1761509116.801 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:05:16.801Z,1761509116.801 [marl:UpdateRudder:A] Stopped
2025-10-26T20:05:16.802Z,1761509116.802 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:05:16.802Z,1761509116.802 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:05:16.802Z,1761509116.802 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:05:16.803Z,1761509116.803 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:05:16.808Z,1761509116.808 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:05:16.809Z,1761509116.809 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:05:16.809Z,1761509116.809 [marl:UpdateCommandMode] Stopped
2025-10-26T20:05:16.809Z,1761509116.809 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:05:17.095Z,1761509117.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879978,0.454031,0.139619],[-0.471257,0.797563,0.376577],[0.059623,-0.397176,0.915803]]
2025-10-26T20:05:17.136Z,1761509117.136 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:05:17.137Z,1761509117.137 [marl:UpdateRudder:B] Stopped
2025-10-26T20:05:17.137Z,1761509117.137 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:05:17.137Z,1761509117.137 [marl:UpdateRudder] Stopped
2025-10-26T20:05:17.137Z,1761509117.137 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:05:17.494Z,1761509117.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870051,0.472225,0.141472],[-0.489271,0.792166,0.364811],[0.060203,-0.386623,0.920271]]
2025-10-26T20:05:17.899Z,1761509117.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860299,0.489311,0.143039],[-0.506085,0.785973,0.355141],[0.061350,-0.377917,0.923804]]
2025-10-26T20:05:18.302Z,1761509118.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850931,0.505171,0.143941],[-0.521497,0.779645,0.346692],[0.062916,-0.370076,0.926869]]
2025-10-26T20:05:18.720Z,1761509118.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842028,0.519110,0.146675],[-0.535615,0.772270,0.341638],[0.064075,-0.366230,0.928316]]
2025-10-26T20:05:18.819Z,1761509118.819 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:05:18.819Z,1761509118.819 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:05:18.824Z,1761509118.824 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:05:18.825Z,1761509118.825 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:05:18.826Z,1761509118.826 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:05:18.826Z,1761509118.826 [marl:UpdateSpeed] Stopped
2025-10-26T20:05:18.826Z,1761509118.826 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:05:19.110Z,1761509119.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833546,0.531675,0.150078],[-0.548610,0.764644,0.338152],[0.065030,-0.364200,0.929048]]
2025-10-26T20:05:19.514Z,1761509119.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824976,0.543461,0.155128],[-0.561311,0.755865,0.337042],[0.065913,-0.365127,0.928622]]
2025-10-26T20:05:19.918Z,1761509119.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816231,0.554474,0.162252],[-0.573913,0.745993,0.337815],[0.066270,-0.368853,0.927122]]
2025-10-26T20:05:20.324Z,1761509120.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807012,0.565274,0.170871],[-0.586781,0.735003,0.339791],[0.066485,-0.374479,0.924849]]
2025-10-26T20:05:20.856Z,1761509120.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787530,0.586915,0.187955],[-0.612719,0.712958,0.340978],[0.066121,-0.383694,0.921090]]
2025-10-26T20:05:21.543Z,1761509121.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776764,0.598262,0.196775],[-0.626318,0.701030,0.341003],[0.066064,-0.388123,0.919237]]
2025-10-26T20:05:21.947Z,1761509121.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765719,0.609888,0.204233],[-0.639780,0.689672,0.339167],[0.066000,-0.390371,0.918289]]
2025-10-26T20:05:22.350Z,1761509122.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754690,0.621151,0.211221],[-0.652770,0.678600,0.336740],[0.065832,-0.392013,0.917601]]
2025-10-26T20:05:22.788Z,1761509122.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743909,0.632582,0.215497],[-0.664995,0.668772,0.332454],[0.066186,-0.390620,0.918169]]
2025-10-26T20:05:23.158Z,1761509123.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733365,0.643672,0.218775],[-0.676569,0.659515,0.327558],[0.066555,-0.388236,0.919154]]
2025-10-26T20:05:23.564Z,1761509123.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722963,0.654545,0.221123],[-0.687625,0.650632,0.322257],[0.067062,-0.385030,0.920465]]
2025-10-26T20:05:23.966Z,1761509123.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712709,0.664579,0.224455],[-0.698220,0.641402,0.317948],[0.067336,-0.383324,0.921156]]
2025-10-26T20:05:24.370Z,1761509124.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702609,0.674317,0.227237],[-0.708360,0.632486,0.313347],[0.067571,-0.381126,0.922051]]
2025-10-26T20:05:24.824Z,1761509124.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692308,0.683498,0.231388],[-0.718410,0.622725,0.310001],[0.067794,-0.380847,0.922149]]
2025-10-26T20:05:24.923Z,1761509124.923 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:05:24.996Z,1761509124.996 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:05:25.048Z,1761509125.048 [DAT](INFO): entering command mode
2025-10-26T20:05:25.179Z,1761509125.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681670,0.692199,0.237038],[-0.728529,0.612205,0.307328],[0.067616,-0.382185,0.921609]]
2025-10-26T20:05:25.248Z,1761509125.248 [DAT](INFO): DAT read: 

2025-10-26T20:05:25.249Z,1761509125.249 [DAT](INFO): DAT read: user:67>

2025-10-26T20:05:25.249Z,1761509125.249 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:05:25.249Z,1761509125.249 [DAT](INFO): setting remote address to 0
2025-10-26T20:05:25.500Z,1761509125.500 [DAT](INFO): DAT read: user:67>

2025-10-26T20:05:25.501Z,1761509125.501 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:05:25.502Z,1761509125.502 [DAT](INFO): set remote address to 0
2025-10-26T20:05:25.502Z,1761509125.502 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:05:25.502Z,1761509125.502 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:05:25.584Z,1761509125.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670295,0.701068,0.243326],[-0.739027,0.600838,0.304686],[0.067406,-0.384054,0.920847]]
2025-10-26T20:05:25.752Z,1761509125.752 [DAT](INFO): DAT read: user:68>

2025-10-26T20:05:25.753Z,1761509125.753 [DAT](INFO): DAT read: Tx time:20:05:24.8643

2025-10-26T20:05:25.753Z,1761509125.753 [DAT](INFO): Ping request sent.
2025-10-26T20:05:25.753Z,1761509125.753 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:05:25.754Z,1761509125.754 [DAT](INFO): publishing transmit ping time
2025-10-26T20:05:25.754Z,1761509125.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-10-26T20:05:25.986Z,1761509125.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658564,0.709988,0.249421],[-0.749549,0.589432,0.301243],[0.066862,-0.385341,0.920349]]
2025-10-26T20:05:26.006Z,1761509126.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252585
2025-10-26T20:05:26.256Z,1761509126.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502959
2025-10-26T20:05:26.509Z,1761509126.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755401
2025-10-26T20:05:26.763Z,1761509126.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009116
2025-10-26T20:05:26.842Z,1761509126.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620331,0.737307,0.267520],[-0.781698,0.553200,0.287953],[0.064318,-0.387746,0.919519]]
2025-10-26T20:05:27.012Z,1761509127.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259057
2025-10-26T20:05:27.264Z,1761509127.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510881
2025-10-26T20:05:27.516Z,1761509127.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762950
2025-10-26T20:05:27.580Z,1761509127.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:05:27.602Z,1761509127.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607496,0.745973,0.272896],[-0.791818,0.541463,0.282562],[0.063021,-0.387739,0.919612]]
2025-10-26T20:05:27.768Z,1761509127.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014940
2025-10-26T20:05:28.006Z,1761509128.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594470,0.754690,0.277574],[-0.801734,0.529719,0.276804],[0.061865,-0.387093,0.919963]]
2025-10-26T20:05:28.020Z,1761509128.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266988
2025-10-26T20:05:28.273Z,1761509128.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519534
2025-10-26T20:05:28.412Z,1761509128.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581609,0.763058,0.281910],[-0.811202,0.518197,0.270968],[0.060679,-0.386283,0.920382]]
2025-10-26T20:05:28.524Z,1761509128.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770973
2025-10-26T20:05:28.584Z,1761509128.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:05:28.779Z,1761509128.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024892
2025-10-26T20:05:28.839Z,1761509128.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554676,0.778614,0.293420],[-0.830024,0.493077,0.260643],[0.058262,-0.388118,0.919766]]
2025-10-26T20:05:29.029Z,1761509129.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275535
2025-10-26T20:05:29.281Z,1761509129.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527083
2025-10-26T20:05:29.532Z,1761509129.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778901
2025-10-26T20:05:29.624Z,1761509129.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540089,0.786863,0.298579],[-0.839662,0.479682,0.254701],[0.057192,-0.388267,0.919770]]
2025-10-26T20:05:29.784Z,1761509129.784 [DAT](INFO): DAT read: Rx Time:20:05:28.4724

2025-10-26T20:05:29.785Z,1761509129.785 [DAT](INFO): Rx dataTimestamp_ set to:1761509129.784580
2025-10-26T20:05:29.785Z,1761509129.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031990
2025-10-26T20:05:30.026Z,1761509130.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524993,0.795438,0.302756],[-0.849276,0.466280,0.247615],[0.055794,-0.387119,0.920340]]
2025-10-26T20:05:30.038Z,1761509130.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284812
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateRudder:A] Stopped
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:05:30.073Z,1761509130.073 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:05:30.074Z,1761509130.074 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:05:30.074Z,1761509130.074 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:05:30.074Z,1761509130.074 [marl:UpdateCommandMode] Stopped
2025-10-26T20:05:30.074Z,1761509130.074 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:05:30.294Z,1761509130.294 [DAT](INFO): DAT read: 20:05:28.4724 LVL= 16096, 24801, 19890, 26579, AGC= 77, IDX= 127, 0.10, 1.312,-0.384,-0.517, 1.063, PHS= 0.351,-1.402,-1.624, RAW=  84.1,  26.8, CAL=  82.1,  34.4, ROT=  67.9, -34.4

2025-10-26T20:05:30.295Z,1761509130.295 [DAT](INFO): got valid direction response:
 20:05:28.4724 LVL= 16096, 24801, 19890, 26579, AGC= 77, IDX= 127, 0.10, 1.312,-0.384,-0.517, 1.063, PHS= 0.351,-1.402,-1.624, RAW=  84.1,  26.8, CAL=  82.1,  34.4, ROT=  67.9, -34.4

2025-10-26T20:05:30.296Z,1761509130.296 [DAT](INFO): DAT read: Bearing 356, -17 (Remote)

2025-10-26T20:05:30.297Z,1761509130.297 [DAT](INFO): Remote Bearing received:Bearing 356, -17 (Remote)

2025-10-26T20:05:30.297Z,1761509130.297 [DAT](INFO): DAT read: Bearing 150.5,  30.2 (Local)

2025-10-26T20:05:30.298Z,1761509130.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.5,  30.2 (Local)

2025-10-26T20:05:30.299Z,1761509130.299 [DAT](INFO): DAT read: Range 11 to 20 : 1184.2 m  (Round-trip  1579.0 ms) speed  0.4 m/s

2025-10-26T20:05:30.300Z,1761509130.300 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:05:30.301Z,1761509130.301 [DAT](INFO): direction in FSK: [0.310428,0.764491,0.564967]
2025-10-26T20:05:30.301Z,1761509130.301 [DAT](INFO): publishing direction and range info
2025-10-26T20:05:30.430Z,1761509130.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509159,0.804185,0.306666],[-0.858976,0.452444,0.239696],[0.054010,-0.385462,0.921142]]
2025-10-26T20:05:30.485Z,1761509130.485 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:05:30.486Z,1761509130.486 [marl:UpdateRudder:B] Stopped
2025-10-26T20:05:30.486Z,1761509130.486 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:05:30.486Z,1761509130.486 [marl:UpdateRudder] Stopped
2025-10-26T20:05:30.486Z,1761509130.486 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:05:30.493Z,1761509130.493 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509120.00. Resetting abort timer.
2025-10-26T20:05:30.842Z,1761509130.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476496,0.822044,0.311762],[-0.877723,0.424412,0.222434],[0.050535,-0.379630,0.923757]]
2025-10-26T20:05:31.243Z,1761509131.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460024,0.830643,0.313704],[-0.886570,0.410332,0.213592],[0.048696,-0.376377,0.925186]]
2025-10-26T20:05:31.647Z,1761509131.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443334,0.839326,0.314621],[-0.895109,0.396042,0.204768],[0.047264,-0.372401,0.926868]]
2025-10-26T20:05:32.051Z,1761509132.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426959,0.847862,0.314384],[-0.903089,0.382029,0.196174],[0.046225,-0.367674,0.928805]]
2025-10-26T20:05:32.076Z,1761509132.076 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:05:32.076Z,1761509132.076 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:05:32.076Z,1761509132.076 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:05:32.076Z,1761509132.076 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:05:32.076Z,1761509132.076 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:05:32.076Z,1761509132.076 [marl:UpdateSpeed] Stopped
2025-10-26T20:05:32.077Z,1761509132.077 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:05:32.456Z,1761509132.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411408,0.855284,0.315012],[-0.910327,0.368417,0.188612],[0.045261,-0.364360,0.930157]]
2025-10-26T20:05:32.855Z,1761509132.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396276,0.861340,0.317896],[-0.917052,0.354542,0.182528],[0.044511,-0.363859,0.930390]]
2025-10-26T20:05:33.258Z,1761509133.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381812,0.866311,0.322065],[-0.923209,0.341027,0.177161],[0.043643,-0.364975,0.929994]]
2025-10-26T20:05:33.662Z,1761509133.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367713,0.870447,0.327276],[-0.928966,0.327730,0.172091],[0.042538,-0.367308,0.929126]]
2025-10-26T20:05:34.069Z,1761509134.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353273,0.873871,0.333987],[-0.934609,0.313916,0.167222],[0.041286,-0.371222,0.927626]]
2025-10-26T20:05:34.470Z,1761509134.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338170,0.877234,0.340737],[-0.940240,0.299605,0.161818],[0.039866,-0.375097,0.926128]]
2025-10-26T20:05:34.875Z,1761509134.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322122,0.881221,0.345960],[-0.945918,0.284758,0.155411],[0.038436,-0.377311,0.925289]]
2025-10-26T20:05:35.279Z,1761509135.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305482,0.885105,0.351099],[-0.951487,0.269501,0.148465],[0.036786,-0.379419,0.924493]]
2025-10-26T20:05:35.690Z,1761509135.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288107,0.889563,0.354503],[-0.956942,0.253750,0.140973],[0.035449,-0.379855,0.924367]]
2025-10-26T20:05:36.086Z,1761509136.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270404,0.894591,0.355793],[-0.962144,0.238023,0.132758],[0.034077,-0.378222,0.925088]]
2025-10-26T20:05:36.490Z,1761509136.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253329,0.899571,0.355805],[-0.966820,0.222919,0.124765],[0.032919,-0.375606,0.926195]]
2025-10-26T20:05:36.894Z,1761509136.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236842,0.905021,0.353331],[-0.971016,0.208471,0.116908],[0.032145,-0.370779,0.928165]]
2025-10-26T20:05:37.300Z,1761509137.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221079,0.909640,0.351681],[-0.974764,0.194647,0.109307],[0.030976,-0.366971,0.929716]]
2025-10-26T20:05:37.713Z,1761509137.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205642,0.913138,0.351981],[-0.978168,0.180778,0.102499],[0.029966,-0.365375,0.930378]]
2025-10-26T20:05:38.111Z,1761509138.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190127,0.916173,0.352816],[-0.981337,0.166812,0.095659],[0.028786,-0.364419,0.930790]]
2025-10-26T20:05:38.510Z,1761509138.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174213,0.917621,0.357241],[-0.984324,0.152155,0.089187],[0.027484,-0.367179,0.929744]]
2025-10-26T20:05:38.915Z,1761509138.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158017,0.918034,0.363654],[-0.987098,0.137215,0.082524],[0.025861,-0.372003,0.927871]]
2025-10-26T20:05:39.318Z,1761509139.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140511,0.919050,0.368244],[-0.989778,0.121224,0.075124],[0.024403,-0.375035,0.926689]]
2025-10-26T20:05:39.728Z,1761509139.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122122,0.918962,0.374961],[-0.992253,0.104361,0.067400],[0.022806,-0.380287,0.924587]]
2025-10-26T20:05:40.127Z,1761509140.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102789,0.919854,0.378555],[-0.994484,0.087043,0.058526],[0.020884,-0.382483,0.923727]]
2025-10-26T20:05:40.531Z,1761509140.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083106,0.920835,0.380995],[-0.996363,0.069556,0.049225],[0.018828,-0.383700,0.923266]]
2025-10-26T20:05:40.934Z,1761509140.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063165,0.921882,0.382288],[-0.997857,0.051789,0.039985],[0.017063,-0.383995,0.923177]]
2025-10-26T20:05:41.338Z,1761509141.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043180,0.924001,0.379944],[-0.998944,0.033949,0.030966],[0.015714,-0.380880,0.924491]]
2025-10-26T20:05:41.742Z,1761509141.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023983,0.925433,0.378151],[-0.999614,0.016882,0.022082],[0.014052,-0.378535,0.925480]]
2025-10-26T20:05:42.148Z,1761509142.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005954,0.926423,0.376438],[-0.999902,0.000749,0.013972],[0.012662,-0.376484,0.926337]]
2025-10-26T20:05:42.550Z,1761509142.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009903,0.926724,0.375612],[-0.999888,-0.013403,0.006707],[0.011250,-0.375503,0.926753]]
2025-10-26T20:05:42.954Z,1761509142.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023974,0.926428,0.375708],[-0.999664,-0.025914,0.000112],[0.009840,-0.375579,0.926738]]
2025-10-26T20:05:43.358Z,1761509143.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036724,0.925133,0.377862],[-0.999288,-0.037277,-0.005853],[0.008671,-0.377808,0.925843]]
2025-10-26T20:05:43.403Z,1761509143.403 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:05:43.403Z,1761509143.403 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:05:43.407Z,1761509143.407 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:05:43.408Z,1761509143.408 [marl:UpdateRudder:A] Stopped
2025-10-26T20:05:43.408Z,1761509143.408 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:05:43.408Z,1761509143.408 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:05:43.408Z,1761509143.408 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:05:43.408Z,1761509143.408 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:05:43.408Z,1761509143.408 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:05:43.409Z,1761509143.409 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:05:43.409Z,1761509143.409 [marl:UpdateCommandMode] Stopped
2025-10-26T20:05:43.409Z,1761509143.409 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:05:43.763Z,1761509143.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048229,0.922984,0.381804],[-0.998808,-0.047470,-0.011413],[0.007590,-0.381900,0.924173]]
2025-10-26T20:05:43.792Z,1761509143.792 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:05:43.792Z,1761509143.792 [marl:UpdateRudder:B] Stopped
2025-10-26T20:05:43.793Z,1761509143.793 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:05:43.793Z,1761509143.793 [marl:UpdateRudder] Stopped
2025-10-26T20:05:43.793Z,1761509143.793 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:05:44.187Z,1761509144.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058918,0.920747,0.385686],[-0.998244,-0.056685,-0.017168],[0.006055,-0.386021,0.922470]]
2025-10-26T20:05:44.570Z,1761509144.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069082,0.918674,0.388928],[-0.997604,-0.065088,-0.023455],[0.003767,-0.389617,0.920969]]
2025-10-26T20:05:44.974Z,1761509144.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079343,0.917616,0.389468],[-0.996847,-0.073255,-0.030485],[0.000556,-0.390659,0.920535]]
2025-10-26T20:05:45.383Z,1761509145.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090644,0.916867,0.388766],[-0.995878,-0.082133,-0.038494],[-0.003363,-0.390653,0.920532]]
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed] Stopped
2025-10-26T20:05:45.457Z,1761509145.457 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:05:46.192Z,1761509146.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118611,0.917035,0.380760],[-0.992865,-0.104792,-0.056902],[-0.012281,-0.384792,0.922922]]
2025-10-26T20:05:46.594Z,1761509146.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135996,0.917451,0.373883],[-0.990574,-0.119675,-0.066648],[-0.016402,-0.379422,0.925078]]
2025-10-26T20:05:46.999Z,1761509146.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155421,0.917775,0.365422],[-0.987634,-0.136653,-0.076849],[-0.020594,-0.372847,0.927664]]
2025-10-26T20:05:47.413Z,1761509147.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175851,0.918075,0.355267],[-0.984096,-0.154727,-0.087266],[-0.025148,-0.364962,0.930683]]
2025-10-26T20:05:47.806Z,1761509147.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197623,0.917429,0.345354],[-0.979815,-0.174042,-0.098343],[-0.030117,-0.357818,0.933306]]
2025-10-26T20:05:48.210Z,1761509148.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220354,0.915727,0.335988],[-0.974798,-0.194439,-0.109373],[-0.034826,-0.351621,0.935494]]
2025-10-26T20:05:48.614Z,1761509148.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244030,0.911919,0.329930],[-0.968992,-0.215685,-0.120559],[-0.038779,-0.349119,0.936275]]
2025-10-26T20:05:49.018Z,1761509149.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268560,0.906602,0.325496],[-0.962359,-0.237889,-0.131432],[-0.041724,-0.348541,0.936364]]
2025-10-26T20:05:49.426Z,1761509149.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293568,0.899526,0.323529],[-0.954946,-0.260538,-0.142121],[-0.043550,-0.350675,0.935484]]
2025-10-26T20:05:49.826Z,1761509149.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318303,0.891269,0.322990],[-0.946951,-0.282986,-0.152328],[-0.044364,-0.354342,0.934063]]
2025-10-26T20:05:50.234Z,1761509150.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341411,0.882102,0.324554],[-0.938848,-0.303607,-0.162440],[-0.044752,-0.360166,0.931814]]
2025-10-26T20:05:50.343Z,1761509150.343 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:05:50.343Z,1761509150.343 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:05:50.645Z,1761509150.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361327,0.872721,0.328330],[-0.931335,-0.320656,-0.172610],[-0.045359,-0.368154,0.928658]]
2025-10-26T20:05:51.051Z,1761509151.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377618,0.863845,0.333431],[-0.924787,-0.333712,-0.182770],[-0.046615,-0.377370,0.924889]]
2025-10-26T20:05:51.446Z,1761509151.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391427,0.856289,0.336978],[-0.918931,-0.344435,-0.192172],[-0.048488,-0.384881,0.921692]]
2025-10-26T20:05:51.846Z,1761509151.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404105,0.849348,0.339569],[-0.913312,-0.354118,-0.201151],[-0.050600,-0.391419,0.918820]]
2025-10-26T20:05:52.250Z,1761509152.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415764,0.843456,0.340179],[-0.907931,-0.363159,-0.209231],[-0.052938,-0.395850,0.916788]]
2025-10-26T20:05:52.658Z,1761509152.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428127,0.838389,0.337361],[-0.902029,-0.373620,-0.216221],[-0.055233,-0.396879,0.916208]]
2025-10-26T20:05:53.060Z,1761509153.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441476,0.833899,0.331226],[-0.895437,-0.385850,-0.222065],[-0.057376,-0.394628,0.917048]]
2025-10-26T20:05:53.462Z,1761509153.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455345,0.829121,0.324374],[-0.888344,-0.398884,-0.227454],[-0.059199,-0.391727,0.918175]]
2025-10-26T20:05:53.866Z,1761509153.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468838,0.823537,0.319339],[-0.881199,-0.411262,-0.233136],[-0.060665,-0.390704,0.918515]]
2025-10-26T20:05:54.270Z,1761509154.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482622,0.818067,0.312797],[-0.873624,-0.424334,-0.238163],[-0.062103,-0.388210,0.919476]]
2025-10-26T20:05:54.675Z,1761509154.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495429,0.812926,0.306108],[-0.866306,-0.436534,-0.242799],[-0.063751,-0.385473,0.920514]]
2025-10-26T20:05:55.079Z,1761509155.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507968,0.806949,0.301334],[-0.858897,-0.447984,-0.248205],[-0.065296,-0.384895,0.920648]]
2025-10-26T20:05:55.156Z,1761509155.156 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:05:55.248Z,1761509155.248 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:05:55.248Z,1761509155.248 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:05:55.482Z,1761509155.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520097,0.800641,0.297445],[-0.851490,-0.458805,-0.253893],[-0.066808,-0.385320,0.920361]]
2025-10-26T20:05:55.500Z,1761509155.500 [DAT](INFO): DAT read: user:69>

2025-10-26T20:05:55.501Z,1761509155.501 [DAT](INFO): DAT read: Tx time:20:05:54.6141

2025-10-26T20:05:55.501Z,1761509155.501 [DAT](INFO): Ping request sent.
2025-10-26T20:05:55.502Z,1761509155.502 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:05:55.502Z,1761509155.502 [DAT](INFO): publishing transmit ping time
2025-10-26T20:05:55.503Z,1761509155.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000979
2025-10-26T20:05:55.550Z,1761509155.550 [marl:SendObservationData] Running Loop=1
2025-10-26T20:05:55.550Z,1761509155.550 [marl:SendObservationData](DEBUG): Aggregate::initialize marl:SendObservationData
2025-10-26T20:05:55.550Z,1761509155.550 [marl:SendObservationData:D.SendDirect] Running Loop=1
2025-10-26T20:05:55.567Z,1761509155.567 [marl:SendObservationData:A] Running Loop=1
2025-10-26T20:05:55.569Z,1761509155.569 [marl:SendObservationData:A](INFO): Got test_good :  41da3f9fc00000004051400000000000404261d479f1e856c05e779fb05b2af5402f37fb200000004093b00000000000 n/a str  and temp var is  nan n/a str 
2025-10-26T20:05:55.569Z,1761509155.569 [marl:SendObservationData:A] Stopped
2025-10-26T20:05:55.569Z,1761509155.569 [marl:SendObservationData:B] Running Loop=1
2025-10-26T20:05:55.753Z,1761509155.753 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T20:05:55.753Z,1761509155.753 [DAT](INFO): #Outgoing data=1
2025-10-26T20:05:55.753Z,1761509155.753 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:05:55.753Z,1761509155.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251940
2025-10-26T20:05:55.888Z,1761509155.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532019,0.794423,0.292998],[-0.843978,-0.469640,-0.259112],[-0.068240,-0.385137,0.920333]]
2025-10-26T20:05:55.918Z,1761509155.918 [marl:SendObservationData:B] Stopped
2025-10-26T20:05:55.918Z,1761509155.918 [marl:SendObservationData:C] Running Loop=1
2025-10-26T20:05:56.004Z,1761509156.004 [DAT](INFO): setting remote address to 6
2025-10-26T20:05:56.005Z,1761509156.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503539
2025-10-26T20:05:56.256Z,1761509156.256 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:56.256Z,1761509156.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754946
2025-10-26T20:05:56.290Z,1761509156.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543227,0.788319,0.288889],[-0.836699,-0.479793,-0.264071],[-0.069565,-0.385163,0.920223]]
2025-10-26T20:05:56.335Z,1761509156.335 [marl:SendObservationData:C] Stopped
2025-10-26T20:05:56.335Z,1761509156.335 [marl:SendObservationData:E] Running Loop=1
2025-10-26T20:05:56.508Z,1761509156.508 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:56.508Z,1761509156.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947
2025-10-26T20:05:56.697Z,1761509156.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554176,0.782237,0.284595],[-0.829381,-0.489802,-0.268742],[-0.070825,-0.384968,0.920209]]
2025-10-26T20:05:56.762Z,1761509156.762 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:56.764Z,1761509156.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262156
2025-10-26T20:05:56.808Z,1761509156.808 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:05:56.808Z,1761509156.808 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:05:56.809Z,1761509156.809 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:05:56.810Z,1761509156.810 [marl:UpdateRudder:A] Stopped
2025-10-26T20:05:56.810Z,1761509156.810 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:05:56.810Z,1761509156.810 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:05:56.810Z,1761509156.810 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:05:56.811Z,1761509156.811 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:05:56.813Z,1761509156.813 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:05:56.814Z,1761509156.814 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:05:56.814Z,1761509156.814 [marl:UpdateCommandMode] Stopped
2025-10-26T20:05:56.814Z,1761509156.814 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:05:56.825Z,1761509156.825 [marl:SendObservationData:E](INFO): SendData: sent send_observations :  nan n/a str  to nearby vehicles. Elapsed time  10.012583 min 
2025-10-26T20:05:56.825Z,1761509156.825 [marl:SendObservationData:E] Stopped
2025-10-26T20:05:56.826Z,1761509156.826 [marl:SendObservationData](INFO): Completed marl:SendObservationData
2025-10-26T20:05:56.826Z,1761509156.826 [marl:SendObservationData] Stopped
2025-10-26T20:05:56.826Z,1761509156.826 [marl:SendObservationData](DEBUG): Aggregate::uninitialize marl:SendObservationData
2025-10-26T20:05:56.826Z,1761509156.826 [marl:SendObservationData:D.SendDirect] Stopped
2025-10-26T20:05:57.012Z,1761509157.012 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:57.012Z,1761509157.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940
2025-10-26T20:05:57.098Z,1761509157.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564593,0.775956,0.281296],[-0.822232,-0.499086,-0.273582],[-0.071896,-0.385753,0.919797]]
2025-10-26T20:05:57.170Z,1761509157.170 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:05:57.170Z,1761509157.170 [marl:UpdateRudder:B] Stopped
2025-10-26T20:05:57.170Z,1761509157.170 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:05:57.170Z,1761509157.170 [marl:UpdateRudder] Stopped
2025-10-26T20:05:57.170Z,1761509157.170 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:05:57.267Z,1761509157.267 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:57.268Z,1761509157.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766073
2025-10-26T20:05:57.509Z,1761509157.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574615,0.769730,0.278088],[-0.815172,-0.508018,-0.278231],[-0.072889,-0.386566,0.919377]]
2025-10-26T20:05:57.516Z,1761509157.516 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:57.516Z,1761509157.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014925
2025-10-26T20:05:57.768Z,1761509157.768 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:57.768Z,1761509157.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-10-26T20:05:57.906Z,1761509157.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584951,0.762672,0.275978],[-0.807719,-0.516882,-0.283589],[-0.073638,-0.388799,0.918375]]
2025-10-26T20:05:58.020Z,1761509158.020 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:58.021Z,1761509158.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519011
2025-10-26T20:05:58.272Z,1761509158.272 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:58.272Z,1761509158.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770886
2025-10-26T20:05:58.311Z,1761509158.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595530,0.755495,0.273077],[-0.799872,-0.526135,-0.288767],[-0.074487,-0.390397,0.917629]]
2025-10-26T20:05:58.525Z,1761509158.525 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:58.525Z,1761509158.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023512
2025-10-26T20:05:58.704Z,1761509158.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:05:58.721Z,1761509158.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606268,0.748339,0.269125],[-0.791718,-0.536050,-0.292973],[-0.074978,-0.390691,0.917463]]
2025-10-26T20:05:58.778Z,1761509158.778 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:58.780Z,1761509158.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277556
2025-10-26T20:05:58.839Z,1761509158.839 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:05:58.839Z,1761509158.839 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:05:58.839Z,1761509158.839 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:05:58.843Z,1761509158.843 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:05:58.843Z,1761509158.843 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:05:58.844Z,1761509158.844 [marl:UpdateSpeed] Stopped
2025-10-26T20:05:58.844Z,1761509158.844 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:05:59.028Z,1761509159.028 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:59.029Z,1761509159.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527392
2025-10-26T20:05:59.128Z,1761509159.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617432,0.740908,0.264260],[-0.782985,-0.546577,-0.296965],[-0.075585,-0.390267,0.917594]]
2025-10-26T20:05:59.281Z,1761509159.281 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:59.281Z,1761509159.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779665
2025-10-26T20:05:59.522Z,1761509159.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629236,0.733435,0.257168],[-0.773423,-0.558255,-0.300279],[-0.076669,-0.387846,0.918530]]
2025-10-26T20:05:59.532Z,1761509159.532 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:59.533Z,1761509159.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031032
2025-10-26T20:05:59.708Z,1761509159.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:05:59.784Z,1761509159.784 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:05:59.784Z,1761509159.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282874
2025-10-26T20:05:59.926Z,1761509159.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641812,0.725029,0.249818],[-0.762894,-0.570564,-0.304056],[-0.077912,-0.385732,0.919315]]
2025-10-26T20:06:00.036Z,1761509160.036 [DAT](INFO): DAT read: Rx Time:20:05:58.5918

2025-10-26T20:06:00.037Z,1761509160.037 [DAT](INFO): Rx dataTimestamp_ set to:1761509160.036596
2025-10-26T20:06:00.037Z,1761509160.037 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:00.038Z,1761509160.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536001
2025-10-26T20:06:00.288Z,1761509160.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:00.289Z,1761509160.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787002
2025-10-26T20:06:00.330Z,1761509160.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655417,0.715816,0.240909],[-0.751094,-0.584260,-0.307405],[-0.079292,-0.382424,0.920579]]
2025-10-26T20:06:00.546Z,1761509160.546 [DAT](INFO): DAT read: 20:05:58.5918 LVL= 21664, 17729, 27010, 32755, AGC= 81, IDX= 125, 0.40, 2.379,-2.602, 1.826, 2.998, PHS=-0.517, 0.728,-1.216, RAW= 350.8,  11.8, CAL= 351.1,  13.8, ROT= 158.9, -13.8

2025-10-26T20:06:00.548Z,1761509160.548 [DAT](INFO): got valid direction response:
 20:05:58.5918 LVL= 21664, 17729, 27010, 32755, AGC= 81, IDX= 125, 0.40, 2.379,-2.602, 1.826, 2.998, PHS=-0.517, 0.728,-1.216, RAW= 350.8,  11.8, CAL= 351.1,  13.8, ROT= 158.9, -13.8

2025-10-26T20:06:00.549Z,1761509160.549 [DAT](INFO): DAT read: Bearing 164.7,  17.2 (Local)

2025-10-26T20:06:00.549Z,1761509160.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.7,  17.2 (Local)

2025-10-26T20:06:00.550Z,1761509160.550 [DAT](INFO): DAT read: Range 11 to 20 : 1180.2 m  (Round-trip  1573.6 ms) speed -0.5 m/s

2025-10-26T20:06:00.551Z,1761509160.551 [DAT](INFO): DAT read: user:70>

2025-10-26T20:06:00.552Z,1761509160.552 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:06:00.552Z,1761509160.552 [DAT](INFO): set remote address to 6
2025-10-26T20:06:00.553Z,1761509160.553 [DAT](INFO): entering online mode
2025-10-26T20:06:00.741Z,1761509160.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669407,0.705091,0.233966],[-0.738450,-0.597140,-0.313234],[-0.081148,-0.382453,0.920405]]
2025-10-26T20:06:00.797Z,1761509160.797 [DAT](INFO): DAT read: user:71>

2025-10-26T20:06:00.798Z,1761509160.798 [DAT](INFO): DAT read: 

2025-10-26T20:06:00.803Z,1761509160.803 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:06:00.804Z,1761509160.804 [DAT](INFO): commRate: 600
2025-10-26T20:06:00.805Z,1761509160.805 [DAT](INFO): online mode acknowledged
2025-10-26T20:06:00.806Z,1761509160.806 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:06:00.813Z,1761509160.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310227
2025-10-26T20:06:01.044Z,1761509161.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542914
2025-10-26T20:06:01.138Z,1761509161.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683773,0.694432,0.224096],[-0.724911,-0.611355,-0.317409],[-0.083417,-0.379485,0.921430]]
2025-10-26T20:06:01.296Z,1761509161.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794711
2025-10-26T20:06:01.543Z,1761509161.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699026,0.683201,0.211186],[-0.709940,-0.627628,-0.319481],[-0.085724,-0.373255,0.923760]]
2025-10-26T20:06:01.548Z,1761509161.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046912
2025-10-26T20:06:01.800Z,1761509161.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298842
2025-10-26T20:06:01.946Z,1761509161.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714702,0.669929,0.200986],[-0.693902,-0.643099,-0.323919],[-0.087749,-0.370970,0.924490]]
2025-10-26T20:06:02.052Z,1761509162.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550744
2025-10-26T20:06:02.304Z,1761509162.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802786
2025-10-26T20:06:02.355Z,1761509162.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730944,0.654307,0.193914],[-0.676592,-0.657700,-0.331142],[-0.089131,-0.373247,0.923441]]
2025-10-26T20:06:02.556Z,1761509162.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054780
2025-10-26T20:06:02.777Z,1761509162.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747456,0.638260,0.184212],[-0.658221,-0.674097,-0.335168],[-0.089748,-0.371776,0.923974]]
2025-10-26T20:06:02.811Z,1761509162.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308595
2025-10-26T20:06:03.060Z,1761509163.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558804
2025-10-26T20:06:03.158Z,1761509163.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764189,0.620552,0.175867],[-0.638729,-0.690188,-0.340096],[-0.089666,-0.372229,0.923799]]
2025-10-26T20:06:03.313Z,1761509163.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811355
2025-10-26T20:06:03.564Z,1761509163.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062844
2025-10-26T20:06:03.568Z,1761509163.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780155,0.602428,0.168638],[-0.619218,-0.705261,-0.345220],[-0.089037,-0.373749,0.923247]]
2025-10-26T20:06:03.817Z,1761509163.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315704
2025-10-26T20:06:03.969Z,1761509163.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794389,0.585026,0.163374],[-0.600911,-0.717690,-0.351891],[-0.088614,-0.377711,0.921673]]
2025-10-26T20:06:04.070Z,1761509164.070 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:06:03.2629

2025-10-26T20:06:04.071Z,1761509164.071 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:06:04.073Z,1761509164.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571189
2025-10-26T20:06:04.320Z,1761509164.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818797
2025-10-26T20:06:04.371Z,1761509164.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806335,0.569618,0.159246],[-0.584763,-0.727369,-0.359148],[-0.088746,-0.382715,0.919594]]
2025-10-26T20:06:04.573Z,1761509164.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071427
2025-10-26T20:06:04.810Z,1761509164.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816507,0.555737,0.156438],[-0.570389,-0.734600,-0.367449],[-0.089286,-0.389255,0.916792]]
2025-10-26T20:06:04.825Z,1761509164.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322941
2025-10-26T20:06:05.076Z,1761509165.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574678
2025-10-26T20:06:05.179Z,1761509165.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825388,0.543410,0.153105],[-0.557310,-0.740907,-0.374782],[-0.090224,-0.394668,0.914383]]
2025-10-26T20:06:05.329Z,1761509165.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827444
2025-10-26T20:06:05.585Z,1761509165.585 [DAT](INFO): Reached modem response timeout
2025-10-26T20:06:05.589Z,1761509165.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833996,0.531632,0.147705],[-0.544185,-0.748278,-0.379398],[-0.091176,-0.396796,0.913367]]
2025-10-26T20:06:05.986Z,1761509165.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843374,0.518668,0.140370],[-0.529433,-0.757514,-0.381933],[-0.091764,-0.396429,0.913468]]
2025-10-26T20:06:06.391Z,1761509166.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852864,0.505033,0.132535],[-0.513886,-0.766961,-0.384307],[-0.092438,-0.395869,0.913643]]
2025-10-26T20:06:06.823Z,1761509166.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862304,0.490900,0.124291],[-0.497790,-0.776687,-0.385956],[-0.092931,-0.394682,0.914106]]
2025-10-26T20:06:07.198Z,1761509167.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871476,0.476243,0.117140],[-0.481522,-0.785536,-0.388677],[-0.093087,-0.395128,0.913897]]
2025-10-26T20:06:07.614Z,1761509167.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879510,0.462597,0.111648],[-0.466674,-0.792501,-0.392630],[-0.093149,-0.397425,0.912895]]
2025-10-26T20:06:08.006Z,1761509168.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886829,0.449540,0.106998],[-0.452662,-0.798557,-0.396742],[-0.092907,-0.400276,0.911673]]
2025-10-26T20:06:08.410Z,1761509168.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893319,0.437371,0.103383],[-0.439834,-0.803547,-0.401071],[-0.092344,-0.403755,0.910195]]
2025-10-26T20:06:08.831Z,1761509168.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899126,0.426079,0.100149],[-0.428017,-0.808091,-0.404710],[-0.091509,-0.406751,0.908945]]
2025-10-26T20:06:09.218Z,1761509169.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904390,0.415529,0.097030],[-0.417042,-0.812625,-0.407083],[-0.090306,-0.408627,0.908223]]
2025-10-26T20:06:09.634Z,1761509169.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909288,0.405678,0.092849],[-0.406547,-0.818184,-0.406565],[-0.088967,-0.407432,0.908891]]
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateRudder:A] Stopped
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:06:09.657Z,1761509169.657 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:06:09.658Z,1761509169.658 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:06:09.658Z,1761509169.658 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:06:09.658Z,1761509169.658 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:06:09.658Z,1761509169.658 [marl:UpdateCommandMode] Stopped
2025-10-26T20:06:09.658Z,1761509169.658 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:06:10.026Z,1761509170.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913736,0.396737,0.087668],[-0.396716,-0.824543,-0.403418],[-0.087765,-0.403397,0.910806]]
2025-10-26T20:06:10.062Z,1761509170.062 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:06:10.062Z,1761509170.062 [marl:UpdateRudder:B] Stopped
2025-10-26T20:06:10.062Z,1761509170.062 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:06:10.062Z,1761509170.062 [marl:UpdateRudder] Stopped
2025-10-26T20:06:10.063Z,1761509170.063 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:06:10.430Z,1761509170.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917690,0.388826,0.081606],[-0.387699,-0.831545,-0.397771],[-0.086805,-0.396669,0.913848]]
2025-10-26T20:06:10.835Z,1761509170.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921356,0.381347,0.075352],[-0.379095,-0.838631,-0.391133],[-0.085965,-0.388939,0.917244]]
2025-10-26T20:06:11.239Z,1761509171.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924850,0.374055,0.068807],[-0.370633,-0.845803,-0.383731],[-0.085340,-0.380395,0.920878]]
2025-10-26T20:06:11.643Z,1761509171.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928397,0.366179,0.063186],[-0.361824,-0.852105,-0.378153],[-0.084630,-0.373939,0.923584]]
2025-10-26T20:06:12.046Z,1761509172.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932308,0.357179,0.056787],[-0.351752,-0.858996,-0.372017],[-0.084097,-0.366809,0.926487]]
2025-10-26T20:06:12.106Z,1761509172.106 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:06:12.106Z,1761509172.106 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:06:12.107Z,1761509172.107 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:06:12.107Z,1761509172.107 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:06:12.107Z,1761509172.107 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:06:12.107Z,1761509172.107 [marl:UpdateSpeed] Stopped
2025-10-26T20:06:12.107Z,1761509172.107 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:06:12.450Z,1761509172.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936961,0.345801,0.050251],[-0.339341,-0.866129,-0.366972],[-0.083376,-0.360891,0.928874]]
2025-10-26T20:06:12.856Z,1761509172.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942718,0.330787,0.043157],[-0.323274,-0.873960,-0.362889],[-0.082321,-0.356053,0.930833]]
2025-10-26T20:06:13.258Z,1761509173.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949240,0.312578,0.035184],[-0.303836,-0.882201,-0.359730],[-0.081404,-0.352160,0.932393]]
2025-10-26T20:06:13.663Z,1761509173.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955830,0.292607,0.027749],[-0.282626,-0.889077,-0.360089],[-0.080693,-0.352027,0.932505]]
2025-10-26T20:06:14.075Z,1761509174.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962053,0.272073,0.020765],[-0.260840,-0.894649,-0.362719],[-0.080109,-0.354371,0.931667]]
2025-10-26T20:06:14.163Z,1761509174.163 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:06:14.417Z,1761509174.417 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T20:06:14.417Z,1761509174.417 [DAT](INFO): #Outgoing data=1
2025-10-26T20:06:14.417Z,1761509174.417 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:06:14.495Z,1761509174.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973041,0.230507,0.007583],[-0.216737,-0.902686,-0.371729],[-0.078841,-0.363351,0.928310]]
2025-10-26T20:06:14.668Z,1761509174.668 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:06:15.278Z,1761509175.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977815,0.209468,0.000600],[-0.194299,-0.905930,-0.376217],[-0.078262,-0.367988,0.926531]]
2025-10-26T20:06:15.688Z,1761509175.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982086,0.188323,-0.006452],[-0.171736,-0.908628,-0.380659],[-0.077550,-0.372732,0.924693]]
2025-10-26T20:06:16.098Z,1761509176.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989096,0.145492,-0.022826],[-0.125551,-0.914041,-0.385702],[-0.076980,-0.378630,0.922341]]
2025-10-26T20:06:16.495Z,1761509176.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991638,0.125104,-0.031659],[-0.103467,-0.917390,-0.384305],[-0.077121,-0.377816,0.922663]]
2025-10-26T20:06:16.898Z,1761509176.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993452,0.107540,-0.038569],[-0.084549,-0.919089,-0.384872],[-0.076838,-0.379091,0.922164]]
2025-10-26T20:06:17.306Z,1761509177.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994674,0.093019,-0.044401],[-0.068881,-0.920339,-0.385009],[-0.076677,-0.379900,0.921844]]
2025-10-26T20:06:17.714Z,1761509177.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995581,0.079878,-0.049384],[-0.054909,-0.921732,-0.383922],[-0.076185,-0.379514,0.922044]]
2025-10-26T20:06:17.949Z,1761509177.949 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:06:17.1128

2025-10-26T20:06:17.949Z,1761509177.949 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:06:18.106Z,1761509178.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996275,0.067367,-0.053834],[-0.041718,-0.922881,-0.382820],[-0.075472,-0.379148,0.922253]]
2025-10-26T20:06:18.510Z,1761509178.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996819,0.055237,-0.057452],[-0.029212,-0.923927,-0.381452],[-0.074152,-0.378561,0.922601]]
2025-10-26T20:06:18.916Z,1761509178.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997223,0.043808,-0.060221],[-0.017688,-0.924858,-0.379901],[-0.072339,-0.377781,0.923065]]
2025-10-26T20:06:19.322Z,1761509179.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997518,0.033833,-0.061744],[-0.007869,-0.925053,-0.379756],[-0.069965,-0.378328,0.923024]]
2025-10-26T20:06:19.790Z,1761509179.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997771,0.024260,-0.062163],[0.001145,-0.925212,-0.379450],[-0.066720,-0.378675,0.923122]]
2025-10-26T20:06:20.126Z,1761509180.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997962,0.014089,-0.062231],[0.010603,-0.925135,-0.379491],[-0.062919,-0.379378,0.923100]]
2025-10-26T20:06:20.536Z,1761509180.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998043,0.001942,-0.062509],[0.021865,-0.925601,-0.377869],[-0.058592,-0.378496,0.923747]]
2025-10-26T20:06:20.934Z,1761509180.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997936,-0.011162,-0.063234],[0.034204,-0.925835,-0.376376],[-0.054343,-0.377762,0.924307]]
2025-10-26T20:06:21.338Z,1761509181.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997582,-0.025618,-0.064601],[0.048007,-0.926161,-0.374061],[-0.050248,-0.376258,0.925151]]
2025-10-26T20:06:21.744Z,1761509181.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996859,-0.041731,-0.067307],[0.063799,-0.926708,-0.370326],[-0.046920,-0.373457,0.926460]]
2025-10-26T20:06:22.146Z,1761509182.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995814,-0.058154,-0.070518],[0.080069,-0.927114,-0.366127],[-0.044086,-0.370241,0.927889]]
2025-10-26T20:06:22.558Z,1761509182.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994514,-0.074058,-0.073867],[0.095924,-0.927329,-0.361746],[-0.041709,-0.366847,0.929346]]
2025-10-26T20:06:22.954Z,1761509182.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992887,-0.090047,-0.077894],[0.112233,-0.926234,-0.359853],[-0.039744,-0.366035,0.929752]]
2025-10-26T20:06:23.066Z,1761509183.066 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:06:23.066Z,1761509183.066 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:06:23.067Z,1761509183.067 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:06:23.067Z,1761509183.067 [marl:UpdateRudder:A] Stopped
2025-10-26T20:06:23.067Z,1761509183.067 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:06:23.067Z,1761509183.067 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:06:23.068Z,1761509183.068 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:06:23.068Z,1761509183.068 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:06:23.068Z,1761509183.068 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:06:23.068Z,1761509183.068 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:06:23.068Z,1761509183.068 [marl:UpdateCommandMode] Stopped
2025-10-26T20:06:23.068Z,1761509183.068 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:06:23.358Z,1761509183.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991153,-0.104632,-0.081653],[0.127201,-0.924468,-0.359416],[-0.037880,-0.366622,0.929598]]
2025-10-26T20:06:23.409Z,1761509183.409 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:06:23.409Z,1761509183.409 [marl:UpdateRudder:B] Stopped
2025-10-26T20:06:23.409Z,1761509183.409 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:06:23.409Z,1761509183.409 [marl:UpdateRudder] Stopped
2025-10-26T20:06:23.409Z,1761509183.409 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:06:23.764Z,1761509183.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989348,-0.118104,-0.085099],[0.141064,-0.922163,-0.360162],[-0.035938,-0.368330,0.929000]]
2025-10-26T20:06:24.167Z,1761509184.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987340,-0.131722,-0.088367],[0.155018,-0.919330,-0.361665],[-0.033599,-0.370785,0.928111]]
2025-10-26T20:06:24.570Z,1761509184.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985179,-0.145319,-0.091135],[0.168772,-0.916120,-0.363649],[-0.030645,-0.373641,0.927067]]
2025-10-26T20:06:24.974Z,1761509184.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982667,-0.159820,-0.093929],[0.183386,-0.912164,-0.366505],[-0.027104,-0.377378,0.925663]]
2025-10-26T20:06:25.067Z,1761509185.067 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:06:25.067Z,1761509185.067 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:06:25.071Z,1761509185.071 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:06:25.072Z,1761509185.072 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:06:25.072Z,1761509185.072 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:06:25.072Z,1761509185.072 [marl:UpdateSpeed] Stopped
2025-10-26T20:06:25.072Z,1761509185.072 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:06:25.378Z,1761509185.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979717,-0.175332,-0.097024],[0.199031,-0.907654,-0.369527],[-0.023275,-0.381342,0.924141]]
2025-10-26T20:06:25.403Z,1761509185.403 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:06:25.508Z,1761509185.508 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:06:25.560Z,1761509185.560 [DAT](INFO): entering command mode
2025-10-26T20:06:25.760Z,1761509185.760 [DAT](INFO): DAT read: 

2025-10-26T20:06:25.760Z,1761509185.760 [DAT](INFO): DAT read: user:72>

2025-10-26T20:06:25.761Z,1761509185.761 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:06:25.761Z,1761509185.761 [DAT](INFO): setting remote address to 0
2025-10-26T20:06:25.797Z,1761509185.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976235,-0.192270,-0.099983],[0.215895,-0.902888,-0.371729],[-0.018802,-0.384481,0.922941]]
2025-10-26T20:06:26.013Z,1761509186.013 [DAT](INFO): DAT read: user:72>

2025-10-26T20:06:26.015Z,1761509186.015 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:06:26.015Z,1761509186.015 [DAT](INFO): set remote address to 0
2025-10-26T20:06:26.016Z,1761509186.016 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:06:26.017Z,1761509186.017 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:06:26.186Z,1761509186.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972027,-0.210852,-0.103461],[0.234435,-0.897728,-0.372993],[-0.014233,-0.386815,0.922048]]
2025-10-26T20:06:26.264Z,1761509186.264 [DAT](INFO): DAT read: user:73>

2025-10-26T20:06:26.265Z,1761509186.265 [DAT](INFO): DAT read: Tx time:20:06:25.4139

2025-10-26T20:06:26.265Z,1761509186.265 [DAT](INFO): Ping request sent.
2025-10-26T20:06:26.265Z,1761509186.265 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:06:26.266Z,1761509186.266 [DAT](INFO): publishing transmit ping time
2025-10-26T20:06:26.266Z,1761509186.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000979
2025-10-26T20:06:26.517Z,1761509186.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251730
2025-10-26T20:06:26.590Z,1761509186.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967135,-0.230590,-0.107136],[0.254081,-0.892410,-0.372890],[-0.009625,-0.387856,0.921670]]
2025-10-26T20:06:26.774Z,1761509186.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505505
2025-10-26T20:06:26.994Z,1761509186.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961505,-0.251399,-0.110937],[0.274743,-0.886859,-0.371480],[-0.004996,-0.387659,0.921789]]
2025-10-26T20:06:27.021Z,1761509187.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755491
2025-10-26T20:06:27.272Z,1761509187.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942
2025-10-26T20:06:27.403Z,1761509187.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955381,-0.272042,-0.115064],[0.295375,-0.880633,-0.370457],[-0.000550,-0.387914,0.921695]]
2025-10-26T20:06:27.525Z,1761509187.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259903
2025-10-26T20:06:27.776Z,1761509187.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511043
2025-10-26T20:06:27.802Z,1761509187.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948749,-0.292496,-0.119669],[0.316011,-0.873949,-0.369256],[0.003421,-0.388148,0.921591]]
2025-10-26T20:06:28.029Z,1761509188.029 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:06:28.030Z,1761509188.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764672
2025-10-26T20:06:28.206Z,1761509188.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941892,-0.312039,-0.124383],[0.335848,-0.867308,-0.367400],[0.006765,-0.387825,0.921708]]
2025-10-26T20:06:28.281Z,1761509188.281 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T20:06:28.281Z,1761509188.281 [DAT](INFO): #Outgoing data=2
2025-10-26T20:06:28.281Z,1761509188.281 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:06:28.281Z,1761509188.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016099
2025-10-26T20:06:28.532Z,1761509188.532 [DAT](INFO): setting remote address to 6
2025-10-26T20:06:28.535Z,1761509188.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268712
2025-10-26T20:06:28.610Z,1761509188.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934736,-0.330854,-0.129627],[0.355213,-0.860180,-0.365943],[0.009571,-0.388105,0.921565]]
2025-10-26T20:06:28.786Z,1761509188.786 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:28.788Z,1761509188.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521775
2025-10-26T20:06:29.026Z,1761509189.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927317,-0.348939,-0.135369],[0.374104,-0.853155,-0.363556],[0.011368,-0.387774,0.921684]]
2025-10-26T20:06:29.036Z,1761509189.036 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:29.037Z,1761509189.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771178
2025-10-26T20:06:29.288Z,1761509189.288 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:29.289Z,1761509189.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023169
2025-10-26T20:06:29.418Z,1761509189.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919603,-0.366613,-0.141157],[0.392653,-0.846406,-0.359751],[0.012413,-0.386254,0.922309]]
2025-10-26T20:06:29.541Z,1761509189.541 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:29.541Z,1761509189.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275896
2025-10-26T20:06:29.793Z,1761509189.793 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:29.793Z,1761509189.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527691
2025-10-26T20:06:29.822Z,1761509189.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911775,-0.383428,-0.147137],[0.410493,-0.839746,-0.355417],[0.012719,-0.384459,0.923054]]
2025-10-26T20:06:29.828Z,1761509189.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:06:30.044Z,1761509190.044 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:30.045Z,1761509190.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779321
2025-10-26T20:06:30.228Z,1761509190.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903837,-0.399737,-0.152607],[0.427684,-0.833316,-0.350244],[0.012835,-0.381831,0.924143]]
2025-10-26T20:06:30.296Z,1761509190.296 [DAT](INFO): DAT read: Rx Time:20:06:29.0388

2025-10-26T20:06:30.297Z,1761509190.297 [DAT](INFO): Rx dataTimestamp_ set to:1761509190.296656
2025-10-26T20:06:30.297Z,1761509190.297 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:30.298Z,1761509190.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032265
2025-10-26T20:06:30.548Z,1761509190.548 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:30.548Z,1761509190.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283103
2025-10-26T20:06:30.631Z,1761509190.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895972,-0.415264,-0.157446],[0.443918,-0.826990,-0.345000],[0.013060,-0.379003,0.925303]]
2025-10-26T20:06:30.803Z,1761509190.803 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:30.806Z,1761509190.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539564
2025-10-26T20:06:30.835Z,1761509190.835 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:06:31.037Z,1761509191.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888496,-0.429508,-0.161548],[0.458682,-0.820822,-0.340385],[0.013596,-0.376530,0.926305]]
2025-10-26T20:06:31.060Z,1761509191.060 [DAT](INFO): DAT read: 20:06:29.0388 LVL= 32752, 21537, 25186, 32755, AGC= 69, IDX= 337,-0.06, 0.952, 2.953, 2.246, 2.279, PHS=-1.225, 0.719,-0.077, RAW= 294.0,   7.0, CAL= 291.8,   5.6, ROT= 218.2,  -5.6

2025-10-26T20:06:31.061Z,1761509191.061 [DAT](INFO): got valid direction response:
 20:06:29.0388 LVL= 32752, 21537, 25186, 32755, AGC= 69, IDX= 337,-0.06, 0.952, 2.953, 2.246, 2.279, PHS=-1.225, 0.719,-0.077, RAW= 294.0,   7.0, CAL= 291.8,   5.6, ROT= 218.2,  -5.6

2025-10-26T20:06:31.062Z,1761509191.062 [DAT](INFO): DAT read: Bearing 355, -18 (Remote)

2025-10-26T20:06:31.062Z,1761509191.062 [DAT](INFO): Remote Bearing received:Bearing 355, -18 (Remote)

2025-10-26T20:06:31.063Z,1761509191.063 [DAT](INFO): DAT read: Bearing 126.3, -38.4 (Local)

2025-10-26T20:06:31.063Z,1761509191.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.3, -38.4 (Local)

2025-10-26T20:06:31.065Z,1761509191.065 [DAT](INFO): DAT read: Range 11 to 20 : 1196.8 m  (Round-trip  1595.8 ms) speed -1.0 m/s

2025-10-26T20:06:31.066Z,1761509191.066 [DAT](INFO): DAT read: user:74>

2025-10-26T20:06:31.067Z,1761509191.067 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:06:31.067Z,1761509191.067 [DAT](INFO): set remote address to 6
2025-10-26T20:06:31.067Z,1761509191.067 [DAT](INFO): entering online mode
2025-10-26T20:06:31.305Z,1761509191.305 [DAT](INFO): DAT read: user:75>

2025-10-26T20:06:31.306Z,1761509191.306 [DAT](INFO): DAT read: 

2025-10-26T20:06:31.307Z,1761509191.307 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:06:31.307Z,1761509191.307 [DAT](INFO): commRate: 600
2025-10-26T20:06:31.307Z,1761509191.307 [DAT](INFO): online mode acknowledged
2025-10-26T20:06:31.308Z,1761509191.308 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:06:31.308Z,1761509191.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042719
2025-10-26T20:06:31.438Z,1761509191.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881083,-0.443279,-0.164914],[0.472747,-0.814896,-0.335342],[0.014263,-0.373426,0.927550]]
2025-10-26T20:06:31.556Z,1761509191.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291038
2025-10-26T20:06:31.808Z,1761509191.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542917
2025-10-26T20:06:31.843Z,1761509191.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873612,-0.456706,-0.167995],[0.486397,-0.808972,-0.330124],[0.014867,-0.370112,0.928868]]
2025-10-26T20:06:32.060Z,1761509192.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795013
2025-10-26T20:06:32.246Z,1761509192.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866165,-0.469361,-0.171633],[0.499517,-0.802451,-0.326428],[0.015486,-0.368475,0.929509]]
2025-10-26T20:06:32.313Z,1761509192.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047479
2025-10-26T20:06:32.564Z,1761509192.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298947
2025-10-26T20:06:32.652Z,1761509192.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858867,-0.480836,-0.176477],[0.511958,-0.795331,-0.324572],[0.015708,-0.369113,0.929252]]
2025-10-26T20:06:32.819Z,1761509192.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553421
2025-10-26T20:06:33.054Z,1761509193.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851664,-0.491804,-0.181101],[0.523851,-0.788430,-0.322425],[0.015785,-0.369467,0.929110]]
2025-10-26T20:06:33.068Z,1761509193.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802882
2025-10-26T20:06:33.320Z,1761509193.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054992
2025-10-26T20:06:33.458Z,1761509193.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844595,-0.501818,-0.186652],[0.535177,-0.781068,-0.321742],[0.015668,-0.371633,0.928247]]
2025-10-26T20:06:33.573Z,1761509193.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307183
2025-10-26T20:06:33.824Z,1761509193.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559018
2025-10-26T20:06:33.863Z,1761509193.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837558,-0.511440,-0.192161],[0.546128,-0.773753,-0.321014],[0.015494,-0.373812,0.927375]]
2025-10-26T20:06:34.076Z,1761509194.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810983
2025-10-26T20:06:34.270Z,1761509194.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830276,-0.520986,-0.198029],[0.557139,-0.765970,-0.320758],[0.015426,-0.376647,0.926228]]
2025-10-26T20:06:34.328Z,1761509194.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062890
2025-10-26T20:06:34.581Z,1761509194.581 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:06:33.7627

2025-10-26T20:06:34.581Z,1761509194.581 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:06:34.582Z,1761509194.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316245
2025-10-26T20:06:34.670Z,1761509194.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822635,-0.530974,-0.203316],[0.568349,-0.757976,-0.320082],[0.015846,-0.378865,0.925316]]
2025-10-26T20:06:34.832Z,1761509194.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567069
2025-10-26T20:06:35.074Z,1761509195.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814623,-0.541367,-0.208111],[0.579747,-0.749660,-0.319224],[0.016805,-0.380699,0.924546]]
2025-10-26T20:06:35.084Z,1761509195.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818848
2025-10-26T20:06:35.336Z,1761509195.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071041
2025-10-26T20:06:35.478Z,1761509195.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806152,-0.552077,-0.212908],[0.591422,-0.740614,-0.318920],[0.018386,-0.383017,0.923558]]
2025-10-26T20:06:35.592Z,1761509195.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326739
2025-10-26T20:06:35.840Z,1761509195.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575016
2025-10-26T20:06:35.888Z,1761509195.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797074,-0.563438,-0.217282],[0.603525,-0.730878,-0.318708],[0.020765,-0.385169,0.922612]]
2025-10-26T20:06:36.092Z,1761509196.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826946
2025-10-26T20:06:36.289Z,1761509196.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787906,-0.574716,-0.221146],[0.615320,-0.720665,-0.319411],[0.024198,-0.387741,0.921451]]
2025-10-26T20:06:36.327Z,1761509196.327 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:06:36.327Z,1761509196.327 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:06:36.327Z,1761509196.327 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:06:36.327Z,1761509196.327 [marl:UpdateRudder:A] Stopped
2025-10-26T20:06:36.327Z,1761509196.327 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode] Stopped
2025-10-26T20:06:36.328Z,1761509196.328 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:06:36.344Z,1761509196.344 [DAT](INFO): Reached modem response timeout
2025-10-26T20:06:36.690Z,1761509196.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778534,-0.586155,-0.224294],[0.626972,-0.710364,-0.319826],[0.028137,-0.389622,0.920545]]
2025-10-26T20:06:36.753Z,1761509196.753 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:06:36.753Z,1761509196.753 [marl:UpdateRudder:B] Stopped
2025-10-26T20:06:36.754Z,1761509196.754 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:06:36.754Z,1761509196.754 [marl:UpdateRudder] Stopped
2025-10-26T20:06:36.754Z,1761509196.754 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:06:37.095Z,1761509197.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769127,-0.597584,-0.226579],[0.638254,-0.700017,-0.320326],[0.032813,-0.390986,0.919811]]
2025-10-26T20:06:37.509Z,1761509197.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759660,-0.608806,-0.228631],[0.649219,-0.689510,-0.321077],[0.037830,-0.392341,0.919041]]
2025-10-26T20:06:37.902Z,1761509197.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749857,-0.620440,-0.229715],[0.660186,-0.679016,-0.321078],[0.043229,-0.392417,0.918771]]
2025-10-26T20:06:38.309Z,1761509198.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739049,-0.632923,-0.230683],[0.671918,-0.668028,-0.319789],[0.048299,-0.391339,0.918978]]
2025-10-26T20:06:38.366Z,1761509198.366 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:06:38.366Z,1761509198.366 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:06:38.366Z,1761509198.366 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:06:38.366Z,1761509198.366 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:06:38.366Z,1761509198.366 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:06:38.367Z,1761509198.367 [marl:UpdateSpeed] Stopped
2025-10-26T20:06:38.367Z,1761509198.367 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:06:38.715Z,1761509198.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726597,-0.646287,-0.233173],[0.685074,-0.655681,-0.317421],[0.052258,-0.390378,0.919170]]
2025-10-26T20:06:39.117Z,1761509199.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712717,-0.660733,-0.235513],[0.699252,-0.642673,-0.313077],[0.055503,-0.387818,0.920063]]
2025-10-26T20:06:39.518Z,1761509199.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698386,-0.675662,-0.236089],[0.713312,-0.630031,-0.306997],[0.058683,-0.382807,0.921962]]
2025-10-26T20:06:39.922Z,1761509199.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683946,-0.689766,-0.237573],[0.726869,-0.616499,-0.302639],[0.062287,-0.379673,0.923021]]
2025-10-26T20:06:40.329Z,1761509200.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669204,-0.703575,-0.239058],[0.740154,-0.602616,-0.298373],[0.065868,-0.376612,0.924026]]
2025-10-26T20:06:40.739Z,1761509200.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654026,-0.716745,-0.241922],[0.753342,-0.588055,-0.294394],[0.068742,-0.374791,0.924557]]
2025-10-26T20:06:41.135Z,1761509201.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638538,-0.729095,-0.246351],[0.766339,-0.572991,-0.290528],[0.070665,-0.374302,0.924611]]
2025-10-26T20:06:41.538Z,1761509201.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622504,-0.740477,-0.253343],[0.779409,-0.557293,-0.286263],[0.070785,-0.375658,0.924051]]
2025-10-26T20:06:41.942Z,1761509201.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605866,-0.751229,-0.261881],[0.792558,-0.541336,-0.280726],[0.069124,-0.377638,0.923370]]
2025-10-26T20:06:42.352Z,1761509202.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588502,-0.761644,-0.271228],[0.805823,-0.525306,-0.273318],[0.065693,-0.379410,0.922893]]
2025-10-26T20:06:42.769Z,1761509202.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570663,-0.771402,-0.281571],[0.818927,-0.509186,-0.264743],[0.060851,-0.381665,0.922296]]
2025-10-26T20:06:43.028Z,1761509203.028 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-10-26T20:06:43.028Z,1761509203.028 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-10-26T20:06:43.028Z,1761509203.028 [ThrusterHE] Communications Fault, FailCount= 1
2025-10-26T20:06:43.028Z,1761509203.028 [ThrusterHE](ERROR): Communications Fault
2025-10-26T20:06:43.032Z,1761509203.032 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-10-26T20:06:43.219Z,1761509203.219 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-10-26T20:06:43.219Z,1761509203.219 [ThrusterHE](INFO): Powering down
2025-10-26T20:06:43.558Z,1761509203.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536220,-0.790350,-0.296335],[0.842604,-0.480469,-0.243246],[0.049870,-0.380127,0.923589]]
2025-10-26T20:06:43.973Z,1761509203.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526089,-0.799037,-0.291152],[0.849017,-0.473756,-0.233933],[0.048986,-0.370263,0.927635]]
2025-10-26T20:06:44.025Z,1761509204.025 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-10-26T20:06:44.144Z,1761509204.144 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-10-26T20:06:44.148Z,1761509204.148 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-10-26T20:06:44.148Z,1761509204.148 [ThrusterHE] No Fault, FailCount= 1
2025-10-26T20:06:44.367Z,1761509204.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515607,-0.809182,-0.281733],[0.855504,-0.467932,-0.221704],[0.047567,-0.355336,0.933528]]
2025-10-26T20:06:44.680Z,1761509204.680 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:06:44.810Z,1761509204.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504424,-0.818635,-0.274579],[0.862272,-0.460933,-0.209830],[0.045212,-0.342605,0.938391]]
2025-10-26T20:06:44.933Z,1761509204.933 [DAT](INFO): modem://6: set _.others_observations nan n/a str none_str
2025-10-26T20:06:44.933Z,1761509204.933 [DAT](INFO): #Outgoing data=3
2025-10-26T20:06:44.933Z,1761509204.933 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:06:45.174Z,1761509205.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493477,-0.827124,-0.268972],[0.868717,-0.453592,-0.198961],[0.042562,-0.331843,0.942374]]
2025-10-26T20:06:45.185Z,1761509205.185 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:06:45.578Z,1761509205.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482821,-0.834626,-0.265112],[0.874803,-0.445838,-0.189601],[0.040048,-0.323464,0.945393]]
2025-10-26T20:06:45.986Z,1761509205.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472405,-0.841208,-0.263063],[0.880576,-0.437703,-0.181664],[0.037674,-0.317466,0.947521]]
2025-10-26T20:06:46.386Z,1761509206.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462361,-0.847090,-0.262031],[0.885985,-0.429565,-0.174652],[0.035386,-0.312908,0.949124]]
2025-10-26T20:06:46.821Z,1761509206.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451735,-0.852658,-0.262509],[0.891540,-0.420545,-0.168219],[0.033037,-0.310028,0.950153]]
2025-10-26T20:06:47.196Z,1761509207.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440992,-0.857945,-0.263547],[0.896984,-0.411244,-0.162165],[0.030746,-0.307911,0.950918]]
2025-10-26T20:06:47.599Z,1761509207.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430321,-0.862506,-0.266286],[0.902228,-0.401670,-0.156991],[0.028447,-0.307807,0.951023]]
2025-10-26T20:06:48.002Z,1761509208.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419435,-0.866389,-0.271005],[0.907407,-0.391520,-0.152724],[0.026214,-0.309970,0.950385]]
2025-10-26T20:06:48.412Z,1761509208.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408836,-0.870181,-0.275025],[0.912284,-0.381661,-0.148572],[0.024318,-0.311642,0.949888]]
2025-10-26T20:06:48.461Z,1761509208.461 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:06:47.6626

2025-10-26T20:06:48.462Z,1761509208.462 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:06:48.831Z,1761509208.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398475,-0.873418,-0.279926],[0.916899,-0.371804,-0.145114],[0.022667,-0.314489,0.948991]]
2025-10-26T20:06:49.214Z,1761509209.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387951,-0.876828,-0.284020],[0.921429,-0.361784,-0.141705],[0.021497,-0.316679,0.948289]]
2025-10-26T20:06:49.618Z,1761509209.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376797,-0.880758,-0.286862],[0.926065,-0.351276,-0.137871],[0.020663,-0.317602,0.947999]]
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateRudder:A] Stopped
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:06:49.674Z,1761509209.674 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:06:49.675Z,1761509209.675 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:06:49.675Z,1761509209.675 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:06:49.675Z,1761509209.675 [marl:UpdateCommandMode] Stopped
2025-10-26T20:06:49.675Z,1761509209.675 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:06:50.022Z,1761509210.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365561,-0.884664,-0.289370],[0.930556,-0.340426,-0.134819],[0.020760,-0.318559,0.947676]]
2025-10-26T20:06:50.055Z,1761509210.055 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:06:50.055Z,1761509210.055 [marl:UpdateRudder:B] Stopped
2025-10-26T20:06:50.055Z,1761509210.055 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:06:50.055Z,1761509210.055 [marl:UpdateRudder] Stopped
2025-10-26T20:06:50.055Z,1761509210.055 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:06:50.426Z,1761509210.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353499,-0.888959,-0.291189],[0.935190,-0.328719,-0.131772],[0.021421,-0.318898,0.947547]]
2025-10-26T20:06:50.533Z,1761509210.533 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:06:50.533Z,1761509210.533 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:06:50.834Z,1761509210.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340443,-0.893306,-0.293431],[0.939988,-0.315765,-0.129289],[0.022840,-0.319838,0.947197]]
2025-10-26T20:06:51.237Z,1761509211.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326421,-0.897864,-0.295449],[0.944892,-0.301663,-0.127198],[0.025081,-0.320687,0.946853]]
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed] Stopped
2025-10-26T20:06:51.276Z,1761509211.276 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:06:51.638Z,1761509211.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311282,-0.902488,-0.297688],[0.949902,-0.286219,-0.125563],[0.028115,-0.321860,0.946370]]
2025-10-26T20:06:52.043Z,1761509212.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294992,-0.907265,-0.299751],[0.954971,-0.269509,-0.124078],[0.031786,-0.322855,0.945914]]
2025-10-26T20:06:52.460Z,1761509212.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277743,-0.912049,-0.301705],[0.959990,-0.251824,-0.122488],[0.035738,-0.323654,0.945500]]
2025-10-26T20:06:52.852Z,1761509212.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259664,-0.916640,-0.303885],[0.964871,-0.233236,-0.120931],[0.039974,-0.324611,0.945002]]
2025-10-26T20:06:53.255Z,1761509213.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241295,-0.921133,-0.305435],[0.969448,-0.214481,-0.119034],[0.044137,-0.324825,0.944744]]
2025-10-26T20:06:53.658Z,1761509213.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222307,-0.925106,-0.307828],[0.973805,-0.195209,-0.116607],[0.047783,-0.325687,0.944269]]
2025-10-26T20:06:54.063Z,1761509214.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203839,-0.928723,-0.309714],[0.977701,-0.176795,-0.113332],[0.050498,-0.325909,0.944051]]
2025-10-26T20:06:54.479Z,1761509214.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184788,-0.932040,-0.311696],[0.981402,-0.158220,-0.108706],[0.052002,-0.325986,0.943943]]
2025-10-26T20:06:54.870Z,1761509214.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165517,-0.934417,-0.315388],[0.984842,-0.139791,-0.102683],[0.051860,-0.327603,0.943391]]
2025-10-26T20:06:55.275Z,1761509215.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145817,-0.936107,-0.320063],[0.988060,-0.121530,-0.094703],[0.049755,-0.330051,0.942651]]
2025-10-26T20:06:55.678Z,1761509215.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125506,-0.937337,-0.325035],[0.991046,-0.103409,-0.084460],[0.045556,-0.332725,0.941923]]
2025-10-26T20:06:55.735Z,1761509215.735 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:06:55.773Z,1761509215.773 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:06:55.823Z,1761509215.823 [DAT](INFO): entering command mode
2025-10-26T20:06:56.024Z,1761509216.024 [DAT](INFO): DAT read: 

2025-10-26T20:06:56.025Z,1761509216.025 [DAT](INFO): DAT read: user:76>

2025-10-26T20:06:56.025Z,1761509216.025 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:06:56.025Z,1761509216.025 [DAT](INFO): setting remote address to 0
2025-10-26T20:06:56.109Z,1761509216.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104499,-0.938357,-0.329494],[0.993757,-0.085502,-0.071672],[0.039081,-0.334926,0.941433]]
2025-10-26T20:06:56.276Z,1761509216.276 [DAT](INFO): DAT read: user:76>

2025-10-26T20:06:56.277Z,1761509216.277 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:06:56.277Z,1761509216.277 [DAT](INFO): set remote address to 0
2025-10-26T20:06:56.278Z,1761509216.278 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:06:56.278Z,1761509216.278 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:06:56.491Z,1761509216.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083226,-0.938550,-0.334959],[0.996054,-0.067951,-0.057088],[0.030820,-0.338388,0.940502]]
2025-10-26T20:06:56.532Z,1761509216.532 [DAT](INFO): DAT read: user:77>

2025-10-26T20:06:56.533Z,1761509216.533 [DAT](INFO): DAT read: Tx time:20:06:55.6637

2025-10-26T20:06:56.533Z,1761509216.533 [DAT](INFO): Ping request sent.
2025-10-26T20:06:56.533Z,1761509216.533 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:06:56.534Z,1761509216.534 [DAT](INFO): publishing transmit ping time
2025-10-26T20:06:56.534Z,1761509216.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000959
2025-10-26T20:06:56.784Z,1761509216.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249251
2025-10-26T20:06:56.890Z,1761509216.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062214,-0.937815,-0.341516],[0.997832,-0.051089,-0.041481],[0.021453,-0.343356,0.938960]]
2025-10-26T20:06:57.033Z,1761509217.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499168
2025-10-26T20:06:57.285Z,1761509217.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751601
2025-10-26T20:06:57.298Z,1761509217.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042753,-0.936714,-0.347475],[0.999008,-0.035757,-0.026526],[0.012422,-0.348265,0.937314]]
2025-10-26T20:06:57.536Z,1761509217.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002891
2025-10-26T20:06:57.704Z,1761509217.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026815,-0.935082,-0.353416],[0.999627,-0.023261,-0.014301],[0.005152,-0.353668,0.935357]]
2025-10-26T20:06:57.788Z,1761509217.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254894
2025-10-26T20:06:58.041Z,1761509218.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507048
2025-10-26T20:06:58.102Z,1761509218.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015119,-0.933756,-0.357592],[0.999885,-0.013819,-0.006190],[0.000838,-0.357644,0.933857]]
2025-10-26T20:06:58.292Z,1761509218.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758932
2025-10-26T20:06:58.510Z,1761509218.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005387,-0.932386,-0.361424],[0.999985,-0.005476,-0.000779],[-0.001252,-0.361423,0.932401]]
2025-10-26T20:06:58.544Z,1761509218.544 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:06:58.544Z,1761509218.544 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:06:58.545Z,1761509218.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011296
2025-10-26T20:06:58.798Z,1761509218.798 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:06:58.800Z,1761509218.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266229
2025-10-26T20:06:58.914Z,1761509218.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004470,-0.931328,-0.364153],[0.999988,0.003428,0.003507],[-0.002018,-0.364165,0.931332]]
2025-10-26T20:06:59.048Z,1761509219.048 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:06:59.049Z,1761509219.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515084
2025-10-26T20:06:59.300Z,1761509219.300 [DAT](INFO): setting remote address to 6
2025-10-26T20:06:59.301Z,1761509219.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767107
2025-10-26T20:06:59.328Z,1761509219.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014776,-0.930643,-0.365629],[0.999890,0.013181,0.006860],[-0.001565,-0.365690,0.930735]]
2025-10-26T20:06:59.552Z,1761509219.552 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:59.552Z,1761509219.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019010
2025-10-26T20:06:59.735Z,1761509219.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025321,-0.930364,-0.365762],[0.999679,0.023549,0.009306],[-0.000044,-0.365881,0.930662]]
2025-10-26T20:06:59.804Z,1761509219.804 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:06:59.805Z,1761509219.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271125
2025-10-26T20:07:00.056Z,1761509220.056 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:00.056Z,1761509220.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522994
2025-10-26T20:07:00.122Z,1761509220.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035713,-0.929970,-0.365896],[0.999360,0.033986,0.011161],[0.002056,-0.366060,0.930589]]
2025-10-26T20:07:00.308Z,1761509220.308 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:00.308Z,1761509220.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775027
2025-10-26T20:07:00.528Z,1761509220.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047043,-0.929679,-0.365356],[0.998884,0.045343,0.013238],[0.004260,-0.365571,0.930774]]
2025-10-26T20:07:00.560Z,1761509220.560 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:00.561Z,1761509220.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027189
2025-10-26T20:07:00.814Z,1761509220.814 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:00.816Z,1761509220.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282186
2025-10-26T20:07:00.943Z,1761509220.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073416,-0.929560,-0.361288],[0.997278,0.070885,0.020274],[0.006764,-0.361793,0.932234]]
2025-10-26T20:07:00.968Z,1761509220.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:07:01.065Z,1761509221.065 [DAT](INFO): DAT read: Rx Time:20:06:59.6777

2025-10-26T20:07:01.066Z,1761509221.066 [DAT](INFO): Rx dataTimestamp_ set to:1761509221.065332
2025-10-26T20:07:01.066Z,1761509221.066 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:01.067Z,1761509221.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533111
2025-10-26T20:07:01.316Z,1761509221.316 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:01.317Z,1761509221.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783051
2025-10-26T20:07:01.574Z,1761509221.574 [DAT](INFO): DAT read: 20:06:59.6777 LVL= 23536, 29345, 15202, 26483, AGC= 70, IDX= 257, 0.21, 0.423, 0.719, 2.096, 0.602, PHS=-0.076, 0.162, 1.450, RAW= 218.4, -20.9, CAL= 217.8, -25.7, ROT= 292.2,  25.7

2025-10-26T20:07:01.576Z,1761509221.576 [DAT](INFO): got valid direction response:
 20:06:59.6777 LVL= 23536, 29345, 15202, 26483, AGC= 70, IDX= 257, 0.21, 0.423, 0.719, 2.096, 0.602, PHS=-0.076, 0.162, 1.450, RAW= 218.4, -20.9, CAL= 217.8, -25.7, ROT= 292.2,  25.7

2025-10-26T20:07:01.577Z,1761509221.577 [DAT](INFO): DAT read: Bearing 156.2, -38.0 (Local)

2025-10-26T20:07:01.577Z,1761509221.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.2, -38.0 (Local)

2025-10-26T20:07:01.578Z,1761509221.578 [DAT](INFO): DAT read: Range 11 to 20 : 1207.3 m  (Round-trip  1609.8 ms) speed  0.2 m/s

2025-10-26T20:07:01.579Z,1761509221.579 [DAT](INFO): DAT read: user:78>

2025-10-26T20:07:01.580Z,1761509221.580 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:07:01.580Z,1761509221.580 [DAT](INFO): set remote address to 6
2025-10-26T20:07:01.581Z,1761509221.581 [DAT](INFO): entering online mode
2025-10-26T20:07:01.746Z,1761509221.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104246,-0.928192,-0.357202],[0.994534,0.099393,0.031973],[0.005826,-0.358582,0.933480]]
2025-10-26T20:07:01.821Z,1761509221.821 [DAT](INFO): DAT read: user:79>

2025-10-26T20:07:01.821Z,1761509221.821 [DAT](INFO): DAT read: 

2025-10-26T20:07:01.822Z,1761509221.822 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:07:01.823Z,1761509221.823 [DAT](INFO): commRate: 600
2025-10-26T20:07:01.823Z,1761509221.823 [DAT](INFO): online mode acknowledged
2025-10-26T20:07:01.824Z,1761509221.824 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:07:01.826Z,1761509221.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291752
2025-10-26T20:07:01.972Z,1761509221.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:07:02.072Z,1761509222.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538915
2025-10-26T20:07:02.146Z,1761509222.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120570,-0.927030,-0.355074],[0.992694,0.114244,0.038814],[0.004583,-0.357160,0.934032]]
2025-10-26T20:07:02.324Z,1761509222.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790891
2025-10-26T20:07:02.556Z,1761509222.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136874,-0.925586,-0.352926],[0.990583,0.129060,0.045700],[0.003249,-0.355857,0.934535]]
2025-10-26T20:07:02.576Z,1761509222.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042831
2025-10-26T20:07:02.828Z,1761509222.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294953
2025-10-26T20:07:02.954Z,1761509222.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153433,-0.923686,-0.351089],[0.988158,0.144053,0.052851],[0.001758,-0.355040,0.934850]]
2025-10-26T20:07:03.054Z,1761509223.054 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:07:03.054Z,1761509223.054 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:07:03.054Z,1761509223.054 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:07:03.055Z,1761509223.055 [marl:UpdateRudder:A] Stopped
2025-10-26T20:07:03.055Z,1761509223.055 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:07:03.055Z,1761509223.055 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:07:03.055Z,1761509223.055 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:07:03.055Z,1761509223.055 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:07:03.056Z,1761509223.056 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:07:03.056Z,1761509223.056 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:07:03.056Z,1761509223.056 [marl:UpdateCommandMode] Stopped
2025-10-26T20:07:03.056Z,1761509223.056 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:07:03.081Z,1761509223.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547178
2025-10-26T20:07:03.332Z,1761509223.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798878
2025-10-26T20:07:03.354Z,1761509223.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170130,-0.921056,-0.350301],[0.985422,0.159120,0.060211],[0.000282,-0.355438,0.934700]]
2025-10-26T20:07:03.399Z,1761509223.399 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:07:03.399Z,1761509223.399 [marl:UpdateRudder:B] Stopped
2025-10-26T20:07:03.400Z,1761509223.400 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:07:03.400Z,1761509223.400 [marl:UpdateRudder] Stopped
2025-10-26T20:07:03.400Z,1761509223.400 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:07:03.584Z,1761509223.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050911
2025-10-26T20:07:03.758Z,1761509223.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186794,-0.918117,-0.349526],[0.982398,0.174147,0.067573],[-0.001171,-0.355996,0.934487]]
2025-10-26T20:07:03.836Z,1761509223.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303030
2025-10-26T20:07:04.088Z,1761509224.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554880
2025-10-26T20:07:04.162Z,1761509224.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203603,-0.914051,-0.350793],[0.979051,0.189237,0.075161],[-0.002318,-0.358747,0.933432]]
2025-10-26T20:07:04.340Z,1761509224.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806920
2025-10-26T20:07:04.570Z,1761509224.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220903,-0.909626,-0.351827],[0.975290,0.204754,0.082981],[-0.003444,-0.361464,0.932380]]
2025-10-26T20:07:04.592Z,1761509224.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058979
2025-10-26T20:07:04.611Z,1761509224.611 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:07:04.611Z,1761509224.611 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:07:04.611Z,1761509224.611 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:07:04.624Z,1761509224.624 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:07:04.624Z,1761509224.624 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:07:04.624Z,1761509224.624 [marl:UpdateSpeed] Stopped
2025-10-26T20:07:04.624Z,1761509224.624 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:07:04.844Z,1761509224.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310822
2025-10-26T20:07:04.970Z,1761509224.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238493,-0.904969,-0.352351],[0.971135,0.220668,0.090566],[-0.004207,-0.363780,0.931475]]
2025-10-26T20:07:05.097Z,1761509225.097 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:07:04.3125

2025-10-26T20:07:05.097Z,1761509225.097 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:07:05.098Z,1761509225.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564134
2025-10-26T20:07:05.348Z,1761509225.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814874
2025-10-26T20:07:05.374Z,1761509225.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256605,-0.900024,-0.352294],[0.966505,0.237198,0.098005],[-0.004643,-0.365643,0.930744]]
2025-10-26T20:07:05.601Z,1761509225.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067475
2025-10-26T20:07:05.778Z,1761509225.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274969,-0.894467,-0.352591],[0.961442,0.254025,0.105360],[-0.004674,-0.367966,0.929827]]
2025-10-26T20:07:05.852Z,1761509225.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318957
2025-10-26T20:07:06.104Z,1761509226.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570911
2025-10-26T20:07:06.184Z,1761509226.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294326,-0.888712,-0.351517],[0.955695,0.272010,0.112504],[-0.004367,-0.369056,0.929397]]
2025-10-26T20:07:06.356Z,1761509226.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822906
2025-10-26T20:07:06.586Z,1761509226.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314300,-0.882375,-0.350186],[0.949315,0.290512,0.120020],[-0.004170,-0.370159,0.928959]]
2025-10-26T20:07:06.608Z,1761509226.608 [DAT](INFO): Reached modem response timeout
2025-10-26T20:07:06.990Z,1761509226.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335328,-0.875217,-0.348642],[0.942092,0.309842,0.128302],[-0.004268,-0.371476,0.928433]]
2025-10-26T20:07:07.403Z,1761509227.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357332,-0.867384,-0.346352],[0.933967,0.330109,0.136870],[-0.004385,-0.372389,0.928066]]
2025-10-26T20:07:07.799Z,1761509227.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380007,-0.858775,-0.343658],[0.924969,0.350730,0.146358],[-0.005157,-0.373490,0.927620]]
2025-10-26T20:07:08.202Z,1761509228.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402495,-0.849221,-0.341792],[0.915400,0.370797,0.156689],[-0.006328,-0.375943,0.926621]]
2025-10-26T20:07:08.606Z,1761509228.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424404,-0.839717,-0.338757],[0.905437,0.390204,0.167109],[-0.008140,-0.377645,0.925915]]
2025-10-26T20:07:09.011Z,1761509229.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444728,-0.830519,-0.335342],[0.895604,0.407954,0.177390],[-0.010522,-0.379224,0.925245]]
2025-10-26T20:07:09.417Z,1761509229.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463163,-0.821867,-0.331684],[0.886175,0.423891,0.187108],[-0.013180,-0.380592,0.924649]]
2025-10-26T20:07:09.818Z,1761509229.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479590,-0.813846,-0.328098],[0.877349,0.437962,0.196083],[-0.015887,-0.381895,0.924069]]
2025-10-26T20:07:10.222Z,1761509230.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494166,-0.806689,-0.324118],[0.869163,0.450334,0.204342],[-0.018880,-0.382690,0.923684]]
2025-10-26T20:07:10.626Z,1761509230.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507410,-0.800102,-0.319955],[0.861424,0.461511,0.212028],[-0.021982,-0.383202,0.923403]]
2025-10-26T20:07:11.032Z,1761509231.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519737,-0.793692,-0.316112],[0.853961,0.471820,0.219402],[-0.024989,-0.383978,0.923004]]
2025-10-26T20:07:11.434Z,1761509231.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531317,-0.787558,-0.312178],[0.846712,0.481500,0.226355],[-0.027954,-0.384591,0.922664]]
2025-10-26T20:07:11.838Z,1761509231.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542327,-0.781247,-0.309087],[0.839599,0.490419,0.233586],[-0.030906,-0.386189,0.921902]]
2025-10-26T20:07:12.242Z,1761509232.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552424,-0.775454,-0.305775],[0.832890,0.498763,0.239852],[-0.033485,-0.387177,0.921397]]
2025-10-26T20:07:12.647Z,1761509232.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561697,-0.769886,-0.302939],[0.826591,0.506610,0.245138],[-0.035256,-0.388101,0.920942]]
2025-10-26T20:07:13.050Z,1761509233.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570230,-0.764507,-0.300610],[0.820678,0.513942,0.249701],[-0.036402,-0.389091,0.920480]]
2025-10-26T20:07:13.454Z,1761509233.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578121,-0.759412,-0.298445],[0.815121,0.521019,0.253214],[-0.036798,-0.389657,0.920225]]
2025-10-26T20:07:13.860Z,1761509233.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585907,-0.754287,-0.296251],[0.809565,0.528434,0.255660],[-0.036292,-0.389627,0.920257]]
2025-10-26T20:07:14.264Z,1761509234.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594063,-0.748889,-0.293691],[0.803646,0.536530,0.257465],[-0.035238,-0.388974,0.920574]]
2025-10-26T20:07:14.666Z,1761509234.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602900,-0.743112,-0.290338],[0.797097,0.545595,0.258771],[-0.033889,-0.387441,0.921272]]
2025-10-26T20:07:15.070Z,1761509235.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612950,-0.736580,-0.285904],[0.789457,0.556097,0.259833],[-0.032398,-0.384974,0.922359]]
2025-10-26T20:07:15.176Z,1761509235.176 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:07:15.428Z,1761509235.428 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:07:15.474Z,1761509235.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623612,-0.729312,-0.281447],[0.781129,0.567182,0.261038],[-0.030746,-0.382633,0.923388]]
2025-10-26T20:07:15.680Z,1761509235.680 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:07:15.885Z,1761509235.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634819,-0.721452,-0.276607],[0.772114,0.578852,0.262242],[-0.029080,-0.380048,0.924510]]
2025-10-26T20:07:16.282Z,1761509236.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646534,-0.712539,-0.272546],[0.762398,0.590716,0.264204],[-0.027258,-0.378605,0.925157]]
2025-10-26T20:07:16.315Z,1761509236.315 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:07:16.315Z,1761509236.315 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateRudder:A] Stopped
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:07:16.316Z,1761509236.316 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:07:16.317Z,1761509236.317 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:07:16.317Z,1761509236.317 [marl:UpdateCommandMode] Stopped
2025-10-26T20:07:16.317Z,1761509236.317 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:07:16.686Z,1761509236.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658565,-0.703158,-0.268068],[0.752084,0.602831,0.266391],[-0.025715,-0.377046,0.925838]]
2025-10-26T20:07:16.742Z,1761509236.742 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:07:16.742Z,1761509236.742 [marl:UpdateRudder:B] Stopped
2025-10-26T20:07:16.743Z,1761509236.743 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:07:16.743Z,1761509236.743 [marl:UpdateRudder] Stopped
2025-10-26T20:07:16.743Z,1761509236.743 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:07:17.090Z,1761509237.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670585,-0.693811,-0.262570],[0.741434,0.615235,0.267882],[-0.024317,-0.374316,0.926983]]
2025-10-26T20:07:17.496Z,1761509237.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682405,-0.684033,-0.257724],[0.730595,0.626907,0.270588],[-0.023522,-0.372943,0.927556]]
2025-10-26T20:07:17.898Z,1761509237.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694391,-0.673654,-0.253006],[0.719232,0.638513,0.273872],[-0.022947,-0.372145,0.927891]]
2025-10-26T20:07:17.945Z,1761509237.945 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:07:17.945Z,1761509237.945 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:07:17.946Z,1761509237.946 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:07:17.946Z,1761509237.946 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:07:17.946Z,1761509237.946 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:07:17.946Z,1761509237.946 [marl:UpdateSpeed] Stopped
2025-10-26T20:07:17.946Z,1761509237.946 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:07:18.302Z,1761509238.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706161,-0.662988,-0.248562],[0.707688,0.649635,0.277763],[-0.022679,-0.372049,0.927936]]
2025-10-26T20:07:18.713Z,1761509238.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718051,-0.652009,-0.243489],[0.695630,0.661062,0.281240],[-0.022410,-0.371323,0.928233]]
2025-10-26T20:07:18.958Z,1761509238.958 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:07:18.1624

2025-10-26T20:07:18.958Z,1761509238.958 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:07:19.112Z,1761509239.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729717,-0.640422,-0.239526],[0.683397,0.671878,0.285566],[-0.021950,-0.372073,0.927944]]
2025-10-26T20:07:19.514Z,1761509239.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742001,-0.627524,-0.235897],[0.670061,0.683026,0.290680],[-0.021285,-0.373750,0.927285]]
2025-10-26T20:07:19.918Z,1761509239.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755142,-0.613116,-0.232056],[0.655242,0.694852,0.296375],[-0.020468,-0.375859,0.926451]]
2025-10-26T20:07:20.322Z,1761509240.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768753,-0.597728,-0.227466],[0.639258,0.707495,0.301331],[-0.019183,-0.377059,0.925991]]
2025-10-26T20:07:20.733Z,1761509240.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782608,-0.581006,-0.223509],[0.622267,0.720009,0.307200],[-0.017556,-0.379499,0.925025]]
2025-10-26T20:07:21.130Z,1761509241.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796562,-0.563780,-0.218268],[0.604346,0.733039,0.312123],[-0.015970,-0.380535,0.924629]]
2025-10-26T20:07:21.534Z,1761509241.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810346,-0.545799,-0.213175],[0.585765,0.745390,0.318234],[-0.014794,-0.382750,0.923734]]
2025-10-26T20:07:21.938Z,1761509241.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823891,-0.528327,-0.205120],[0.566573,0.758784,0.321314],[-0.014117,-0.380943,0.924491]]
2025-10-26T20:07:22.352Z,1761509242.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837087,-0.510536,-0.196566],[0.546882,0.771496,0.325137],[-0.014344,-0.379666,0.925012]]
2025-10-26T20:07:22.762Z,1761509242.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849941,-0.491547,-0.189686],[0.526648,0.781966,0.333424],[-0.015565,-0.383289,0.923497]]
2025-10-26T20:07:23.150Z,1761509243.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862030,-0.473360,-0.181204],[0.506550,0.792120,0.340519],[-0.017652,-0.385326,0.922612]]
2025-10-26T20:07:23.555Z,1761509243.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873152,-0.456173,-0.171793],[0.487010,0.801441,0.347152],[-0.020679,-0.386781,0.921940]]
2025-10-26T20:07:23.959Z,1761509243.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882368,-0.441575,-0.162598],[0.469939,0.809184,0.352673],[-0.024161,-0.387599,0.921512]]
2025-10-26T20:07:24.367Z,1761509244.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890064,-0.428682,-0.154977],[0.454999,0.814913,0.359016],[-0.027611,-0.390062,0.920375]]
2025-10-26T20:07:24.810Z,1761509244.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896492,-0.417253,-0.149000],[0.441975,0.818699,0.366593],[-0.030976,-0.394502,0.918373]]
2025-10-26T20:07:25.170Z,1761509245.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901805,-0.407934,-0.142608],[0.430804,0.822690,0.370929],[-0.033992,-0.395942,0.917646]]
2025-10-26T20:07:25.574Z,1761509245.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906286,-0.400006,-0.136532],[0.421102,0.826774,0.372986],[-0.036316,-0.395526,0.917737]]
2025-10-26T20:07:25.978Z,1761509245.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910174,-0.392473,-0.132468],[0.412494,0.829561,0.376400],[-0.037837,-0.397232,0.916938]]
2025-10-26T20:07:26.010Z,1761509246.010 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:07:26.026Z,1761509246.026 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:26.080Z,1761509246.080 [DAT](INFO): entering command mode
2025-10-26T20:07:26.276Z,1761509246.276 [DAT](INFO): DAT read: 

2025-10-26T20:07:26.277Z,1761509246.277 [DAT](INFO): DAT read: user:80>

2025-10-26T20:07:26.277Z,1761509246.277 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:26.277Z,1761509246.277 [DAT](INFO): setting remote address to 0
2025-10-26T20:07:26.382Z,1761509246.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913667,-0.385494,-0.128864],[0.404640,0.832664,0.378071],[-0.038443,-0.397575,0.916764]]
2025-10-26T20:07:26.528Z,1761509246.528 [DAT](INFO): DAT read: user:80>

2025-10-26T20:07:26.529Z,1761509246.529 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:07:26.529Z,1761509246.529 [DAT](INFO): set remote address to 0
2025-10-26T20:07:26.530Z,1761509246.530 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:26.530Z,1761509246.530 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:07:26.782Z,1761509246.782 [DAT](INFO): DAT read: user:81>

2025-10-26T20:07:26.785Z,1761509246.785 [DAT](INFO): DAT read: Tx time:20:07:25.9135

2025-10-26T20:07:26.786Z,1761509246.786 [DAT](INFO): Ping request sent.
2025-10-26T20:07:26.787Z,1761509246.787 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:07:26.788Z,1761509246.788 [DAT](INFO): publishing transmit ping time
2025-10-26T20:07:26.790Z,1761509246.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003291
2025-10-26T20:07:26.864Z,1761509246.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917084,-0.378379,-0.125642],[0.396860,0.836169,0.378580],[-0.038189,-0.397052,0.917001]]
2025-10-26T20:07:27.032Z,1761509247.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246056
2025-10-26T20:07:27.195Z,1761509247.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920339,-0.371389,-0.122662],[0.389340,0.840036,0.377827],[-0.037281,-0.395487,0.917715]]
2025-10-26T20:07:27.284Z,1761509247.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497946
2025-10-26T20:07:27.536Z,1761509247.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749969
2025-10-26T20:07:27.594Z,1761509247.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923207,-0.365136,-0.119854],[0.382617,0.844124,0.375577],[-0.035965,-0.392594,0.919009]]
2025-10-26T20:07:27.788Z,1761509247.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002001
2025-10-26T20:07:27.998Z,1761509247.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926666,-0.357282,-0.116788],[0.374302,0.848611,0.373842],[-0.034459,-0.390141,0.920110]]
2025-10-26T20:07:28.040Z,1761509248.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254057
2025-10-26T20:07:28.292Z,1761509248.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505960
2025-10-26T20:07:28.402Z,1761509248.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930973,-0.347252,-0.112718],[0.363596,0.853986,0.372163],[-0.032975,-0.387457,0.921298]]
2025-10-26T20:07:28.544Z,1761509248.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758037
2025-10-26T20:07:28.800Z,1761509248.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012453
2025-10-26T20:07:28.841Z,1761509248.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936045,-0.334912,-0.107947],[0.350417,0.859270,0.372644],[-0.032047,-0.386638,0.921675]]
2025-10-26T20:07:29.048Z,1761509249.048 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:07:29.049Z,1761509249.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262241
2025-10-26T20:07:29.209Z,1761509249.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941588,-0.320603,-0.103080],[0.335315,0.864140,0.375267],[-0.031236,-0.387911,0.921167]]
2025-10-26T20:07:29.300Z,1761509249.300 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:07:29.301Z,1761509249.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514119
2025-10-26T20:07:29.552Z,1761509249.552 [DAT](INFO): setting remote address to 6
2025-10-26T20:07:29.553Z,1761509249.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766210
2025-10-26T20:07:29.620Z,1761509249.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947317,-0.305043,-0.097669],[0.318845,0.869103,0.378151],[-0.030468,-0.389370,0.920577]]
2025-10-26T20:07:29.670Z,1761509249.670 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:07:29.670Z,1761509249.670 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:07:29.670Z,1761509249.670 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:07:29.671Z,1761509249.671 [marl:UpdateRudder:A] Stopped
2025-10-26T20:07:29.671Z,1761509249.671 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:07:29.671Z,1761509249.671 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:07:29.671Z,1761509249.671 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:07:29.671Z,1761509249.671 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:07:29.672Z,1761509249.672 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:07:29.672Z,1761509249.672 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:07:29.672Z,1761509249.672 [marl:UpdateCommandMode] Stopped
2025-10-26T20:07:29.672Z,1761509249.672 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:07:29.805Z,1761509249.805 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:29.806Z,1761509249.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019675
2025-10-26T20:07:30.018Z,1761509250.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952954,-0.288849,-0.091901],[0.301648,0.873887,0.381221],[-0.029804,-0.391007,0.919905]]
2025-10-26T20:07:30.056Z,1761509250.056 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:30.057Z,1761509250.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270219
2025-10-26T20:07:30.071Z,1761509250.071 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:07:30.071Z,1761509250.071 [marl:UpdateRudder:B] Stopped
2025-10-26T20:07:30.071Z,1761509250.071 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:07:30.071Z,1761509250.071 [marl:UpdateRudder] Stopped
2025-10-26T20:07:30.091Z,1761509250.091 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:07:30.309Z,1761509250.309 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:30.310Z,1761509250.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523051
2025-10-26T20:07:30.422Z,1761509250.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958372,-0.272412,-0.085530],[0.284030,0.878976,0.383052],[-0.029169,-0.391400,0.919758]]
2025-10-26T20:07:30.560Z,1761509250.560 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:30.560Z,1761509250.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774055
2025-10-26T20:07:30.814Z,1761509250.814 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:30.817Z,1761509250.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029577
2025-10-26T20:07:30.838Z,1761509250.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963508,-0.255784,-0.078914],[0.266143,0.883856,0.384663],[-0.028642,-0.391628,0.919678]]
2025-10-26T20:07:31.064Z,1761509251.064 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:31.064Z,1761509251.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278083
2025-10-26T20:07:31.237Z,1761509251.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968359,-0.238891,-0.072194],[0.247990,0.888709,0.385612],[-0.027960,-0.391314,0.919832]]
2025-10-26T20:07:31.260Z,1761509251.260 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:07:31.260Z,1761509251.260 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:07:31.260Z,1761509251.260 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:07:31.261Z,1761509251.261 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:07:31.261Z,1761509251.261 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:07:31.261Z,1761509251.261 [marl:UpdateSpeed] Stopped
2025-10-26T20:07:31.261Z,1761509251.261 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:07:31.317Z,1761509251.317 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:31.318Z,1761509251.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531666
2025-10-26T20:07:31.568Z,1761509251.568 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:31.569Z,1761509251.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782120
2025-10-26T20:07:31.650Z,1761509251.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972817,-0.222184,-0.065280],[0.229933,0.893232,0.386351],[-0.027531,-0.390859,0.920039]]
2025-10-26T20:07:31.820Z,1761509251.820 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:31.821Z,1761509251.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034569
2025-10-26T20:07:32.043Z,1761509252.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976966,-0.205193,-0.058589],[0.211694,0.897354,0.387222],[-0.026880,-0.390706,0.920123]]
2025-10-26T20:07:32.072Z,1761509252.072 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:32.073Z,1761509252.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286206
2025-10-26T20:07:32.092Z,1761509252.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:07:32.325Z,1761509252.325 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:32.325Z,1761509252.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538991
2025-10-26T20:07:32.446Z,1761509252.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980701,-0.188485,-0.051953],[0.193747,0.901247,0.387578],[-0.026230,-0.390163,0.920372]]
2025-10-26T20:07:32.576Z,1761509252.576 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:32.576Z,1761509252.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790050
2025-10-26T20:07:32.828Z,1761509252.828 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:32.829Z,1761509252.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042573
2025-10-26T20:07:32.850Z,1761509252.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984033,-0.172064,-0.045533],[0.176137,0.904625,0.388109],[-0.025589,-0.389932,0.920488]]
2025-10-26T20:07:33.080Z,1761509253.080 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:33.080Z,1761509253.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.294098
2025-10-26T20:07:33.096Z,1761509253.096 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:07:33.258Z,1761509253.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986974,-0.156038,-0.039164],[0.158910,0.907617,0.388561],[-0.025085,-0.389723,0.920590]]
2025-10-26T20:07:33.332Z,1761509253.332 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:33.333Z,1761509253.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546110
2025-10-26T20:07:33.584Z,1761509253.584 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:33.584Z,1761509253.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798071
2025-10-26T20:07:33.658Z,1761509253.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989648,-0.139735,-0.032721],[0.141391,0.910255,0.389158],[-0.024594,-0.389756,0.920590]]
2025-10-26T20:07:33.838Z,1761509253.838 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:33.838Z,1761509253.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052007
2025-10-26T20:07:34.062Z,1761509254.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992048,-0.123113,-0.026162],[0.123532,0.912601,0.389743],[-0.024107,-0.389875,0.920552]]
2025-10-26T20:07:34.088Z,1761509254.088 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:34.089Z,1761509254.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.302158
2025-10-26T20:07:34.341Z,1761509254.341 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:34.341Z,1761509254.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554693
2025-10-26T20:07:34.467Z,1761509254.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994224,-0.105571,-0.019335],[0.104702,0.914440,0.390943],[-0.023592,-0.390709,0.920212]]
2025-10-26T20:07:34.592Z,1761509254.592 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:34.593Z,1761509254.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806130
2025-10-26T20:07:34.844Z,1761509254.844 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:34.844Z,1761509254.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058042
2025-10-26T20:07:34.870Z,1761509254.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996091,-0.087497,-0.012115],[0.085225,0.915920,0.392208],[-0.023221,-0.391707,0.919797]]
2025-10-26T20:07:35.096Z,1761509255.096 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:35.097Z,1761509255.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.310092
2025-10-26T20:07:35.277Z,1761509255.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997637,-0.068578,-0.004244],[0.064732,0.917389,0.392693],[-0.023036,-0.392040,0.919660]]
2025-10-26T20:07:35.348Z,1761509255.348 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:35.349Z,1761509255.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562336
2025-10-26T20:07:35.600Z,1761509255.600 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:35.600Z,1761509255.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814048
2025-10-26T20:07:35.682Z,1761509255.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998789,-0.049045,0.003850],[0.043573,0.918248,0.393602],[-0.022839,-0.392958,0.919273]]
2025-10-26T20:07:35.852Z,1761509255.852 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:35.852Z,1761509255.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066030
2025-10-26T20:07:36.084Z,1761509256.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999494,-0.029088,0.012867],[0.021693,0.919260,0.393052],[-0.023261,-0.392574,0.919426]]
2025-10-26T20:07:36.104Z,1761509256.104 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:36.105Z,1761509256.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318247
2025-10-26T20:07:36.356Z,1761509256.356 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:36.356Z,1761509256.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570051
2025-10-26T20:07:36.486Z,1761509256.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999709,-0.008874,0.022439],[-0.000565,0.921053,0.389436],[-0.024124,-0.389335,0.920780]]
2025-10-26T20:07:36.609Z,1761509256.609 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:36.609Z,1761509256.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822702
2025-10-26T20:07:36.864Z,1761509256.864 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:36.864Z,1761509256.864 [DAT](INFO): Reached modem response timeout
2025-10-26T20:07:36.890Z,1761509256.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999427,0.010776,0.032097],[-0.022319,0.922552,0.385226],[-0.025460,-0.385722,0.922264]]
2025-10-26T20:07:37.116Z,1761509257.116 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:37.303Z,1761509257.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998698,0.029726,0.041467],[-0.043286,0.923878,0.380232],[-0.027007,-0.381532,0.923961]]
2025-10-26T20:07:37.375Z,1761509257.375 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:37.620Z,1761509257.620 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:37.707Z,1761509257.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997611,0.047712,0.049961],[-0.063005,0.924994,0.374721],[-0.028335,-0.376974,0.925790]]
2025-10-26T20:07:37.872Z,1761509257.872 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:38.102Z,1761509258.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996304,0.063943,0.057353],[-0.080694,0.925600,0.369801],[-0.029440,-0.373062,0.927339]]
2025-10-26T20:07:38.125Z,1761509258.125 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:38.376Z,1761509258.376 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:38.506Z,1761509258.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994882,0.078821,0.063222],[-0.096524,0.926403,0.363950],[-0.029882,-0.368190,0.929270]]
2025-10-26T20:07:38.628Z,1761509258.628 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:38.880Z,1761509258.880 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:07:38.910Z,1761509258.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993456,0.091934,0.067772],[-0.110299,0.926281,0.360329],[-0.029649,-0.365446,0.930360]]
2025-10-26T20:07:39.133Z,1761509259.133 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:07:39.133Z,1761509259.133 [DAT](INFO): response not received
2025-10-26T20:07:39.133Z,1761509259.133 [DAT](INFO): DAT read: user:82>

2025-10-26T20:07:39.134Z,1761509259.134 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:07:39.134Z,1761509259.134 [DAT](INFO): set remote address to 6
2025-10-26T20:07:39.135Z,1761509259.135 [DAT](INFO): entering online mode
2025-10-26T20:07:39.319Z,1761509259.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992001,0.104011,0.071529],[-0.122929,0.924767,0.360130],[-0.028690,-0.366043,0.930156]]
2025-10-26T20:07:39.384Z,1761509259.384 [DAT](INFO): DAT read: user:83>

2025-10-26T20:07:39.385Z,1761509259.385 [DAT](INFO): DAT read: 

2025-10-26T20:07:39.386Z,1761509259.386 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:07:39.386Z,1761509259.386 [DAT](INFO): commRate: 600
2025-10-26T20:07:39.386Z,1761509259.386 [DAT](INFO): online mode acknowledged
2025-10-26T20:07:39.387Z,1761509259.387 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:07:39.729Z,1761509259.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990448,0.115993,0.074548],[-0.135239,0.922601,0.361273],[-0.026873,-0.367904,0.929475]]
2025-10-26T20:07:40.122Z,1761509260.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988671,0.128148,0.078156],[-0.148049,0.918328,0.367090],[-0.024731,-0.374503,0.926896]]
2025-10-26T20:07:40.526Z,1761509260.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986674,0.140601,0.081887],[-0.161199,0.913095,0.374530],[-0.022111,-0.382739,0.923592]]
2025-10-26T20:07:40.931Z,1761509260.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984379,0.153321,0.086549],[-0.174969,0.906608,0.383989],[-0.019592,-0.393134,0.919272]]
2025-10-26T20:07:41.337Z,1761509261.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981773,0.166156,0.092267],[-0.189236,0.899647,0.393479],[-0.017628,-0.403768,0.914692]]
2025-10-26T20:07:41.739Z,1761509261.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978877,0.178802,0.099140],[-0.203783,0.892378,0.402659],[-0.016475,-0.414357,0.909965]]
2025-10-26T20:07:42.143Z,1761509262.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975853,0.190707,0.106498],[-0.217814,0.886140,0.409039],[-0.016366,-0.422359,0.906281]]
2025-10-26T20:07:42.548Z,1761509262.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972756,0.201927,0.113891],[-0.231172,0.881884,0.410901],[-0.017467,-0.426035,0.904538]]
2025-10-26T20:07:42.661Z,1761509262.661 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:07:41.8623

2025-10-26T20:07:42.662Z,1761509262.662 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:07:42.950Z,1761509262.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969644,0.212390,0.121163],[-0.243719,0.879558,0.408632],[-0.019780,-0.425757,0.904621]]
2025-10-26T20:07:43.008Z,1761509263.008 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:07:43.008Z,1761509263.008 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:07:43.008Z,1761509263.008 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:07:43.008Z,1761509263.008 [marl:UpdateRudder:A] Stopped
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode] Stopped
2025-10-26T20:07:43.009Z,1761509263.009 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:07:43.355Z,1761509263.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966429,0.222852,0.127875],[-0.255933,0.878851,0.402640],[-0.022654,-0.421850,0.906382]]
2025-10-26T20:07:43.384Z,1761509263.384 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:07:43.384Z,1761509263.384 [marl:UpdateRudder:B] Stopped
2025-10-26T20:07:43.384Z,1761509263.384 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:07:43.384Z,1761509263.384 [marl:UpdateRudder] Stopped
2025-10-26T20:07:43.384Z,1761509263.384 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:07:43.759Z,1761509263.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962943,0.233879,0.134319],[-0.268470,0.878810,0.394483],[-0.025779,-0.415925,0.909033]]
2025-10-26T20:07:44.162Z,1761509264.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958746,0.247169,0.140403],[-0.282838,0.878846,0.384230],[-0.028423,-0.408090,0.912499]]
2025-10-26T20:07:44.566Z,1761509264.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953438,0.263668,0.146410],[-0.300078,0.877924,0.373098],[-0.030163,-0.399660,0.916167]]
2025-10-26T20:07:44.617Z,1761509264.617 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:07:44.617Z,1761509264.617 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:07:44.617Z,1761509264.617 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:07:44.617Z,1761509264.617 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:07:44.617Z,1761509264.617 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:07:44.617Z,1761509264.617 [marl:UpdateSpeed] Stopped
2025-10-26T20:07:44.618Z,1761509264.618 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:07:44.971Z,1761509264.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947192,0.282317,0.152068],[-0.319160,0.875918,0.361807],[-0.031055,-0.391234,0.919767]]
2025-10-26T20:07:45.384Z,1761509265.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940326,0.301468,0.157807],[-0.338787,0.872754,0.351459],[-0.031773,-0.383949,0.922807]]
2025-10-26T20:07:45.789Z,1761509265.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926273,0.336987,0.168698],[-0.375372,0.864689,0.333781],[-0.033391,-0.372496,0.927433]]
2025-10-26T20:07:46.593Z,1761509266.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912212,0.368650,0.178793],[-0.408236,0.854899,0.320143],[-0.034830,-0.365028,0.930345]]
2025-10-26T20:07:46.997Z,1761509266.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905334,0.382655,0.184242],[-0.423230,0.848943,0.316499],[-0.035301,-0.364514,0.930528]]
2025-10-26T20:07:47.398Z,1761509267.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898587,0.395675,0.189690],[-0.437360,0.842565,0.314324],[-0.035456,-0.365411,0.930171]]
2025-10-26T20:07:47.801Z,1761509267.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892051,0.407398,0.195632],[-0.450539,0.835651,0.314169],[-0.035488,-0.368395,0.928992]]
2025-10-26T20:07:48.205Z,1761509268.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885886,0.418240,0.200701],[-0.462567,0.829195,0.313795],[-0.035179,-0.370825,0.928036]]
2025-10-26T20:07:48.606Z,1761509268.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879918,0.428231,0.205823],[-0.473843,0.822746,0.313947],[-0.034898,-0.373775,0.926863]]
2025-10-26T20:07:49.010Z,1761509269.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873967,0.437327,0.211960],[-0.484759,0.815441,0.316329],[-0.034502,-0.379211,0.924667]]
2025-10-26T20:07:49.414Z,1761509269.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867760,0.446297,0.218659],[-0.495811,0.807626,0.319235],[-0.034121,-0.385433,0.922105]]
2025-10-26T20:07:49.820Z,1761509269.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860434,0.456781,0.225842],[-0.508430,0.799118,0.320794],[-0.033942,-0.390847,0.919830]]
2025-10-26T20:07:50.223Z,1761509270.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852251,0.468347,0.233065],[-0.522004,0.790609,0.320077],[-0.034356,-0.394447,0.918276]]
2025-10-26T20:07:50.626Z,1761509270.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842609,0.481491,0.241199],[-0.537377,0.781008,0.318202],[-0.035167,-0.397735,0.916826]]
2025-10-26T20:07:50.764Z,1761509270.764 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:07:50.765Z,1761509270.765 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:07:51.030Z,1761509271.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831740,0.495992,0.249402],[-0.553960,0.771063,0.313991],[-0.036568,-0.399318,0.916083]]
2025-10-26T20:07:51.440Z,1761509271.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820065,0.511655,0.256326],[-0.570965,0.761770,0.306113],[-0.038637,-0.397386,0.916838]]
2025-10-26T20:07:51.838Z,1761509271.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808108,0.527498,0.262122],[-0.587630,0.752675,0.296937],[-0.040659,-0.393987,0.918216]]
2025-10-26T20:07:52.250Z,1761509272.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795674,0.544758,0.264844],[-0.604272,0.744139,0.284802],[-0.041932,-0.386647,0.921274]]
2025-10-26T20:07:52.646Z,1761509272.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783677,0.561331,0.266003],[-0.619730,0.735673,0.273349],[-0.042252,-0.379067,0.924404]]
2025-10-26T20:07:52.745Z,1761509272.745 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:07:52.996Z,1761509272.996 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:07:53.054Z,1761509273.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773249,0.575847,0.265491],[-0.632701,0.728481,0.262689],[-0.042136,-0.371100,0.927636]]
2025-10-26T20:07:53.248Z,1761509273.248 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:07:53.454Z,1761509273.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764818,0.587194,0.265060],[-0.642892,0.722287,0.254933],[-0.041755,-0.365382,0.929921]]
2025-10-26T20:07:53.858Z,1761509273.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756739,0.597083,0.266154],[-0.652448,0.715193,0.250620],[-0.040711,-0.363306,0.930780]]
2025-10-26T20:07:54.268Z,1761509274.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749032,0.605294,0.269388],[-0.661379,0.707120,0.250119],[-0.039094,-0.365515,0.929984]]
2025-10-26T20:07:54.666Z,1761509274.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741422,0.612413,0.274306],[-0.670017,0.698162,0.252283],[-0.037009,-0.370838,0.927960]]
2025-10-26T20:07:55.070Z,1761509275.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733375,0.618185,0.282858],[-0.678914,0.687513,0.257685],[-0.035171,-0.381016,0.923899]]
2025-10-26T20:07:55.480Z,1761509275.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724866,0.623402,0.293154],[-0.688041,0.676266,0.263180],[-0.034183,-0.392472,0.919128]]
2025-10-26T20:07:55.880Z,1761509275.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715933,0.628377,0.304274],[-0.697328,0.664982,0.267456],[-0.034274,-0.403659,0.914267]]
2025-10-26T20:07:56.283Z,1761509276.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707720,0.632045,0.315678],[-0.705554,0.655330,0.269697],[-0.036413,-0.413597,0.909732]]
2025-10-26T20:07:56.316Z,1761509276.316 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateRudder:A] Stopped
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:07:56.317Z,1761509276.317 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:07:56.318Z,1761509276.318 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:07:56.318Z,1761509276.318 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:07:56.318Z,1761509276.318 [marl:UpdateCommandMode] Stopped
2025-10-26T20:07:56.318Z,1761509276.318 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:07:56.319Z,1761509276.319 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:07:56.529Z,1761509276.529 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:07:55.7122

2025-10-26T20:07:56.529Z,1761509276.529 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:07:56.529Z,1761509276.529 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:56.616Z,1761509276.616 [DAT](INFO): entering command mode
2025-10-26T20:07:56.688Z,1761509276.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698883,0.637202,0.324864],[-0.714148,0.646725,0.267842],[-0.039428,-0.419191,0.907042]]
2025-10-26T20:07:56.782Z,1761509276.782 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:56.783Z,1761509276.783 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:56.827Z,1761509276.827 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:07:56.828Z,1761509276.828 [marl:UpdateRudder:B] Stopped
2025-10-26T20:07:56.828Z,1761509276.828 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:07:56.828Z,1761509276.828 [marl:UpdateRudder] Stopped
2025-10-26T20:07:56.828Z,1761509276.828 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:07:57.033Z,1761509277.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:57.033Z,1761509277.033 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:57.090Z,1761509277.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687305,0.645782,0.332532],[-0.725178,0.636261,0.263230],[-0.041588,-0.422064,0.905612]]
2025-10-26T20:07:57.284Z,1761509277.284 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:57.284Z,1761509277.284 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:57.494Z,1761509277.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673475,0.657518,0.337789],[-0.737971,0.624492,0.255751],[-0.042786,-0.421521,0.905809]]
2025-10-26T20:07:57.536Z,1761509277.536 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:57.536Z,1761509277.536 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:57.788Z,1761509277.788 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:57.788Z,1761509277.788 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:57.898Z,1761509277.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658334,0.670991,0.341126],[-0.751473,0.612008,0.246444],[-0.043410,-0.418589,0.907138]]
2025-10-26T20:07:57.928Z,1761509277.928 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:07:57.928Z,1761509277.928 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:07:57.928Z,1761509277.928 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:07:57.928Z,1761509277.928 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:07:57.928Z,1761509277.928 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:07:57.929Z,1761509277.929 [marl:UpdateSpeed] Stopped
2025-10-26T20:07:57.929Z,1761509277.929 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:07:58.040Z,1761509278.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:58.040Z,1761509278.040 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:58.292Z,1761509278.292 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:58.292Z,1761509278.292 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:58.307Z,1761509278.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643321,0.685483,0.340956],[-0.764375,0.600234,0.235478],[-0.043237,-0.412106,0.910109]]
2025-10-26T20:07:58.545Z,1761509278.545 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:58.545Z,1761509278.545 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:58.712Z,1761509278.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628174,0.699873,0.339963],[-0.776912,0.588054,0.224947],[-0.042483,-0.405427,0.913140]]
2025-10-26T20:07:58.798Z,1761509278.798 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:58.799Z,1761509278.799 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:59.048Z,1761509279.048 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:59.048Z,1761509279.048 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:59.110Z,1761509279.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613491,0.713530,0.338385],[-0.788643,0.575750,0.215761],[-0.040873,-0.399233,0.915938]]
2025-10-26T20:07:59.300Z,1761509279.300 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:59.300Z,1761509279.300 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:59.520Z,1761509279.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599753,0.725995,0.336492],[-0.799267,0.563653,0.208486],[-0.038305,-0.393987,0.918317]]
2025-10-26T20:07:59.552Z,1761509279.552 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:59.552Z,1761509279.552 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:07:59.805Z,1761509279.805 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:07:59.0621

2025-10-26T20:07:59.805Z,1761509279.805 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T20:07:59.805Z,1761509279.805 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:07:59.860Z,1761509279.860 [DAT](INFO): entering command mode
2025-10-26T20:07:59.923Z,1761509279.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586939,0.737417,0.334242],[-0.808884,0.551827,0.202965],[-0.034774,-0.389491,0.920374]]
2025-10-26T20:08:00.056Z,1761509280.056 [DAT](INFO): DAT read: 

2025-10-26T20:08:00.057Z,1761509280.057 [DAT](INFO): DAT read: user:84>

2025-10-26T20:08:00.057Z,1761509280.057 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:00.058Z,1761509280.058 [DAT](INFO): setting remote address to 0
2025-10-26T20:08:00.308Z,1761509280.308 [DAT](INFO): DAT read: user:84>

2025-10-26T20:08:00.309Z,1761509280.309 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:08:00.309Z,1761509280.309 [DAT](INFO): set remote address to 0
2025-10-26T20:08:00.310Z,1761509280.310 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:00.310Z,1761509280.310 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:08:00.327Z,1761509280.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574437,0.747090,0.334482],[-0.817973,0.539243,0.200341],[-0.030694,-0.388681,0.920861]]
2025-10-26T20:08:00.560Z,1761509280.560 [DAT](INFO): DAT read: user:85>

2025-10-26T20:08:00.561Z,1761509280.561 [DAT](INFO): DAT read: Tx time:20:07:59.7132

2025-10-26T20:08:00.561Z,1761509280.561 [DAT](INFO): Ping request sent.
2025-10-26T20:08:00.561Z,1761509280.561 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:08:00.562Z,1761509280.562 [DAT](INFO): publishing transmit ping time
2025-10-26T20:08:00.562Z,1761509280.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000981
2025-10-26T20:08:00.741Z,1761509280.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562669,0.755454,0.335697],[-0.826247,0.527088,0.198730],[-0.026810,-0.389187,0.920768]]
2025-10-26T20:08:00.816Z,1761509280.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253597
2025-10-26T20:08:01.064Z,1761509281.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502993
2025-10-26T20:08:01.157Z,1761509281.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550291,0.763208,0.338663],[-0.834660,0.513899,0.198114],[-0.022837,-0.391689,0.919814]]
2025-10-26T20:08:01.317Z,1761509281.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755396
2025-10-26T20:08:01.544Z,1761509281.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537056,0.771232,0.341719],[-0.843326,0.500154,0.196589],[-0.019296,-0.393759,0.919011]]
2025-10-26T20:08:01.569Z,1761509281.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007112
2025-10-26T20:08:01.820Z,1761509281.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259057
2025-10-26T20:08:01.942Z,1761509281.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523046,0.779402,0.344899],[-0.852150,0.485922,0.194217],[-0.016221,-0.395490,0.918327]]
2025-10-26T20:08:02.073Z,1761509282.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511595
2025-10-26T20:08:02.325Z,1761509282.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763129
2025-10-26T20:08:02.346Z,1761509282.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508107,0.787720,0.348318],[-0.861189,0.470945,0.191215],[-0.013415,-0.397125,0.917666]]
2025-10-26T20:08:02.577Z,1761509282.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015372
2025-10-26T20:08:02.778Z,1761509282.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492435,0.797059,0.349578],[-0.870284,0.455857,0.186549],[-0.010667,-0.396096,0.918147]]
2025-10-26T20:08:02.828Z,1761509282.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267035
2025-10-26T20:08:03.080Z,1761509283.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975
2025-10-26T20:08:03.156Z,1761509283.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476576,0.806273,0.350428],[-0.879096,0.440745,0.181478],[-0.008128,-0.394548,0.918839]]
2025-10-26T20:08:03.216Z,1761509283.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:08:03.332Z,1761509283.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771033
2025-10-26T20:08:03.558Z,1761509283.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460244,0.815606,0.350659],[-0.887775,0.425249,0.176119],[-0.005474,-0.392364,0.919794]]
2025-10-26T20:08:03.584Z,1761509283.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023056
2025-10-26T20:08:03.836Z,1761509283.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274931
2025-10-26T20:08:03.962Z,1761509283.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444183,0.825053,0.349270],[-0.895931,0.410340,0.170084],[-0.002991,-0.388470,0.921456]]
2025-10-26T20:08:04.090Z,1761509284.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528158
2025-10-26T20:08:04.220Z,1761509284.220 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:08:04.340Z,1761509284.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778959
2025-10-26T20:08:04.366Z,1761509284.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428041,0.834006,0.348161],[-0.903759,0.395253,0.164298],[-0.000586,-0.384980,0.922925]]
2025-10-26T20:08:04.592Z,1761509284.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030969
2025-10-26T20:08:04.825Z,1761509284.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412458,0.842280,0.347049],[-0.910975,0.380682,0.158762],[0.001607,-0.381636,0.924311]]
2025-10-26T20:08:04.844Z,1761509284.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283075
2025-10-26T20:08:05.096Z,1761509285.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534936
2025-10-26T20:08:05.174Z,1761509285.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397039,0.849581,0.347234],[-0.917794,0.365994,0.153955],[0.003712,-0.379815,0.925055]]
2025-10-26T20:08:05.351Z,1761509285.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789187
2025-10-26T20:08:05.578Z,1761509285.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381887,0.856173,0.348037],[-0.924192,0.351490,0.149411],[0.005590,-0.378711,0.925498]]
2025-10-26T20:08:05.600Z,1761509285.600 [DAT](INFO): DAT read: Rx Time:20:08:04.1555

2025-10-26T20:08:05.601Z,1761509285.601 [DAT](INFO): Rx dataTimestamp_ set to:1761509285.600584
2025-10-26T20:08:05.601Z,1761509285.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040069
2025-10-26T20:08:05.852Z,1761509285.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290983
2025-10-26T20:08:05.983Z,1761509285.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366618,0.861875,0.350376],[-0.930342,0.336592,0.145500],[0.007469,-0.379313,0.925238]]
2025-10-26T20:08:06.110Z,1761509286.110 [DAT](INFO): DAT read: 20:08:04.1555 LVL= 24048, 25489, 30290, 32339, AGC= 75, IDX= 340,-0.36, 3.101, 1.878, 1.219, 3.041, PHS= 0.162,-1.118,-1.866, RAW=  68.6,  29.3, CAL=  64.2,  36.5, ROT=  85.8, -36.5

2025-10-26T20:08:06.111Z,1761509286.111 [DAT](INFO): got valid direction response:
 20:08:04.1555 LVL= 24048, 25489, 30290, 32339, AGC= 75, IDX= 340,-0.36, 3.101, 1.878, 1.219, 3.041, PHS= 0.162,-1.118,-1.866, RAW=  68.6,  29.3, CAL=  64.2,  36.5, ROT=  85.8, -36.5

2025-10-26T20:08:06.112Z,1761509286.112 [DAT](INFO): DAT read: Bearing 358, -14 (Remote)

2025-10-26T20:08:06.113Z,1761509286.113 [DAT](INFO): Remote Bearing received:Bearing 358, -14 (Remote)

2025-10-26T20:08:06.113Z,1761509286.113 [DAT](INFO): DAT read: Bearing 161.5,  29.8 (Local)

2025-10-26T20:08:06.114Z,1761509286.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.5,  29.8 (Local)

2025-10-26T20:08:06.115Z,1761509286.115 [DAT](INFO): DAT read: Range 11 to 20 : 1809.8 m  (Round-trip  2413.1 ms) speed -0.1 m/s

2025-10-26T20:08:06.116Z,1761509286.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:08:06.117Z,1761509286.117 [DAT](INFO): direction in FSK: [0.058873,0.801698,0.594823]
2025-10-26T20:08:06.117Z,1761509286.117 [DAT](INFO): publishing direction and range info
2025-10-26T20:08:06.386Z,1761509286.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351419,0.867314,0.352522],[-0.936174,0.321868,0.141349],[0.009128,-0.379694,0.925067]]
2025-10-26T20:08:06.440Z,1761509286.440 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509248.00. Resetting abort timer.
2025-10-26T20:08:06.609Z,1761509286.609 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:08:06.609Z,1761509286.609 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:08:06.834Z,1761509286.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336529,0.871898,0.355727],[-0.941611,0.307244,0.137730],[0.010791,-0.381306,0.924386]]
2025-10-26T20:08:06.861Z,1761509286.861 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:08:07.112Z,1761509287.112 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:08:07.203Z,1761509287.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322180,0.875746,0.359540],[-0.946598,0.293073,0.134386],[0.012316,-0.383637,0.923402]]
2025-10-26T20:08:07.364Z,1761509287.364 [DAT](INFO): setting remote address to 6
2025-10-26T20:08:07.598Z,1761509287.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307902,0.878781,0.364611],[-0.951316,0.278744,0.131529],[0.013952,-0.387358,0.921824]]
2025-10-26T20:08:07.617Z,1761509287.617 [DAT](INFO): DAT read: user:86>

2025-10-26T20:08:07.617Z,1761509287.617 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:08:07.618Z,1761509287.618 [DAT](INFO): set remote address to 6
2025-10-26T20:08:07.618Z,1761509287.618 [DAT](INFO): entering online mode
2025-10-26T20:08:07.868Z,1761509287.868 [DAT](INFO): DAT read: user:87>

2025-10-26T20:08:07.869Z,1761509287.869 [DAT](INFO): DAT read: 

2025-10-26T20:08:07.870Z,1761509287.870 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:08:07.870Z,1761509287.870 [DAT](INFO): commRate: 600
2025-10-26T20:08:07.870Z,1761509287.870 [DAT](INFO): online mode acknowledged
2025-10-26T20:08:07.871Z,1761509287.871 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:08:08.002Z,1761509288.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294205,0.880876,0.370812],[-0.955615,0.264781,0.129197],[0.015623,-0.392364,0.919677]]
2025-10-26T20:08:08.407Z,1761509288.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282396,0.882147,0.376921],[-0.959142,0.252570,0.127491],[0.017267,-0.397523,0.917430]]
2025-10-26T20:08:08.831Z,1761509288.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271451,0.883214,0.382423],[-0.962265,0.241226,0.125917],[0.018961,-0.402173,0.915367]]
2025-10-26T20:08:09.218Z,1761509289.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260772,0.884320,0.387266],[-0.965184,0.230320,0.123987],[0.020449,-0.406116,0.913593]]
2025-10-26T20:08:09.618Z,1761509289.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250175,0.885363,0.391849],[-0.967951,0.219530,0.121971],[0.021966,-0.409805,0.911909]]
2025-10-26T20:08:09.643Z,1761509289.643 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:08:09.643Z,1761509289.643 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:08:09.643Z,1761509289.643 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateRudder:A] Stopped
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode] Stopped
2025-10-26T20:08:09.660Z,1761509289.660 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:08:10.024Z,1761509290.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239920,0.886939,0.394686],[-0.970512,0.209364,0.119467],[0.023326,-0.411710,0.911016]]
2025-10-26T20:08:10.051Z,1761509290.051 [marl:UpdateRudder:B](INFO): Updating rudder angle  6.875493 arcdeg 
2025-10-26T20:08:10.052Z,1761509290.052 [marl:UpdateRudder:B] Stopped
2025-10-26T20:08:10.052Z,1761509290.052 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:08:10.052Z,1761509290.052 [marl:UpdateRudder] Stopped
2025-10-26T20:08:10.052Z,1761509290.052 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:08:10.426Z,1761509290.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228799,0.889121,0.396377],[-0.973162,0.198606,0.116238],[0.024627,-0.412334,0.910700]]
2025-10-26T20:08:10.832Z,1761509290.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216690,0.892217,0.396225],[-0.975893,0.187133,0.112317],[0.026064,-0.411011,0.911258]]
2025-10-26T20:08:11.145Z,1761509291.145 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:08:10.3621

2025-10-26T20:08:11.145Z,1761509291.145 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:08:11.234Z,1761509291.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203140,0.895821,0.395271],[-0.978765,0.174464,0.107618],[0.027446,-0.408739,0.912239]]
2025-10-26T20:08:11.286Z,1761509291.286 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:08:11.286Z,1761509291.286 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:08:11.286Z,1761509291.286 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:08:11.287Z,1761509291.287 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:08:11.287Z,1761509291.287 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:08:11.287Z,1761509291.287 [marl:UpdateSpeed] Stopped
2025-10-26T20:08:11.287Z,1761509291.287 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:08:11.640Z,1761509291.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188086,0.900530,0.392008],[-0.981733,0.160716,0.101837],[0.028706,-0.404001,0.914308]]
2025-10-26T20:08:12.043Z,1761509292.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171400,0.905316,0.388620],[-0.984751,0.145503,0.095364],[0.029789,-0.399039,0.916450]]
2025-10-26T20:08:12.446Z,1761509292.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154267,0.910070,0.384673],[-0.987550,0.129906,0.088706],[0.030757,-0.393568,0.918781]]
2025-10-26T20:08:12.850Z,1761509292.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135955,0.914634,0.380737],[-0.990189,0.112932,0.082288],[0.032266,-0.388189,0.921015]]
2025-10-26T20:08:13.257Z,1761509293.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117712,0.918079,0.378518],[-0.992483,0.095909,0.076019],[0.033488,-0.384621,0.922467]]
2025-10-26T20:08:13.658Z,1761509293.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099972,0.921564,0.375133],[-0.994388,0.079422,0.069892],[0.034616,-0.380015,0.924332]]
2025-10-26T20:08:14.062Z,1761509294.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083630,0.924237,0.372547],[-0.995872,0.064284,0.064076],[0.035272,-0.376368,0.925799]]
2025-10-26T20:08:14.466Z,1761509294.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067884,0.926159,0.370973],[-0.997052,0.049645,0.058508],[0.035770,-0.373851,0.926799]]
2025-10-26T20:08:14.871Z,1761509294.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052232,0.927498,0.370161],[-0.997984,0.035094,0.052889],[0.036064,-0.372177,0.927461]]
2025-10-26T20:08:15.274Z,1761509295.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035985,0.927969,0.370915],[-0.998688,0.019867,0.047187],[0.036419,-0.372126,0.927467]]
2025-10-26T20:08:15.686Z,1761509295.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019143,0.928129,0.371766],[-0.999153,0.004210,0.040936],[0.036429,-0.372234,0.927424]]
2025-10-26T20:08:16.082Z,1761509296.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000604,0.927881,0.372875],[-0.999349,-0.012894,0.033703],[0.036080,-0.372653,0.927269]]
2025-10-26T20:08:16.488Z,1761509296.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019413,0.927009,0.374536],[-0.999173,-0.031376,0.025869],[0.035732,-0.373724,0.926852]]
2025-10-26T20:08:16.890Z,1761509296.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040612,0.926442,0.374239],[-0.998563,-0.050735,0.017234],[0.034953,-0.373002,0.927172]]
2025-10-26T20:08:17.294Z,1761509297.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062555,0.925221,0.374236],[-0.997456,-0.070796,0.008301],[0.034174,-0.372765,0.927296]]
2025-10-26T20:08:17.701Z,1761509297.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085201,0.923958,0.372884],[-0.995785,-0.091716,-0.000269],[0.033951,-0.371336,0.927878]]
2025-10-26T20:08:18.103Z,1761509298.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108460,0.921707,0.372414],[-0.993497,-0.113561,-0.008282],[0.034658,-0.370890,0.928030]]
2025-10-26T20:08:18.506Z,1761509298.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132096,0.918851,0.371839],[-0.990548,-0.136345,-0.014971],[0.036942,-0.370302,0.928177]]
2025-10-26T20:08:18.910Z,1761509298.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154273,0.914414,0.374228],[-0.987219,-0.157985,-0.020943],[0.039972,-0.372676,0.927100]]
2025-10-26T20:08:19.314Z,1761509299.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173495,0.909799,0.377049],[-0.983900,-0.176798,-0.026128],[0.042890,-0.375512,0.925825]]
2025-10-26T20:08:19.729Z,1761509299.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189980,0.904311,0.382269],[-0.980721,-0.192946,-0.030958],[0.045761,-0.380781,0.923532]]
2025-10-26T20:08:20.122Z,1761509300.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204557,0.898583,0.388208],[-0.977651,-0.207213,-0.035515],[0.048529,-0.386797,0.920887]]
2025-10-26T20:08:20.526Z,1761509300.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218257,0.892610,0.394476],[-0.974551,-0.220535,-0.040183],[0.051128,-0.393207,0.918027]]
2025-10-26T20:08:20.930Z,1761509300.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231465,0.886688,0.400260],[-0.971391,-0.233122,-0.045313],[0.053131,-0.399298,0.915281]]
2025-10-26T20:08:21.233Z,1761509301.233 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:08:21.335Z,1761509301.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243566,0.880659,0.406343],[-0.968352,-0.244351,-0.050864],[0.054496,-0.405872,0.912304]]
2025-10-26T20:08:21.484Z,1761509301.484 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:08:21.736Z,1761509301.736 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:08:21.754Z,1761509301.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254876,0.875694,0.410120],[-0.965433,-0.254381,-0.056827],[0.054563,-0.410427,0.910259]]
2025-10-26T20:08:22.147Z,1761509302.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264759,0.871892,0.411956],[-0.962838,-0.262651,-0.062912],[0.053348,-0.413303,0.909030]]
2025-10-26T20:08:22.546Z,1761509302.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273108,0.869603,0.411343],[-0.960614,-0.269335,-0.068401],[0.051307,-0.413823,0.908911]]
2025-10-26T20:08:22.952Z,1761509302.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281352,0.868150,0.408848],[-0.958357,-0.275923,-0.073606],[0.048909,-0.412532,0.909629]]
2025-10-26T20:08:22.994Z,1761509302.994 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:08:22.994Z,1761509302.994 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:08:22.994Z,1761509302.994 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:08:22.995Z,1761509302.995 [marl:UpdateRudder:A] Stopped
2025-10-26T20:08:22.995Z,1761509302.995 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:08:22.995Z,1761509302.995 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:08:23.019Z,1761509303.019 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:08:23.019Z,1761509303.019 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:08:23.020Z,1761509303.020 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:08:23.021Z,1761509303.021 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:08:23.021Z,1761509303.021 [marl:UpdateCommandMode] Stopped
2025-10-26T20:08:23.022Z,1761509303.022 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:08:23.354Z,1761509303.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290421,0.866800,0.405355],[-0.955771,-0.283328,-0.078911],[0.046449,-0.410344,0.910747]]
2025-10-26T20:08:23.398Z,1761509303.398 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:08:23.398Z,1761509303.398 [marl:UpdateRudder:B] Stopped
2025-10-26T20:08:23.398Z,1761509303.398 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:08:23.398Z,1761509303.398 [marl:UpdateRudder] Stopped
2025-10-26T20:08:23.398Z,1761509303.398 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:08:23.758Z,1761509303.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300802,0.865881,0.399709],[-0.952639,-0.292449,-0.083384],[0.044694,-0.405861,0.912841]]
2025-10-26T20:08:24.168Z,1761509304.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313948,0.865173,0.391040],[-0.948476,-0.304354,-0.088105],[0.042789,-0.398552,0.916147]]
2025-10-26T20:08:24.568Z,1761509304.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328424,0.863885,0.381890],[-0.943660,-0.317464,-0.093400],[0.040549,-0.391049,0.919476]]
2025-10-26T20:08:24.594Z,1761509304.594 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:08:24.594Z,1761509304.594 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:08:24.594Z,1761509304.594 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:08:24.594Z,1761509304.594 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:08:24.594Z,1761509304.594 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:08:24.594Z,1761509304.594 [marl:UpdateSpeed] Stopped
2025-10-26T20:08:24.595Z,1761509304.595 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:08:24.970Z,1761509304.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343940,0.862515,0.371179],[-0.938217,-0.331716,-0.098554],[0.038122,-0.382143,0.923317]]
2025-10-26T20:08:25.036Z,1761509305.036 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:08:24.2119

2025-10-26T20:08:25.036Z,1761509305.036 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:08:25.778Z,1761509305.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379059,0.856403,0.350555],[-0.924752,-0.364438,-0.109625],[0.033872,-0.365731,0.930104]]
2025-10-26T20:08:26.204Z,1761509306.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400656,0.848776,0.345042],[-0.915627,-0.384559,-0.117225],[0.033192,-0.362897,0.931238]]
2025-10-26T20:08:26.587Z,1761509306.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426436,0.835681,0.346105],[-0.903868,-0.408203,-0.128038],[0.034282,-0.367433,0.929418]]
2025-10-26T20:08:26.642Z,1761509306.642 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:08:26.793Z,1761509306.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:26.857Z,1761509306.857 [DAT](INFO): entering command mode
2025-10-26T20:08:26.991Z,1761509306.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454612,0.818769,0.350634],[-0.889923,-0.433875,-0.140676],[0.036950,-0.375991,0.925887]]
2025-10-26T20:08:27.040Z,1761509307.040 [DAT](INFO): DAT read: 

2025-10-26T20:08:27.041Z,1761509307.041 [DAT](INFO): DAT read: user:88>

2025-10-26T20:08:27.041Z,1761509307.041 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:27.041Z,1761509307.041 [DAT](INFO): setting remote address to 0
2025-10-26T20:08:27.292Z,1761509307.292 [DAT](INFO): DAT read: user:88>

2025-10-26T20:08:27.293Z,1761509307.293 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:08:27.294Z,1761509307.294 [DAT](INFO): set remote address to 0
2025-10-26T20:08:27.294Z,1761509307.294 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:27.294Z,1761509307.294 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:08:27.394Z,1761509307.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482501,0.800748,0.354960],[-0.874994,-0.459037,-0.153854],[0.039741,-0.384822,0.922135]]
2025-10-26T20:08:27.544Z,1761509307.544 [DAT](INFO): DAT read: user:89>

2025-10-26T20:08:27.545Z,1761509307.545 [DAT](INFO): DAT read: Tx time:20:08:26.6630

2025-10-26T20:08:27.545Z,1761509307.545 [DAT](INFO): Ping request sent.
2025-10-26T20:08:27.545Z,1761509307.545 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:08:27.546Z,1761509307.546 [DAT](INFO): publishing transmit ping time
2025-10-26T20:08:27.546Z,1761509307.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000990
2025-10-26T20:08:27.796Z,1761509307.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250850
2025-10-26T20:08:27.801Z,1761509307.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509275,0.781462,0.360494],[-0.859571,-0.482400,-0.168604],[0.042145,-0.395736,0.917397]]
2025-10-26T20:08:28.048Z,1761509308.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502974
2025-10-26T20:08:28.202Z,1761509308.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535003,0.761084,0.366773],[-0.843688,-0.504058,-0.184705],[0.044298,-0.408260,0.911790]]
2025-10-26T20:08:28.301Z,1761509308.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755191
2025-10-26T20:08:28.552Z,1761509308.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006908
2025-10-26T20:08:28.606Z,1761509308.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559974,0.740391,0.371820],[-0.827221,-0.524666,-0.201076],[0.046206,-0.420175,0.906266]]
2025-10-26T20:08:28.808Z,1761509308.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261938
2025-10-26T20:08:29.010Z,1761509309.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584116,0.719871,0.374958],[-0.810261,-0.544362,-0.217134],[0.047805,-0.430645,0.901254]]
2025-10-26T20:08:29.057Z,1761509309.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511068
2025-10-26T20:08:29.308Z,1761509309.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762966
2025-10-26T20:08:29.416Z,1761509309.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607022,0.700006,0.376188],[-0.793173,-0.562874,-0.232485],[0.049005,-0.439506,0.896902]]
2025-10-26T20:08:29.560Z,1761509309.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014845
2025-10-26T20:08:29.813Z,1761509309.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267051
2025-10-26T20:08:29.820Z,1761509309.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628706,0.681256,0.374992],[-0.776040,-0.580588,-0.246332],[0.049901,-0.445879,0.893701]]
2025-10-26T20:08:30.064Z,1761509310.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936
2025-10-26T20:08:30.226Z,1761509310.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649551,0.662717,0.372681],[-0.758618,-0.597668,-0.259408],[0.050825,-0.451221,0.890964]]
2025-10-26T20:08:30.316Z,1761509310.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771027
2025-10-26T20:08:30.568Z,1761509310.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022937
2025-10-26T20:08:30.643Z,1761509310.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690401,0.629323,0.356790],[-0.721432,-0.635539,-0.275002],[0.053689,-0.447261,0.892791]]
2025-10-26T20:08:30.821Z,1761509310.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275404
2025-10-26T20:08:31.073Z,1761509311.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527517
2025-10-26T20:08:31.086Z,1761509311.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711041,0.612653,0.345075],[-0.700957,-0.656325,-0.279099],[0.055490,-0.440334,0.896118]]
2025-10-26T20:08:31.325Z,1761509311.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779044
2025-10-26T20:08:31.477Z,1761509311.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731495,0.595084,0.332853],[-0.679435,-0.677184,-0.282472],[0.057308,-0.432778,0.899677]]
2025-10-26T20:08:31.576Z,1761509311.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030910
2025-10-26T20:08:31.828Z,1761509311.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282913
2025-10-26T20:08:31.898Z,1761509311.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752714,0.575911,0.318979],[-0.655703,-0.699204,-0.284899],[0.058955,-0.423603,0.903928]]
2025-10-26T20:08:32.081Z,1761509312.081 [DAT](INFO): DAT read: Rx Time:20:08:30.6871

2025-10-26T20:08:32.081Z,1761509312.081 [DAT](INFO): Rx dataTimestamp_ set to:1761509312.080755
2025-10-26T20:08:32.082Z,1761509312.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536167
2025-10-26T20:08:32.299Z,1761509312.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773640,0.555325,0.305114],[-0.630761,-0.720704,-0.287621],[0.060173,-0.414969,0.907843]]
2025-10-26T20:08:32.333Z,1761509312.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787514
2025-10-26T20:08:32.590Z,1761509312.590 [DAT](INFO): DAT read: 20:08:30.6871 LVL= 23968, 26401, 26674, 32755, AGC= 87, IDX= 152,-0.04,-1.973,-0.451,-2.269,-1.235, PHS=-0.636, 0.829,-1.078, RAW= 342.8,  10.3, CAL= 342.9,  11.6, ROT= 167.1, -11.6

2025-10-26T20:08:32.591Z,1761509312.591 [DAT](INFO): got valid direction response:
 20:08:30.6871 LVL= 23968, 26401, 26674, 32755, AGC= 87, IDX= 152,-0.04,-1.973,-0.451,-2.269,-1.235, PHS=-0.636, 0.829,-1.078, RAW= 342.8,  10.3, CAL= 342.9,  11.6, ROT= 167.1, -11.6

2025-10-26T20:08:32.592Z,1761509312.592 [DAT](INFO): DAT read: $Error in header

2025-10-26T20:08:32.592Z,1761509312.592 [DAT](INFO): Received a bad header
2025-10-26T20:08:32.604Z,1761509312.604 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T20:08:32.606Z,1761509312.606 [DAT](INFO): direction in FSK: [-0.954852,0.218690,0.201078]
2025-10-26T20:08:32.708Z,1761509312.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793962,0.533357,0.291812],[-0.604896,-0.741191,-0.291095],[0.061031,-0.407634,0.911104]]
2025-10-26T20:08:32.827Z,1761509312.827 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509376.00. Resetting abort timer.
2025-10-26T20:08:33.111Z,1761509313.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813567,0.510269,0.278809],[-0.578246,-0.760417,-0.295630],[0.061160,-0.401735,0.913711]]
2025-10-26T20:08:33.510Z,1761509313.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832034,0.485342,0.268631],[-0.551391,-0.776606,-0.304716],[0.060729,-0.401654,0.913776]]
2025-10-26T20:08:33.914Z,1761509313.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848581,0.460089,0.261206],[-0.525627,-0.789349,-0.317244],[0.060222,-0.406504,0.911662]]
2025-10-26T20:08:34.320Z,1761509314.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863553,0.435665,0.253913],[-0.500724,-0.800372,-0.329668],[0.059600,-0.411826,0.909311]]
2025-10-26T20:08:34.340Z,1761509314.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:08:34.729Z,1761509314.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876752,0.412881,0.246646],[-0.477371,-0.809466,-0.341879],[0.058496,-0.417485,0.906799]]
2025-10-26T20:08:35.104Z,1761509315.104 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:08:35.133Z,1761509315.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888313,0.391732,0.239679],[-0.455626,-0.817106,-0.353190],[0.057487,-0.422948,0.904329]]
2025-10-26T20:08:35.344Z,1761509315.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:08:35.356Z,1761509315.356 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:08:35.530Z,1761509315.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898867,0.372529,0.230780],[-0.434602,-0.825356,-0.360429],[0.056206,-0.424275,0.903787]]
2025-10-26T20:08:35.609Z,1761509315.609 [DAT](INFO): setting remote address to 6
2025-10-26T20:08:35.860Z,1761509315.860 [DAT](INFO): DAT read: 

2025-10-26T20:08:35.861Z,1761509315.861 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:08:35.861Z,1761509315.861 [DAT](INFO): set remote address to 6
2025-10-26T20:08:35.861Z,1761509315.861 [DAT](INFO): entering online mode
2025-10-26T20:08:35.935Z,1761509315.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908388,0.354287,0.222062],[-0.414562,-0.832341,-0.367895],[0.054491,-0.426250,0.902963]]
2025-10-26T20:08:36.113Z,1761509316.113 [DAT](INFO): DAT read: user:91>

2025-10-26T20:08:36.114Z,1761509316.114 [DAT](INFO): DAT read: 

2025-10-26T20:08:36.116Z,1761509316.116 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:08:36.116Z,1761509316.116 [DAT](INFO): commRate: 600
2025-10-26T20:08:36.116Z,1761509316.116 [DAT](INFO): online mode acknowledged
2025-10-26T20:08:36.117Z,1761509316.117 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:08:36.338Z,1761509316.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917398,0.337672,0.210614],[-0.394546,-0.840983,-0.370244],[0.052102,-0.422758,0.904744]]
2025-10-26T20:08:36.393Z,1761509316.393 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:08:36.393Z,1761509316.393 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:08:36.393Z,1761509316.393 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:08:36.393Z,1761509316.393 [marl:UpdateRudder:A] Stopped
2025-10-26T20:08:36.393Z,1761509316.393 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:08:36.393Z,1761509316.393 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:08:36.394Z,1761509316.394 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:08:36.394Z,1761509316.394 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:08:36.394Z,1761509316.394 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:08:36.394Z,1761509316.394 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:08:36.394Z,1761509316.394 [marl:UpdateCommandMode] Stopped
2025-10-26T20:08:36.394Z,1761509316.394 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:08:36.746Z,1761509316.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926193,0.320870,0.198011],[-0.373821,-0.850019,-0.371113],[0.049234,-0.417743,0.907230]]
2025-10-26T20:08:36.838Z,1761509316.838 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:08:36.838Z,1761509316.838 [marl:UpdateRudder:B] Stopped
2025-10-26T20:08:36.838Z,1761509316.838 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:08:36.838Z,1761509316.838 [marl:UpdateRudder] Stopped
2025-10-26T20:08:36.839Z,1761509316.839 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:08:37.148Z,1761509317.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935235,0.303340,0.182541],[-0.350950,-0.862212,-0.365274],[0.046587,-0.405680,0.912827]]
2025-10-26T20:08:37.550Z,1761509317.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944358,0.283283,0.167150],[-0.325984,-0.873811,-0.360816],[0.043844,-0.395228,0.917536]]
2025-10-26T20:08:37.588Z,1761509317.588 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:08:37.589Z,1761509317.589 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:08:37.589Z,1761509317.589 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:08:37.589Z,1761509317.589 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:08:37.589Z,1761509317.589 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:08:37.590Z,1761509317.590 [marl:UpdateSpeed] Stopped
2025-10-26T20:08:37.590Z,1761509317.590 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:08:37.624Z,1761509317.624 [DAT](INFO): Reached modem response timeout
2025-10-26T20:08:37.954Z,1761509317.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953677,0.260202,0.150979],[-0.298017,-0.885650,-0.356104],[0.041055,-0.384603,0.922169]]
2025-10-26T20:08:38.363Z,1761509318.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962643,0.234319,0.135698],[-0.268090,-0.895177,-0.356071],[0.038040,-0.379148,0.924554]]
2025-10-26T20:08:38.815Z,1761509318.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970885,0.206878,0.120766],[-0.236982,-0.903085,-0.358159],[0.034967,-0.376350,0.925817]]
2025-10-26T20:08:39.166Z,1761509319.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978266,0.177925,0.106480],[-0.204939,-0.907785,-0.365960],[0.031548,-0.379828,0.924519]]
2025-10-26T20:08:39.570Z,1761509319.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984455,0.149183,0.092698],[-0.173318,-0.910619,-0.375144],[0.028448,-0.385379,0.922320]]
2025-10-26T20:08:39.892Z,1761509319.892 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:08:39.893Z,1761509319.893 [DAT](INFO): response not received
2025-10-26T20:08:39.893Z,1761509319.893 [DAT](ERROR): No response from remote modem.
2025-10-26T20:08:39.975Z,1761509319.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989531,0.121060,0.078563],[-0.142102,-0.912349,-0.383960],[0.025194,-0.391105,0.920001]]
2025-10-26T20:08:40.379Z,1761509320.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993528,0.093566,0.064405],[-0.111406,-0.913286,-0.391788],[0.022163,-0.396427,0.917799]]
2025-10-26T20:08:40.821Z,1761509320.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996518,0.066337,0.050501],[-0.081053,-0.912723,-0.400460],[0.019527,-0.403159,0.914922]]
2025-10-26T20:08:41.198Z,1761509321.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998500,0.040321,0.037041],[-0.051983,-0.910546,-0.410126],[0.017191,-0.411436,0.911277]]
2025-10-26T20:08:41.602Z,1761509321.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999598,0.015064,0.024016],[-0.023671,-0.909656,-0.414688],[0.015600,-0.415089,0.909647]]
2025-10-26T20:08:41.994Z,1761509321.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999891,-0.010161,0.010683],[0.004746,-0.907850,-0.419269],[0.013958,-0.419173,0.907799]]
2025-10-26T20:08:42.398Z,1761509322.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999400,-0.034591,-0.002014],[0.032228,-0.906639,-0.420676],[0.012726,-0.420488,0.907209]]
2025-10-26T20:08:42.826Z,1761509322.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998066,-0.060269,-0.015249],[0.061109,-0.905992,-0.418860],[0.011429,-0.418982,0.907923]]
2025-10-26T20:08:42.917Z,1761509322.917 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:08:42.2118

2025-10-26T20:08:42.917Z,1761509322.917 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:08:43.208Z,1761509323.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995905,-0.085929,-0.028112],[0.089828,-0.905189,-0.415407],[0.010249,-0.416231,0.909201]]
2025-10-26T20:08:43.612Z,1761509323.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992746,-0.113002,-0.041048],[0.119878,-0.904385,-0.409532],[0.009154,-0.411482,0.911372]]
2025-10-26T20:08:44.014Z,1761509324.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988705,-0.139923,-0.053708],[0.149668,-0.902867,-0.403026],[0.007901,-0.406512,0.913611]]
2025-10-26T20:08:44.418Z,1761509324.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983557,-0.167611,-0.067243],[0.180492,-0.899647,-0.397565],[0.006141,-0.403164,0.915107]]
2025-10-26T20:08:44.832Z,1761509324.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977387,-0.195035,-0.081709],[0.211422,-0.894064,-0.394906],[0.003967,-0.403251,0.915081]]
2025-10-26T20:08:45.226Z,1761509325.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970440,-0.221417,-0.096022],[0.241337,-0.887861,-0.391739],[0.001483,-0.403333,0.915052]]
2025-10-26T20:08:45.661Z,1761509325.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962516,-0.247640,-0.110620],[0.271216,-0.881788,-0.385865],[-0.001988,-0.401403,0.915899]]
2025-10-26T20:08:46.058Z,1761509326.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953931,-0.272695,-0.125116],[0.299963,-0.875500,-0.378844],[-0.006230,-0.398921,0.916964]]
2025-10-26T20:08:46.464Z,1761509326.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944578,-0.296980,-0.139909],[0.328105,-0.868168,-0.372332],[-0.010889,-0.397602,0.917494]]
2025-10-26T20:08:46.870Z,1761509326.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934860,-0.319628,-0.154516],[0.354676,-0.859935,-0.367036],[-0.015559,-0.397931,0.917283]]
2025-10-26T20:08:47.272Z,1761509327.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924400,-0.341867,-0.169151],[0.380889,-0.850866,-0.361871],[-0.020213,-0.398941,0.916754]]
2025-10-26T20:08:47.674Z,1761509327.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913467,-0.363437,-0.183006],[0.406182,-0.841341,-0.356598],[-0.024370,-0.400074,0.916159]]
2025-10-26T20:08:48.086Z,1761509328.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902110,-0.384444,-0.195959],[0.430617,-0.831202,-0.351671],[-0.027683,-0.401629,0.915384]]
2025-10-26T20:08:48.486Z,1761509328.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889754,-0.405563,-0.209422],[0.455436,-0.819259,-0.348413],[-0.030267,-0.405380,0.913647]]
2025-10-26T20:08:48.897Z,1761509328.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876532,-0.427528,-0.221158],[0.480258,-0.807610,-0.342226],[-0.032298,-0.406185,0.913220]]
2025-10-26T20:08:48.963Z,1761509328.963 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:08:48.963Z,1761509328.963 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:08:48.963Z,1761509328.963 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateRudder:A] Stopped
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode] Stopped
2025-10-26T20:08:48.968Z,1761509328.968 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:08:49.290Z,1761509329.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862301,-0.449799,-0.232632],[0.505267,-0.794874,-0.335977],[-0.033791,-0.407255,0.912689]]
2025-10-26T20:08:49.322Z,1761509329.322 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:08:49.322Z,1761509329.322 [marl:UpdateRudder:B] Stopped
2025-10-26T20:08:49.322Z,1761509329.322 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:08:49.322Z,1761509329.322 [marl:UpdateRudder] Stopped
2025-10-26T20:08:49.322Z,1761509329.322 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:08:49.696Z,1761509329.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846878,-0.472652,-0.243715],[0.530645,-0.781109,-0.329067],[-0.034834,-0.408006,0.912314]]
2025-10-26T20:08:50.098Z,1761509330.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830454,-0.495901,-0.253830],[0.555946,-0.766885,-0.320642],[-0.035651,-0.407394,0.912556]]
2025-10-26T20:08:50.121Z,1761509330.121 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:08:50.121Z,1761509330.121 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:08:50.122Z,1761509330.122 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:08:50.122Z,1761509330.122 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:08:50.122Z,1761509330.122 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:08:50.122Z,1761509330.122 [marl:UpdateSpeed] Stopped
2025-10-26T20:08:50.122Z,1761509330.122 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:08:50.505Z,1761509330.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813051,-0.518811,-0.264165],[0.581030,-0.751753,-0.311885],[-0.036777,-0.407066,0.912658]]
2025-10-26T20:08:50.906Z,1761509330.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794589,-0.541949,-0.273712],[0.605947,-0.736188,-0.301422],[-0.038148,-0.405362,0.913360]]
2025-10-26T20:08:51.230Z,1761509331.230 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:08:51.230Z,1761509331.230 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:08:51.310Z,1761509331.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775463,-0.564348,-0.283140],[0.630133,-0.720052,-0.290616],[-0.039867,-0.403778,0.913988]]
2025-10-26T20:08:51.720Z,1761509331.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755340,-0.586624,-0.292119],[0.653967,-0.703503,-0.278227],[-0.042292,-0.401192,0.915017]]
2025-10-26T20:08:52.119Z,1761509332.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734708,-0.608508,-0.299872],[0.676870,-0.687073,-0.264155],[-0.045294,-0.397051,0.916678]]
2025-10-26T20:08:52.524Z,1761509332.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713409,-0.629513,-0.307834],[0.699047,-0.669920,-0.250080],[-0.048796,-0.393600,0.917986]]
2025-10-26T20:08:52.926Z,1761509332.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691627,-0.649879,-0.315134],[0.720331,-0.652486,-0.235340],[-0.052678,-0.389768,0.919405]]
2025-10-26T20:08:53.012Z,1761509333.012 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:08:53.264Z,1761509333.264 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:08:53.330Z,1761509333.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668916,-0.669837,-0.322287],[0.741159,-0.634178,-0.220231],[-0.056869,-0.386182,0.920668]]
2025-10-26T20:08:53.516Z,1761509333.516 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:08:53.737Z,1761509333.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645732,-0.687955,-0.331284],[0.761126,-0.614578,-0.207320],[-0.060973,-0.386022,0.920472]]
2025-10-26T20:08:54.138Z,1761509334.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622033,-0.703939,-0.342847],[0.780276,-0.593722,-0.196629],[-0.065141,-0.389826,0.918582]]
2025-10-26T20:08:54.550Z,1761509334.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597946,-0.719181,-0.353890],[0.798523,-0.572737,-0.185290],[-0.069429,-0.393383,0.916749]]
2025-10-26T20:08:54.946Z,1761509334.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573565,-0.733134,-0.365428],[0.815847,-0.551335,-0.174422],[-0.073599,-0.398176,0.914352]]
2025-10-26T20:08:55.351Z,1761509335.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548984,-0.745607,-0.377739],[0.832208,-0.529644,-0.164035],[-0.077762,-0.404410,0.911266]]
2025-10-26T20:08:55.756Z,1761509335.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524914,-0.757371,-0.388399],[0.847225,-0.508722,-0.153009],[-0.081703,-0.409378,0.908699]]
2025-10-26T20:08:56.158Z,1761509336.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501793,-0.768991,-0.396051],[0.860792,-0.488983,-0.141183],[-0.085094,-0.411762,0.907310]]
2025-10-26T20:08:56.566Z,1761509336.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479239,-0.779886,-0.402627],[0.873256,-0.469713,-0.129588],[-0.088055,-0.413700,0.906145]]
2025-10-26T20:08:56.569Z,1761509336.569 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-10-26T20:08:56.569Z,1761509336.569 [NAL9602] Data Fault, FailCount= 1
2025-10-26T20:08:56.569Z,1761509336.569 [NAL9602](ERROR): Data Fault
2025-10-26T20:08:56.619Z,1761509336.619 [marl:NeedComms] Running Loop=1
2025-10-26T20:08:56.619Z,1761509336.619 [marl:NeedComms](DEBUG): Aggregate::initialize marl:NeedComms
2025-10-26T20:08:56.619Z,1761509336.619 [marl:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T20:08:56.623Z,1761509336.623 [marl:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T20:08:56.624Z,1761509336.624 [marl:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T20:08:56.624Z,1761509336.624 [marl:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T20:08:56.624Z,1761509336.624 [marl:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T20:08:56.625Z,1761509336.625 [marl:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T20:08:56.625Z,1761509336.625 [marl:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T20:08:56.625Z,1761509336.625 [marl:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T20:08:56.626Z,1761509336.626 [marl:NeedComms:A] Running Loop=1
2025-10-26T20:08:56.631Z,1761509336.631 [marl:NeedComms:A](ERROR): caught uninitialized data element exception.
2025-10-26T20:08:56.632Z,1761509336.632 [marl:NeedComms:A](INFO): last time_fix was:  nan second since 1970/01/01T00:00:00Z 
2025-10-26T20:08:56.632Z,1761509336.632 [marl:NeedComms:A] Stopped
2025-10-26T20:08:56.799Z,1761509336.799 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:08:56.0117

2025-10-26T20:08:56.804Z,1761509336.804 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:08:56.883Z,1761509336.883 [CBIT](ERROR): Data Fault in component: NAL9602
2025-10-26T20:08:56.972Z,1761509336.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458065,-0.789787,-0.407938],[0.884322,-0.451486,-0.118889],[-0.090281,-0.415208,0.905236]]
2025-10-26T20:08:56.975Z,1761509336.975 [NAL9602](INFO): Powering down
2025-10-26T20:08:57.067Z,1761509337.067 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:08:57.296Z,1761509337.296 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:57.348Z,1761509337.348 [DAT](INFO): entering command mode
2025-10-26T20:08:57.449Z,1761509337.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436214,-0.800163,-0.411651],[0.895143,-0.432564,-0.107741],[-0.091855,-0.415485,0.904950]]
2025-10-26T20:08:57.549Z,1761509337.549 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:57.549Z,1761509337.549 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:57.800Z,1761509337.800 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:57.800Z,1761509337.800 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:58.057Z,1761509338.057 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:58.057Z,1761509338.057 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:58.108Z,1761509338.108 [CBIT](INFO): Clearing failed state for component NAL9602
2025-10-26T20:08:58.108Z,1761509338.108 [NAL9602] No Fault, FailCount= 1
2025-10-26T20:08:58.250Z,1761509338.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390697,-0.821219,-0.415878],[0.915838,-0.392283,-0.085759],[-0.092715,-0.414383,0.905368]]
2025-10-26T20:08:58.304Z,1761509338.304 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:58.304Z,1761509338.304 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:58.556Z,1761509338.556 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:58.556Z,1761509338.556 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:58.778Z,1761509338.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339889,-0.845072,-0.412708],[0.935489,-0.348884,-0.056046],[-0.096624,-0.405133,0.909137]]
2025-10-26T20:08:58.811Z,1761509338.811 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:58.812Z,1761509338.812 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:59.065Z,1761509339.065 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:59.065Z,1761509339.065 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:59.312Z,1761509339.312 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:59.312Z,1761509339.312 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:59.352Z,1761509339.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312939,-0.857510,-0.408346],[0.944557,-0.325984,-0.039315],[-0.099401,-0.398009,0.911980]]
2025-10-26T20:08:59.377Z,1761509339.377 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      00,  0.00
2025-10-26T20:08:59.564Z,1761509339.564 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:59.564Z,1761509339.564 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:08:59.754Z,1761509339.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285118,-0.869455,-0.403430],[0.953013,-0.302094,-0.022468],[-0.102339,-0.390880,0.914734]]
2025-10-26T20:08:59.817Z,1761509339.817 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:08:59.817Z,1761509339.817 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:09:00.068Z,1761509340.068 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:00.068Z,1761509340.068 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:09:00.158Z,1761509340.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256496,-0.880118,-0.399502],[0.960765,-0.277298,-0.005952],[-0.105543,-0.385354,0.916713]]
2025-10-26T20:09:00.320Z,1761509340.320 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:00.320Z,1761509340.320 [DAT](DEBUG): checking for command mode acknowledgment
2025-10-26T20:09:00.564Z,1761509340.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226590,-0.890445,-0.394671],[0.967837,-0.251320,0.011363],[-0.109307,-0.379403,0.918752]]
2025-10-26T20:09:00.573Z,1761509340.573 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:08:59.8117

2025-10-26T20:09:00.574Z,1761509340.574 [DAT](DEBUG): Re-entering command mode due to unexpected online mode.
2025-10-26T20:09:00.574Z,1761509340.574 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:00.628Z,1761509340.628 [DAT](INFO): entering command mode
2025-10-26T20:09:00.824Z,1761509340.824 [DAT](INFO): DAT read: 

2025-10-26T20:09:00.825Z,1761509340.825 [DAT](INFO): DAT read: user:92>

2025-10-26T20:09:00.825Z,1761509340.825 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:00.826Z,1761509340.826 [DAT](INFO): setting remote address to 0
2025-10-26T20:09:00.966Z,1761509340.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194469,-0.902160,-0.385084],[0.974242,-0.223333,0.031220],[-0.114167,-0.369093,0.922354]]
2025-10-26T20:09:01.076Z,1761509341.076 [DAT](INFO): DAT read: user:92>

2025-10-26T20:09:01.077Z,1761509341.077 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:09:01.078Z,1761509341.078 [DAT](INFO): set remote address to 0
2025-10-26T20:09:01.078Z,1761509341.078 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:01.078Z,1761509341.078 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:09:01.328Z,1761509341.328 [DAT](INFO): DAT read: user:93>

2025-10-26T20:09:01.329Z,1761509341.329 [DAT](INFO): DAT read: Tx time:20:09:00.4628

2025-10-26T20:09:01.329Z,1761509341.329 [DAT](INFO): Ping request sent.
2025-10-26T20:09:01.329Z,1761509341.329 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:09:01.330Z,1761509341.330 [DAT](INFO): publishing transmit ping time
2025-10-26T20:09:01.330Z,1761509341.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000979
2025-10-26T20:09:01.388Z,1761509341.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159851,-0.911503,-0.378958],[0.979668,-0.193635,0.052505],[-0.121238,-0.362860,0.923923]]
2025-10-26T20:09:01.584Z,1761509341.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254497
2025-10-26T20:09:01.774Z,1761509341.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123222,-0.918888,-0.374782],[0.983738,-0.162834,0.075800],[-0.130679,-0.359347,0.924009]]
2025-10-26T20:09:01.832Z,1761509341.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502995
2025-10-26T20:09:02.084Z,1761509342.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875
2025-10-26T20:09:02.180Z,1761509342.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086180,-0.925798,-0.368064],[0.986108,-0.131921,0.100932],[-0.141998,-0.354253,0.924306]]
2025-10-26T20:09:02.208Z,1761509342.208 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:09:02.208Z,1761509342.208 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:09:02.208Z,1761509342.208 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateRudder:A] Stopped
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode] Stopped
2025-10-26T20:09:02.209Z,1761509342.209 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:09:02.337Z,1761509342.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025
2025-10-26T20:09:02.588Z,1761509342.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258884
2025-10-26T20:09:02.624Z,1761509342.624 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:09:02.624Z,1761509342.624 [marl:UpdateRudder:B] Stopped
2025-10-26T20:09:02.624Z,1761509342.624 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:09:02.625Z,1761509342.625 [marl:UpdateRudder] Stopped
2025-10-26T20:09:02.625Z,1761509342.625 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:09:02.840Z,1761509342.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510931
2025-10-26T20:09:02.989Z,1761509342.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011838,-0.935446,-0.353271],[0.985334,-0.071057,0.155137],[-0.170224,-0.346254,0.922568]]
2025-10-26T20:09:03.093Z,1761509343.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763036
2025-10-26T20:09:03.345Z,1761509343.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081
2025-10-26T20:09:03.393Z,1761509343.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025173,-0.936456,-0.349882],[0.982071,-0.042241,0.183716],[-0.186821,-0.348233,0.918603]]
2025-10-26T20:09:03.596Z,1761509343.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266912
2025-10-26T20:09:03.832Z,1761509343.832 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:09:03.832Z,1761509343.832 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:09:03.832Z,1761509343.832 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:09:03.832Z,1761509343.832 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:09:03.832Z,1761509343.832 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:09:03.833Z,1761509343.833 [marl:UpdateSpeed] Stopped
2025-10-26T20:09:03.833Z,1761509343.833 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:09:03.849Z,1761509343.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519044
2025-10-26T20:09:04.100Z,1761509344.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770868
2025-10-26T20:09:04.198Z,1761509344.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098591,-0.932386,-0.347759],[0.969625,0.011400,0.244329],[-0.223844,-0.361284,0.905189]]
2025-10-26T20:09:04.353Z,1761509344.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023565
2025-10-26T20:09:04.605Z,1761509344.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275384
2025-10-26T20:09:04.631Z,1761509344.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134225,-0.928423,-0.346430],[0.960740,0.036259,0.275069],[-0.242819,-0.369751,0.896841]]
2025-10-26T20:09:04.856Z,1761509344.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526990
2025-10-26T20:09:05.046Z,1761509345.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167932,-0.923966,-0.343636],[0.950725,0.059643,0.304243],[-0.260615,-0.377795,0.888454]]
2025-10-26T20:09:05.108Z,1761509345.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778998
2025-10-26T20:09:05.360Z,1761509345.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030887
2025-10-26T20:09:05.479Z,1761509345.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:09:05.558Z,1761509345.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224899,-0.914876,-0.335296],[0.931083,0.100341,0.350736],[-0.287236,-0.391068,0.874392]]
2025-10-26T20:09:05.612Z,1761509345.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282956
2025-10-26T20:09:05.865Z,1761509345.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535516
2025-10-26T20:09:06.009Z,1761509346.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249194,-0.910553,-0.329842],[0.922059,0.118918,0.368329],[-0.296159,-0.395920,0.869217]]
2025-10-26T20:09:06.117Z,1761509346.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787040
2025-10-26T20:09:06.368Z,1761509346.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038878
2025-10-26T20:09:06.398Z,1761509346.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272395,-0.906243,-0.323301],[0.913169,0.137611,0.383649],[-0.303190,-0.399732,0.865038]]
2025-10-26T20:09:06.480Z,1761509346.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:09:06.620Z,1761509346.620 [DAT](INFO): DAT read: Rx Time:20:09:05.3539

2025-10-26T20:09:06.621Z,1761509346.621 [DAT](INFO): Rx dataTimestamp_ set to:1761509346.620523
2025-10-26T20:09:06.621Z,1761509346.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291919
2025-10-26T20:09:06.823Z,1761509346.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294678,-0.902990,-0.312689],[0.904194,0.157604,0.396982],[-0.309190,-0.399713,0.862920]]
2025-10-26T20:09:06.872Z,1761509346.872 [DAT](DEBUG): In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED
2025-10-26T20:09:06.872Z,1761509346.872 [DAT](ERROR): Ack receipt timeout failure.
2025-10-26T20:09:06.873Z,1761509346.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543278
2025-10-26T20:09:07.126Z,1761509347.126 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:09:07.128Z,1761509347.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798366
2025-10-26T20:09:07.208Z,1761509347.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316672,-0.899332,-0.301532],[0.894850,0.177823,0.409417],[-0.314583,-0.399477,0.861079]]
2025-10-26T20:09:07.383Z,1761509347.383 [DAT](INFO): DAT read: 20:09:05.3538 LVL= 26224, 28145, 14802, 27427, AGC= 71, IDX= 309, 0.44, 2.756, 2.677,-1.492,-2.818, PHS=-0.607,-0.743, 1.283, RAW= 206.6,   0.7, CAL= 206.1,  -1.3, ROT= 303.9,   1.3

2025-10-26T20:09:07.384Z,1761509347.384 [DAT](INFO): got valid direction response:
 20:09:05.3538 LVL= 26224, 28145, 14802, 27427, AGC= 71, IDX= 309, 0.44, 2.756, 2.677,-1.492,-2.818, PHS=-0.607,-0.743, 1.283, RAW= 206.6,   0.7, CAL= 206.1,  -1.3, ROT= 303.9,   1.3

2025-10-26T20:09:07.386Z,1761509347.386 [DAT](INFO): DAT read: Bearing 171.3, -60.6 (Local)

2025-10-26T20:09:07.386Z,1761509347.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.3, -60.6 (Local)

2025-10-26T20:09:07.388Z,1761509347.388 [DAT](INFO): DAT read: Range 11 to 20 : 1865.1 m  (Round-trip  2486.9 ms) speed  0.0 m/s

2025-10-26T20:09:07.389Z,1761509347.389 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:09:07.390Z,1761509347.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-26T20:09:07.392Z,1761509347.392 [DAT](INFO): direction in FSK: [0.557602,-0.829799,-0.022687]
2025-10-26T20:09:07.393Z,1761509347.393 [DAT](INFO): publishing direction and range info
2025-10-26T20:09:07.628Z,1761509347.628 [DAT](INFO): setting remote address to 6
2025-10-26T20:09:07.657Z,1761509347.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338222,-0.895272,-0.289989],[0.884883,0.197675,0.421790],[-0.320293,-0.399265,0.859069]]
2025-10-26T20:09:07.753Z,1761509347.753 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509376.00. Resetting abort timer.
2025-10-26T20:09:07.880Z,1761509347.880 [DAT](INFO): DAT read: user:94>

2025-10-26T20:09:07.881Z,1761509347.881 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:09:07.881Z,1761509347.881 [DAT](INFO): set remote address to 6
2025-10-26T20:09:07.882Z,1761509347.882 [DAT](INFO): entering online mode
2025-10-26T20:09:08.053Z,1761509348.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359326,-0.891727,-0.275151],[0.874269,0.218541,0.433468],[-0.326403,-0.396312,0.858136]]
2025-10-26T20:09:08.133Z,1761509348.133 [DAT](INFO): DAT read: user:95>

2025-10-26T20:09:08.134Z,1761509348.134 [DAT](INFO): DAT read: 

2025-10-26T20:09:08.136Z,1761509348.136 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:09:08.136Z,1761509348.136 [DAT](INFO): commRate: 600
2025-10-26T20:09:08.136Z,1761509348.136 [DAT](INFO): online mode acknowledged
2025-10-26T20:09:08.137Z,1761509348.137 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:09:08.875Z,1761509348.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400504,-0.882250,-0.247450],[0.851152,0.258202,0.457025],[-0.339319,-0.393657,0.854340]]
2025-10-26T20:09:09.274Z,1761509349.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419794,-0.877192,-0.233040],[0.839349,0.277506,0.467423],[-0.345350,-0.391823,0.852765]]
2025-10-26T20:09:09.678Z,1761509349.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438553,-0.871880,-0.217935],[0.827376,0.297014,0.476689],[-0.350886,-0.389367,0.851629]]
2025-10-26T20:09:10.138Z,1761509350.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456838,-0.865765,-0.204328],[0.815379,0.315726,0.485258],[-0.355608,-0.388289,0.850162]]
2025-10-26T20:09:10.696Z,1761509350.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495124,-0.850352,-0.178196],[0.790003,0.355275,0.499676],[-0.361592,-0.388177,0.847685]]
2025-10-26T20:09:11.128Z,1761509351.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516646,-0.840384,-0.163803],[0.775287,0.377998,0.506011],[-0.363326,-0.388424,0.846830]]
2025-10-26T20:09:11.409Z,1761509351.409 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:09:10.6116

2025-10-26T20:09:11.409Z,1761509351.409 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:09:11.541Z,1761509351.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539667,-0.828645,-0.148687],[0.758880,0.402349,0.512071],[-0.364501,-0.389183,0.845976]]
2025-10-26T20:09:11.943Z,1761509351.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563418,-0.815355,-0.133257],[0.741065,0.427459,0.517786],[-0.365217,-0.390482,0.845068]]
2025-10-26T20:09:12.346Z,1761509352.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587616,-0.800923,-0.115020],[0.721523,0.454329,0.522485],[-0.366213,-0.390010,0.844855]]
2025-10-26T20:09:12.763Z,1761509352.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610680,-0.785943,-0.096768],[0.701277,0.479999,0.527079],[-0.367806,-0.389738,0.844289]]
2025-10-26T20:09:13.560Z,1761509353.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654880,-0.754063,-0.050201],[0.656263,0.534488,0.532580],[-0.374767,-0.381721,0.844890]]
2025-10-26T20:09:13.962Z,1761509353.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675433,-0.737045,-0.023557],[0.631677,0.561801,0.534194],[-0.380491,-0.375693,0.845033]]
2025-10-26T20:09:14.366Z,1761509354.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694657,-0.719331,0.003844],[0.606062,0.588135,0.535524],[-0.387479,-0.369676,0.844511]]
2025-10-26T20:09:14.802Z,1761509354.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712729,-0.700769,0.030662],[0.579400,0.612801,0.537374],[-0.395366,-0.365236,0.842786]]
2025-10-26T20:09:15.177Z,1761509355.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729526,-0.681821,0.053958],[0.552229,0.633735,0.541685],[-0.403528,-0.365376,0.838848]]
2025-10-26T20:09:15.579Z,1761509355.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744930,-0.662950,0.074675],[0.525628,0.652159,0.546264],[-0.410845,-0.367677,0.834278]]
2025-10-26T20:09:15.618Z,1761509355.618 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:09:15.618Z,1761509355.618 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:09:15.619Z,1761509355.619 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:09:15.619Z,1761509355.619 [marl:UpdateRudder:A] Stopped
2025-10-26T20:09:15.619Z,1761509355.619 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:09:15.619Z,1761509355.619 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:09:15.619Z,1761509355.619 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:09:15.619Z,1761509355.619 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:09:15.620Z,1761509355.620 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:09:15.620Z,1761509355.620 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:09:15.620Z,1761509355.620 [marl:UpdateCommandMode] Stopped
2025-10-26T20:09:15.620Z,1761509355.620 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:09:15.994Z,1761509355.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758326,-0.645841,0.088490],[0.501854,0.665038,0.553052],[-0.416033,-0.374985,0.828434]]
2025-10-26T20:09:16.024Z,1761509356.024 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:09:16.024Z,1761509356.024 [marl:UpdateRudder:B] Stopped
2025-10-26T20:09:16.025Z,1761509356.025 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:09:16.025Z,1761509356.025 [marl:UpdateRudder] Stopped
2025-10-26T20:09:16.025Z,1761509356.025 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:09:16.386Z,1761509356.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769892,-0.630642,0.097762],[0.482192,0.675197,0.558210],[-0.418040,-0.382621,0.823920]]
2025-10-26T20:09:16.821Z,1761509356.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780147,-0.616990,0.103406],[0.465990,0.683402,0.561974],[-0.417400,-0.390236,0.820666]]
2025-10-26T20:09:17.194Z,1761509357.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790721,-0.602731,0.107123],[0.450371,0.691270,0.565077],[-0.414640,-0.398573,0.818054]]
2025-10-26T20:09:17.231Z,1761509357.231 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:09:17.232Z,1761509357.232 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:09:17.232Z,1761509357.232 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:09:17.232Z,1761509357.232 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:09:17.232Z,1761509357.232 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:09:17.232Z,1761509357.232 [marl:UpdateSpeed] Stopped
2025-10-26T20:09:17.232Z,1761509357.232 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:09:17.598Z,1761509357.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801803,-0.587148,0.111214],[0.434102,0.700173,0.566845],[-0.410691,-0.406220,0.816283]]
2025-10-26T20:09:18.003Z,1761509358.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813399,-0.570192,0.115162],[0.416603,0.709176,0.568780],[-0.405984,-0.414669,0.814387]]
2025-10-26T20:09:18.408Z,1761509358.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825570,-0.551235,0.120726],[0.396978,0.719380,0.570001],[-0.401052,-0.422650,0.812726]]
2025-10-26T20:09:18.826Z,1761509358.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838012,-0.530396,0.128124],[0.374893,0.730277,0.571096],[-0.396473,-0.430553,0.810823]]
2025-10-26T20:09:19.215Z,1761509359.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850564,-0.507900,0.136300],[0.351138,0.741477,0.571764],[-0.391463,-0.438461,0.809017]]
2025-10-26T20:09:19.619Z,1761509359.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863176,-0.483428,0.145689],[0.325652,0.753558,0.571053],[-0.385848,-0.445475,0.807882]]
2025-10-26T20:09:20.022Z,1761509360.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875438,-0.457556,0.155724],[0.299206,0.766074,0.568864],[-0.379584,-0.451412,0.807554]]
2025-10-26T20:09:20.426Z,1761509360.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886885,-0.430958,0.166465],[0.273157,0.779750,0.563361],[-0.372586,-0.454165,0.809267]]
2025-10-26T20:09:20.832Z,1761509360.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897493,-0.403071,0.178995],[0.247351,0.796056,0.552370],[-0.365134,-0.451473,0.814155]]
2025-10-26T20:09:21.238Z,1761509361.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907177,-0.374174,0.192416],[0.222267,0.814480,0.535929],[-0.357249,-0.443415,0.822044]]
2025-10-26T20:09:21.489Z,1761509361.489 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:09:21.641Z,1761509361.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916007,-0.343624,0.207011],[0.197844,0.835868,0.512037],[-0.348982,-0.428074,0.833645]]
2025-10-26T20:09:21.743Z,1761509361.743 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:09:21.992Z,1761509361.992 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:09:22.042Z,1761509362.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923837,-0.312769,0.220681],[0.173760,0.856349,0.486286],[-0.341075,-0.410904,0.845474]]
2025-10-26T20:09:22.454Z,1761509362.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930797,-0.282638,0.231802],[0.149942,0.873559,0.463046],[-0.333367,-0.396245,0.855486]]
2025-10-26T20:09:22.850Z,1761509362.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937052,-0.252730,0.240958],[0.124729,0.886778,0.445047],[-0.326153,-0.386978,0.862480]]
2025-10-26T20:09:23.255Z,1761509363.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942507,-0.223578,0.248381],[0.099322,0.897063,0.430595],[-0.319085,-0.381169,0.867695]]
2025-10-26T20:09:23.658Z,1761509363.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946950,-0.197149,0.253806],[0.074824,0.903281,0.422475],[-0.312548,-0.381072,0.870114]]
2025-10-26T20:09:24.064Z,1761509364.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950632,-0.172914,0.257680],[0.051222,0.906414,0.419272],[-0.306062,-0.385375,0.870524]]
2025-10-26T20:09:24.474Z,1761509364.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953560,-0.150126,0.261125],[0.027666,0.906926,0.420380],[-0.299931,-0.393633,0.868962]]
2025-10-26T20:09:24.870Z,1761509364.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955823,-0.127835,0.264688],[0.004442,0.906658,0.421843],[-0.293908,-0.402032,0.867173]]
2025-10-26T20:09:25.273Z,1761509365.273 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:09:24.4615

2025-10-26T20:09:25.273Z,1761509365.273 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:09:25.277Z,1761509365.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957334,-0.105469,0.269051],[-0.019176,0.905785,0.423303],[-0.288348,-0.410401,0.865116]]
2025-10-26T20:09:25.683Z,1761509365.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958062,-0.081910,0.274606],[-0.044037,0.904813,0.423526],[-0.283158,-0.417857,0.863260]]
2025-10-26T20:09:26.082Z,1761509366.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957763,-0.057115,0.281829],[-0.070809,0.903056,0.423646],[-0.278704,-0.425708,0.860870]]
2025-10-26T20:09:26.486Z,1761509366.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956075,-0.029634,0.291622],[-0.100708,0.901108,0.421738],[-0.275281,-0.432581,0.858542]]
2025-10-26T20:09:26.890Z,1761509366.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952679,0.000868,0.303976],[-0.134228,0.898423,0.418113],[-0.272736,-0.439130,0.856026]]
2025-10-26T20:09:27.296Z,1761509367.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947362,0.035465,0.318195],[-0.171118,0.896075,0.409595],[-0.270601,-0.442484,0.854976]]
2025-10-26T20:09:27.299Z,1761509367.299 [NAL9602](INFO): Powering up NAL9602
2025-10-26T20:09:27.322Z,1761509367.322 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:09:27.540Z,1761509367.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:27.592Z,1761509367.592 [DAT](INFO): entering command mode
2025-10-26T20:09:27.706Z,1761509367.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940254,0.073844,0.332369],[-0.208521,0.896591,0.390696],[-0.269148,-0.436660,0.858422]]
2025-10-26T20:09:27.793Z,1761509367.793 [DAT](INFO): DAT read: 

2025-10-26T20:09:27.794Z,1761509367.794 [DAT](INFO): DAT read: user:96>

2025-10-26T20:09:27.795Z,1761509367.795 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:27.795Z,1761509367.795 [DAT](INFO): setting remote address to 0
2025-10-26T20:09:28.044Z,1761509368.044 [DAT](INFO): DAT read: user:96>

2025-10-26T20:09:28.045Z,1761509368.045 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:09:28.046Z,1761509368.046 [DAT](INFO): set remote address to 0
2025-10-26T20:09:28.046Z,1761509368.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:28.046Z,1761509368.046 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:09:28.121Z,1761509368.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931539,0.113565,0.345455],[-0.245167,0.897747,0.365983],[-0.268568,-0.425622,0.864128]]
2025-10-26T20:09:28.297Z,1761509368.297 [DAT](INFO): DAT read: user:97>

2025-10-26T20:09:28.298Z,1761509368.298 [DAT](INFO): DAT read: Tx time:20:09:27.4126

2025-10-26T20:09:28.298Z,1761509368.298 [DAT](INFO): Ping request sent.
2025-10-26T20:09:28.298Z,1761509368.298 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:09:28.299Z,1761509368.299 [DAT](INFO): publishing transmit ping time
2025-10-26T20:09:28.300Z,1761509368.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001122
2025-10-26T20:09:28.507Z,1761509368.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921574,0.153396,0.356612],[-0.280033,0.898887,0.337021],[-0.268856,-0.410453,0.871346]]
2025-10-26T20:09:28.530Z,1761509368.530 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:09:28.530Z,1761509368.530 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:09:28.530Z,1761509368.530 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:09:28.531Z,1761509368.531 [marl:UpdateRudder:A] Stopped
2025-10-26T20:09:28.531Z,1761509368.531 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:09:28.531Z,1761509368.531 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:09:28.531Z,1761509368.531 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:09:28.531Z,1761509368.531 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:09:28.532Z,1761509368.532 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:09:28.532Z,1761509368.532 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:09:28.532Z,1761509368.532 [marl:UpdateCommandMode] Stopped
2025-10-26T20:09:28.532Z,1761509368.532 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:09:28.548Z,1761509368.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250012
2025-10-26T20:09:28.803Z,1761509368.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504144
2025-10-26T20:09:28.951Z,1761509368.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910902,0.192209,0.365121],[-0.312115,0.899751,0.305011],[-0.269892,-0.391795,0.879577]]
2025-10-26T20:09:29.003Z,1761509369.003 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:09:29.004Z,1761509369.004 [marl:UpdateRudder:B] Stopped
2025-10-26T20:09:29.004Z,1761509369.004 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:09:29.004Z,1761509369.004 [marl:UpdateRudder] Stopped
2025-10-26T20:09:29.004Z,1761509369.004 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:09:29.054Z,1761509369.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755441
2025-10-26T20:09:29.304Z,1761509369.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006030
2025-10-26T20:09:29.316Z,1761509369.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900444,0.224959,0.372282],[-0.339502,0.898519,0.278213],[-0.271915,-0.376906,0.885440]]
2025-10-26T20:09:29.556Z,1761509369.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257999
2025-10-26T20:09:29.729Z,1761509369.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890196,0.252475,0.379220],[-0.363910,0.894848,0.258490],[-0.274081,-0.368109,0.888468]]
2025-10-26T20:09:29.814Z,1761509369.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515472
2025-10-26T20:09:30.060Z,1761509370.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761949
2025-10-26T20:09:30.123Z,1761509370.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879952,0.275902,0.386732],[-0.386645,0.888932,0.245571],[-0.276025,-0.365619,0.888894]]
2025-10-26T20:09:30.312Z,1761509370.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014022
2025-10-26T20:09:30.526Z,1761509370.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869589,0.295552,0.395555],[-0.408240,0.880970,0.239230],[-0.277768,-0.369514,0.886738]]
2025-10-26T20:09:30.562Z,1761509370.562 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:09:30.562Z,1761509370.562 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:09:30.562Z,1761509370.562 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:09:30.562Z,1761509370.562 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:09:30.563Z,1761509370.563 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:09:30.563Z,1761509370.563 [marl:UpdateSpeed] Stopped
2025-10-26T20:09:30.563Z,1761509370.563 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:09:30.564Z,1761509370.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266066
2025-10-26T20:09:30.818Z,1761509370.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519253
2025-10-26T20:09:31.068Z,1761509371.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769997
2025-10-26T20:09:31.320Z,1761509371.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021901
2025-10-26T20:09:31.335Z,1761509371.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845394,0.332182,0.418288],[-0.455797,0.856927,0.240677],[-0.278493,-0.394121,0.875848]]
2025-10-26T20:09:31.572Z,1761509371.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273940
2025-10-26T20:09:31.744Z,1761509371.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829745,0.353611,0.431835],[-0.483877,0.841358,0.240789],[-0.278182,-0.408749,0.869217]]
2025-10-26T20:09:31.824Z,1761509371.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526067
2025-10-26T20:09:32.076Z,1761509372.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778082
2025-10-26T20:09:32.142Z,1761509372.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811846,0.377797,0.445170],[-0.513332,0.825133,0.235895],[-0.278204,-0.420030,0.863816]]
2025-10-26T20:09:32.328Z,1761509372.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029907
2025-10-26T20:09:32.546Z,1761509372.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792134,0.404604,0.456969],[-0.542782,0.809381,0.224254],[-0.279128,-0.425673,0.860750]]
2025-10-26T20:09:32.581Z,1761509372.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282091
2025-10-26T20:09:32.832Z,1761509372.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533931
2025-10-26T20:09:32.958Z,1761509372.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770848,0.435258,0.465127],[-0.571805,0.794604,0.204067],[-0.280770,-0.423267,0.861402]]
2025-10-26T20:09:33.089Z,1761509373.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790189
2025-10-26T20:09:33.336Z,1761509373.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037988
2025-10-26T20:09:33.359Z,1761509373.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748007,0.468580,0.470019],[-0.600188,0.779875,0.177676],[-0.283301,-0.415003,0.864588]]
2025-10-26T20:09:33.588Z,1761509373.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289881
2025-10-26T20:09:33.761Z,1761509373.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724516,0.502055,0.472247],[-0.626741,0.764994,0.148259],[-0.286832,-0.403392,0.868908]]
2025-10-26T20:09:33.842Z,1761509373.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543503
2025-10-26T20:09:34.092Z,1761509374.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793995
2025-10-26T20:09:34.162Z,1761509374.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701813,0.533162,0.472436],[-0.649940,0.750725,0.118277],[-0.291609,-0.390064,0.873393]]
2025-10-26T20:09:34.344Z,1761509374.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045952
2025-10-26T20:09:34.566Z,1761509374.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680224,0.560607,0.472245],[-0.670139,0.736665,0.090768],[-0.297001,-0.378212,0.876781]]
2025-10-26T20:09:34.597Z,1761509374.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298701
2025-10-26T20:09:34.848Z,1761509374.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550011
2025-10-26T20:09:34.970Z,1761509374.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659354,0.583053,0.474659],[-0.688389,0.722018,0.069349],[-0.302278,-0.372476,0.877434]]
2025-10-26T20:09:35.104Z,1761509375.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805675
2025-10-26T20:09:35.352Z,1761509375.352 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:09:35.352Z,1761509375.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054066
2025-10-26T20:09:35.377Z,1761509375.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639574,0.602072,0.477970],[-0.704772,0.707539,0.051812],[-0.306988,-0.369997,0.876847]]
2025-10-26T20:09:35.604Z,1761509375.604 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:09:35.604Z,1761509375.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306090
2025-10-26T20:09:35.786Z,1761509375.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620609,0.616928,0.483988],[-0.719882,0.692955,0.039798],[-0.310830,-0.373113,0.874169]]
2025-10-26T20:09:35.856Z,1761509375.856 [DAT](INFO): setting remote address to 6
2025-10-26T20:09:35.857Z,1761509375.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558299
2025-10-26T20:09:36.109Z,1761509376.109 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:36.109Z,1761509376.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810669
2025-10-26T20:09:36.186Z,1761509376.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602247,0.628237,0.492561],[-0.734265,0.678063,0.032939],[-0.313294,-0.381508,0.869654]]
2025-10-26T20:09:36.360Z,1761509376.360 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:36.361Z,1761509376.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062120
2025-10-26T20:09:36.586Z,1761509376.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583798,0.637038,0.503352],[-0.748598,0.662347,0.029979],[-0.314296,-0.394310,0.863561]]
2025-10-26T20:09:36.600Z,1761509376.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:09:36.612Z,1761509376.612 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:36.613Z,1761509376.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314194
2025-10-26T20:09:36.864Z,1761509376.864 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:36.864Z,1761509376.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566057
2025-10-26T20:09:36.990Z,1761509376.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564791,0.645424,0.514237],[-0.762821,0.646048,0.026952],[-0.314826,-0.407492,0.857225]]
2025-10-26T20:09:37.116Z,1761509377.116 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:37.117Z,1761509377.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818608
2025-10-26T20:09:37.368Z,1761509377.368 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:37.368Z,1761509377.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070026
2025-10-26T20:09:37.401Z,1761509377.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544994,0.654079,0.524559],[-0.776805,0.629345,0.022329],[-0.315524,-0.419649,0.851081]]
2025-10-26T20:09:37.604Z,1761509377.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:09:37.620Z,1761509377.620 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:37.620Z,1761509377.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322083
2025-10-26T20:09:37.801Z,1761509377.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524381,0.661154,0.536563],[-0.789955,0.612936,0.016758],[-0.317799,-0.432648,0.843694]]
2025-10-26T20:09:37.872Z,1761509377.872 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:37.873Z,1761509377.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574523
2025-10-26T20:09:38.124Z,1761509378.124 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:38.124Z,1761509378.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826050
2025-10-26T20:09:38.202Z,1761509378.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501065,0.670545,0.547085],[-0.803577,0.595165,0.006506],[-0.321243,-0.442885,0.837052]]
2025-10-26T20:09:38.213Z,1761509378.213 [NAL9602](INFO): NAL9602 initialized
2025-10-26T20:09:38.377Z,1761509378.377 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:38.377Z,1761509378.377 [DAT](INFO): Reached modem response timeout
2025-10-26T20:09:38.606Z,1761509378.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475462,0.685023,0.551978],[-0.817339,0.576055,-0.010864],[-0.325411,-0.445988,0.833788]]
2025-10-26T20:09:38.628Z,1761509378.628 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:38.881Z,1761509378.881 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:39.037Z,1761509379.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449324,0.704567,0.549266],[-0.830061,0.556579,-0.034919],[-0.330313,-0.440234,0.834917]]
2025-10-26T20:09:39.132Z,1761509379.132 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:39.384Z,1761509379.384 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:39.419Z,1761509379.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423738,0.728342,0.538483],[-0.841399,0.536641,-0.063745],[-0.335400,-0.426068,0.840222]]
2025-10-26T20:09:39.636Z,1761509379.636 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:39.822Z,1761509379.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400185,0.752284,0.523375],[-0.850975,0.517005,-0.092452],[-0.340137,-0.408381,0.847072]]
2025-10-26T20:09:39.889Z,1761509379.889 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:40.140Z,1761509380.140 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:40.222Z,1761509380.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379076,0.775286,0.505206],[-0.858652,0.498238,-0.120313],[-0.344990,-0.388189,0.854571]]
2025-10-26T20:09:40.393Z,1761509380.393 [DAT](DEBUG): checking for remote address setting acknowledgment
2025-10-26T20:09:40.627Z,1761509380.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357068,0.793874,0.492206],[-0.866004,0.478833,-0.144067],[-0.350056,-0.374811,0.858474]]
2025-10-26T20:09:40.649Z,1761509380.649 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:09:40.649Z,1761509380.649 [DAT](INFO): response not received
2025-10-26T20:09:40.649Z,1761509380.649 [DAT](INFO): DAT read: user:98>

2025-10-26T20:09:40.650Z,1761509380.650 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:09:40.650Z,1761509380.650 [DAT](INFO): set remote address to 6
2025-10-26T20:09:40.651Z,1761509380.651 [DAT](INFO): entering online mode
2025-10-26T20:09:40.900Z,1761509380.900 [DAT](INFO): DAT read: user:99>

2025-10-26T20:09:40.901Z,1761509380.901 [DAT](INFO): DAT read: 

2025-10-26T20:09:40.902Z,1761509380.902 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:09:40.902Z,1761509380.902 [DAT](INFO): commRate: 600
2025-10-26T20:09:40.902Z,1761509380.902 [DAT](INFO): online mode acknowledged
2025-10-26T20:09:40.903Z,1761509380.903 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:09:41.446Z,1761509381.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304654,0.821277,0.482379],[-0.879474,0.436998,-0.188568],[-0.365666,-0.366792,0.855425]]
2025-10-26T20:09:41.841Z,1761509381.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276500,0.834950,0.475821],[-0.884186,0.415008,-0.214436],[-0.376513,-0.361423,0.853001]]
2025-10-26T20:09:42.243Z,1761509382.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247676,0.848701,0.467294],[-0.888026,0.391717,-0.240765],[-0.387385,-0.355337,0.850687]]
2025-10-26T20:09:42.266Z,1761509382.266 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:09:42.266Z,1761509382.266 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:09:42.266Z,1761509382.266 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:09:42.266Z,1761509382.266 [marl:UpdateRudder:A] Stopped
2025-10-26T20:09:42.267Z,1761509382.267 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:09:42.267Z,1761509382.267 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:09:42.267Z,1761509382.267 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:09:42.267Z,1761509382.267 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:09:42.283Z,1761509382.283 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:09:42.283Z,1761509382.283 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:09:42.284Z,1761509382.284 [marl:UpdateCommandMode] Stopped
2025-10-26T20:09:42.284Z,1761509382.284 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:09:42.646Z,1761509382.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219236,0.863077,0.455010],[-0.891456,0.366734,-0.266105],[-0.396537,-0.347282,0.849796]]
2025-10-26T20:09:42.672Z,1761509382.672 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:09:42.672Z,1761509382.672 [marl:UpdateRudder:B] Stopped
2025-10-26T20:09:42.672Z,1761509382.672 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:09:42.672Z,1761509382.672 [marl:UpdateRudder] Stopped
2025-10-26T20:09:42.672Z,1761509382.672 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:09:43.050Z,1761509383.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191373,0.875350,0.444003],[-0.894921,0.341398,-0.287339],[-0.403104,-0.342359,0.848704]]
2025-10-26T20:09:43.456Z,1761509383.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164744,0.884226,0.437039],[-0.898273,0.317514,-0.303793],[-0.407388,-0.342533,0.846585]]
2025-10-26T20:09:43.861Z,1761509383.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139864,0.887515,0.439039],[-0.900814,0.298123,-0.315684],[-0.411062,-0.351340,0.841183]]
2025-10-26T20:09:44.177Z,1761509384.177 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:09:43.3614

2025-10-26T20:09:44.177Z,1761509384.177 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:09:44.266Z,1761509384.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.117236,0.886138,0.448348],[-0.901925,0.283969,-0.325411],[-0.415676,-0.366226,0.832521]]
2025-10-26T20:09:44.331Z,1761509384.331 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:09:44.331Z,1761509384.331 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:09:44.331Z,1761509384.331 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:09:44.331Z,1761509384.331 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:09:44.332Z,1761509384.332 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:09:44.332Z,1761509384.332 [marl:UpdateSpeed] Stopped
2025-10-26T20:09:44.332Z,1761509384.332 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:09:44.668Z,1761509384.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092658,0.883833,0.458535],[-0.903038,0.268592,-0.335233],[-0.419448,-0.383012,0.823022]]
2025-10-26T20:09:45.070Z,1761509385.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066093,0.883162,0.464388],[-0.904176,0.249848,-0.346471],[-0.422016,-0.396989,0.815048]]
2025-10-26T20:09:45.474Z,1761509385.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040812,0.884325,0.465084],[-0.904850,0.230128,-0.358171],[-0.423769,-0.406214,0.809574]]
2025-10-26T20:09:45.881Z,1761509385.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017928,0.888210,0.459087],[-0.905662,0.208967,-0.368928],[-0.423620,-0.409164,0.808165]]
2025-10-26T20:09:46.284Z,1761509386.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003644,0.892509,0.451015],[-0.907319,0.186671,-0.376732],[-0.420428,-0.410587,0.809110]]
2025-10-26T20:09:46.686Z,1761509386.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025530,0.893978,0.447383],[-0.909488,0.164989,-0.381588],[-0.414945,-0.416631,0.808851]]
2025-10-26T20:09:47.090Z,1761509387.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048677,0.893099,0.447218],[-0.911410,0.143455,-0.385684],[-0.408610,-0.426373,0.806997]]
2025-10-26T20:09:47.494Z,1761509387.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073004,0.892234,0.445633],[-0.911972,0.121146,-0.391957],[-0.403704,-0.435020,0.804848]]
2025-10-26T20:09:47.916Z,1761509387.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097171,0.893377,0.438675],[-0.910671,0.098015,-0.401336],[-0.401541,-0.438487,0.804049]]
2025-10-26T20:09:48.302Z,1761509388.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120681,0.898457,0.422150],[-0.907892,0.072085,-0.412960],[-0.401458,-0.433103,0.807003]]
2025-10-26T20:09:48.712Z,1761509388.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143894,0.907064,0.395639],[-0.904208,0.041945,-0.425027],[-0.402121,-0.418899,0.814139]]
2025-10-26T20:09:49.110Z,1761509389.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167628,0.916819,0.362414],[-0.900026,0.007700,-0.435769],[-0.402312,-0.399229,0.823870]]
2025-10-26T20:09:49.534Z,1761509389.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219178,0.929238,0.297451],[-0.890056,-0.065532,-0.451117],[-0.399702,-0.363623,0.841437]]
2025-10-26T20:09:49.934Z,1761509389.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237892,0.930559,0.278330],[-0.884587,-0.089223,-0.457761],[-0.401141,-0.355105,0.844385]]
2025-10-26T20:09:50.327Z,1761509390.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255969,0.928553,0.268830],[-0.879965,-0.108692,-0.462436],[-0.400177,-0.354930,0.844916]]
2025-10-26T20:09:50.818Z,1761509390.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274543,0.923670,0.267319],[-0.875841,-0.125460,-0.466007],[-0.396899,-0.362068,0.843432]]
2025-10-26T20:09:51.135Z,1761509391.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294311,0.916177,0.272029],[-0.870986,-0.139961,-0.470951],[-0.393402,-0.375539,0.839170]]
2025-10-26T20:09:51.313Z,1761509391.313 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:09:51.314Z,1761509391.314 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:09:51.536Z,1761509391.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317455,0.907333,0.275626],[-0.863943,-0.156912,-0.478520],[-0.390928,-0.390033,0.833696]]
2025-10-26T20:09:51.951Z,1761509391.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345937,0.897450,0.273700],[-0.853992,-0.180349,-0.488028],[-0.388619,-0.402564,0.828805]]
2025-10-26T20:09:52.342Z,1761509392.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377274,0.886535,0.267805],[-0.841882,-0.207823,-0.498040],[-0.385874,-0.413358,0.824764]]
2025-10-26T20:09:52.760Z,1761509392.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407368,0.876686,0.255876],[-0.829639,-0.238122,-0.504972],[-0.381772,-0.417994,0.824337]]
2025-10-26T20:09:53.150Z,1761509393.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432647,0.867927,0.243965],[-0.819355,-0.265631,-0.508034],[-0.376131,-0.419693,0.826065]]
2025-10-26T20:09:53.556Z,1761509393.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453780,0.858896,0.237449],[-0.811176,-0.287833,-0.509064],[-0.368887,-0.423616,0.827328]]
2025-10-26T20:09:53.961Z,1761509393.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474246,0.850160,0.228731],[-0.802865,-0.311029,-0.508595],[-0.361245,-0.424840,0.830068]]
2025-10-26T20:09:54.264Z,1761509394.264 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:09:54.362Z,1761509394.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497429,0.840182,0.216008],[-0.791722,-0.337895,-0.508924],[-0.354601,-0.424172,0.833269]]
2025-10-26T20:09:54.516Z,1761509394.516 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:09:54.770Z,1761509394.770 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:09:54.818Z,1761509394.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521488,0.828950,0.202219],[-0.778776,-0.365566,-0.509774],[-0.348652,-0.423324,0.836205]]
2025-10-26T20:09:55.173Z,1761509395.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542649,0.818664,0.187941],[-0.767363,-0.392185,-0.507292],[-0.341594,-0.419500,0.841031]]
2025-10-26T20:09:55.574Z,1761509395.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560042,0.809555,0.175994],[-0.758561,-0.415677,-0.501794],[-0.333073,-0.414528,0.846893]]
2025-10-26T20:09:55.605Z,1761509395.605 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateRudder:A] Stopped
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:09:55.606Z,1761509395.606 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:09:55.607Z,1761509395.607 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:09:55.607Z,1761509395.607 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:09:55.607Z,1761509395.607 [marl:UpdateCommandMode] Stopped
2025-10-26T20:09:55.607Z,1761509395.607 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:09:55.981Z,1761509395.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577153,0.800258,0.162733],[-0.749281,-0.439681,-0.495236],[-0.324766,-0.407759,0.853381]]
2025-10-26T20:09:56.033Z,1761509396.033 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:09:56.033Z,1761509396.033 [marl:UpdateRudder:B] Stopped
2025-10-26T20:09:56.033Z,1761509396.033 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:09:56.033Z,1761509396.033 [marl:UpdateRudder] Stopped
2025-10-26T20:09:56.034Z,1761509396.034 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:09:56.382Z,1761509396.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597048,0.789209,0.143815],[-0.735146,-0.466520,-0.491854],[-0.321083,-0.399385,0.858718]]
2025-10-26T20:09:56.820Z,1761509396.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619863,0.775256,0.121440],[-0.715119,-0.494370,-0.494170],[-0.323072,-0.393161,0.860842]]
2025-10-26T20:09:57.283Z,1761509397.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645033,0.757899,0.097575],[-0.691036,-0.524031,-0.497857],[-0.326193,-0.388562,0.861753]]
2025-10-26T20:09:57.342Z,1761509397.342 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:09:57.540Z,1761509397.540 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:57.591Z,1761509397.591 [DAT](INFO): entering command mode
2025-10-26T20:09:57.687Z,1761509397.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669326,0.738715,0.079389],[-0.667525,-0.551001,-0.500807],[-0.326211,-0.388197,0.861910]]
2025-10-26T20:09:57.736Z,1761509397.736 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:09:57.736Z,1761509397.736 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:09:57.737Z,1761509397.737 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:09:57.737Z,1761509397.737 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:09:57.737Z,1761509397.737 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:09:57.737Z,1761509397.737 [marl:UpdateSpeed] Stopped
2025-10-26T20:09:57.737Z,1761509397.737 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:09:57.792Z,1761509397.792 [DAT](INFO): DAT read: 

2025-10-26T20:09:57.793Z,1761509397.793 [DAT](INFO): DAT read: user:100>

2025-10-26T20:09:57.793Z,1761509397.793 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:57.793Z,1761509397.793 [DAT](INFO): setting remote address to 0
2025-10-26T20:09:58.044Z,1761509398.044 [DAT](INFO): DAT read: user:100>

2025-10-26T20:09:58.045Z,1761509398.045 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:09:58.046Z,1761509398.046 [DAT](INFO): set remote address to 0
2025-10-26T20:09:58.046Z,1761509398.046 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:09:58.046Z,1761509398.046 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:09:58.108Z,1761509398.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693552,0.717107,0.068871],[-0.644975,-0.575501,-0.502798],[-0.320924,-0.393137,0.861656]]
2025-10-26T20:09:58.297Z,1761509398.297 [DAT](INFO): DAT read: user:101>

2025-10-26T20:09:58.298Z,1761509398.298 [DAT](INFO): DAT read: Tx time:20:09:57.4124

2025-10-26T20:09:58.298Z,1761509398.298 [DAT](INFO): Ping request sent.
2025-10-26T20:09:58.298Z,1761509398.298 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:09:58.298Z,1761509398.298 [DAT](INFO): publishing transmit ping time
2025-10-26T20:09:58.299Z,1761509398.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000960
2025-10-26T20:09:58.498Z,1761509398.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715426,0.695373,0.067978],[-0.624312,-0.592554,-0.509032],[-0.313687,-0.406614,0.858059]]
2025-10-26T20:09:58.548Z,1761509398.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250255
2025-10-26T20:09:58.805Z,1761509398.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506723
2025-10-26T20:09:58.910Z,1761509398.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732557,0.677021,0.070732],[-0.606026,-0.601338,-0.520696],[-0.309988,-0.424305,0.850807]]
2025-10-26T20:09:59.053Z,1761509399.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754437
2025-10-26T20:09:59.302Z,1761509399.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745797,0.662443,0.070395],[-0.589206,-0.606630,-0.533700],[-0.310842,-0.439509,0.842739]]
2025-10-26T20:09:59.304Z,1761509399.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006031
2025-10-26T20:09:59.557Z,1761509399.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258826
2025-10-26T20:09:59.713Z,1761509399.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759651,0.647432,0.061340],[-0.571205,-0.619158,-0.538858],[-0.310895,-0.444381,0.840161]]
2025-10-26T20:09:59.808Z,1761509399.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510340
2025-10-26T20:10:00.060Z,1761509400.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762173
2025-10-26T20:10:00.110Z,1761509400.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776917,0.627703,0.048876],[-0.551210,-0.640617,-0.534582],[-0.304248,-0.442267,0.843702]]
2025-10-26T20:10:00.312Z,1761509400.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014162
2025-10-26T20:10:00.518Z,1761509400.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795213,0.604790,0.043181],[-0.532612,-0.662724,-0.526423],[-0.289759,-0.441617,0.849125]]
2025-10-26T20:10:00.565Z,1761509400.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266422
2025-10-26T20:10:00.817Z,1761509400.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519105
2025-10-26T20:10:00.925Z,1761509400.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811549,0.582339,0.047651],[-0.518127,-0.679566,-0.519359],[-0.270061,-0.446174,0.853227]]
2025-10-26T20:10:01.069Z,1761509401.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770601
2025-10-26T20:10:01.320Z,1761509401.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022318
2025-10-26T20:10:01.324Z,1761509401.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823900,0.564251,0.053005],[-0.507105,-0.692220,-0.513493],[-0.253048,-0.449946,0.856455]]
2025-10-26T20:10:01.576Z,1761509401.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278031
2025-10-26T20:10:01.732Z,1761509401.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831795,0.553323,0.044175],[-0.495667,-0.704581,-0.507819],[-0.249863,-0.444297,0.860331]]
2025-10-26T20:10:01.824Z,1761509401.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526259
2025-10-26T20:10:02.076Z,1761509402.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778241
2025-10-26T20:10:02.333Z,1761509402.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034030
2025-10-26T20:10:02.545Z,1761509402.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851462,0.524061,-0.019270],[-0.452778,-0.753191,-0.477174],[-0.264582,-0.397571,0.878598]]
2025-10-26T20:10:02.580Z,1761509402.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282284
2025-10-26T20:10:02.833Z,1761509402.833 [DAT](INFO): DAT read: Rx Time:20:10:01.5051

2025-10-26T20:10:02.833Z,1761509402.833 [DAT](INFO): Rx dataTimestamp_ set to:1761509402.833202
2025-10-26T20:10:02.834Z,1761509402.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535907
2025-10-26T20:10:02.938Z,1761509402.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866920,0.496121,-0.048095],[-0.421988,-0.781869,-0.458920],[-0.265284,-0.377552,0.887175]]
2025-10-26T20:10:03.084Z,1761509403.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786187
2025-10-26T20:10:03.342Z,1761509403.342 [DAT](INFO): DAT read: 20:10:01.5051 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 312, 0.25, 2.897,-1.942, 2.651,-2.909, PHS=-0.375, 1.012,-0.767, RAW= 342.1,   1.6, CAL= 341.6,  -1.3, ROT= 168.4,   1.3

2025-10-26T20:10:03.343Z,1761509403.343 [DAT](INFO): got valid direction response:
 20:10:01.5051 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 312, 0.25, 2.897,-1.942, 2.651,-2.909, PHS=-0.375, 1.012,-0.767, RAW= 342.1,   1.6, CAL= 341.6,  -1.3, ROT= 168.4,   1.3

2025-10-26T20:10:03.344Z,1761509403.344 [DAT](INFO): DAT read: $Error in header

2025-10-26T20:10:03.344Z,1761509403.344 [DAT](INFO): Received a bad header
2025-10-26T20:10:03.351Z,1761509403.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880859,0.468377,-0.068624],[-0.390325,-0.800662,-0.454518],[-0.267830,-0.373581,0.888090]]
2025-10-26T20:10:03.356Z,1761509403.356 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-26T20:10:03.357Z,1761509403.357 [DAT](INFO): direction in FSK: [-0.979323,0.201026,-0.022687]
2025-10-26T20:10:03.477Z,1761509403.477 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509376.00. Resetting abort timer.
2025-10-26T20:10:03.747Z,1761509403.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889975,0.447972,-0.085240],[-0.362582,-0.808525,-0.463488],[-0.276548,-0.381586,0.881994]]
2025-10-26T20:10:04.150Z,1761509404.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895342,0.433615,-0.101692],[-0.339386,-0.812096,-0.474676],[-0.288410,-0.390484,0.874266]]
2025-10-26T20:10:04.554Z,1761509404.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900966,0.415467,-0.125090],[-0.312744,-0.821671,-0.476496],[-0.300751,-0.390186,0.870232]]
2025-10-26T20:10:04.848Z,1761509404.848 [DAT](FAULT): Buffer send receipt timeout failure.
2025-10-26T20:10:04.848Z,1761509404.848 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER
2025-10-26T20:10:04.959Z,1761509404.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910580,0.388324,-0.141595],[-0.284952,-0.837919,-0.465505],[-0.299412,-0.383531,0.873645]]
2025-10-26T20:10:05.101Z,1761509405.101 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2025-10-26T20:10:05.352Z,1761509405.352 [DAT](INFO): setting remote address to 6
2025-10-26T20:10:05.604Z,1761509405.604 [DAT](INFO): DAT read: 

2025-10-26T20:10:05.605Z,1761509405.605 [DAT](INFO): DAT read: RemoteAddr      | 6           

2025-10-26T20:10:05.605Z,1761509405.605 [DAT](INFO): set remote address to 6
2025-10-26T20:10:05.606Z,1761509405.606 [DAT](INFO): entering online mode
2025-10-26T20:10:05.766Z,1761509405.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923216,0.356161,-0.144299],[-0.256706,-0.851019,-0.458114],[-0.285964,-0.385896,0.877103]]
2025-10-26T20:10:05.857Z,1761509405.857 [DAT](INFO): DAT read: user:103>

2025-10-26T20:10:05.857Z,1761509405.857 [DAT](INFO): DAT read: 

2025-10-26T20:10:05.859Z,1761509405.859 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-10-26T20:10:05.860Z,1761509405.860 [DAT](INFO): commRate: 600
2025-10-26T20:10:05.860Z,1761509405.860 [DAT](INFO): online mode acknowledged
2025-10-26T20:10:05.861Z,1761509405.861 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2025-10-26T20:10:06.204Z,1761509406.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918749,0.351161,-0.180516],[-0.233377,-0.851741,-0.469118],[-0.318489,-0.388874,0.864489]]
2025-10-26T20:10:06.609Z,1761509406.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917662,0.326118,-0.227031],[-0.191775,-0.863879,-0.465763],[-0.348021,-0.383874,0.855291]]
2025-10-26T20:10:06.636Z,1761509406.636 [marl:NeedComms:C] Running Loop=1
2025-10-26T20:10:07.006Z,1761509407.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923473,0.288562,-0.252845],[-0.147991,-0.875938,-0.459164],[-0.353974,-0.386606,0.851609]]
2025-10-26T20:10:07.108Z,1761509407.108 [Radio_Surface](INFO): Powering up
2025-10-26T20:10:07.413Z,1761509407.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934918,0.256731,-0.244984],[-0.117698,-0.875619,-0.468442],[-0.334777,-0.409121,0.848849]]
2025-10-26T20:10:07.724Z,1761509407.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:10:07.814Z,1761509407.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943255,0.230400,-0.239135],[-0.090730,-0.871551,-0.481837],[-0.319434,-0.432799,0.842999]]
2025-10-26T20:10:08.220Z,1761509408.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944298,0.199734,-0.261550],[-0.047758,-0.869518,-0.491586],[-0.325609,-0.451713,0.830623]]
2025-10-26T20:10:08.377Z,1761509408.377 [DAT](INFO): Reached modem response timeout
2025-10-26T20:10:08.638Z,1761509408.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941885,0.158752,-0.296060],[0.004144,-0.875738,-0.482769],[-0.335911,-0.455939,0.824186]]
2025-10-26T20:10:08.728Z,1761509408.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateRudder:A] Stopped
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:10:09.134Z,1761509409.134 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:10:09.140Z,1761509409.140 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:10:09.141Z,1761509409.141 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:10:09.141Z,1761509409.141 [marl:UpdateCommandMode] Stopped
2025-10-26T20:10:09.141Z,1761509409.141 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:10:09.438Z,1761509409.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963563,0.044258,-0.263796],[0.079564,-0.894153,-0.440636],[-0.255376,-0.445569,0.858051]]
2025-10-26T20:10:09.477Z,1761509409.477 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:10:09.477Z,1761509409.477 [marl:UpdateRudder:B] Stopped
2025-10-26T20:10:09.477Z,1761509409.477 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:10:09.478Z,1761509409.478 [marl:UpdateRudder] Stopped
2025-10-26T20:10:09.478Z,1761509409.478 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:10:09.842Z,1761509409.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969709,-0.015922,-0.243743],[0.115257,-0.909625,-0.399121],[-0.215360,-0.415125,0.883907]]
2025-10-26T20:10:10.247Z,1761509410.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971643,-0.076137,-0.223857],[0.151924,-0.926481,-0.344313],[-0.181185,-0.368559,0.911776]]
2025-10-26T20:10:10.645Z,1761509410.645 [DAT](INFO): DAT read: Response Not Received

2025-10-26T20:10:10.645Z,1761509410.645 [DAT](INFO): response not received
2025-10-26T20:10:10.645Z,1761509410.645 [DAT](ERROR): No response from remote modem.
2025-10-26T20:10:10.652Z,1761509410.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972338,-0.132084,-0.192649],[0.183593,-0.942063,-0.280733],[-0.144407,-0.308336,0.940253]]
2025-10-26T20:10:10.708Z,1761509410.708 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:10:10.708Z,1761509410.708 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:10:10.708Z,1761509410.708 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:10:10.708Z,1761509410.708 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:10:10.709Z,1761509410.709 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:10:10.709Z,1761509410.709 [marl:UpdateSpeed] Stopped
2025-10-26T20:10:10.709Z,1761509410.709 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:10:11.056Z,1761509411.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972887,-0.162017,-0.165048],[0.196619,-0.955164,-0.221365],[-0.121783,-0.247815,0.961123]]
2025-10-26T20:10:11.458Z,1761509411.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965450,-0.196924,-0.170668],[0.222562,-0.963778,-0.146963],[-0.135545,-0.179870,0.974307]]
2025-10-26T20:10:11.862Z,1761509411.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955664,-0.238955,-0.172068],[0.257865,-0.961276,-0.097230],[-0.142171,-0.137290,0.980275]]
2025-10-26T20:10:12.266Z,1761509412.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947266,-0.278031,-0.159327],[0.290656,-0.954825,-0.061867],[-0.134928,-0.104914,0.985285]]
2025-10-26T20:10:12.368Z,1761509412.368 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-10-26T20:10:12.369Z,1761509412.369 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-10-26T20:10:12.675Z,1761509412.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935340,-0.316475,-0.158056],[0.324615,-0.945433,-0.027962],[-0.140582,-0.077461,0.987034]]
2025-10-26T20:10:13.074Z,1761509413.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922353,-0.367446,-0.119365],[0.371972,-0.928082,-0.017339],[-0.104410,-0.060393,0.992699]]
2025-10-26T20:10:13.478Z,1761509413.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911588,-0.402622,-0.083086],[0.407625,-0.911460,-0.055522],[-0.053375,-0.084481,0.994995]]
2025-10-26T20:10:13.669Z,1761509413.669 [DAT](INFO): DAT read: Forwarding Delay UpTx time:20:10:12.9611

2025-10-26T20:10:13.669Z,1761509413.669 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2025-10-26T20:10:13.893Z,1761509413.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906850,-0.416250,-0.066023],[0.421149,-0.900958,-0.104440],[-0.016011,-0.122516,0.992337]]
2025-10-26T20:10:14.286Z,1761509414.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907380,-0.411934,-0.083493],[0.419474,-0.900053,-0.118095],[-0.026501,-0.142180,0.989486]]
2025-10-26T20:10:14.692Z,1761509414.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902507,-0.406609,-0.141952],[0.422987,-0.898864,-0.114566],[-0.081012,-0.163440,0.983221]]
2025-10-26T20:10:15.096Z,1761509415.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887818,-0.421587,-0.184509],[0.445688,-0.887570,-0.116538],[-0.114634,-0.185698,0.975897]]
2025-10-26T20:10:15.498Z,1761509415.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868218,-0.453254,-0.201887],[0.481165,-0.868443,-0.119526],[-0.121152,-0.200915,0.972088]]
2025-10-26T20:10:15.904Z,1761509415.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847949,-0.484134,-0.215864],[0.513312,-0.851569,-0.106493],[-0.132267,-0.201106,0.970599]]
2025-10-26T20:10:16.306Z,1761509416.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830494,-0.519872,-0.200030],[0.539999,-0.839516,-0.060117],[-0.136675,-0.157943,0.977944]]
2025-10-26T20:10:16.715Z,1761509416.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821296,-0.548454,-0.157070],[0.556294,-0.830954,-0.007276],[-0.126527,-0.093353,0.987561]]
2025-10-26T20:10:17.114Z,1761509417.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819006,-0.562567,-0.112906],[0.564383,-0.825312,0.018246],[-0.103448,-0.048779,0.993438]]
2025-10-26T20:10:17.518Z,1761509417.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807240,-0.581864,-0.098986],[0.583449,-0.812009,0.015115],[-0.089172,-0.045552,0.994974]]
2025-10-26T20:10:17.924Z,1761509417.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784600,-0.610129,-0.110208],[0.615224,-0.788181,-0.016446],[-0.076830,-0.080706,0.993772]]
2025-10-26T20:10:18.326Z,1761509418.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765394,-0.634578,-0.107160],[0.642333,-0.763552,-0.066307],[-0.039745,-0.119584,0.992028]]
2025-10-26T20:10:18.734Z,1761509418.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756626,-0.646689,-0.096496],[0.653681,-0.751485,-0.089283],[-0.014777,-0.130631,0.991321]]
2025-10-26T20:10:19.136Z,1761509419.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758567,-0.645898,-0.085974],[0.651406,-0.754893,-0.076202],[-0.015682,-0.113809,0.993379]]
2025-10-26T20:10:19.538Z,1761509419.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761793,-0.642879,-0.079862],[0.647452,-0.759712,-0.060364],[-0.021865,-0.097691,0.994977]]
2025-10-26T20:10:19.942Z,1761509419.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757855,-0.646494,-0.087752],[0.651568,-0.756868,-0.051091],[-0.033387,-0.095897,0.994831]]
2025-10-26T20:10:20.349Z,1761509420.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737226,-0.663386,-0.128133],[0.671351,-0.740596,-0.028383],[-0.076066,-0.106947,0.991351]]
2025-10-26T20:10:20.780Z,1761509420.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701182,-0.696589,-0.152011],[0.707616,-0.706013,-0.028727],[-0.087311,-0.127708,0.987961]]
2025-10-26T20:10:21.159Z,1761509421.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682215,-0.713647,-0.159029],[0.725329,-0.687975,-0.024265],[-0.092091,-0.131902,0.986976]]
2025-10-26T20:10:21.562Z,1761509421.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658769,-0.733629,-0.166770],[0.744317,-0.667823,-0.002390],[-0.109619,-0.125704,0.985993]]
2025-10-26T20:10:21.968Z,1761509421.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642257,-0.752868,-0.143860],[0.758126,-0.651610,0.025478],[-0.112923,-0.092701,0.989270]]
2025-10-26T20:10:22.385Z,1761509422.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633422,-0.764885,-0.117167],[0.765564,-0.641490,0.049003],[-0.112643,-0.058659,0.991903]]
2025-10-26T20:10:22.425Z,1761509422.425 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateRudder:A] Stopped
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:10:22.426Z,1761509422.426 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:10:22.427Z,1761509422.427 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:10:22.427Z,1761509422.427 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:10:22.427Z,1761509422.427 [marl:UpdateCommandMode] Stopped
2025-10-26T20:10:22.427Z,1761509422.427 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:10:22.813Z,1761509422.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627108,-0.771826,-0.104980],[0.771773,-0.633906,0.050298],[-0.105369,-0.049479,0.993201]]
2025-10-26T20:10:22.897Z,1761509422.897 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:10:22.897Z,1761509422.897 [marl:UpdateRudder:B] Stopped
2025-10-26T20:10:22.897Z,1761509422.897 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:10:22.897Z,1761509422.897 [marl:UpdateRudder] Stopped
2025-10-26T20:10:22.898Z,1761509422.898 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:10:23.175Z,1761509423.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622473,-0.775310,-0.106876],[0.779122,-0.626804,0.009219],[-0.074137,-0.077531,0.994230]]
2025-10-26T20:10:23.579Z,1761509423.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623657,-0.773623,-0.112064],[0.781086,-0.622404,-0.050185],[-0.030925,-0.118830,0.992433]]
2025-10-26T20:10:23.982Z,1761509423.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611942,-0.782859,-0.112511],[0.790886,-0.606631,-0.080613],[-0.005144,-0.138314,0.990375]]
2025-10-26T20:10:24.026Z,1761509424.026 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:10:24.026Z,1761509424.026 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:10:24.026Z,1761509424.026 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:10:24.026Z,1761509424.026 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:10:24.026Z,1761509424.026 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:10:24.026Z,1761509424.026 [marl:UpdateSpeed] Stopped
2025-10-26T20:10:24.027Z,1761509424.027 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:10:24.391Z,1761509424.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593165,-0.798458,-0.103052],[0.805081,-0.588363,-0.075328],[-0.000486,-0.127646,0.991820]]
2025-10-26T20:10:24.819Z,1761509424.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584177,-0.805965,-0.095697],[0.811556,-0.581604,-0.055804],[-0.010682,-0.110263,0.993845]]
2025-10-26T20:10:25.196Z,1761509425.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580628,-0.807628,-0.102998],[0.813977,-0.578573,-0.051908],[-0.017670,-0.113977,0.993326]]
2025-10-26T20:10:25.599Z,1761509425.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566020,-0.816964,-0.110415],[0.824336,-0.562435,-0.064320],[-0.009554,-0.127426,0.991802]]
2025-10-26T20:10:26.002Z,1761509426.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549175,-0.830050,-0.097079],[0.835624,-0.547050,-0.049695],[-0.011858,-0.108412,0.994035]]
2025-10-26T20:10:26.409Z,1761509426.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532888,-0.843950,-0.061475],[0.845610,-0.533798,-0.001893],[-0.031217,-0.052992,0.998107]]
2025-10-26T20:10:26.827Z,1761509426.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527121,-0.848923,-0.038375],[0.849313,-0.527801,0.009664],[-0.028458,-0.027498,0.999217]]
2025-10-26T20:10:27.214Z,1761509427.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534504,-0.841852,-0.074778],[0.844794,-0.534800,-0.017696],[-0.025094,-0.072630,0.997043]]
2025-10-26T20:10:27.618Z,1761509427.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524027,-0.837293,-0.156003],[0.849351,-0.527339,-0.022726],[-0.063238,-0.144410,0.987495]]
2025-10-26T20:10:27.659Z,1761509427.659 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:10:27.780Z,1761509427.780 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:10:27.831Z,1761509427.831 [DAT](INFO): entering command mode
2025-10-26T20:10:28.022Z,1761509428.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497821,-0.838966,-0.219797],[0.860325,-0.509738,-0.002889],[-0.109615,-0.190535,0.975541]]
2025-10-26T20:10:28.032Z,1761509428.032 [DAT](INFO): DAT read: 

2025-10-26T20:10:28.033Z,1761509428.033 [DAT](INFO): DAT read: user:104>

2025-10-26T20:10:28.033Z,1761509428.033 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:10:28.033Z,1761509428.033 [DAT](INFO): setting remote address to 0
2025-10-26T20:10:28.284Z,1761509428.284 [DAT](INFO): DAT read: user:104>

2025-10-26T20:10:28.285Z,1761509428.285 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-10-26T20:10:28.286Z,1761509428.286 [DAT](INFO): set remote address to 0
2025-10-26T20:10:28.286Z,1761509428.286 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:10:28.286Z,1761509428.286 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:10:28.426Z,1761509428.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479317,-0.854297,-0.201077],[0.869157,-0.493839,0.026273],[-0.121744,-0.162175,0.979223]]
2025-10-26T20:10:28.536Z,1761509428.536 [DAT](INFO): DAT read: user:105>

2025-10-26T20:10:28.537Z,1761509428.537 [DAT](INFO): DAT read: Tx time:20:10:27.6622

2025-10-26T20:10:28.537Z,1761509428.537 [DAT](INFO): Ping request sent.
2025-10-26T20:10:28.537Z,1761509428.537 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:10:28.538Z,1761509428.538 [DAT](INFO): publishing transmit ping time
2025-10-26T20:10:28.538Z,1761509428.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000928
2025-10-26T20:10:28.791Z,1761509428.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253090
2025-10-26T20:10:28.833Z,1761509428.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455436,-0.881293,-0.126100],[0.884215,-0.464268,0.051171],[-0.103641,-0.088195,0.990697]]
2025-10-26T20:10:29.040Z,1761509429.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502893
2025-10-26T20:10:29.234Z,1761509429.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430678,-0.901024,-0.051699],[0.899934,-0.433067,0.050712],[-0.068082,-0.024685,0.997374]]
2025-10-26T20:10:29.292Z,1761509429.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755015
2025-10-26T20:10:29.544Z,1761509429.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006838
2025-10-26T20:10:29.638Z,1761509429.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419899,-0.907476,-0.013165],[0.906971,-0.420104,0.030256],[-0.032987,0.000765,0.999455]]
2025-10-26T20:10:29.796Z,1761509429.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258886
2025-10-26T20:10:30.042Z,1761509430.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416841,-0.908747,-0.020558],[0.908892,-0.417009,0.004475],[-0.012639,-0.016820,0.999779]]
2025-10-26T20:10:30.050Z,1761509430.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512368
2025-10-26T20:10:30.300Z,1761509430.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762994
2025-10-26T20:10:30.446Z,1761509430.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404252,-0.912491,-0.062781],[0.914640,-0.403007,-0.031930],[0.003835,-0.070329,0.997516]]
2025-10-26T20:10:30.552Z,1761509430.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014909
2025-10-26T20:10:30.807Z,1761509430.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269143
2025-10-26T20:10:30.857Z,1761509430.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401271,-0.911045,-0.094752],[0.915911,-0.398029,-0.051776],[0.009457,-0.107560,0.994154]]
2025-10-26T20:10:31.056Z,1761509431.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518872
2025-10-26T20:10:31.281Z,1761509431.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392206,-0.913244,-0.110269],[0.919683,-0.391760,-0.026596],[-0.018910,-0.111843,0.993546]]
2025-10-26T20:10:31.308Z,1761509431.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981
2025-10-26T20:10:31.565Z,1761509431.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026545
2025-10-26T20:10:31.658Z,1761509431.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366598,-0.921404,-0.128920],[0.929078,-0.369880,0.001636],[-0.049192,-0.119178,0.991654]]
2025-10-26T20:10:31.812Z,1761509431.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274856
2025-10-26T20:10:32.062Z,1761509432.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350145,-0.928823,-0.121184],[0.935159,-0.354041,0.011551],[-0.053633,-0.109282,0.992563]]
2025-10-26T20:10:32.064Z,1761509432.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526896
2025-10-26T20:10:32.316Z,1761509432.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778924
2025-10-26T20:10:32.473Z,1761509432.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338612,-0.938313,-0.070081],[0.940702,-0.339216,-0.003467],[-0.020520,-0.067100,0.997535]]
2025-10-26T20:10:32.568Z,1761509432.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030860
2025-10-26T20:10:32.820Z,1761509432.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282764
2025-10-26T20:10:32.872Z,1761509432.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303095,-0.952503,-0.029522],[0.952711,-0.302161,-0.032256],[0.021803,-0.037902,0.999044]]
2025-10-26T20:10:33.073Z,1761509433.073 [DAT](INFO): DAT read: Rx Time:20:10:31.7895

2025-10-26T20:10:33.073Z,1761509433.073 [DAT](INFO): Rx dataTimestamp_ set to:1761509433.072752
2025-10-26T20:10:33.074Z,1761509433.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536137
2025-10-26T20:10:33.277Z,1761509433.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288684,-0.957113,-0.024414],[0.956642,-0.287324,-0.047765],[0.038702,-0.037144,0.998560]]
2025-10-26T20:10:33.326Z,1761509433.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788369
2025-10-26T20:10:33.577Z,1761509433.577 [DAT](INFO): DAT read: Range 11 to 20 : 1292.4 m  (Round-trip  1723.3 ms) speed -0.3 m/s

2025-10-26T20:10:33.578Z,1761509433.578 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T20:10:33.678Z,1761509433.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299514,-0.953386,-0.036692],[0.953857,-0.298365,-0.033702],[0.021183,-0.045093,0.998758]]
2025-10-26T20:10:33.737Z,1761509433.737 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509376.00. Resetting abort timer.
2025-10-26T20:10:34.083Z,1761509434.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282658,-0.956262,-0.075284],[0.959066,-0.280330,-0.040106],[0.017248,-0.083539,0.996355]]
2025-10-26T20:10:34.488Z,1761509434.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253624,-0.961655,-0.104381],[0.966751,-0.248352,-0.060946],[0.032686,-0.116368,0.992668]]
2025-10-26T20:10:34.890Z,1761509434.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237071,-0.966752,-0.095857],[0.970955,-0.232502,-0.056477],[0.032312,-0.106462,0.993792]]
2025-10-26T20:10:35.298Z,1761509435.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232839,-0.968762,-0.085365],[0.972112,-0.229317,-0.049106],[0.027997,-0.094418,0.995139]]
2025-10-26T20:10:35.702Z,1761509435.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221193,-0.970755,-0.093317],[0.974747,-0.217057,-0.052486],[0.030696,-0.102570,0.994252]]
2025-10-26T20:10:35.757Z,1761509435.757 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:10:35.757Z,1761509435.757 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:10:35.757Z,1761509435.757 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateRudder:A] Stopped
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:10:35.758Z,1761509435.758 [marl:UpdateCommandMode] Stopped
2025-10-26T20:10:35.759Z,1761509435.759 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:10:36.104Z,1761509436.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208411,-0.973780,-0.091200],[0.977646,-0.204769,-0.047719],[0.027793,-0.099107,0.994689]]
2025-10-26T20:10:36.169Z,1761509436.169 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:10:36.169Z,1761509436.169 [marl:UpdateRudder:B] Stopped
2025-10-26T20:10:36.170Z,1761509436.170 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:10:36.170Z,1761509436.170 [marl:UpdateRudder] Stopped
2025-10-26T20:10:36.170Z,1761509436.170 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:10:36.506Z,1761509436.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192016,-0.979530,-0.060415],[0.980925,-0.189663,-0.042598],[0.030267,-0.067442,0.997264]]
2025-10-26T20:10:36.910Z,1761509436.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169525,-0.984993,-0.032395],[0.983971,-0.167320,-0.061690],[0.055344,-0.042334,0.997570]]
2025-10-26T20:10:37.320Z,1761509437.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167097,-0.985673,-0.022953],[0.983736,-0.165123,-0.070692],[0.065890,-0.034393,0.997234]]
2025-10-26T20:10:37.374Z,1761509437.374 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:10:37.374Z,1761509437.374 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:10:37.374Z,1761509437.374 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:10:37.374Z,1761509437.374 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:10:37.374Z,1761509437.374 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:10:37.375Z,1761509437.375 [marl:UpdateSpeed] Stopped
2025-10-26T20:10:37.375Z,1761509437.375 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:10:37.780Z,1761509437.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168948,-0.984505,-0.046974],[0.984297,-0.166055,-0.059883],[0.051155,-0.056354,0.997100]]
2025-10-26T20:10:38.125Z,1761509438.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155316,-0.982230,-0.105362],[0.986889,-0.149539,-0.060729],[0.043894,-0.113413,0.992578]]
2025-10-26T20:10:38.526Z,1761509438.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133453,-0.982594,-0.129230],[0.990294,-0.127103,-0.056232],[0.038828,-0.135480,0.990019]]
2025-10-26T20:10:38.848Z,1761509438.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:10:38.930Z,1761509438.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117931,-0.989142,-0.087691],[0.992588,-0.114811,-0.039838],[0.029337,-0.091739,0.995351]]
2025-10-26T20:10:39.345Z,1761509439.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109228,-0.993636,-0.027522],[0.992951,-0.107787,-0.049305],[0.046025,-0.032714,0.998405]]
2025-10-26T20:10:39.740Z,1761509439.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087732,-0.996129,0.005434],[0.992886,-0.087885,-0.080339],[0.080506,-0.001653,0.996753]]
2025-10-26T20:10:39.852Z,1761509439.852 [DataOverHttps](INFO): Radio surface powered ON.
2025-10-26T20:10:39.852Z,1761509439.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:10:40.143Z,1761509440.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050944,-0.998693,-0.004233],[0.993712,-0.050266,-0.100046],[0.099703,-0.009303,0.994974]]
2025-10-26T20:10:40.546Z,1761509440.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007375,-0.999078,-0.042285],[0.994204,-0.002790,-0.107476],[0.107259,-0.042833,0.993308]]
2025-10-26T20:10:40.950Z,1761509440.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008344,-0.995499,-0.094403],[0.996446,-0.000364,-0.084237],[0.083824,-0.094770,0.991964]]
2025-10-26T20:10:41.356Z,1761509441.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024615,-0.985962,-0.165149],[0.999697,-0.024371,-0.003499],[-0.000575,-0.165185,0.986263]]
2025-10-26T20:10:41.758Z,1761509441.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009043,-0.973854,-0.226994],[0.996746,-0.026962,0.075964],[-0.080098,-0.225568,0.970929]]
2025-10-26T20:10:42.163Z,1761509442.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012776,-0.974132,-0.225617],[0.996990,-0.004847,0.077384],[-0.076476,-0.225926,0.971138]]
2025-10-26T20:10:42.566Z,1761509442.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009202,-0.989750,-0.142516],[0.999953,0.008660,0.004423],[-0.003144,-0.142550,0.989783]]
2025-10-26T20:10:42.970Z,1761509442.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019105,-0.998010,-0.060096],[0.998352,-0.015789,-0.055181],[0.054123,-0.061051,0.996666]]
2025-10-26T20:10:43.374Z,1761509443.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015491,-0.999542,-0.025994],[0.997579,-0.013687,-0.068176],[0.067789,-0.026988,0.997335]]
2025-10-26T20:10:43.780Z,1761509443.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024859,-0.999524,-0.018262],[0.995948,0.026342,-0.085987],[0.086427,-0.016051,0.996129]]
2025-10-26T20:10:44.183Z,1761509444.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056952,-0.998056,-0.025305],[0.992416,0.059359,-0.107640],[0.108933,-0.018983,0.993868]]
2025-10-26T20:10:44.586Z,1761509444.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086295,-0.994942,-0.051406],[0.990684,0.091153,-0.101172],[0.105346,-0.042197,0.993540]]
2025-10-26T20:10:44.990Z,1761509444.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103909,-0.991026,-0.084083],[0.990841,0.110477,-0.077642],[0.086235,-0.075245,0.993429]]
2025-10-26T20:10:45.398Z,1761509445.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107854,-0.987510,-0.114854],[0.989123,0.118210,-0.087531],[0.100014,-0.104165,0.989518]]
2025-10-26T20:10:45.801Z,1761509445.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118274,-0.983361,-0.137889],[0.982380,0.136115,-0.128071],[0.144709,-0.120312,0.982133]]
2025-10-26T20:10:46.202Z,1761509446.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142054,-0.981967,-0.124748],[0.975487,0.160273,-0.150793],[0.168067,-0.100269,0.980663]]
2025-10-26T20:10:46.606Z,1761509446.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168227,-0.983138,-0.071686],[0.974539,0.176810,-0.137881],[0.148231,-0.046665,0.987851]]
2025-10-26T20:10:47.012Z,1761509447.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188549,-0.981719,-0.026011],[0.976092,0.190254,-0.105106],[0.108134,-0.005572,0.994121]]
2025-10-26T20:10:47.414Z,1761509447.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209733,-0.977555,-0.019968],[0.974531,0.210655,-0.076903],[0.079384,-0.003331,0.996839]]
2025-10-26T20:10:47.825Z,1761509447.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228829,-0.972663,-0.039538],[0.972175,0.230428,-0.042169],[0.050127,-0.028789,0.998328]]
2025-10-26T20:10:48.223Z,1761509448.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237243,-0.967909,-0.082875],[0.970679,0.239589,-0.019461],[0.038693,-0.075828,0.996370]]
2025-10-26T20:10:48.628Z,1761509448.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232750,-0.959977,-0.155796],[0.969122,0.242349,-0.045482],[0.081418,-0.140399,0.986742]]
2025-10-26T20:10:49.031Z,1761509449.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226658,-0.949631,-0.216394],[0.963355,0.251303,-0.093774],[0.143431,-0.187210,0.971792]]
2025-10-26T20:10:49.085Z,1761509449.085 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:10:49.085Z,1761509449.085 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateRudder:A] Stopped
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:10:49.086Z,1761509449.086 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:10:49.087Z,1761509449.087 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:10:49.087Z,1761509449.087 [marl:UpdateCommandMode] Stopped
2025-10-26T20:10:49.087Z,1761509449.087 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:10:49.434Z,1761509449.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234144,-0.950915,-0.202329],[0.960391,0.258576,-0.103860],[0.151080,-0.169997,0.973795]]
2025-10-26T20:10:49.485Z,1761509449.485 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:10:49.487Z,1761509449.487 [marl:UpdateRudder:B] Stopped
2025-10-26T20:10:49.488Z,1761509449.488 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:10:49.488Z,1761509449.488 [marl:UpdateRudder] Stopped
2025-10-26T20:10:49.488Z,1761509449.488 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:10:49.840Z,1761509449.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265596,-0.957677,-0.110965],[0.960051,0.273244,-0.060325],[0.088093,-0.090510,0.991992]]
2025-10-26T20:10:50.242Z,1761509450.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312522,-0.949805,-0.014168],[0.949150,0.312833,-0.035351],[0.038009,-0.002399,0.999275]]
2025-10-26T20:10:50.646Z,1761509450.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338546,-0.940904,0.009242],[0.939903,0.337690,-0.050471],[0.044367,0.025773,0.998683]]
2025-10-26T20:10:50.699Z,1761509450.699 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:10:50.699Z,1761509450.699 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:10:50.699Z,1761509450.699 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:10:50.700Z,1761509450.700 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:10:50.700Z,1761509450.700 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:10:50.700Z,1761509450.700 [marl:UpdateSpeed] Stopped
2025-10-26T20:10:50.700Z,1761509450.700 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:10:51.458Z,1761509451.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301537,-0.942988,-0.140885],[0.951484,0.307105,-0.019079],[0.061258,-0.128296,0.989842]]
2025-10-26T20:10:51.577Z,1761509451.577 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:10:51.577Z,1761509451.577 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:10:51.858Z,1761509451.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276569,-0.934427,-0.224398],[0.959162,0.282821,0.004452],[0.059305,-0.216465,0.974487]]
2025-10-26T20:10:52.262Z,1761509452.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284722,-0.929919,-0.232774],[0.956238,0.292590,0.000760],[0.067400,-0.222804,0.972531]]
2025-10-26T20:10:52.666Z,1761509452.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316403,-0.933497,-0.168735],[0.943724,0.327807,-0.043913],[0.096305,-0.145345,0.984683]]
2025-10-26T20:10:53.474Z,1761509453.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371689,-0.928304,0.009988],[0.921504,0.367618,-0.125249],[0.112597,0.055758,0.992075]]
2025-10-26T20:10:53.494Z,1761509453.494 [CTD_Seabird](ERROR): Failed to parse device response: ,16.1640,4.21996,5277.26
2025-10-26T20:10:53.878Z,1761509453.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374137,-0.926994,0.026513],[0.923155,0.369559,-0.105883],[0.088354,0.064090,0.994025]]
2025-10-26T20:10:54.286Z,1761509454.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368074,-0.929486,-0.024012],[0.927918,0.368849,-0.054023],[0.059070,-0.002397,0.998251]]
2025-10-26T20:10:54.686Z,1761509454.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385829,-0.916075,-0.109288],[0.921673,0.387964,0.001862],[0.040694,-0.101446,0.994008]]
2025-10-26T20:10:55.090Z,1761509455.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412857,-0.892343,-0.182408],[0.908979,0.416330,0.020662],[0.057504,-0.174335,0.983006]]
2025-10-26T20:10:55.496Z,1761509455.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421418,-0.886058,-0.193151],[0.900877,0.433468,-0.022943],[0.104053,-0.164337,0.980901]]
2025-10-26T20:10:55.899Z,1761509455.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426363,-0.893416,-0.141500],[0.895702,0.438823,-0.071784],[0.126226,-0.096136,0.987332]]
2025-10-26T20:10:56.322Z,1761509456.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453668,-0.888506,-0.068859],[0.886823,0.457729,-0.063479],[0.087921,-0.032267,0.995605]]
2025-10-26T20:10:56.710Z,1761509456.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470830,-0.882139,-0.012244],[0.881615,0.470975,-0.030601],[0.032761,0.003613,0.999457]]
2025-10-26T20:10:57.110Z,1761509457.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469935,-0.882394,-0.023281],[0.882280,0.470362,-0.018464],[0.027244,-0.011864,0.999558]]
2025-10-26T20:10:57.115Z,1761509457.115 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201053.00,A,3645.86387,N,12152.18841,W,0.175,0.00,261025,,,A*7F
2025-10-26T20:10:57.117Z,1761509457.117 [NAL9602](INFO): GPS fix at 20251026T201053: (36.764398, -121.869807)
2025-10-26T20:10:57.165Z,1761509457.165 [UniversalFixResidualReporter](INFO): Fix residual: 2.7 %DT, over the last 595.6 m. Residual distance 16.3 m at bearing 148.4 degrees. Fix at (36.7644, -121.8698) with 74.5 m made good.
2025-10-26T20:10:57.198Z,1761509457.198 [marl:NeedComms:C] Stopped
2025-10-26T20:10:57.198Z,1761509457.198 [marl:NeedComms:D] Running Loop=1
2025-10-26T20:10:57.203Z,1761509457.203 [marl:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1761509504.00. Resetting abort timer.
2025-10-26T20:10:57.522Z,1761509457.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469763,-0.877036,-0.100647],[0.879257,0.475024,-0.035485],[0.078931,-0.071825,0.994289]]
2025-10-26T20:10:57.919Z,1761509457.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482998,-0.860962,-0.159554],[0.869001,0.493686,-0.033333],[0.107468,-0.122553,0.986626]]
2025-10-26T20:10:57.954Z,1761509457.954 [marl:B.](INFO): *** querying acoustic contact ***
2025-10-26T20:10:58.040Z,1761509458.040 [DAT](DEBUG): Acoustic response timeout
2025-10-26T20:10:58.040Z,1761509458.040 [DAT](INFO): Querying Benthos address 20 with one ping in standard two-way mode.
2025-10-26T20:10:58.292Z,1761509458.292 [DAT](INFO): DAT read: user:106>

2025-10-26T20:10:58.294Z,1761509458.294 [DAT](INFO): DAT read: Tx time:20:10:57.4119

2025-10-26T20:10:58.294Z,1761509458.294 [DAT](INFO): Ping request sent.
2025-10-26T20:10:58.294Z,1761509458.294 [DAT](INFO): transmitted an acoustic signal
2025-10-26T20:10:58.294Z,1761509458.294 [DAT](INFO): publishing transmit ping time
2025-10-26T20:10:58.296Z,1761509458.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000944
2025-10-26T20:10:58.322Z,1761509458.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511704,-0.843207,-0.164807],[0.853065,0.521450,-0.019255],[0.102175,-0.130738,0.986138]]
2025-10-26T20:10:58.544Z,1761509458.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250023
2025-10-26T20:10:58.731Z,1761509458.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542275,-0.828156,-0.141757],[0.834389,0.550615,-0.024875],[0.098654,-0.104791,0.989589]]
2025-10-26T20:10:58.800Z,1761509458.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504559
2025-10-26T20:10:59.048Z,1761509459.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754004
2025-10-26T20:10:59.130Z,1761509459.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558581,-0.824713,-0.088525],[0.827304,0.561626,-0.012017],[0.059629,-0.066525,0.996001]]
2025-10-26T20:10:59.300Z,1761509459.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006099
2025-10-26T20:10:59.534Z,1761509459.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553211,-0.832349,-0.033949],[0.832936,0.552033,0.038442],[-0.013256,-0.049543,0.998684]]
2025-10-26T20:10:59.553Z,1761509459.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258192
2025-10-26T20:10:59.804Z,1761509459.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510022
2025-10-26T20:10:59.939Z,1761509459.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555299,-0.831126,-0.029536],[0.830463,0.552259,0.073076],[-0.044424,-0.065108,0.996889]]
2025-10-26T20:11:00.056Z,1761509460.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762036
2025-10-26T20:11:00.308Z,1761509460.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014094
2025-10-26T20:11:00.342Z,1761509460.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555617,-0.827994,-0.075600],[0.831422,0.552729,0.056818],[-0.005259,-0.094424,0.995518]]
2025-10-26T20:11:00.560Z,1761509460.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265876
2025-10-26T20:11:00.752Z,1761509460.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555511,-0.820666,-0.133843],[0.829910,0.557192,0.028063],[0.051546,-0.126667,0.990605]]
2025-10-26T20:11:00.815Z,1761509460.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520276
2025-10-26T20:11:01.064Z,1761509461.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770052
2025-10-26T20:11:01.150Z,1761509461.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562453,-0.810663,-0.162705],[0.823388,0.567095,0.020862],[0.075357,-0.145704,0.986454]]
2025-10-26T20:11:01.316Z,1761509461.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022019
2025-10-26T20:11:01.554Z,1761509461.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575787,-0.805411,-0.140649],[0.815997,0.576857,0.037208],[0.051166,-0.136193,0.989360]]
2025-10-26T20:11:01.568Z,1761509461.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273895
2025-10-26T20:11:01.820Z,1761509461.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526113
2025-10-26T20:11:01.958Z,1761509461.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590244,-0.802018,-0.091538],[0.806985,0.589024,0.042717],[0.019658,-0.099083,0.994885]]
2025-10-26T20:11:02.072Z,1761509462.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778030
2025-10-26T20:11:02.324Z,1761509462.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030021
2025-10-26T20:11:02.362Z,1761509462.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597320,-0.800328,-0.051799],[0.801925,0.596913,0.024720],[0.011136,-0.056305,0.998352]]
2025-10-26T20:11:02.401Z,1761509462.401 [marl:UpdateRudder] Running Loop=1
2025-10-26T20:11:02.401Z,1761509462.401 [marl:UpdateRudder](DEBUG): Aggregate::initialize marl:UpdateRudder
2025-10-26T20:11:02.401Z,1761509462.401 [marl:UpdateRudder:A] Running Loop=1
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateRudder:A] Stopped
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateRudder:B] Running Loop=1
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateCommandMode] Running Loop=1
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateCommandMode](DEBUG): Aggregate::initialize marl:UpdateCommandMode
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateCommandMode:A] Running Loop=1
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateCommandMode:A] Stopped
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateCommandMode](INFO): Completed marl:UpdateCommandMode
2025-10-26T20:11:02.402Z,1761509462.402 [marl:UpdateCommandMode] Stopped
2025-10-26T20:11:02.403Z,1761509462.403 [marl:UpdateCommandMode](DEBUG): Aggregate::uninitialize marl:UpdateCommandMode
2025-10-26T20:11:02.576Z,1761509462.576 [DAT](INFO): DAT read: Rx Time:20:11:01.1761

2025-10-26T20:11:02.577Z,1761509462.577 [DAT](INFO): Rx dataTimestamp_ set to:1761509462.576613
2025-10-26T20:11:02.577Z,1761509462.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283132
2025-10-26T20:11:02.828Z,1761509462.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533963
2025-10-26T20:11:02.861Z,1761509462.861 [marl:UpdateRudder:B](INFO): Updating rudder angle  13.750987 arcdeg 
2025-10-26T20:11:02.861Z,1761509462.861 [marl:UpdateRudder:B] Stopped
2025-10-26T20:11:02.861Z,1761509462.861 [marl:UpdateRudder](INFO): Completed marl:UpdateRudder
2025-10-26T20:11:02.861Z,1761509462.861 [marl:UpdateRudder] Stopped
2025-10-26T20:11:02.861Z,1761509462.861 [marl:UpdateRudder](DEBUG): Aggregate::uninitialize marl:UpdateRudder
2025-10-26T20:11:03.081Z,1761509463.081 [DAT](INFO): DAT read: Bearing  12, -12 (Remote)

2025-10-26T20:11:03.081Z,1761509463.081 [DAT](INFO): Remote Bearing received:Bearing  12, -12 (Remote)

2025-10-26T20:11:03.083Z,1761509463.083 [DAT](INFO): DAT read: Range 11 to 20 : 1301.3 m  (Round-trip  1735.1 ms) speed -0.1 m/s

2025-10-26T20:11:03.083Z,1761509463.083 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-26T20:11:03.216Z,1761509463.216 [marl:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1761509504.00. Resetting abort timer.
2025-10-26T20:11:03.574Z,1761509463.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619543,-0.780512,-0.083467],[0.784373,0.619689,0.027292],[0.030422,-0.082378,0.996137]]
2025-10-26T20:11:03.980Z,1761509463.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617691,-0.773296,-0.143077],[0.783318,0.621131,0.024676],[0.069788,-0.127317,0.989404]]
2025-10-26T20:11:04.045Z,1761509464.045 [marl:UpdateSpeed] Running Loop=1
2025-10-26T20:11:04.045Z,1761509464.045 [marl:UpdateSpeed](DEBUG): Aggregate::initialize marl:UpdateSpeed
2025-10-26T20:11:04.045Z,1761509464.045 [marl:UpdateSpeed:A] Running Loop=1
2025-10-26T20:11:04.046Z,1761509464.046 [marl:UpdateSpeed:A] Stopped
2025-10-26T20:11:04.046Z,1761509464.046 [marl:UpdateSpeed](INFO): Completed marl:UpdateSpeed
2025-10-26T20:11:04.046Z,1761509464.046 [marl:UpdateSpeed] Stopped
2025-10-26T20:11:04.046Z,1761509464.046 [marl:UpdateSpeed](DEBUG): Aggregate::uninitialize marl:UpdateSpeed
2025-10-26T20:11:04.383Z,1761509464.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612575,-0.773115,-0.164453],[0.784910,0.619506,0.011350],[0.093105,-0.136033,0.986320]]
2025-10-26T20:11:04.822Z,1761509464.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676784,-0.734236,-0.053492],[0.731894,0.678894,-0.058596],[0.079339,0.000506,0.996848]]
2025-10-26T20:11:07.344Z,1761509467.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690524,-0.705573,-0.159197],[0.721423,0.687721,0.081171],[0.052211,-0.170899,0.983904]]
2025-10-26T20:11:07.749Z,1761509467.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696366,-0.700892,-0.154356],[0.712350,0.701192,0.029778],[0.087362,-0.130692,0.987567]]
2025-10-26T20:11:08.152Z,1761509468.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710163,-0.692977,-0.124302],[0.693146,0.719129,-0.049022],[0.123361,-0.051346,0.991033]]
2025-10-26T20:11:08.563Z,1761509468.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725330,-0.683183,-0.084600],[0.678015,0.730238,-0.083950],[0.119131,0.003532,0.992872]]
2025-10-26T20:11:08.961Z,1761509468.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727426,-0.682885,-0.067227],[0.679541,0.730518,-0.067584],[0.095262,0.003479,0.995446]]
2025-10-26T20:11:09.364Z,1761509469.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721582,-0.686353,-0.090764],[0.687017,0.726075,-0.028698],[0.085598,-0.041649,0.995459]]
2025-10-26T20:11:09.775Z,1761509469.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726991,-0.673475,-0.133849],[0.681236,0.731850,0.017704],[0.086034,-0.104053,0.990844]]
2025-10-26T20:11:09.972Z,1761509469.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:11:10.173Z,1761509470.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734274,-0.658280,-0.165858],[0.673872,0.736339,0.060834],[0.082082,-0.156436,0.984271]]
2025-10-26T20:11:10.589Z,1761509470.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736787,-0.651999,-0.179004],[0.671376,0.736829,0.079604],[0.079993,-0.178830,0.980623]]
2025-10-26T20:11:10.976Z,1761509470.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:11:10.982Z,1761509470.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738885,-0.650137,-0.177117],[0.666045,0.744508,0.045725],[0.102138,-0.151754,0.983127]]
2025-10-26T20:11:11.389Z,1761509471.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735940,-0.657360,-0.162081],[0.662186,0.748739,-0.029992],[0.141072,-0.085255,0.986322]]
2025-10-26T20:11:11.820Z,1761509471.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736767,-0.664710,-0.123836],[0.658234,0.746994,-0.093423],[0.154604,-0.012682,0.987895]]
2025-10-26T20:11:12.206Z,1761509472.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750754,-0.657746,-0.061146],[0.647173,0.750912,-0.131523],[0.132424,0.059169,0.989425]]
2025-10-26T20:11:12.598Z,1761509472.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765031,-0.643899,-0.011030],[0.633736,0.755779,-0.164854],[0.114486,0.119129,0.986256]]
2025-10-26T20:11:13.003Z,1761509473.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784627,-0.619942,-0.005684],[0.607616,0.770783,-0.191566],[0.123141,0.146854,0.981463]]
2025-10-26T20:11:13.410Z,1761509473.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806130,-0.590265,-0.041724],[0.575129,0.798141,-0.179435],[0.139216,0.120652,0.982885]]
2025-10-26T20:11:13.419Z,1761509473.419 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=2982, MT Status=1, MTMSN=33
2025-10-26T20:11:13.476Z,1761509473.476 [NAL9602](INFO): Sent 83 bytes from file Logs/20251026T180417/Courier0030.lzma
2025-10-26T20:11:13.476Z,1761509473.476 [NAL9602](INFO): Packets left to send: 0
2025-10-26T20:11:13.810Z,1761509473.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810666,-0.576577,-0.101881],[0.571026,0.817015,-0.080094],[0.129418,0.006753,0.991567]]
2025-10-26T20:11:13.900Z,1761509473.900 [NAL9602](INFO): Received command: stop
2025-10-26T20:11:13.968Z,1761509473.968 [CommandExec](IMPORTANT): got command stop
2025-10-26T20:11:13.968Z,1761509473.968 [CommandExec](IMPORTANT): Scheduling is paused
2025-10-26T20:11:13.969Z,1761509473.969 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-10-26T20:11:14.212Z,1761509474.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803432,-0.571278,-0.167745],[0.587048,0.807092,0.063067],[0.099356,-0.149144,0.983811]]
2025-10-26T20:11:14.255Z,1761509474.255 [MissionManager](INFO): MissionManager is completed.
2025-10-26T20:11:14.255Z,1761509474.255 [MissionManager](INFO): Uninitializing Mission marl
2025-10-26T20:11:14.255Z,1761509474.255 [marl] Stopped
2025-10-26T20:11:14.256Z,1761509474.256 [marl](DEBUG): Aggregate::uninitialize marl
2025-10-26T20:11:14.256Z,1761509474.256 [marl:AbortDrift] Stopped
2025-10-26T20:11:14.256Z,1761509474.256 [marl:AbortDrift](DEBUG): Aggregate::uninitialize marl:AbortDrift
2025-10-26T20:11:14.256Z,1761509474.256 [marl:AbortDrift:B.AbortDrift] Stopped
2025-10-26T20:11:14.256Z,1761509474.256 [marl:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2025-10-26T20:11:14.256Z,1761509474.256 [marl:B.] Stopped
2025-10-26T20:11:14.256Z,1761509474.256 [marl:B.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T20:11:14.257Z,1761509474.257 [marl:NeedComms] Stopped
2025-10-26T20:11:14.257Z,1761509474.257 [marl:NeedComms](DEBUG): Aggregate::uninitialize marl:NeedComms
2025-10-26T20:11:14.257Z,1761509474.257 [marl:NeedComms:B.GoToSurface] Stopped
2025-10-26T20:11:14.257Z,1761509474.257 [marl:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T20:11:14.257Z,1761509474.257 [marl:NeedComms:D] Stopped
2025-10-26T20:11:14.257Z,1761509474.257 [marl:StandardEnvelopes] Stopped
2025-10-26T20:11:14.257Z,1761509474.257 [marl:StandardEnvelopes](DEBUG): Aggregate::uninitialize marl:StandardEnvelopes
2025-10-26T20:11:14.258Z,1761509474.258 [marl:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-26T20:11:14.258Z,1761509474.258 [marl:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-26T20:11:14.258Z,1761509474.258 [marl:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-26T20:11:14.258Z,1761509474.258 [marl:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-26T20:11:14.258Z,1761509474.258 [marl:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-26T20:11:14.258Z,1761509474.258 [marl:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-26T20:11:14.258Z,1761509474.258 [marl:Science] Stopped
2025-10-26T20:11:14.258Z,1761509474.258 [marl:Science](DEBUG): Aggregate::uninitialize marl:Science
2025-10-26T20:11:14.258Z,1761509474.258 [marl:Science:B] Stopped
2025-10-26T20:11:14.258Z,1761509474.258 [marl:Science:C] Stopped
2025-10-26T20:11:14.258Z,1761509474.258 [marl:Science:E] Stopped
2025-10-26T20:11:14.259Z,1761509474.259 [marl:Science:OceanCurrent] Stopped
2025-10-26T20:11:14.259Z,1761509474.259 [marl:Science:OceanCurrent](DEBUG): Aggregate::uninitialize marl:Science:OceanCurrent
2025-10-26T20:11:14.259Z,1761509474.259 [marl:Science:OceanCurrent:A.] Stopped
2025-10-26T20:11:14.259Z,1761509474.259 [marl:BackseatDriver] Stopped
2025-10-26T20:11:14.259Z,1761509474.259 [marl:BackseatDriver](DEBUG): Aggregate::uninitialize marl:BackseatDriver
2025-10-26T20:11:14.259Z,1761509474.259 [marl:BackseatDriver:A.BackseatDriver] Stopped
2025-10-26T20:11:14.260Z,1761509474.260 [marl:PowerOnly] Stopped
2025-10-26T20:11:14.260Z,1761509474.260 [marl:PowerOnly](DEBUG): Aggregate::uninitialize marl:PowerOnly
2025-10-26T20:11:14.260Z,1761509474.260 [marl:PowerOnly:E.Wait] Stopped
2025-10-26T20:11:14.260Z,1761509474.260 [marl:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:11:14.260Z,1761509474.260 [marl:JoystickControl] Stopped
2025-10-26T20:11:14.260Z,1761509474.260 [marl:JoystickControl](DEBUG): Aggregate::uninitialize marl:JoystickControl
2025-10-26T20:11:14.260Z,1761509474.260 [marl:JoystickControl:A.Buoyancy] Stopped
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:B.Pitch] Stopped
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:C.Pitch] Stopped
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:D.SetSpeed] Stopped
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:D.SetSpeed](DEBUG): Uninitialize.
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:CmdRudder] Stopped
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:CmdRudder](DEBUG): Aggregate::uninitialize marl:JoystickControl:CmdRudder
2025-10-26T20:11:14.261Z,1761509474.261 [marl:JoystickControl:CmdRudder:A.Point] Stopped
2025-10-26T20:11:14.625Z,1761509474.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800824,-0.554043,-0.227417],[0.590963,0.792641,0.149943],[0.097185,-0.254473,0.962184]]
2025-10-26T20:11:14.668Z,1761509474.668 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-26T20:11:14.669Z,1761509474.669 [DefaultWithUndock] Running Loop=1
2025-10-26T20:11:14.669Z,1761509474.669 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-26T20:11:14.669Z,1761509474.669 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-26T20:11:14.669Z,1761509474.669 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:11:15.031Z,1761509475.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810016,-0.535179,-0.239704],[0.574839,0.805463,0.144185],[0.115908,-0.254583,0.960079]]
2025-10-26T20:11:15.036Z,1761509475.036 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201111.00,A,3645.86131,N,12152.19039,W,0.272,71.01,261025,,,A*42
2025-10-26T20:11:15.038Z,1761509475.038 [NAL9602](INFO): GPS fix at 20251026T201111: (36.764355, -121.869840)
2025-10-26T20:11:15.456Z,1761509475.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816515,-0.546014,-0.187542],[0.565511,0.821810,0.069467],[0.116194,-0.162778,0.979797]]
2025-10-26T20:11:15.575Z,1761509475.575 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-10-26T20:11:15.575Z,1761509475.575 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-10-26T20:11:15.827Z,1761509475.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816099,-0.565036,-0.121310],[0.567691,0.823109,-0.014789],[0.108208,-0.056797,0.992504]]
2025-10-26T20:11:16.245Z,1761509476.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811115,-0.579375,-0.080110],[0.576900,0.815057,-0.053566],[0.096329,-0.002767,0.995346]]
2025-10-26T20:11:16.654Z,1761509476.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809788,-0.581959,-0.074614],[0.581504,0.812993,-0.029936],[0.078082,-0.019146,0.996763]]
2025-10-26T20:11:17.054Z,1761509477.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817122,-0.569127,-0.091685],[0.572515,0.819780,0.013698],[0.067366,-0.063685,0.995694]]
2025-10-26T20:11:17.450Z,1761509477.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823045,-0.556269,-0.114723],[0.563711,0.824734,0.045199],[0.069473,-0.101872,0.992369]]
2025-10-26T20:11:17.852Z,1761509477.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825239,-0.554379,-0.107907],[0.560239,0.827707,0.032139],[0.071498,-0.086976,0.993641]]
2025-10-26T20:11:17.857Z,1761509477.857 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201114.00,A,3645.86137,N,12152.19083,W,1.575,310.17,261025,,,A*72
2025-10-26T20:11:17.859Z,1761509477.859 [NAL9602](INFO): GPS fix at 20251026T201114: (36.764356, -121.869847)
2025-10-26T20:11:18.268Z,1761509478.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832805,-0.548006,-0.078256],[0.546483,0.836435,-0.041625],[0.088267,-0.008100,0.996064]]
2025-10-26T20:11:18.663Z,1761509478.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842067,-0.536829,-0.052329],[0.526291,0.839004,-0.138169],[0.118078,0.088807,0.989025]]
2025-10-26T20:11:19.075Z,1761509479.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849158,-0.526786,-0.037782],[0.514511,0.841273,-0.165947],[0.119204,0.121476,0.985411]]
2025-10-26T20:11:19.478Z,1761509479.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859937,-0.509097,-0.036447],[0.502791,0.857239,-0.111098],[0.087804,0.077212,0.993141]]
2025-10-26T20:11:19.871Z,1761509479.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873296,-0.484191,-0.053961],[0.484160,0.874859,-0.014527],[0.054243,-0.013439,0.998437]]
2025-10-26T20:11:20.274Z,1761509480.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884119,-0.458000,-0.092570],[0.464813,0.882309,0.074025],[0.047771,-0.108475,0.992951]]
2025-10-26T20:11:20.686Z,1761509480.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887113,-0.447780,-0.111904],[0.459719,0.878813,0.127853],[0.041093,-0.164865,0.985460]]
2025-10-26T20:11:21.081Z,1761509481.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884199,-0.457684,-0.093368],[0.467053,0.869392,0.161304],[0.007347,-0.186232,0.982478]]
2025-10-26T20:11:21.097Z,1761509481.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201117.00,A,3645.86130,N,12152.19128,W,1.050,355.71,261025,,,A*75
2025-10-26T20:11:21.099Z,1761509481.099 [NAL9602](INFO): GPS fix at 20251026T201117: (36.764355, -121.869855)
2025-10-26T20:11:21.485Z,1761509481.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878544,-0.471684,-0.075330],[0.477660,0.867254,0.140398],[-0.000893,-0.159328,0.987225]]
2025-10-26T20:11:21.893Z,1761509481.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870218,-0.484304,-0.090388],[0.490405,0.869079,0.064845],[0.047149,-0.100756,0.993793]]
2025-10-26T20:11:22.323Z,1761509482.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858506,-0.503037,-0.099603],[0.506033,0.862496,0.005667],[0.083057,-0.055268,0.995011]]
2025-10-26T20:11:22.710Z,1761509482.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861433,-0.502642,-0.072698],[0.504439,0.863414,0.007593],[0.058952,-0.043212,0.997325]]
2025-10-26T20:11:23.103Z,1761509483.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871946,-0.487534,-0.044952],[0.488863,0.871996,0.025234],[0.026895,-0.043978,0.998670]]
2025-10-26T20:11:23.508Z,1761509483.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878154,-0.476643,-0.040703],[0.477893,0.877912,0.029821],[0.021520,-0.045639,0.998726]]
2025-10-26T20:11:23.954Z,1761509483.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882011,-0.469255,-0.043089],[0.471093,0.880258,0.056720],[0.011314,-0.070327,0.997460]]
2025-10-26T20:11:23.968Z,1761509483.968 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201120.00,A,3645.86090,N,12152.19159,W,0.544,149.34,261025,,,A*73
2025-10-26T20:11:23.970Z,1761509483.970 [NAL9602](INFO): GPS fix at 20251026T201120: (36.764348, -121.869860)
2025-10-26T20:11:24.318Z,1761509484.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884335,-0.463198,-0.058311],[0.466628,0.880871,0.079534],[0.014525,-0.097544,0.995125]]
2025-10-26T20:11:24.742Z,1761509484.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887263,-0.453253,-0.085591],[0.458519,0.886879,0.056624],[0.050244,-0.089486,0.994720]]
2025-10-26T20:11:25.130Z,1761509485.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890226,-0.448098,-0.081888],[0.451379,0.891946,0.026258],[0.061273,-0.060338,0.996296]]
2025-10-26T20:11:25.534Z,1761509485.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895132,-0.445238,-0.022413],[0.445718,0.894806,0.025636],[0.008641,-0.032937,0.999420]]
2025-10-26T20:11:25.932Z,1761509485.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899785,-0.436291,0.006122],[0.435825,0.899324,0.035691],[-0.021077,-0.029446,0.999344]]
2025-10-26T20:11:26.345Z,1761509486.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899329,-0.435985,-0.033523],[0.436792,0.899290,0.022142],[0.020494,-0.034555,0.999193]]
2025-10-26T20:11:26.785Z,1761509486.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901545,-0.426643,-0.072061],[0.427723,0.903910,-0.000487],[0.065344,-0.030383,0.997400]]
2025-10-26T20:11:27.141Z,1761509487.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911999,-0.405551,-0.061522],[0.406353,0.913716,0.000561],[0.055987,-0.025511,0.998106]]
2025-10-26T20:11:27.145Z,1761509487.145 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201123.00,A,3645.86115,N,12152.19221,W,0.603,197.91,261025,,,A*7C
2025-10-26T20:11:27.148Z,1761509487.148 [NAL9602](INFO): GPS fix at 20251026T201123: (36.764353, -121.869870)
2025-10-26T20:11:27.547Z,1761509487.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918132,-0.394874,-0.033297],[0.395875,0.917737,0.032294],[0.017805,-0.042832,0.998924]]
2025-10-26T20:11:27.955Z,1761509487.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915591,-0.401508,-0.022028],[0.401970,0.912444,0.076589],[-0.010652,-0.078979,0.996819]]
2025-10-26T20:11:28.381Z,1761509488.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909451,-0.414661,-0.030902],[0.414887,0.899966,0.133903],[-0.027713,-0.134599,0.990513]]
2025-10-26T20:11:28.818Z,1761509488.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904386,-0.422713,-0.058307],[0.426435,0.890366,0.159380],[-0.015458,-0.169005,0.985494]]
2025-10-26T20:11:29.196Z,1761509489.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900726,-0.428063,-0.073849],[0.433968,0.894224,0.109709],[0.019075,-0.130866,0.991217]]
2025-10-26T20:11:29.688Z,1761509489.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907507,-0.419916,-0.010138],[0.419250,0.907019,-0.039323],[0.025708,0.031436,0.999175]]
2025-10-26T20:11:29.990Z,1761509489.990 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201126.00,A,3645.86137,N,12152.19243,W,0.505,247.87,261025,,,A*71
2025-10-26T20:11:29.993Z,1761509489.993 [NAL9602](INFO): GPS fix at 20251026T201126: (36.764356, -121.869874)
2025-10-26T20:11:30.378Z,1761509490.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909531,-0.415492,-0.010929],[0.413755,0.907601,-0.071185],[0.039495,0.060223,0.997403]]
2025-10-26T20:11:30.833Z,1761509490.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911048,-0.403990,-0.082363],[0.406442,0.913557,0.014811],[0.069260,-0.046969,0.996492]]
2025-10-26T20:11:31.590Z,1761509491.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915512,-0.383580,-0.121261],[0.395369,0.913587,0.095094],[0.074306,-0.135002,0.988055]]
2025-10-26T20:11:31.986Z,1761509491.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918572,-0.369879,-0.139338],[0.388259,0.910416,0.142822],[0.074028,-0.185291,0.979891]]
2025-10-26T20:11:32.396Z,1761509492.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919955,-0.372876,-0.121021],[0.386207,0.915020,0.116544],[0.067280,-0.153955,0.985785]]
2025-10-26T20:11:32.836Z,1761509492.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919403,-0.388052,-0.064138],[0.386620,0.921615,-0.033913],[0.072270,0.006383,0.997365]]
2025-10-26T20:11:32.841Z,1761509492.841 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201129.00,A,3645.86112,N,12152.19277,W,0.039,247.87,261025,,,A*74
2025-10-26T20:11:32.843Z,1761509492.843 [NAL9602](INFO): GPS fix at 20251026T201129: (36.764352, -121.869879)
2025-10-26T20:11:33.609Z,1761509493.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923842,-0.375782,-0.072832],[0.371608,0.926129,-0.064754],[0.091785,0.032758,0.995240]]
2025-10-26T20:11:33.741Z,1761509493.741 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-10-26T20:11:33.741Z,1761509493.741 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-10-26T20:11:33.742Z,1761509493.742 [LcmPublisher](INFO): Deactivating messaging.
2025-10-26T20:11:33.832Z,1761509493.832 [DAT](INFO): Deactivating messaging.
2025-10-26T20:11:33.900Z,1761509493.900 [WetLabsBB2FL](INFO): Powering down
2025-10-26T20:11:34.037Z,1761509494.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929357,-0.359430,-0.084292],[0.355888,0.932946,-0.054361],[0.098179,0.020522,0.994957]]
2025-10-26T20:11:34.419Z,1761509494.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931114,-0.358185,-0.068779],[0.360274,0.932623,0.020428],[0.056828,-0.043800,0.997423]]
2025-10-26T20:11:34.836Z,1761509494.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929614,-0.354621,-0.100312],[0.368098,0.906713,0.205851],[0.017955,-0.228287,0.973428]]
2025-10-26T20:11:35.634Z,1761509495.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921230,-0.361625,-0.143394],[0.385979,0.895651,0.220972],[0.048522,-0.258913,0.964681]]
2025-10-26T20:11:36.032Z,1761509496.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922393,-0.363654,-0.130184],[0.382159,0.908163,0.170863],[0.056094,-0.207354,0.976656]]
2025-10-26T20:11:36.439Z,1761509496.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931006,-0.364997,0.002326],[0.364590,0.929629,-0.053516],[0.017371,0.050672,0.998564]]
2025-10-26T20:11:36.849Z,1761509496.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929741,-0.367618,-0.020929],[0.362724,0.924179,-0.119684],[0.063341,0.103684,0.992591]]
2025-10-26T20:11:37.253Z,1761509497.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931345,-0.356226,-0.075495],[0.350298,0.933096,-0.081389],[0.099437,0.049355,0.993819]]
2025-10-26T20:11:37.688Z,1761509497.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934316,-0.347295,-0.080249],[0.348624,0.937259,0.002739],[0.074263,-0.030536,0.996771]]
2025-10-26T20:11:38.053Z,1761509498.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931925,-0.358446,-0.055064],[0.361829,0.929248,0.074680],[0.024399,-0.089519,0.995686]]
2025-10-26T20:11:38.465Z,1761509498.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927872,-0.368629,-0.056265],[0.372850,0.919553,0.124115],[0.005987,-0.136142,0.990671]]
2025-10-26T20:11:38.876Z,1761509498.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925018,-0.370729,-0.083079],[0.379009,0.915622,0.134124],[0.026346,-0.155555,0.987476]]
2025-10-26T20:11:39.278Z,1761509499.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925674,-0.365673,-0.097006],[0.374976,0.920839,0.106996],[0.050201,-0.135419,0.989516]]
2025-10-26T20:11:39.676Z,1761509499.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931362,-0.354168,-0.084440],[0.359099,0.931825,0.052439],[0.060111,-0.079162,0.995048]]
2025-10-26T20:11:40.081Z,1761509500.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935491,-0.349619,-0.051211],[0.349947,0.936765,-0.002694],[0.048915,-0.015401,0.998684]]
2025-10-26T20:11:40.480Z,1761509500.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937453,-0.347455,-0.021388],[0.347283,0.937691,-0.011414],[0.024021,0.003273,0.999706]]
2025-10-26T20:11:40.880Z,1761509500.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935692,-0.352464,-0.015795],[0.352816,0.934899,0.038528],[0.001187,-0.041623,0.999133]]
2025-10-26T20:11:41.096Z,1761509501.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:11:41.283Z,1761509501.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930526,-0.363231,-0.046737],[0.366188,0.924653,0.104516],[0.005252,-0.114369,0.993424]]
2025-10-26T20:11:41.688Z,1761509501.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934439,-0.348805,-0.071827],[0.355617,0.924688,0.135971],[0.018990,-0.152600,0.988106]]
2025-10-26T20:11:42.090Z,1761509502.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938784,-0.339760,-0.056991],[0.344043,0.933183,0.103940],[0.017869,-0.117184,0.992949]]
2025-10-26T20:11:42.100Z,1761509502.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:11:42.493Z,1761509502.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942031,-0.334174,-0.030095],[0.335196,0.941288,0.040256],[0.014875,-0.048010,0.998736]]
2025-10-26T20:11:42.897Z,1761509502.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940153,-0.339810,-0.025336],[0.339634,0.940493,-0.011072],[0.027591,0.001804,0.999618]]
2025-10-26T20:11:43.302Z,1761509503.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934460,-0.354683,-0.031391],[0.354415,0.934985,-0.013904],[0.034281,0.001867,0.999411]]
2025-10-26T20:11:43.705Z,1761509503.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934384,-0.353139,-0.047099],[0.354856,0.934268,0.034927],[0.031669,-0.049348,0.998279]]
2025-10-26T20:11:44.109Z,1761509504.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937121,-0.340547,-0.076372],[0.346782,0.933246,0.093774],[0.039339,-0.114362,0.992660]]
2025-10-26T20:11:44.512Z,1761509504.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940416,-0.328311,-0.088488],[0.335842,0.937541,0.090700],[0.053183,-0.115014,0.991939]]
2025-10-26T20:11:44.921Z,1761509504.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944497,-0.318348,-0.081117],[0.321989,0.946047,0.036308],[0.065182,-0.060411,0.996043]]
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:A.Wait] Stopped
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-26T20:11:44.954Z,1761509504.954 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-26T20:11:44.955Z,1761509504.955 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-26T20:11:44.955Z,1761509504.955 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T20:11:44.955Z,1761509504.955 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:11:45.320Z,1761509505.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941654,-0.327640,-0.077066],[0.328848,0.944377,0.003188],[0.071735,-0.028345,0.997021]]
2025-10-26T20:11:45.348Z,1761509505.348 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T20:11:45.348Z,1761509505.348 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:11:45.349Z,1761509505.349 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.134091 m.
2025-10-26T20:11:45.349Z,1761509505.349 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-26T20:11:45.349Z,1761509505.349 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T20:11:45.725Z,1761509505.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934411,-0.346350,-0.083171],[0.350366,0.935784,0.039403],[0.064182,-0.065958,0.995756]]
2025-10-26T20:11:45.739Z,1761509505.739 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-26T20:11:46.130Z,1761509506.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931809,-0.349685,-0.097227],[0.358034,0.929535,0.088186],[0.059538,-0.116983,0.991348]]
2025-10-26T20:11:46.153Z,1761509506.153 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T20:11:46.269Z,1761509506.269 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T20:11:46.534Z,1761509506.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937026,-0.333096,-0.105019],[0.343058,0.934205,0.097834],[0.065521,-0.127701,0.989646]]
2025-10-26T20:11:46.937Z,1761509506.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941772,-0.320778,-0.100836],[0.328913,0.941132,0.078014],[0.069875,-0.106637,0.991840]]
2025-10-26T20:11:47.341Z,1761509507.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949543,-0.307625,-0.061116],[0.310036,0.950092,0.034693],[0.047393,-0.051890,0.997528]]
2025-10-26T20:11:47.749Z,1761509507.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950003,-0.312071,-0.010290],[0.312101,0.950048,0.001382],[0.009345,-0.004525,0.999946]]
2025-10-26T20:11:48.179Z,1761509508.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942511,-0.334163,-0.002790],[0.334172,0.942506,0.003501],[0.001459,-0.004232,0.999990]]
2025-10-26T20:11:48.570Z,1761509508.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937025,-0.348137,-0.028013],[0.348944,0.936578,0.032545],[0.014906,-0.040270,0.999078]]
2025-10-26T20:11:48.961Z,1761509508.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941085,-0.333501,-0.056009],[0.336665,0.939568,0.062203],[0.031879,-0.077395,0.996491]]
2025-10-26T20:11:49.362Z,1761509509.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944624,-0.318461,-0.079176],[0.322888,0.945059,0.051064],[0.058564,-0.073801,0.995552]]
2025-10-26T20:11:49.770Z,1761509509.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950563,-0.301243,-0.075380],[0.302932,0.952939,0.011805],[0.068276,-0.034056,0.997085]]
2025-10-26T20:11:50.169Z,1761509510.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958693,-0.282295,-0.034888],[0.282309,0.959312,-0.004608],[0.034769,-0.005432,0.999381]]
2025-10-26T20:11:50.574Z,1761509510.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958269,-0.285583,-0.012756],[0.285792,0.958087,0.019818],[0.006562,-0.022636,0.999722]]
2025-10-26T20:11:50.985Z,1761509510.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949885,-0.308729,-0.049046],[0.311634,0.947548,0.070969],[0.024563,-0.082697,0.996272]]
2025-10-26T20:11:51.389Z,1761509511.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943510,-0.318771,-0.090405],[0.328320,0.936203,0.125419],[0.044657,-0.148016,0.987976]]
2025-10-26T20:11:51.802Z,1761509511.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942271,-0.315245,-0.112899],[0.329562,0.932778,0.145995],[0.059285,-0.174774,0.982822]]
2025-10-26T20:11:52.189Z,1761509512.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944171,-0.305661,-0.122934],[0.319986,0.939619,0.121342],[0.078422,-0.153905,0.984969]]
2025-10-26T20:11:52.604Z,1761509512.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944073,-0.312384,-0.105553],[0.320121,0.945055,0.066290],[0.079045,-0.096373,0.992202]]
2025-10-26T20:11:53.011Z,1761509513.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942726,-0.329452,-0.052234],[0.330921,0.943395,0.022282],[0.041936,-0.038291,0.998386]]
2025-10-26T20:11:53.414Z,1761509513.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934757,-0.354336,-0.026005],[0.354472,0.935066,0.000677],[0.024076,-0.009851,0.999662]]
2025-10-26T20:11:53.815Z,1761509513.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930616,-0.360882,-0.060972],[0.361591,0.932337,0.000637],[0.056617,-0.022639,0.998139]]
2025-10-26T20:11:54.219Z,1761509514.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935154,-0.346784,-0.072299],[0.348712,0.937100,0.015604],[0.062340,-0.039804,0.997261]]
2025-10-26T20:11:54.620Z,1761509514.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943266,-0.329359,-0.042096],[0.330699,0.943256,0.030107],[0.029791,-0.042320,0.998660]]
2025-10-26T20:11:55.021Z,1761509515.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945120,-0.324277,-0.039900],[0.325895,0.944355,0.044564],[0.023228,-0.055122,0.998209]]
2025-10-26T20:11:55.424Z,1761509515.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941527,-0.329715,-0.069392],[0.334484,0.939445,0.074591],[0.040596,-0.093440,0.994797]]
2025-10-26T20:11:55.828Z,1761509515.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938241,-0.338659,-0.070811],[0.344531,0.933256,0.101647],[0.031661,-0.119766,0.992297]]
2025-10-26T20:11:56.230Z,1761509516.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936221,-0.347571,-0.051806],[0.350978,0.932162,0.088812],[0.017423,-0.101331,0.994700]]
2025-10-26T20:11:56.634Z,1761509516.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938558,-0.343187,-0.036500],[0.344300,0.938366,0.030438],[0.023804,-0.041135,0.998870]]
2025-10-26T20:11:57.039Z,1761509517.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946068,-0.323513,-0.017186],[0.323060,0.946055,-0.024727],[0.024259,0.017841,0.999547]]
2025-10-26T20:11:57.442Z,1761509517.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949776,-0.312434,-0.017636],[0.311387,0.949179,-0.045806],[0.031052,0.038014,0.998795]]
2025-10-26T20:11:57.845Z,1761509517.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951103,-0.305240,-0.047238],[0.304343,0.952226,-0.025325],[0.052711,0.009710,0.998563]]
2025-10-26T20:11:58.248Z,1761509518.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953437,-0.293719,-0.068467],[0.297052,0.953809,0.044820],[0.052140,-0.063071,0.996646]]
2025-10-26T20:11:58.653Z,1761509518.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954087,-0.293649,-0.059058],[0.298912,0.946075,0.124872],[0.019205,-0.136792,0.990414]]
2025-10-26T20:11:59.059Z,1761509519.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951709,-0.304150,-0.041742],[0.306861,0.938327,0.159307],[-0.009286,-0.164422,0.986346]]
2025-10-26T20:11:59.460Z,1761509519.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952421,-0.303102,-0.031985],[0.304638,0.943451,0.130752],[-0.009455,-0.134275,0.990899]]
2025-10-26T20:11:59.864Z,1761509519.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952115,-0.303788,-0.034486],[0.305452,0.950042,0.064181],[0.013266,-0.071641,0.997342]]
2025-10-26T20:12:00.269Z,1761509520.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949504,-0.308925,-0.054841],[0.309564,0.950872,0.003361],[0.051108,-0.020168,0.998489]]
2025-10-26T20:12:00.674Z,1761509520.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954858,-0.288262,-0.071768],[0.289522,0.957141,0.007596],[0.066503,-0.028031,0.997392]]
2025-10-26T20:12:01.077Z,1761509521.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959560,-0.275688,-0.056932],[0.279143,0.957991,0.065818],[0.036395,-0.079048,0.996206]]
2025-10-26T20:12:01.480Z,1761509521.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956173,-0.291150,-0.031052],[0.292801,0.950666,0.102479],[-0.000317,-0.107080,0.994250]]
2025-10-26T20:12:01.888Z,1761509521.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950321,-0.310675,-0.019258],[0.310873,0.944153,0.109239],[-0.015756,-0.109799,0.993829]]
2025-10-26T20:12:02.311Z,1761509522.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949971,-0.309248,-0.043824],[0.312144,0.944931,0.098344],[0.010998,-0.107104,0.994187]]
2025-10-26T20:12:02.708Z,1761509522.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952934,-0.294268,-0.072962],[0.299783,0.950484,0.081917],[0.045243,-0.099934,0.993965]]
2025-10-26T20:12:03.099Z,1761509523.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958388,-0.278887,-0.060955],[0.282643,0.956988,0.065471],[0.040074,-0.079975,0.995991]]
2025-10-26T20:12:03.502Z,1761509523.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962883,-0.268002,-0.032108],[0.269065,0.962476,0.035266],[0.021452,-0.042596,0.998862]]
2025-10-26T20:12:04.021Z,1761509524.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968910,-0.245754,-0.028604],[0.245933,0.969283,0.002865],[0.027021,-0.009810,0.999587]]
2025-10-26T20:12:04.312Z,1761509524.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972547,-0.229644,-0.037633],[0.229821,0.973233,0.000397],[0.036534,-0.009035,0.999291]]
2025-10-26T20:12:04.713Z,1761509524.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970564,-0.237024,-0.042723],[0.238157,0.970939,0.023654],[0.035875,-0.033132,0.998807]]
2025-10-26T20:12:05.123Z,1761509525.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967475,-0.245683,-0.060274],[0.249308,0.966401,0.062567],[0.042877,-0.075559,0.996219]]
2025-10-26T20:12:05.530Z,1761509525.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964812,-0.249563,-0.082798],[0.258292,0.958488,0.120775],[0.049220,-0.137912,0.989221]]
2025-10-26T20:12:05.533Z,1761509525.533 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:12:05.951Z,1761509525.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962067,-0.260934,-0.079625],[0.270469,0.950450,0.153270],[0.035686,-0.168992,0.984971]]
2025-10-26T20:12:05.978Z,1761509525.978 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1301.30 m. Transitioning docking module to standby.
2025-10-26T20:12:06.351Z,1761509526.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965106,-0.255218,-0.058602],[0.260745,0.957247,0.125260],[0.024128,-0.136169,0.990392]]
2025-10-26T20:12:06.373Z,1761509526.373 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-10-26T20:12:06.747Z,1761509526.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971333,-0.235092,-0.035258],[0.236588,0.970476,0.046924],[0.023186,-0.053920,0.998276]]
2025-10-26T20:12:06.818Z,1761509526.818 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-10-26T20:12:06.818Z,1761509526.818 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-26T20:12:06.818Z,1761509526.818 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-10-26T20:12:06.819Z,1761509526.819 [DefaultWithUndock:LeaveDock] Stopped
2025-10-26T20:12:06.819Z,1761509526.819 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-26T20:12:06.819Z,1761509526.819 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-10-26T20:12:06.823Z,1761509526.823 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-10-26T20:12:06.823Z,1761509526.823 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-10-26T20:12:06.823Z,1761509526.823 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T20:12:06.824Z,1761509526.824 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-26T20:12:06.824Z,1761509526.824 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-26T20:12:06.824Z,1761509526.824 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-26T20:12:06.825Z,1761509526.825 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-26T20:12:06.825Z,1761509526.825 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T20:12:06.825Z,1761509526.825 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T20:12:07.153Z,1761509527.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973662,-0.227548,-0.014263],[0.227504,0.973766,-0.004665],[0.014950,0.001297,0.999887]]
2025-10-26T20:12:07.185Z,1761509527.185 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-10-26T20:12:07.185Z,1761509527.185 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-26T20:12:07.186Z,1761509527.186 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-26T20:12:07.551Z,1761509527.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971049,-0.238403,-0.015073],[0.238271,0.971147,-0.010032],[0.017029,0.006150,0.999836]]
2025-10-26T20:12:07.593Z,1761509527.593 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T20:12:07.953Z,1761509527.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971736,-0.231886,-0.044240],[0.233110,0.972134,0.024799],[0.037256,-0.034410,0.998713]]
2025-10-26T20:12:08.359Z,1761509528.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977461,-0.202048,-0.061206],[0.206761,0.974764,0.084175],[0.042654,-0.094933,0.994569]]
2025-10-26T20:12:08.794Z,1761509528.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979020,-0.197884,-0.048593],[0.203030,0.967560,0.150356],[0.017264,-0.157067,0.987437]]
2025-10-26T20:12:09.160Z,1761509529.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975176,-0.216675,-0.045637],[0.221422,0.955922,0.192834],[0.001843,-0.198152,0.980170]]
2025-10-26T20:12:09.170Z,1761509529.170 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201208.00,A,3645.86087,N,12152.19511,W,0.486,220.24,261025,,,D*73
2025-10-26T20:12:09.187Z,1761509529.187 [NAL9602](INFO): GPS fix at 20251026T201208: (36.764348, -121.869918)
2025-10-26T20:12:09.201Z,1761509529.201 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-26T20:12:09.201Z,1761509529.201 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-26T20:12:09.562Z,1761509529.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973136,-0.219069,-0.070816],[0.228727,0.955006,0.188806],[0.026268,-0.199931,0.979458]]
2025-10-26T20:12:09.606Z,1761509529.606 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-26T20:12:09.970Z,1761509529.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976185,-0.206833,-0.065438],[0.213951,0.967786,0.132725],[0.035878,-0.143565,0.988990]]
2025-10-26T20:12:10.394Z,1761509530.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978352,-0.206392,-0.015138],[0.206759,0.977960,0.029062],[0.008806,-0.031563,0.999463]]
2025-10-26T20:12:10.829Z,1761509530.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975626,-0.218951,0.014617],[0.219436,0.973079,-0.070462],[0.001205,0.071952,0.997407]]
2025-10-26T20:12:11.178Z,1761509531.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976587,-0.215078,0.004422],[0.214486,0.971906,-0.096927],[0.016549,0.095606,0.995282]]
2025-10-26T20:12:11.584Z,1761509531.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982135,-0.187793,-0.011993],[0.187686,0.982183,-0.009519],[0.013567,0.007098,0.999883]]
2025-10-26T20:12:11.986Z,1761509531.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981957,-0.186140,-0.033363],[0.188868,0.974196,0.123578],[0.009499,-0.127650,0.991774]]
2025-10-26T20:12:12.240Z,1761509532.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:12:12.393Z,1761509532.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976460,-0.211456,-0.042568],[0.215662,0.953514,0.210477],[-0.003918,-0.214703,0.976672]]
2025-10-26T20:12:12.818Z,1761509532.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973365,-0.228167,-0.022349],[0.226975,0.945349,0.234089],[-0.032284,-0.232927,0.971958]]
2025-10-26T20:12:13.199Z,1761509533.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976336,-0.213895,-0.031907],[0.216095,0.959124,0.182712],[-0.008478,-0.185283,0.982649]]
2025-10-26T20:12:13.257Z,1761509533.257 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:12:13.607Z,1761509533.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977883,-0.201727,-0.055242],[0.204613,0.977418,0.052790],[0.043346,-0.062926,0.997076]]
2025-10-26T20:12:14.013Z,1761509534.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978060,-0.207163,-0.021947],[0.204426,0.974707,-0.090314],[0.040102,0.083845,0.995672]]
2025-10-26T20:12:14.418Z,1761509534.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978681,-0.200950,0.042450],[0.205071,0.967500,-0.147953],[-0.011339,0.153504,0.988083]]
2025-10-26T20:12:14.825Z,1761509534.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979294,-0.198710,0.038702],[0.201234,0.976358,-0.078928],[-0.022103,0.085082,0.996129]]
2025-10-26T20:12:15.230Z,1761509535.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978550,-0.204824,-0.022074],[0.205692,0.977366,0.049457],[0.011445,-0.052937,0.998532]]
2025-10-26T20:12:15.645Z,1761509535.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980075,-0.187882,-0.064452],[0.194968,0.971972,0.131367],[0.037964,-0.141315,0.989236]]
2025-10-26T20:12:16.042Z,1761509536.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986945,-0.151124,-0.055686],[0.157300,0.978716,0.131803],[0.034582,-0.138841,0.989711]]
2025-10-26T20:12:16.440Z,1761509536.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989336,-0.140465,-0.038524],[0.142291,0.988577,0.049678],[0.031106,-0.054629,0.998022]]
2025-10-26T20:12:16.842Z,1761509536.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986123,-0.163090,-0.031047],[0.161401,0.985580,-0.050803],[0.038885,0.045087,0.998226]]
2025-10-26T20:12:17.245Z,1761509537.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983500,-0.180122,-0.016846],[0.177949,0.979983,-0.089261],[0.032587,0.084791,0.995866]]
2025-10-26T20:12:17.645Z,1761509537.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985771,-0.167850,-0.009082],[0.167522,0.985431,-0.029349],[0.013876,0.027410,0.999528]]
2025-10-26T20:12:18.048Z,1761509538.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988652,-0.148587,-0.022098],[0.149873,0.985647,0.077706],[0.010235,-0.080136,0.996731]]
2025-10-26T20:12:18.450Z,1761509538.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989182,-0.139548,-0.045222],[0.145007,0.976789,0.157659],[0.022171,-0.162511,0.986458]]
2025-10-26T20:12:18.855Z,1761509538.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987960,-0.139941,-0.065971],[0.150695,0.966968,0.205584],[0.035022,-0.213050,0.976413]]
2025-10-26T20:12:19.257Z,1761509539.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985811,-0.143963,-0.086326],[0.159843,0.962119,0.220855],[0.051261,-0.231519,0.971479]]
2025-10-26T20:12:19.661Z,1761509539.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984686,-0.151188,-0.086808],[0.164870,0.969415,0.181802],[0.056667,-0.193330,0.979496]]
2025-10-26T20:12:20.065Z,1761509540.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983498,-0.170124,-0.061562],[0.175398,0.980009,0.093904],[0.044356,-0.103152,0.993676]]
2025-10-26T20:12:20.469Z,1761509540.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985768,-0.163719,-0.038176],[0.164421,0.986260,0.016006],[0.035031,-0.022055,0.999143]]
2025-10-26T20:12:22.594Z,1761509542.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989091,-0.138927,-0.048976],[0.144168,0.981213,0.128205],[0.030245,-0.133867,0.990538]]
2025-10-26T20:12:22.987Z,1761509542.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989188,-0.144322,-0.026051],[0.145310,0.988529,0.041178],[0.019809,-0.044518,0.998812]]
2025-10-26T20:12:23.391Z,1761509543.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990037,-0.133276,-0.045440],[0.131972,0.990781,-0.030606],[0.049100,0.024304,0.998498]]
2025-10-26T20:12:23.795Z,1761509543.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991852,-0.118464,-0.046868],[0.115389,0.991281,-0.063626],[0.053997,0.057699,0.996873]]
2025-10-26T20:12:24.198Z,1761509544.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992460,-0.109771,-0.054522],[0.107673,0.993380,-0.040042],[0.058556,0.033869,0.997709]]
2025-10-26T20:12:24.602Z,1761509544.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994439,-0.086912,-0.059476],[0.089458,0.995123,0.041557],[0.055574,-0.046646,0.997364]]
2025-10-26T20:12:25.006Z,1761509545.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996152,-0.073014,-0.048473],[0.078620,0.988892,0.126144],[0.038724,-0.129469,0.990827]]
2025-10-26T20:12:25.411Z,1761509545.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995113,-0.080804,-0.056743],[0.088783,0.983741,0.156112],[0.043206,-0.160387,0.986108]]
2025-10-26T20:12:25.814Z,1761509545.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993044,-0.088688,-0.077441],[0.097989,0.987182,0.125977],[0.065276,-0.132689,0.989006]]
2025-10-26T20:12:26.218Z,1761509546.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993064,-0.099054,-0.063344],[0.103543,0.992014,0.072020],[0.055705,-0.078080,0.995390]]
2025-10-26T20:12:26.222Z,1761509546.222 [NAL9602](INFO): SBD MO Status=1, MOMSN=2983, MT Status=0, MTMSN=0
2025-10-26T20:12:26.292Z,1761509546.292 [NAL9602](INFO): Sent 73 bytes from file Logs/20251026T180417/Courier0033.lzma
2025-10-26T20:12:26.292Z,1761509546.292 [NAL9602](INFO): Packets left to send: 0
2025-10-26T20:12:26.622Z,1761509546.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993780,-0.107439,-0.029283],[0.108278,0.993704,0.028770],[0.026008,-0.031761,0.999157]]
2025-10-26T20:12:27.179Z,1761509547.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992382,-0.118746,-0.032827],[0.118998,0.992878,0.005804],[0.031904,-0.009666,0.999444]]
2025-10-26T20:12:27.574Z,1761509547.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991553,-0.113100,-0.063489],[0.113395,0.993549,0.001064],[0.062959,-0.008255,0.997982]]
2025-10-26T20:12:29.729Z,1761509549.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998700,-0.049997,0.009934],[0.048934,0.994928,0.087887],[-0.014278,-0.087287,0.996081]]
2025-10-26T20:12:30.119Z,1761509550.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996032,-0.082605,-0.033112],[0.084097,0.995371,0.046530],[0.029115,-0.049130,0.998368]]
2025-10-26T20:12:30.523Z,1761509550.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994340,-0.086737,-0.061358],[0.090163,0.994381,0.055468],[0.056202,-0.060686,0.996573]]
2025-10-26T20:12:30.926Z,1761509550.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995813,-0.065786,-0.063475],[0.069901,0.995437,0.064951],[0.058913,-0.069116,0.995868]]
2025-10-26T20:12:31.331Z,1761509551.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998427,-0.040209,-0.039082],[0.042497,0.997317,0.059611],[0.036581,-0.061178,0.997456]]
2025-10-26T20:12:31.734Z,1761509551.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998704,-0.041671,-0.029235],[0.042633,0.998542,0.033099],[0.027813,-0.034303,0.999024]]
2025-10-26T20:12:32.140Z,1761509552.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996298,-0.068200,-0.052342],[0.069336,0.997389,0.020197],[0.050828,-0.023752,0.998425]]
2025-10-26T20:12:32.542Z,1761509552.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994011,-0.074617,-0.079836],[0.078585,0.995762,0.047772],[0.075933,-0.053760,0.995663]]
2025-10-26T20:12:32.946Z,1761509552.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994431,-0.056988,-0.088652],[0.066852,0.991388,0.112609],[0.081471,-0.117908,0.989677]]
2025-10-26T20:12:33.350Z,1761509553.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994794,-0.050397,-0.088571],[0.064159,0.985006,0.160145],[0.079172,-0.164994,0.983112]]
2025-10-26T20:12:33.756Z,1761509553.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994940,-0.043171,-0.090722],[0.056351,0.987357,0.148154],[0.083179,-0.152517,0.984794]]
2025-10-26T20:12:34.158Z,1761509554.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997433,-0.029195,-0.065383],[0.036317,0.993208,0.110536],[0.061712,-0.112626,0.991719]]
2025-10-26T20:12:34.562Z,1761509554.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998473,-0.043585,-0.033930],[0.046413,0.995076,0.087574],[0.029946,-0.089015,0.995580]]
2025-10-26T20:12:34.966Z,1761509554.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996742,-0.072309,-0.035745],[0.075120,0.993559,0.084835],[0.029381,-0.087244,0.995754]]
2025-10-26T20:12:35.373Z,1761509555.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995602,-0.070519,-0.061671],[0.075766,0.993292,0.087347],[0.055098,-0.091636,0.994267]]
2025-10-26T20:12:35.774Z,1761509555.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994662,-0.050455,-0.090006],[0.056691,0.996065,0.068123],[0.086214,-0.072862,0.993609]]
2025-10-26T20:12:36.178Z,1761509556.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994805,-0.032552,-0.096452],[0.033598,0.999393,0.009247],[0.096092,-0.012439,0.995295]]
2025-10-26T20:12:36.582Z,1761509556.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998196,-0.017125,-0.057546],[0.013625,0.998064,-0.060677],[0.058474,0.059784,0.996497]]
2025-10-26T20:12:36.988Z,1761509556.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999875,-0.009158,-0.012891],[0.007990,0.996093,-0.087952],[0.013646,0.087838,0.996041]]
2025-10-26T20:12:37.395Z,1761509557.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999704,-0.023282,0.007131],[0.023494,0.999236,-0.031234],[-0.006398,0.031392,0.999487]]
2025-10-26T20:12:37.794Z,1761509557.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998758,-0.049684,-0.003674],[0.049804,0.993863,0.098777],[-0.001256,-0.098838,0.995103]]
2025-10-26T20:12:38.198Z,1761509558.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995852,-0.063878,-0.064796],[0.076380,0.973885,0.213810],[0.049446,-0.217872,0.974724]]
2025-10-26T20:12:38.603Z,1761509558.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994298,-0.042997,-0.097588],[0.065298,0.968976,0.238372],[0.084311,-0.243385,0.966258]]
2025-10-26T20:12:39.007Z,1761509559.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997885,-0.034819,-0.054895],[0.042883,0.987241,0.153351],[0.048855,-0.155381,0.986646]]
2025-10-26T20:12:39.411Z,1761509559.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999089,-0.034951,-0.024483],[0.034905,0.999388,-0.002293],[0.024548,0.001437,0.999698]]
2025-10-26T20:12:39.814Z,1761509559.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998112,-0.023020,-0.056938],[0.015453,0.991402,-0.129933],[0.059439,0.128807,0.989887]]
2025-10-26T20:12:40.218Z,1761509560.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996640,-0.016667,-0.080189],[0.004242,0.988267,-0.152675],[0.081793,0.151822,0.985018]]
2025-10-26T20:12:40.624Z,1761509560.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998203,-0.039547,-0.045016],[0.036957,0.997691,-0.056984],[0.047166,0.055218,0.997360]]
2025-10-26T20:12:41.026Z,1761509561.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996920,-0.074229,-0.025326],[0.076093,0.993646,0.082933],[0.019009,-0.084605,0.996233]]
2025-10-26T20:12:41.431Z,1761509561.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997220,-0.067771,-0.030960],[0.072436,0.979135,0.189863],[0.017447,-0.191578,0.981322]]
2025-10-26T20:12:41.834Z,1761509561.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998595,-0.042114,-0.032163],[0.047943,0.976561,0.209833],[0.022572,-0.211081,0.977208]]
2025-10-26T20:12:42.239Z,1761509562.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998859,-0.024245,-0.041155],[0.029325,0.991379,0.127702],[0.037705,-0.128763,0.990958]]
2025-10-26T20:12:42.244Z,1761509562.244 [NAL9602](INFO): SBD MO Status=2, MOMSN=2984, MT Status=2, MTMSN=0
2025-10-26T20:12:42.244Z,1761509562.244 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T20:12:42.642Z,1761509562.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998741,-0.017904,-0.046863],[0.018684,0.999693,0.016248],[0.046557,-0.017103,0.998769]]
2025-10-26T20:12:43.046Z,1761509563.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999381,-0.014053,-0.032260],[0.011984,0.997913,-0.063445],[0.033085,0.063020,0.997464]]
2025-10-26T20:12:43.380Z,1761509563.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-26T20:12:43.450Z,1761509563.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999377,-0.010694,-0.033647],[0.007928,0.996659,-0.081296],[0.034404,0.080978,0.996122]]
2025-10-26T20:12:43.855Z,1761509563.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998514,-0.004605,-0.054305],[0.002195,0.999013,-0.044363],[0.054456,0.044178,0.997538]]
2025-10-26T20:12:44.258Z,1761509564.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999335,-0.002165,-0.036396],[0.002926,0.999778,0.020860],[0.036343,-0.020953,0.999120]]
2025-10-26T20:12:44.384Z,1761509564.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:12:44.664Z,1761509564.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999982,0.003505,-0.004932],[-0.002891,0.992833,0.119474],[0.005316,-0.119457,0.992825]]
2025-10-26T20:12:45.067Z,1761509565.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999969,-0.003696,-0.006966],[0.005072,0.977878,0.209113],[0.006039,-0.209142,0.977867]]
2025-10-26T20:12:45.469Z,1761509565.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999248,-0.008020,-0.037923],[0.016533,0.973086,0.229849],[0.035058,-0.230303,0.972487]]
2025-10-26T20:12:45.874Z,1761509565.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999311,0.008071,-0.036218],[-0.002569,0.988765,0.149459],[0.037017,-0.149263,0.988104]]
2025-10-26T20:12:46.279Z,1761509566.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999875,0.005926,-0.014672],[-0.005420,0.999396,0.034331],[0.014866,-0.034247,0.999303]]
2025-10-26T20:12:46.682Z,1761509566.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999975,-0.007028,-0.000126],[0.007024,0.999731,-0.022118],[0.000281,0.022117,0.999755]]
2025-10-26T20:12:47.086Z,1761509567.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999930,-0.003902,-0.011213],[0.003985,0.999965,0.007330],[0.011184,-0.007374,0.999910]]
2025-10-26T20:12:47.734Z,1761509567.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997867,0.043963,-0.048266],[-0.036640,0.988997,0.143325],[0.054036,-0.141251,0.988498]]
2025-10-26T20:12:48.126Z,1761509568.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998201,0.042904,-0.041876],[-0.036845,0.990016,0.136053],[0.047295,-0.134265,0.989816]]
2025-10-26T20:12:50.212Z,1761509570.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997632,0.065466,-0.021080],[-0.064344,0.996670,0.050085],[0.024288,-0.048610,0.998522]]
2025-10-26T20:12:50.610Z,1761509570.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998638,0.052118,0.002493],[-0.052171,0.996584,0.064021],[0.000852,-0.064064,0.997945]]
2025-10-26T20:12:51.015Z,1761509571.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998956,0.045401,-0.005068],[-0.045030,0.997283,0.058308],[0.007701,-0.058019,0.998286]]
2025-10-26T20:12:51.422Z,1761509571.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998059,0.041966,-0.046001],[-0.039518,0.997818,0.052887],[0.048120,-0.050967,0.997540]]
2025-10-26T20:12:51.822Z,1761509571.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994779,0.057400,-0.084386],[-0.052798,0.997046,0.055789],[0.087339,-0.051043,0.994870]]
2025-10-26T20:12:52.226Z,1761509572.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994059,0.076303,-0.077619],[-0.070855,0.994979,0.070685],[0.082622,-0.064766,0.994474]]
2025-10-26T20:12:52.630Z,1761509572.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996791,0.072097,-0.034790],[-0.068115,0.992184,0.104553],[0.042056,-0.101848,0.993911]]
2025-10-26T20:12:53.037Z,1761509573.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997115,0.070608,-0.027854],[-0.066293,0.988832,0.133477],[0.036967,-0.131246,0.990660]]
2025-10-26T20:12:53.438Z,1761509573.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993967,0.097838,-0.049581],[-0.091443,0.988794,0.117999],[0.060570,-0.112753,0.991775]]
2025-10-26T20:12:53.842Z,1761509573.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991402,0.121746,-0.047953],[-0.120031,0.992074,0.037161],[0.052097,-0.031085,0.998158]]
2025-10-26T20:12:54.246Z,1761509574.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993658,0.106525,-0.035997],[-0.108119,0.993088,-0.045685],[0.030882,0.049288,0.998307]]
2025-10-26T20:12:54.652Z,1761509574.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994754,0.079571,-0.064288],[-0.083553,0.994583,-0.061837],[0.059019,0.066884,0.996014]]
2025-10-26T20:12:55.054Z,1761509575.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989884,0.095361,-0.105050],[-0.097218,0.995182,-0.012684],[0.103335,0.022768,0.994386]]
2025-10-26T20:12:55.458Z,1761509575.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985795,0.137200,-0.096867],[-0.128666,0.987644,0.089469],[0.107946,-0.075734,0.991268]]
2025-10-26T20:12:55.862Z,1761509575.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985895,0.158709,-0.053124],[-0.145434,0.969487,0.197342],[0.082823,-0.186832,0.978894]]
2025-10-26T20:12:56.266Z,1761509576.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986860,0.160511,-0.018508],[-0.150183,0.953494,0.261332],[0.059594,-0.255119,0.965071]]
2025-10-26T20:12:56.670Z,1761509576.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986818,0.161830,-0.000614],[-0.156423,0.954804,0.252746],[0.041488,-0.249319,0.967532]]
2025-10-26T20:12:57.074Z,1761509577.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984638,0.174605,0.000992],[-0.171927,0.968511,0.180075],[0.030481,-0.177479,0.983652]]
2025-10-26T20:12:57.479Z,1761509577.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983475,0.179800,-0.021183],[-0.178060,0.981778,0.066379],[0.032731,-0.061510,0.997570]]
2025-10-26T20:12:57.882Z,1761509577.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985100,0.164926,-0.048766],[-0.166827,0.985260,-0.037850],[0.041805,0.045421,0.998093]]
2025-10-26T20:12:58.287Z,1761509578.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983183,0.173196,-0.057923],[-0.177161,0.981525,-0.072265],[0.044337,0.081311,0.995702]]
2025-10-26T20:12:58.690Z,1761509578.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978837,0.198336,-0.050407],[-0.199913,0.979402,-0.028405],[0.043735,0.037880,0.998325]]
2025-10-26T20:12:59.095Z,1761509579.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975825,0.216253,-0.031621],[-0.215182,0.975979,0.034092],[0.038234,-0.026464,0.998918]]
2025-10-26T20:12:59.124Z,1761509579.124 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002981
2025-10-26T20:12:59.499Z,1761509579.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976089,0.217204,-0.008488],[-0.215577,0.972306,0.090257],[0.027857,-0.086269,0.995882]]
2025-10-26T20:12:59.902Z,1761509579.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975540,0.219800,-0.002976],[-0.217223,0.965999,0.140215],[0.033694,-0.136139,0.990117]]
2025-10-26T20:13:00.306Z,1761509580.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973715,0.227471,0.011638],[-0.226626,0.962455,0.149400],[0.022783,-0.148110,0.988708]]
2025-10-26T20:13:00.710Z,1761509580.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972151,0.233787,0.016296],[-0.234231,0.967033,0.099919],[0.007600,-0.100953,0.994862]]
2025-10-26T20:13:01.116Z,1761509581.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968769,0.247492,-0.015330],[-0.246718,0.968243,0.040450],[0.024854,-0.035404,0.999064]]
2025-10-26T20:13:01.518Z,1761509581.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964555,0.260271,-0.043514],[-0.260040,0.965535,0.010986],[0.044873,0.000719,0.998992]]
2025-10-26T20:13:01.922Z,1761509581.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966178,0.255842,-0.032320],[-0.255924,0.966695,0.001656],[0.031668,0.006672,0.999476]]
2025-10-26T20:13:02.326Z,1761509582.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970199,0.242212,0.006885],[-0.242308,0.969689,0.031461],[0.000944,-0.032192,0.999481]]
2025-10-26T20:13:02.731Z,1761509582.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970283,0.239454,0.034829],[-0.241592,0.966741,0.083934],[-0.013572,-0.089854,0.995862]]
2025-10-26T20:13:03.134Z,1761509583.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965660,0.258642,0.024598],[-0.259562,0.956271,0.134812],[0.011346,-0.136567,0.990566]]
2025-10-26T20:13:03.538Z,1761509583.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957176,0.288237,-0.027085],[-0.279398,0.944209,0.174374],[0.075834,-0.159339,0.984307]]
2025-10-26T20:13:03.944Z,1761509583.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949406,0.304158,-0.078202],[-0.289477,0.944113,0.157648],[0.121782,-0.127034,0.984394]]
2025-10-26T20:13:04.346Z,1761509584.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949884,0.305516,-0.066189],[-0.299875,0.950351,0.083116],[0.088296,-0.059102,0.994339]]
2025-10-26T20:13:04.763Z,1761509584.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955356,0.293138,-0.036944],[-0.292984,0.956069,0.009626],[0.038143,0.001628,0.999271]]
2025-10-26T20:13:05.154Z,1761509585.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955427,0.290444,-0.052928],[-0.291173,0.956649,-0.006451],[0.048759,0.021574,0.998578]]
2025-10-26T20:13:05.559Z,1761509585.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951292,0.299374,-0.073617],[-0.298604,0.954135,0.021507],[0.076680,0.001523,0.997055]]
2025-10-26T20:13:05.962Z,1761509585.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951281,0.301517,-0.064432],[-0.295636,0.951327,0.087041],[0.087540,-0.063752,0.994119]]
2025-10-26T20:13:06.366Z,1761509586.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949300,0.308949,-0.058133],[-0.296181,0.940938,0.164047],[0.105382,-0.138512,0.984738]]
2025-10-26T20:13:06.802Z,1761509586.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939618,0.337370,-0.057451],[-0.319093,0.924342,0.209218],[0.123688,-0.178252,0.976180]]
2025-10-26T20:13:07.176Z,1761509587.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934601,0.353668,-0.037950],[-0.340083,0.919736,0.196035],[0.104236,-0.170308,0.979862]]
2025-10-26T20:13:07.578Z,1761509587.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937751,0.347025,-0.014033],[-0.341912,0.929523,0.138143],[0.060983,-0.124745,0.990313]]
2025-10-26T20:13:07.982Z,1761509587.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938801,0.344016,-0.017461],[-0.341414,0.936032,0.085329],[0.045699,-0.074146,0.996200]]
2025-10-26T20:13:08.386Z,1761509588.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941355,0.331487,-0.062991],[-0.329366,0.943276,0.041809],[0.073277,-0.018610,0.997138]]
2025-10-26T20:13:08.390Z,1761509588.390 [NAL9602](INFO): SBD MO Status=2, MOMSN=2984, MT Status=2, MTMSN=0
2025-10-26T20:13:08.391Z,1761509588.391 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T20:13:08.817Z,1761509588.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933671,0.346408,-0.090881],[-0.344087,0.938061,0.040574],[0.099307,-0.006612,0.995035]]
2025-10-26T20:13:09.194Z,1761509589.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922430,0.383179,-0.047931],[-0.379101,0.922186,0.076523],[0.073524,-0.052417,0.995915]]
2025-10-26T20:13:09.598Z,1761509589.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920683,0.389920,0.017452],[-0.388792,0.912243,0.129050],[0.034399,-0.125600,0.991485]]
2025-10-26T20:13:10.004Z,1761509590.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924429,0.379875,0.033555],[-0.379849,0.909398,0.169440],[0.033852,-0.169381,0.984969]]
2025-10-26T20:13:10.406Z,1761509590.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921497,0.388328,0.006688],[-0.385968,0.913706,0.127162],[0.043270,-0.119760,0.991859]]
2025-10-26T20:13:10.766Z,1761509590.766 [DataOverHttps](INFO): Sending 852 bytes from file Logs/20251026T180417/Express0031.lzma
2025-10-26T20:13:10.826Z,1761509590.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918889,0.393218,-0.031969],[-0.392412,0.919341,0.028726],[0.040686,-0.013851,0.999076]]
2025-10-26T20:13:11.214Z,1761509591.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918856,0.388505,-0.069046],[-0.391728,0.919159,-0.041191],[0.047461,0.064896,0.996763]]
2025-10-26T20:13:11.619Z,1761509591.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918952,0.384489,-0.087729],[-0.389819,0.919284,-0.054378],[0.059740,0.084169,0.994659]]
2025-10-26T20:13:11.757Z,1761509591.757 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0031.lzma.bak
2025-10-26T20:13:11.758Z,1761509591.758 [DataOverHttps](INFO): SBD MOMSN=26242316
2025-10-26T20:13:12.023Z,1761509592.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910179,0.410182,-0.057652],[-0.410792,0.911728,0.001395],[0.053135,0.022413,0.998336]]
2025-10-26T20:13:12.426Z,1761509592.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905883,0.423513,-0.003581],[-0.421932,0.903170,0.079102],[0.036735,-0.070146,0.996860]]
2025-10-26T20:13:12.830Z,1761509592.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902753,0.429072,0.030580],[-0.428734,0.891698,0.145130],[0.035003,-0.144127,0.988940]]
2025-10-26T20:13:13.234Z,1761509593.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900973,0.432634,0.032803],[-0.432054,0.887702,0.159105],[0.039715,-0.157522,0.986717]]
2025-10-26T20:13:13.640Z,1761509593.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898905,0.438009,0.010876],[-0.436065,0.891948,0.119479],[0.042632,-0.112143,0.992777]]
2025-10-26T20:13:14.042Z,1761509594.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894989,0.445566,-0.021552],[-0.443666,0.894119,0.060928],[0.046418,-0.044968,0.997909]]
2025-10-26T20:13:14.446Z,1761509594.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888964,0.452161,-0.072758],[-0.452157,0.891767,0.017470],[0.072783,0.017368,0.997197]]
2025-10-26T20:13:14.850Z,1761509594.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881930,0.463221,-0.087324],[-0.464922,0.885351,0.000968],[0.077761,0.039745,0.996179]]
2025-10-26T20:13:15.256Z,1761509595.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879528,0.475330,-0.022201],[-0.475099,0.879804,0.015058],[0.026690,-0.002697,0.999640]]
2025-10-26T20:13:15.666Z,1761509595.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885989,0.462013,0.039587],[-0.463663,0.883842,0.061973],[-0.006356,-0.073263,0.997292]]
2025-10-26T20:13:16.062Z,1761509596.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885566,0.463800,0.025735],[-0.463495,0.878600,0.115046],[0.030748,-0.113809,0.993027]]
2025-10-26T20:13:16.467Z,1761509596.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877274,0.479904,-0.009105],[-0.474614,0.870123,0.132767],[0.071638,-0.112152,0.991105]]
2025-10-26T20:13:16.872Z,1761509596.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874267,0.485240,-0.014158],[-0.479940,0.868363,0.124910],[0.072906,-0.102409,0.992067]]
2025-10-26T20:13:17.275Z,1761509597.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866738,0.498680,-0.009109],[-0.494321,0.861307,0.117460],[0.066420,-0.097304,0.993036]]
2025-10-26T20:13:17.678Z,1761509597.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856640,0.515860,-0.007491],[-0.511195,0.850675,0.122606],[0.069620,-0.101200,0.992427]]
2025-10-26T20:13:18.082Z,1761509598.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851340,0.524496,0.011132],[-0.520964,0.842728,0.135668],[0.061776,-0.121299,0.990692]]
2025-10-26T20:13:18.488Z,1761509598.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849935,0.525126,0.043038],[-0.525776,0.840009,0.133955],[0.034191,-0.136482,0.990052]]
2025-10-26T20:13:18.894Z,1761509598.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852908,0.519121,0.055322],[-0.521768,0.844080,0.123642],[0.017489,-0.134320,0.990784]]
2025-10-26T20:13:19.294Z,1761509599.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863001,0.503982,0.035094],[-0.504688,0.856905,0.104901],[0.022797,-0.108241,0.993863]]
2025-10-26T20:13:19.698Z,1761509599.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856132,0.516699,-0.007785],[-0.515097,0.854492,0.067219],[0.041384,-0.053539,0.997708]]
2025-10-26T20:13:20.103Z,1761509600.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833906,0.550099,-0.044641],[-0.550411,0.834872,0.006061],[0.040604,0.019516,0.998985]]
2025-10-26T20:13:20.507Z,1761509600.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826285,0.559797,-0.062290],[-0.562389,0.826078,-0.036246],[0.031166,0.064980,0.997400]]
2025-10-26T20:13:20.910Z,1761509600.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833195,0.550640,-0.050816],[-0.550886,0.834517,0.010299],[0.048078,0.019413,0.998655]]
2025-10-26T20:13:21.314Z,1761509601.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829239,0.558859,-0.006241],[-0.556244,0.826342,0.088038],[0.054358,-0.069533,0.996098]]
2025-10-26T20:13:21.720Z,1761509601.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828314,0.559059,0.036723],[-0.558763,0.819526,0.127124],[0.040974,-0.125818,0.991207]]
2025-10-26T20:13:22.122Z,1761509602.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830732,0.555100,0.041810],[-0.554493,0.818503,0.150302],[0.049211,-0.148044,0.987756]]
2025-10-26T20:13:22.527Z,1761509602.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819299,0.572258,0.035622],[-0.570777,0.808127,0.145410],[0.054425,-0.139467,0.988730]]
2025-10-26T20:13:22.930Z,1761509602.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822702,0.567955,0.024285],[-0.567910,0.819234,0.079588],[0.025307,-0.079269,0.996532]]
2025-10-26T20:13:23.335Z,1761509603.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835216,0.549595,-0.018963],[-0.549535,0.835425,0.008707],[0.020627,0.003149,0.999782]]
2025-10-26T20:13:23.738Z,1761509603.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830774,0.552897,-0.064180],[-0.553035,0.832980,0.017213],[0.062978,0.021194,0.997790]]
2025-10-26T20:13:24.142Z,1761509604.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811363,0.582167,-0.052638],[-0.577731,0.812358,0.079381],[0.088974,-0.033997,0.995454]]
2025-10-26T20:13:24.548Z,1761509604.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801147,0.598261,0.015739],[-0.594237,0.792087,0.139571],[0.071034,-0.121170,0.990087]]
2025-10-26T20:13:24.956Z,1761509604.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814885,0.579032,0.026182],[-0.576461,0.804899,0.140824],[0.060468,-0.129848,0.989688]]
2025-10-26T20:13:25.359Z,1761509605.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804607,0.593422,-0.021396],[-0.591473,0.804115,0.059659],[0.052608,-0.035346,0.997990]]
2025-10-26T20:13:25.765Z,1761509605.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790146,0.610475,-0.054671],[-0.611650,0.791103,-0.006296],[0.039407,0.038414,0.998485]]
2025-10-26T20:13:26.166Z,1761509606.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783050,0.620375,-0.044349],[-0.620699,0.784011,0.007711],[0.039554,0.021490,0.998986]]
2025-10-26T20:13:26.568Z,1761509606.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778056,0.628007,0.015354],[-0.627365,0.775540,0.070362],[0.032281,-0.064378,0.997403]]
2025-10-26T20:13:26.970Z,1761509606.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779383,0.621874,0.076392],[-0.626280,0.769668,0.124034],[0.018337,-0.144513,0.989333]]
2025-10-26T20:13:27.376Z,1761509607.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783071,0.614098,0.098403],[-0.621413,0.766098,0.164131],[0.025406,-0.189675,0.981518]]
2025-10-26T20:13:27.778Z,1761509607.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780092,0.621710,0.070232],[-0.624835,0.768355,0.138606],[0.032209,-0.152009,0.987854]]
2025-10-26T20:13:28.182Z,1761509608.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772593,0.634781,0.012358],[-0.634346,0.770957,0.056839],[0.026553,-0.051753,0.998307]]
2025-10-26T20:13:28.586Z,1761509608.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768768,0.638188,-0.041376],[-0.639028,0.769115,-0.010265],[0.025272,0.034332,0.999091]]
2025-10-26T20:13:28.990Z,1761509608.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768524,0.636082,-0.069072],[-0.638335,0.769612,-0.015042],[0.043591,0.055651,0.997498]]
2025-10-26T20:13:29.394Z,1761509609.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763681,0.642445,-0.063680],[-0.642558,0.765938,0.021418],[0.062535,0.024561,0.997741]]
2025-10-26T20:13:29.798Z,1761509609.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755155,0.655273,-0.018943],[-0.653591,0.754818,0.055386],[0.050592,-0.029444,0.998285]]
2025-10-26T20:13:30.203Z,1761509610.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754528,0.654751,0.044595],[-0.655539,0.748746,0.098227],[0.030924,-0.103349,0.994164]]
2025-10-26T20:13:30.607Z,1761509610.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752358,0.652516,0.090443],[-0.657512,0.735402,0.163895],[0.040432,-0.182775,0.982323]]
2025-10-26T20:13:31.010Z,1761509611.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743264,0.660253,0.107817],[-0.666006,0.715041,0.212492],[0.063205,-0.229744,0.971197]]
2025-10-26T20:13:31.426Z,1761509611.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732683,0.673754,0.096078],[-0.678146,0.710859,0.186539],[0.057383,-0.201829,0.977738]]
2025-10-26T20:13:31.772Z,1761509611.772 [DataOverHttps](INFO): Sending 431 bytes from file Logs/20251026T180417/Express0034.lzma
2025-10-26T20:13:31.824Z,1761509611.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741420,0.669826,0.040365],[-0.669547,0.734417,0.111081],[0.044760,-0.109384,0.992991]]
2025-10-26T20:13:32.223Z,1761509612.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753327,0.655387,-0.054466],[-0.653923,0.755289,0.043862],[0.069885,0.002574,0.997552]]
2025-10-26T20:13:32.626Z,1761509612.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749746,0.650081,-0.123600],[-0.653024,0.757057,0.020598],[0.106962,0.065270,0.992118]]
2025-10-26T20:13:33.030Z,1761509613.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741462,0.662005,-0.109468],[-0.661741,0.748441,0.043991],[0.111053,0.039822,0.993016]]
2025-10-26T20:13:33.434Z,1761509613.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731094,0.681914,-0.022250],[-0.677477,0.729427,0.094665],[0.080783,-0.054135,0.995261]]
2025-10-26T20:13:33.839Z,1761509613.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716368,0.692295,0.086857],[-0.696580,0.702513,0.145778],[0.039903,-0.164933,0.985497]]
2025-10-26T20:13:34.242Z,1761509614.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701673,0.696152,0.151751],[-0.712266,0.679889,0.174437],[0.018261,-0.230485,0.972905]]
2025-10-26T20:13:34.646Z,1761509614.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700351,0.700778,0.135718],[-0.713127,0.678682,0.175615],[0.030958,-0.219776,0.975059]]
2025-10-26T20:13:34.785Z,1761509614.785 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0034.lzma.bak
2025-10-26T20:13:34.786Z,1761509614.786 [DataOverHttps](INFO): SBD MOMSN=26242354
2025-10-26T20:13:35.050Z,1761509615.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699235,0.711180,0.072760],[-0.713184,0.686910,0.139725],[0.049390,-0.149592,0.987513]]
2025-10-26T20:13:35.456Z,1761509615.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702949,0.711219,0.005467],[-0.710664,0.702050,0.045622],[0.028610,-0.035955,0.998944]]
2025-10-26T20:13:35.858Z,1761509615.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701310,0.711461,-0.044574],[-0.712821,0.700525,-0.033920],[0.007092,0.055562,0.998430]]
2025-10-26T20:13:36.262Z,1761509616.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691969,0.718377,-0.071510],[-0.721715,0.690764,-0.044402],[0.017499,0.082335,0.996451]]
2025-10-26T20:13:36.301Z,1761509616.301 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-26T20:13:36.301Z,1761509616.301 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-10-26T20:13:36.301Z,1761509616.301 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:13:36.666Z,1761509616.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693697,0.717941,-0.057849],[-0.719428,0.694526,-0.007539],[0.034765,0.046848,0.998297]]
2025-10-26T20:13:37.070Z,1761509617.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698733,0.715236,0.014492],[-0.713122,0.694773,0.093525],[0.056824,-0.075683,0.995511]]
2025-10-26T20:13:37.473Z,1761509617.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686330,0.719410,0.106773],[-0.723511,0.660416,0.200955],[0.074054,-0.215173,0.973764]]
2025-10-26T20:13:37.878Z,1761509617.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672618,0.719961,0.170999],[-0.737647,0.633969,0.232293],[0.058834,-0.282382,0.957496]]
2025-10-26T20:13:38.283Z,1761509618.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676562,0.719342,0.157514],[-0.735350,0.648638,0.196288],[0.039029,-0.248629,0.967812]]
2025-10-26T20:13:38.686Z,1761509618.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683881,0.725202,0.079924],[-0.728091,0.671339,0.138523],[0.046801,-0.152925,0.987129]]
2025-10-26T20:13:39.090Z,1761509619.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692591,0.720803,-0.027566],[-0.718521,0.692759,0.061746],[0.063604,-0.022958,0.997711]]
2025-10-26T20:13:39.096Z,1761509619.096 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:13:39.494Z,1761509619.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681181,0.726197,-0.092900],[-0.729467,0.684013,-0.001832],[0.062215,0.069015,0.995674]]
2025-10-26T20:13:39.899Z,1761509619.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662867,0.744059,-0.083565],[-0.747197,0.664526,-0.010120],[0.048001,0.069147,0.996451]]
2025-10-26T20:13:40.304Z,1761509620.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657442,0.753422,-0.011174],[-0.753108,0.657505,0.022716],[0.024461,-0.006519,0.999680]]
2025-10-26T20:13:40.706Z,1761509620.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673989,0.733971,0.083820],[-0.738670,0.671145,0.062689],[-0.010244,-0.104167,0.994507]]
2025-10-26T20:13:41.110Z,1761509621.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688462,0.714268,0.125864],[-0.725101,0.681632,0.098016],[-0.015783,-0.158744,0.987194]]
2025-10-26T20:13:41.515Z,1761509621.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683105,0.726351,0.076036],[-0.729920,0.675574,0.104003],[0.024175,-0.126545,0.991666]]
2025-10-26T20:13:41.919Z,1761509621.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679314,0.733664,-0.016405],[-0.730133,0.677953,0.085348],[0.073738,-0.046001,0.996216]]
2025-10-26T20:13:42.322Z,1761509622.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678206,0.730957,-0.075759],[-0.728085,0.682341,0.065607],[0.099649,0.010664,0.994965]]
2025-10-26T20:13:42.726Z,1761509622.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661206,0.746952,-0.069775],[-0.741376,0.664820,0.091520],[0.114749,-0.008784,0.993356]]
2025-10-26T20:13:43.131Z,1761509623.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645558,0.763611,-0.012374],[-0.754191,0.639978,0.147053],[0.120210,-0.085599,0.989051]]
2025-10-26T20:13:43.535Z,1761509623.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640494,0.765945,0.055642],[-0.761145,0.623506,0.178603],[0.102107,-0.156746,0.982347]]
2025-10-26T20:13:43.938Z,1761509623.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648651,0.755807,0.089493],[-0.758087,0.631183,0.164047],[0.067501,-0.174253,0.982385]]
2025-10-26T20:13:44.342Z,1761509624.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663694,0.744081,0.076507],[-0.746332,0.651904,0.134197],[0.049978,-0.146165,0.987997]]
2025-10-26T20:13:44.758Z,1761509624.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659676,0.749380,0.057069],[-0.750512,0.652875,0.102399],[0.039477,-0.110381,0.993105]]
2025-10-26T20:13:45.151Z,1761509625.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637861,0.768734,0.046718],[-0.769814,0.634609,0.068247],[0.022816,-0.079496,0.996574]]
2025-10-26T20:13:45.312Z,1761509625.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:13:45.554Z,1761509625.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627815,0.778053,0.021943],[-0.778245,0.626982,0.035039],[0.013504,-0.039075,0.999145]]
2025-10-26T20:13:45.958Z,1761509625.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633025,0.773963,-0.016123],[-0.773776,0.633228,0.017096],[0.023441,0.001653,0.999724]]
2025-10-26T20:13:46.362Z,1761509626.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629003,0.776605,-0.035219],[-0.775930,0.629954,0.033019],[0.047829,0.006559,0.998834]]
2025-10-26T20:13:46.816Z,1761509626.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626121,0.779555,-0.016305],[-0.778282,0.626097,0.047736],[0.047421,-0.017199,0.998727]]
2025-10-26T20:13:47.170Z,1761509627.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625203,0.780100,0.023762],[-0.778873,0.621698,0.082752],[0.049782,-0.070245,0.996287]]
2025-10-26T20:13:47.574Z,1761509627.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615246,0.784710,0.075512],[-0.784879,0.600774,0.151775],[0.073734,-0.152646,0.985526]]
2025-10-26T20:13:47.979Z,1761509627.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598889,0.791401,0.122544],[-0.795804,0.571000,0.201630],[0.089598,-0.218275,0.971766]]
2025-10-26T20:13:48.382Z,1761509628.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599994,0.789269,0.130619],[-0.796574,0.574300,0.188811],[0.074008,-0.217333,0.973288]]
2025-10-26T20:13:48.817Z,1761509628.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609824,0.788857,0.076282],[-0.790702,0.599041,0.126256],[0.053902,-0.137311,0.989060]]
2025-10-26T20:13:49.190Z,1761509629.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610213,0.792199,-0.007807],[-0.789667,0.608996,0.074499],[0.063772,-0.039295,0.997191]]
2025-10-26T20:13:49.595Z,1761509629.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603714,0.795914,-0.045277],[-0.794557,0.605362,0.047075],[0.064877,0.007556,0.997865]]
2025-10-26T20:13:49.998Z,1761509629.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594412,0.804120,-0.008004],[-0.803417,0.594262,0.037063],[0.034559,-0.015600,0.999281]]
2025-10-26T20:13:50.402Z,1761509630.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594643,0.802890,0.042033],[-0.803534,0.591735,0.064671],[0.027052,-0.072231,0.997021]]
2025-10-26T20:13:50.822Z,1761509630.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599237,0.796917,0.076410],[-0.798257,0.587523,0.132673],[0.060836,-0.140497,0.988210]]
2025-10-26T20:13:51.211Z,1761509631.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591452,0.800758,0.094713],[-0.803227,0.574778,0.156387],[0.070790,-0.168571,0.983144]]
2025-10-26T20:13:51.614Z,1761509631.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594079,0.799009,0.093027],[-0.803365,0.583448,0.119131],[0.040910,-0.145508,0.988511]]
2025-10-26T20:13:52.018Z,1761509632.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597708,0.799609,0.058068],[-0.801234,0.593275,0.077766],[0.027732,-0.093007,0.995279]]
2025-10-26T20:13:52.422Z,1761509632.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594862,0.803822,0.003036],[-0.803615,0.594613,0.025265],[0.018504,-0.017469,0.999676]]
2025-10-26T20:13:52.829Z,1761509632.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587186,0.808785,-0.032835],[-0.809451,0.586631,-0.025569],[-0.001418,0.041593,0.999134]]
2025-10-26T20:13:53.232Z,1761509633.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581016,0.813768,-0.014191],[-0.813803,0.580607,-0.024894],[-0.012019,0.026012,0.999589]]
2025-10-26T20:13:53.634Z,1761509633.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586445,0.808835,0.043228],[-0.809883,0.584670,0.047431],[0.013090,-0.062826,0.997939]]
2025-10-26T20:13:54.040Z,1761509634.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592345,0.801310,0.083839],[-0.803065,0.578830,0.141570],[0.064913,-0.151187,0.986372]]
2025-10-26T20:13:54.442Z,1761509634.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580558,0.810426,0.078498],[-0.806631,0.559336,0.191023],[0.110903,-0.174219,0.978442]]
2025-10-26T20:13:54.848Z,1761509634.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563569,0.824497,0.050945],[-0.818416,0.548909,0.169979],[0.112183,-0.137490,0.984130]]
2025-10-26T20:13:55.250Z,1761509635.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568773,0.821929,0.030488],[-0.820979,0.565086,0.081678],[0.049905,-0.071486,0.996192]]
2025-10-26T20:13:55.654Z,1761509635.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580552,0.813865,0.024148],[-0.814217,0.580175,0.021162],[0.003213,-0.031947,0.999484]]
2025-10-26T20:13:56.059Z,1761509636.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570805,0.820923,0.016351],[-0.821004,0.570355,0.025452],[0.011568,-0.027952,0.999542]]
2025-10-26T20:13:56.466Z,1761509636.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552857,0.833108,0.016746],[-0.832633,0.551529,0.050379],[0.032735,-0.041796,0.998590]]
2025-10-26T20:13:56.866Z,1761509636.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558408,0.828396,0.044051],[-0.828656,0.554519,0.076411],[0.038871,-0.079171,0.996103]]
2025-10-26T20:13:57.016Z,1761509637.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:13:57.270Z,1761509637.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578666,0.812504,0.070592],[-0.814207,0.570543,0.107464],[0.047040,-0.119662,0.991700]]
2025-10-26T20:13:57.675Z,1761509637.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586039,0.807219,0.070391],[-0.808327,0.576383,0.119963],[0.056264,-0.127202,0.990280]]
2025-10-26T20:13:58.082Z,1761509638.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573077,0.818556,0.039357],[-0.817039,0.566976,0.104811],[0.063479,-0.092221,0.993713]]
2025-10-26T20:13:58.482Z,1761509638.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556404,0.830039,0.038086],[-0.828633,0.550901,0.099375],[0.061503,-0.086852,0.994321]]
2025-10-26T20:13:58.889Z,1761509638.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543623,0.836534,0.068441],[-0.838699,0.538246,0.082919],[0.032526,-0.102478,0.994203]]
2025-10-26T20:13:59.290Z,1761509639.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553644,0.828207,0.086899],[-0.832753,0.550703,0.056996],[-0.000651,-0.103921,0.994585]]
2025-10-26T20:13:59.696Z,1761509639.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573962,0.816590,0.061222],[-0.818859,0.571772,0.050467],[0.006206,-0.079099,0.996848]]
2025-10-26T20:14:00.099Z,1761509640.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572536,0.819796,0.011721],[-0.819367,0.571614,0.043522],[0.028980,-0.034521,0.998984]]
2025-10-26T20:14:00.502Z,1761509640.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568528,0.822510,-0.015941],[-0.822117,0.568750,0.025430],[0.029983,-0.001353,0.999550]]
2025-10-26T20:14:00.906Z,1761509640.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559289,0.828971,0.001618],[-0.828479,0.558887,0.035620],[0.028623,-0.021262,0.999364]]
2025-10-26T20:14:01.311Z,1761509641.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551403,0.831488,0.067695],[-0.834016,0.547563,0.067759],[0.019274,-0.093821,0.995403]]
2025-10-26T20:14:01.716Z,1761509641.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553300,0.821577,0.137366],[-0.832944,0.547279,0.081796],[-0.007976,-0.159676,0.987137]]
2025-10-26T20:14:02.120Z,1761509642.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557847,0.816714,0.147600],[-0.829824,0.551901,0.082446],[-0.014126,-0.168474,0.985605]]
2025-10-26T20:14:02.530Z,1761509642.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545889,0.832897,0.091040],[-0.837327,0.538447,0.094652],[0.029815,-0.127900,0.991339]]
2025-10-26T20:14:02.936Z,1761509642.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531758,0.846800,0.012758],[-0.844293,0.528883,0.086328],[0.066355,-0.056677,0.996185]]
2025-10-26T20:14:03.330Z,1761509643.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535178,0.843866,-0.038401],[-0.842531,0.536512,0.047915],[0.061036,0.006711,0.998113]]
2025-10-26T20:14:03.734Z,1761509643.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547600,0.835638,-0.042944],[-0.834812,0.549100,0.039727],[0.056778,0.014096,0.998287]]
2025-10-26T20:14:04.138Z,1761509644.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547574,0.836660,0.012780],[-0.834953,0.545327,0.073969],[0.054918,-0.051174,0.997179]]
2025-10-26T20:14:04.543Z,1761509644.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528087,0.843491,0.098219],[-0.848689,0.520260,0.095165],[0.029171,-0.133613,0.990604]]
2025-10-26T20:14:04.946Z,1761509644.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526134,0.839405,0.136316],[-0.850355,0.517622,0.094675],[0.008910,-0.165728,0.986131]]
2025-10-26T20:14:05.352Z,1761509645.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543106,0.834392,0.093944],[-0.837851,0.531182,0.125901],[0.055149,-0.147088,0.987585]]
2025-10-26T20:14:05.754Z,1761509645.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546019,0.837048,0.034845],[-0.831350,0.536224,0.146017],[0.103538,-0.108696,0.988668]]
2025-10-26T20:14:06.158Z,1761509646.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536237,0.843975,0.012452],[-0.838906,0.531271,0.118270],[0.093201,-0.073867,0.992903]]
2025-10-26T20:14:06.468Z,1761509646.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:14:06.563Z,1761509646.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537814,0.842972,0.012409],[-0.839821,0.534398,0.095497],[0.073870,-0.061781,0.995352]]
2025-10-26T20:14:06.966Z,1761509646.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544312,0.838596,0.021935],[-0.836342,0.540445,0.091937],[0.065243,-0.068388,0.995523]]
2025-10-26T20:14:07.370Z,1761509647.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526784,0.848517,0.050173],[-0.849078,0.522548,0.077520],[0.039560,-0.083437,0.995728]]
2025-10-26T20:14:07.775Z,1761509647.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499831,0.861667,0.087748],[-0.866123,0.497255,0.050680],[0.000036,-0.101332,0.994853]]
2025-10-26T20:14:08.180Z,1761509648.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498605,0.860334,0.105916],[-0.866799,0.495874,0.052620],[-0.007251,-0.118045,0.992982]]
2025-10-26T20:14:08.582Z,1761509648.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506729,0.857792,0.086133],[-0.862000,0.502571,0.066168],[0.013471,-0.107776,0.994084]]
2025-10-26T20:14:08.986Z,1761509648.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509060,0.860030,0.034741],[-0.860623,0.507940,0.036407],[0.013665,-0.048432,0.998733]]
2025-10-26T20:14:09.391Z,1761509649.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514582,0.857348,-0.012617],[-0.857367,0.514676,0.005614],[0.011307,0.007928,0.999905]]
2025-10-26T20:14:09.794Z,1761509649.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516053,0.855819,-0.035532],[-0.855334,0.517089,0.031991],[0.045751,0.013883,0.998856]]
2025-10-26T20:14:10.205Z,1761509650.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501361,0.864180,0.042778],[-0.862111,0.494737,0.109544],[0.073502,-0.091801,0.993061]]
2025-10-26T20:14:10.606Z,1761509650.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514467,0.854700,0.069373],[-0.853876,0.503167,0.133112],[0.078865,-0.127718,0.988670]]
2025-10-26T20:14:11.012Z,1761509651.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513150,0.856815,0.050455],[-0.852149,0.501567,0.149242],[0.102566,-0.119579,0.987513]]
2025-10-26T20:14:11.417Z,1761509651.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500011,0.865908,0.013876],[-0.859773,0.494420,0.127826],[0.103825,-0.075845,0.991700]]
2025-10-26T20:14:11.817Z,1761509651.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507907,0.861405,-0.003444],[-0.858353,0.506436,0.082177],[0.072532,-0.038782,0.996612]]
2025-10-26T20:14:12.219Z,1761509652.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514158,0.857695,0.000927],[-0.856926,0.513650,0.042913],[0.036330,-0.022859,0.999078]]
2025-10-26T20:14:12.622Z,1761509652.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507162,0.861812,0.008209],[-0.861751,0.506934,0.020083],[0.013147,-0.017260,0.999765]]
2025-10-26T20:14:13.026Z,1761509653.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502931,0.862909,0.049478],[-0.864275,0.502701,0.017888],[-0.009436,-0.051759,0.998615]]
2025-10-26T20:14:13.430Z,1761509653.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492429,0.861177,0.126050],[-0.870241,0.489491,0.055481],[-0.013921,-0.137015,0.990471]]
2025-10-26T20:14:13.834Z,1761509653.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491156,0.856548,0.158403],[-0.870827,0.478525,0.112575],[0.020626,-0.193234,0.980936]]
2025-10-26T20:14:14.239Z,1761509654.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510460,0.853441,0.105205],[-0.857969,0.497290,0.128806],[0.057611,-0.156014,0.986073]]
2025-10-26T20:14:14.643Z,1761509654.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512741,0.857554,0.041211],[-0.857308,0.508839,0.078146],[0.046045,-0.075399,0.996090]]
2025-10-26T20:14:15.049Z,1761509655.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497567,0.867422,0.002711],[-0.867194,0.497359,0.024646],[0.020030,-0.014615,0.999693]]
2025-10-26T20:14:15.450Z,1761509655.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496115,0.868100,-0.016500],[-0.867837,0.496376,0.021659],[0.026993,0.003574,0.999629]]
2025-10-26T20:14:15.854Z,1761509655.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506077,0.862387,-0.013200],[-0.860438,0.505869,0.061185],[0.059443,-0.019606,0.998039]]
2025-10-26T20:14:16.120Z,1761509656.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:14:16.259Z,1761509656.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496138,0.867702,0.030658],[-0.865295,0.491238,0.099752],[0.071495,-0.076019,0.994540]]
2025-10-26T20:14:16.663Z,1761509656.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485442,0.869196,0.094046],[-0.872948,0.475986,0.106769],[0.048038,-0.133927,0.989826]]
2025-10-26T20:14:17.066Z,1761509657.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489769,0.865019,0.108947],[-0.871361,0.481461,0.094475],[0.029269,-0.141203,0.989548]]
2025-10-26T20:14:17.470Z,1761509657.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483174,0.872698,0.070293],[-0.874126,0.476310,0.095037],[0.049458,-0.107365,0.992989]]
2025-10-26T20:14:17.875Z,1761509657.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471276,0.881034,0.040958],[-0.879514,0.465974,0.096556],[0.065984,-0.081527,0.994484]]
2025-10-26T20:14:18.281Z,1761509658.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472840,0.879850,0.047808],[-0.880197,0.469113,0.072017],[0.040937,-0.076133,0.996257]]
2025-10-26T20:14:18.682Z,1761509658.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483454,0.872642,0.069045],[-0.875304,0.482875,0.025959],[-0.010687,-0.072985,0.997276]]
2025-10-26T20:14:19.086Z,1761509659.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493009,0.868549,0.050653],[-0.869152,0.494286,-0.016029],[-0.038959,-0.036123,0.998588]]
2025-10-26T20:14:19.490Z,1761509659.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491369,0.870452,0.029492],[-0.870379,0.491992,-0.019596],[-0.031568,-0.016041,0.999373]]
2025-10-26T20:14:19.895Z,1761509659.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494518,0.868888,0.022050],[-0.869143,0.494152,0.020116],[0.006582,-0.029113,0.999554]]
2025-10-26T20:14:20.299Z,1761509660.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492474,0.870116,0.019180],[-0.868673,0.490060,0.072441],[0.053632,-0.052336,0.997188]]
2025-10-26T20:14:20.702Z,1761509660.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480491,0.875833,0.045226],[-0.874980,0.475249,0.092457],[0.059483,-0.083996,0.994689]]
2025-10-26T20:14:21.106Z,1761509661.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487320,0.870218,0.072382],[-0.871729,0.479965,0.098599],[0.051062,-0.111147,0.992491]]
2025-10-26T20:14:21.510Z,1761509661.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506222,0.858594,0.080961],[-0.861024,0.497873,0.103736],[0.048759,-0.122223,0.991304]]
2025-10-26T20:14:21.914Z,1761509661.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505615,0.861273,0.050609],[-0.861492,0.500825,0.083706],[0.046747,-0.085923,0.995205]]
2025-10-26T20:14:22.318Z,1761509662.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493884,0.869483,0.008823],[-0.867296,0.491864,0.076595],[0.062258,-0.045481,0.997023]]
2025-10-26T20:14:22.722Z,1761509662.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492401,0.870366,0.002257],[-0.866546,0.489994,0.094885],[0.081479,-0.048677,0.995486]]
2025-10-26T20:14:23.126Z,1761509663.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494254,0.868539,0.036779],[-0.866376,0.488663,0.102958],[0.071451,-0.082752,0.994006]]
2025-10-26T20:14:23.529Z,1761509663.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486509,0.869423,0.086095],[-0.873237,0.480776,0.079449],[0.027682,-0.113834,0.993114]]
2025-10-26T20:14:23.935Z,1761509663.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490119,0.866006,0.099080],[-0.871599,0.488202,0.044430],[-0.009894,-0.108135,0.994087]]
2025-10-26T20:14:24.339Z,1761509664.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489884,0.868864,0.071341],[-0.871275,0.490759,0.005894],[-0.029890,-0.065045,0.997435]]
2025-10-26T20:14:24.746Z,1761509664.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490380,0.870717,0.037135],[-0.870710,0.491310,-0.021898],[-0.037311,-0.021595,0.999070]]
2025-10-26T20:14:25.146Z,1761509665.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490906,0.870898,0.023414],[-0.871179,0.490946,0.004413],[-0.007651,-0.022564,0.999716]]
2025-10-26T20:14:25.550Z,1761509665.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482897,0.874568,0.044064],[-0.875003,0.479940,0.063465],[0.034357,-0.069203,0.997011]]
2025-10-26T20:14:25.656Z,1761509665.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:14:25.956Z,1761509665.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476960,0.875907,0.072775],[-0.877819,0.470570,0.089430],[0.044086,-0.106538,0.993331]]
2025-10-26T20:14:26.358Z,1761509666.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480138,0.875262,0.058178],[-0.876142,0.475260,0.080641],[0.042933,-0.089691,0.995044]]
2025-10-26T20:14:26.799Z,1761509666.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487590,0.872978,0.012855],[-0.871748,0.485986,0.062236],[0.048083,-0.041552,0.997979]]
2025-10-26T20:14:27.166Z,1761509667.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500862,0.865363,-0.016888],[-0.863188,0.500846,0.063707],[0.063588,-0.017331,0.997826]]
2025-10-26T20:14:27.571Z,1761509667.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493641,0.869648,-0.005515],[-0.864411,0.491344,0.106653],[0.095460,-0.047881,0.994281]]
2025-10-26T20:14:27.974Z,1761509667.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481413,0.876150,0.024563],[-0.867447,0.472241,0.156599],[0.125605,-0.096696,0.987357]]
2025-10-26T20:14:28.378Z,1761509668.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479528,0.876221,0.047840],[-0.865350,0.463121,0.191542],[0.145678,-0.133248,0.980318]]
2025-10-26T20:14:28.816Z,1761509668.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492846,0.868839,0.047135],[-0.858755,0.476972,0.187184],[0.140151,-0.132731,0.981193]]
2025-10-26T20:14:29.187Z,1761509669.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504592,0.863076,0.022073],[-0.853645,0.494928,0.162285],[0.129140,-0.100730,0.986497]]
2025-10-26T20:14:29.590Z,1761509669.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496512,0.868005,-0.006567],[-0.860465,0.493167,0.128011],[0.114353,-0.057908,0.991751]]
2025-10-26T20:14:29.995Z,1761509669.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494588,0.868972,-0.016452],[-0.864892,0.493956,0.089269],[0.085699,-0.029922,0.995872]]
2025-10-26T20:14:30.398Z,1761509670.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504565,0.863120,-0.020922],[-0.859672,0.504496,0.080298],[0.079862,-0.022529,0.996551]]
2025-10-26T20:14:30.824Z,1761509670.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506090,0.862436,-0.008745],[-0.857155,0.504064,0.105856],[0.095702,-0.046077,0.994343]]
2025-10-26T20:14:31.206Z,1761509671.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492676,0.868899,0.047801],[-0.868043,0.486830,0.097458],[0.061410,-0.089508,0.994091]]
2025-10-26T20:14:31.610Z,1761509671.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483755,0.869603,0.098858],[-0.875203,0.480567,0.055451],[0.000712,-0.113345,0.993555]]
2025-10-26T20:14:32.014Z,1761509672.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481984,0.871117,0.094062],[-0.875851,0.481960,0.024482],[-0.024007,-0.094184,0.995265]]
2025-10-26T20:14:32.420Z,1761509672.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491075,0.869206,0.057670],[-0.870563,0.492047,-0.003088],[-0.031060,-0.048689,0.998331]]
2025-10-26T20:14:32.827Z,1761509672.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507799,0.861328,0.015910],[-0.860983,0.508047,-0.024426],[-0.029122,-0.001295,0.999575]]
2025-10-26T20:14:33.227Z,1761509673.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505329,0.862713,-0.019232],[-0.862925,0.505248,-0.009192],[0.001787,0.021240,0.999773]]
2025-10-26T20:14:33.630Z,1761509673.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485238,0.873935,-0.027952],[-0.873282,0.485983,0.034642],[0.043859,0.007600,0.999009]]
2025-10-26T20:14:34.036Z,1761509674.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471329,0.881957,-0.000255],[-0.878328,0.469416,0.090489],[0.079927,-0.042426,0.995897]]
2025-10-26T20:14:34.437Z,1761509674.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478430,0.876998,0.044482],[-0.871520,0.468020,0.146320],[0.107504,-0.108771,0.988237]]
2025-10-26T20:14:34.842Z,1761509674.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482102,0.870708,0.097188],[-0.870720,0.463884,0.163277],[0.097082,-0.163340,0.981782]]
2025-10-26T20:14:35.246Z,1761509675.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465477,0.875169,0.131946],[-0.884019,0.452505,0.117258],[0.042914,-0.171224,0.984297]]
2025-10-26T20:14:35.652Z,1761509675.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452655,0.883369,0.121503],[-0.891517,0.450998,0.042405],[-0.017339,-0.127517,0.991685]]
2025-10-26T20:14:36.054Z,1761509676.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458393,0.886085,0.068767],[-0.887783,0.460130,-0.011061],[-0.041442,-0.055980,0.997572]]
2025-10-26T20:14:36.483Z,1761509676.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457129,0.889214,0.018216],[-0.888774,0.457480,-0.028170],[-0.033382,-0.003313,0.999437]]
2025-10-26T20:14:36.862Z,1761509676.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458369,0.888724,-0.008189],[-0.888762,0.458341,-0.005104],[-0.000783,0.009617,0.999953]]
2025-10-26T20:14:37.267Z,1761509677.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465984,0.884754,-0.008306],[-0.883532,0.465801,0.049000],[0.047222,-0.015494,0.998764]]
2025-10-26T20:14:37.364Z,1761509677.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:14:37.670Z,1761509677.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460066,0.887497,0.026234],[-0.885866,0.456828,0.080930],[0.059841,-0.060473,0.996374]]
2025-10-26T20:14:38.074Z,1761509678.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460711,0.883875,0.080684],[-0.887431,0.457250,0.058216],[0.014563,-0.098422,0.995038]]
2025-10-26T20:14:38.478Z,1761509678.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455398,0.882524,0.117319],[-0.890186,0.453365,0.045036],[-0.013443,-0.124945,0.992073]]
2025-10-26T20:14:38.884Z,1761509678.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450698,0.886792,0.102325],[-0.892552,0.445752,0.068235],[0.014899,-0.122084,0.992408]]
2025-10-26T20:14:39.288Z,1761509679.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453549,0.889034,0.062542],[-0.889490,0.447163,0.094086],[0.055679,-0.098303,0.993598]]
2025-10-26T20:14:39.690Z,1761509679.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455039,0.889906,0.031729],[-0.889296,0.452319,0.067534],[0.045747,-0.058947,0.997212]]
2025-10-26T20:14:40.094Z,1761509680.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449410,0.893076,0.021123],[-0.893138,0.448707,0.031075],[0.018274,-0.032832,0.999294]]
2025-10-26T20:14:40.497Z,1761509680.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431161,0.901126,0.045508],[-0.902218,0.430020,0.032949],[0.010122,-0.055264,0.998420]]
2025-10-26T20:14:40.903Z,1761509680.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417959,0.905949,0.067577],[-0.908466,0.416768,0.031527],[0.000398,-0.074568,0.997216]]
2025-10-26T20:14:41.306Z,1761509681.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442487,0.894327,0.066221],[-0.896774,0.441157,0.034311],[0.001472,-0.074567,0.997215]]
2025-10-26T20:14:41.712Z,1761509681.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466359,0.883407,0.045840],[-0.884122,0.463787,0.056836],[0.028949,-0.067034,0.997331]]
2025-10-26T20:14:42.116Z,1761509682.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459732,0.887809,0.021017],[-0.886765,0.457658,0.064776],[0.047890,-0.048416,0.997679]]
2025-10-26T20:14:42.518Z,1761509682.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442338,0.896707,-0.015930],[-0.895525,0.442580,0.046461],[0.048713,-0.006286,0.998793]]
2025-10-26T20:14:42.922Z,1761509682.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435602,0.899874,-0.021840],[-0.899379,0.436103,0.030506],[0.036977,0.006354,0.999296]]
2025-10-26T20:14:43.327Z,1761509683.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432204,0.901277,0.030011],[-0.901543,0.431097,0.037091],[0.020491,-0.043087,0.998861]]
2025-10-26T20:14:43.733Z,1761509683.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421162,0.901147,0.102748],[-0.906543,0.414707,0.078729],[0.028336,-0.126303,0.991587]]
2025-10-26T20:14:44.134Z,1761509684.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411329,0.899137,0.149538],[-0.909268,0.393328,0.136102],[0.063557,-0.191953,0.979344]]
2025-10-26T20:14:44.538Z,1761509684.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415074,0.899247,0.138087],[-0.905892,0.394478,0.154102],[0.084104,-0.189056,0.978358]]
2025-10-26T20:14:44.942Z,1761509684.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414465,0.907826,0.063792],[-0.907088,0.406428,0.109578],[0.073551,-0.103282,0.991929]]
2025-10-26T20:14:45.348Z,1761509685.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414579,0.909723,-0.022982],[-0.908388,0.415215,0.049274],[0.054368,0.000449,0.998521]]
2025-10-26T20:14:45.751Z,1761509685.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410526,0.909752,-0.061811],[-0.910624,0.412544,0.023906],[0.047248,0.046472,0.997802]]
2025-10-26T20:14:46.154Z,1761509686.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387136,0.921714,-0.023863],[-0.921106,0.387776,0.034561],[0.041109,0.008600,0.999118]]
2025-10-26T20:14:46.558Z,1761509686.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389832,0.918670,0.063852],[-0.920385,0.386395,0.059914],[0.030369,-0.082125,0.996159]]
2025-10-26T20:14:46.964Z,1761509686.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407787,0.904539,0.124573],[-0.912082,0.397167,0.101805],[0.042611,-0.155136,0.986974]]
2025-10-26T20:14:47.366Z,1761509687.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403994,0.907716,0.113316],[-0.911814,0.389655,0.129473],[0.073370,-0.155630,0.985087]]
2025-10-26T20:14:47.771Z,1761509687.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392031,0.916905,0.074813],[-0.915675,0.381083,0.127729],[0.088605,-0.118578,0.988984]]
2025-10-26T20:14:48.174Z,1761509688.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391910,0.919084,0.041118],[-0.915640,0.385314,0.114612],[0.089495,-0.082567,0.992559]]
2025-10-26T20:14:48.328Z,1761509688.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:14:48.579Z,1761509688.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403816,0.914762,0.011941],[-0.910407,0.400541,0.103566],[0.089955,-0.052693,0.994551]]
2025-10-26T20:14:48.982Z,1761509688.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415953,0.909303,-0.012305],[-0.906225,0.415597,0.077686],[0.075755,-0.021162,0.996902]]
2025-10-26T20:14:49.386Z,1761509689.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419359,0.907766,-0.009949],[-0.905684,0.419098,0.063974],[0.062243,-0.017817,0.997902]]
2025-10-26T20:14:49.792Z,1761509689.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418610,0.907976,0.018567],[-0.906386,0.416423,0.071110],[0.056835,-0.046596,0.997296]]
2025-10-26T20:14:50.196Z,1761509690.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409868,0.909478,0.069695],[-0.911495,0.405497,0.068910],[0.034411,-0.091771,0.995185]]
2025-10-26T20:14:50.598Z,1761509690.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401901,0.908387,0.115360],[-0.915679,0.398345,0.053409],[0.002563,-0.127098,0.991887]]
2025-10-26T20:14:51.002Z,1761509691.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407834,0.904467,0.124945],[-0.913055,0.404230,0.054121],[-0.001556,-0.136154,0.990686]]
2025-10-26T20:14:51.406Z,1761509691.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405645,0.905281,0.126166],[-0.914030,0.401581,0.057288],[0.001196,-0.138558,0.990354]]
2025-10-26T20:14:51.813Z,1761509691.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394192,0.914115,0.094899],[-0.919028,0.392142,0.040154],[-0.000508,-0.103044,0.994677]]
2025-10-26T20:14:52.214Z,1761509692.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382041,0.924110,0.008143],[-0.924000,0.381809,0.021121],[0.016409,-0.015593,0.999744]]
2025-10-26T20:14:52.618Z,1761509692.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380803,0.922210,-0.067213],[-0.923992,0.382278,0.010141],[0.035046,0.058242,0.997687]]
2025-10-26T20:14:53.023Z,1761509693.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386156,0.920690,-0.056688],[-0.921680,0.387594,0.016617],[0.037271,0.045831,0.998254]]
2025-10-26T20:14:53.427Z,1761509693.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380931,0.923962,0.034432],[-0.923834,0.378831,0.054939],[0.037718,-0.052737,0.997896]]
2025-10-26T20:14:53.830Z,1761509693.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371940,0.917963,0.137855],[-0.928023,0.364390,0.077417],[0.020833,-0.156727,0.987422]]
2025-10-26T20:14:54.234Z,1761509694.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370525,0.912289,0.174471],[-0.928805,0.365065,0.063627],[-0.005647,-0.185625,0.982605]]
2025-10-26T20:14:54.638Z,1761509694.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377246,0.917378,0.126895],[-0.926106,0.373165,0.055450],[0.003516,-0.138437,0.990365]]
2025-10-26T20:14:55.043Z,1761509695.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374937,0.925402,0.055259],[-0.925241,0.369818,0.084639],[0.057890,-0.082862,0.994878]]
2025-10-26T20:14:55.454Z,1761509695.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343153,0.938133,0.046399],[-0.937062,0.338533,0.085494],[0.064497,-0.072816,0.995258]]
2025-10-26T20:14:55.854Z,1761509695.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341617,0.937967,0.059300],[-0.939839,0.340862,0.022718],[0.001096,-0.063493,0.997982]]
2025-10-26T20:14:56.258Z,1761509696.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360920,0.931355,0.048108],[-0.932273,0.361674,-0.007723],[-0.024592,-0.042062,0.998812]]
2025-10-26T20:14:56.663Z,1761509696.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373564,0.927024,0.032805],[-0.927553,0.373683,0.002648],[-0.009804,-0.031418,0.999458]]
2025-10-26T20:14:57.066Z,1761509697.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348264,0.936780,0.033987],[-0.937171,0.347156,0.034537],[0.020554,-0.043879,0.998825]]
2025-10-26T20:14:57.466Z,1761509697.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305086,0.950617,0.057008],[-0.951407,0.301619,0.062048],[0.041789,-0.073168,0.996444]]
2025-10-26T20:14:57.870Z,1761509697.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291162,0.952847,0.085486],[-0.955835,0.286001,0.067698],[0.040057,-0.101422,0.994037]]
2025-10-26T20:14:58.005Z,1761509698.005 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T201457
2025-10-26T20:14:58.274Z,1761509698.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290433,0.952407,0.092573],[-0.954769,0.281983,0.094348],[0.063753,-0.115787,0.991226]]
2025-10-26T20:14:58.678Z,1761509698.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296304,0.950626,0.092275],[-0.948884,0.282001,0.141759],[0.108739,-0.129562,0.985591]]
2025-10-26T20:14:59.082Z,1761509699.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289073,0.955052,0.065674],[-0.950172,0.277882,0.141262],[0.116663,-0.103237,0.987791]]
2025-10-26T20:14:59.486Z,1761509699.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285491,0.958083,0.023894],[-0.954956,0.282276,0.091534],[0.080952,-0.048950,0.995515]]
2025-10-26T20:14:59.892Z,1761509699.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282593,0.959238,-0.002029],[-0.957176,0.282123,0.064964],[0.062889,-0.016416,0.997885]]
2025-10-26T20:15:00.297Z,1761509700.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281257,0.959527,0.014244],[-0.957382,0.279550,0.072609],[0.065689,-0.034059,0.997259]]
2025-10-26T20:15:00.698Z,1761509700.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292454,0.955126,0.046962],[-0.952897,0.286941,0.098243],[0.080360,-0.073481,0.994054]]
2025-10-26T20:15:01.102Z,1761509701.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299837,0.951454,0.069523],[-0.949186,0.290229,0.121712],[0.095625,-0.102484,0.990128]]
2025-10-26T20:15:01.506Z,1761509701.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301635,0.950711,0.071863],[-0.949303,0.292477,0.115244],[0.088545,-0.102981,0.990734]]
2025-10-26T20:15:01.912Z,1761509701.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300719,0.952415,0.049746],[-0.951924,0.296553,0.076794],[0.058388,-0.070448,0.995805]]
2025-10-26T20:15:02.314Z,1761509702.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278273,0.960035,0.029956],[-0.959564,0.276487,0.052844],[0.042450,-0.043450,0.998153]]
2025-10-26T20:15:02.718Z,1761509702.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260558,0.964793,0.035831],[-0.964670,0.258667,0.050032],[0.039002,-0.047601,0.998105]]
2025-10-26T20:15:03.122Z,1761509703.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262287,0.961560,0.081287],[-0.964755,0.259433,0.044068],[0.021285,-0.089980,0.995716]]
2025-10-26T20:15:03.529Z,1761509703.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270432,0.956000,0.113708],[-0.962600,0.266495,0.048800],[0.016351,-0.122653,0.992315]]
2025-10-26T20:15:03.931Z,1761509703.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275370,0.957600,0.084700],[-0.960634,0.270727,0.062355],[0.036781,-0.098537,0.994453]]
2025-10-26T20:15:04.334Z,1761509704.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268126,0.962926,0.029694],[-0.962303,0.266238,0.055594],[0.045627,-0.043481,0.998012]]
2025-10-26T20:15:04.742Z,1761509704.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257394,0.966306,-0.001207],[-0.965962,0.257335,0.026390],[0.025812,-0.005626,0.999651]]
2025-10-26T20:15:05.143Z,1761509705.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250686,0.968027,0.008925],[-0.968065,0.250700,-0.000498],[-0.002720,-0.008515,0.999960]]
2025-10-26T20:15:05.546Z,1761509705.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255543,0.965607,0.047976],[-0.966774,0.255571,0.005661],[-0.006795,-0.047829,0.998832]]
2025-10-26T20:15:05.950Z,1761509705.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265492,0.962074,0.062675],[-0.963584,0.262631,0.050319],[0.031950,-0.073752,0.996765]]
2025-10-26T20:15:06.354Z,1761509706.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268971,0.961889,0.049228],[-0.960315,0.263913,0.090246],[0.073815,-0.071548,0.994702]]
2025-10-26T20:15:06.804Z,1761509706.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266094,0.961858,0.063429],[-0.960403,0.258903,0.102935],[0.082587,-0.088308,0.992664]]
2025-10-26T20:15:07.162Z,1761509707.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255027,0.961719,0.100290],[-0.965128,0.246842,0.087157],[0.059065,-0.119020,0.991134]]
2025-10-26T20:15:07.566Z,1761509707.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234037,0.965931,0.110470],[-0.971498,0.227945,0.065058],[0.037660,-0.122548,0.991748]]
2025-10-26T20:15:07.970Z,1761509707.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212107,0.970180,0.117306],[-0.977142,0.208794,0.039983],[0.014298,-0.123105,0.992291]]
2025-10-26T20:15:08.374Z,1761509708.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205786,0.971072,0.121127],[-0.978537,0.205563,0.014473],[-0.010845,-0.121505,0.992531]]
2025-10-26T20:15:08.587Z,1761509708.587 [DataOverHttps](INFO): Received command: run Maintenance/run_backseat_on_surface.tl
2025-10-26T20:15:08.648Z,1761509708.648 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-26T20:15:08.649Z,1761509708.649 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-26T20:15:08.649Z,1761509708.649 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-26T20:15:08.653Z,1761509708.653 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-26T20:15:08.820Z,1761509708.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203267,0.974652,0.093465],[-0.979081,0.203223,0.010088],[-0.009162,-0.093560,0.995571]]
2025-10-26T20:15:09.182Z,1761509709.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194622,0.980096,0.039161],[-0.980748,0.193790,0.024058],[0.015990,-0.043089,0.998943]]
2025-10-26T20:15:09.587Z,1761509709.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196603,0.980470,-0.005016],[-0.979472,0.196630,0.044406],[0.044525,-0.003818,0.999001]]
2025-10-26T20:15:09.990Z,1761509709.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199114,0.979916,-0.010834],[-0.978848,0.199403,0.045762],[0.047003,0.001492,0.998894]]
2025-10-26T20:15:10.394Z,1761509710.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184361,0.982592,0.022900],[-0.982424,0.183538,0.034000],[0.029205,-0.028765,0.999159]]
2025-10-26T20:15:10.592Z,1761509710.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:15:10.817Z,1761509710.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179722,0.980351,0.081316],[-0.983275,0.176547,0.044734],[0.029499,-0.087996,0.995684]]
2025-10-26T20:15:11.204Z,1761509711.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207432,0.970595,0.122135],[-0.975909,0.196685,0.094428],[0.067629,-0.138780,0.988011]]
2025-10-26T20:15:11.609Z,1761509711.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214962,0.970192,0.111887],[-0.970293,0.199141,0.137383],[0.111007,-0.138096,0.984178]]
2025-10-26T20:15:12.010Z,1761509712.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175937,0.981337,0.077613],[-0.978105,0.165365,0.126350],[0.111157,-0.098143,0.988945]]
2025-10-26T20:15:12.414Z,1761509712.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127176,0.989461,0.069237],[-0.989756,0.122029,0.074102],[0.064873,-0.077952,0.994844]]
2025-10-26T20:15:12.641Z,1761509712.641 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/run_backseat_on_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="run_backseat_on_surface">
    <DefineArg Name="ElapsedSinceMissionStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceMissionStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            run_backseat_on_surface mission has been running for 
            <Arg Name="ElapsedSinceMissionStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and run_backseat_on_surface mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-10-26T20:15:12.650Z,1761509712.650 [MissionManager](INFO): DefineArg run_backseat_on_surface.ElapsedSinceMissionStarted = 0.000000 min
2025-10-26T20:15:12.651Z,1761509712.651 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-26T20:15:12.651Z,1761509712.651 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-26T20:15:12.692Z,1761509712.692 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-26T20:15:12.826Z,1761509712.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129696,0.989821,0.058600],[-0.991381,0.128342,0.026325],[0.018536,-0.061509,0.997934]]
2025-10-26T20:15:13.223Z,1761509713.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171231,0.984680,0.032932],[-0.984809,0.170084,0.034980],[0.028843,-0.038422,0.998845]]
2025-10-26T20:15:13.626Z,1761509713.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168564,0.985628,0.011094],[-0.983903,0.167570,0.062086],[0.059335,-0.021380,0.998009]]
2025-10-26T20:15:14.031Z,1761509714.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125770,0.991845,0.020602],[-0.990219,0.124245,0.063486],[0.060408,-0.028385,0.997770]]
2025-10-26T20:15:14.436Z,1761509714.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108248,0.992232,0.061297],[-0.993475,0.105744,0.042726],[0.035912,-0.065522,0.997205]]
2025-10-26T20:15:14.839Z,1761509714.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103947,0.989085,0.104428],[-0.994423,0.101472,0.028755],[0.017844,-0.106834,0.994117]]
2025-10-26T20:15:15.244Z,1761509715.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100394,0.987854,0.118601],[-0.993962,0.094273,0.056149],[0.044286,-0.123522,0.991353]]
2025-10-26T20:15:15.646Z,1761509715.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098766,0.990941,0.090996],[-0.991111,0.089767,0.098189],[0.089131,-0.099885,0.990999]]
2025-10-26T20:15:16.052Z,1761509716.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081691,0.995294,0.052112],[-0.992841,0.076695,0.091570],[0.087142,-0.059219,0.994434]]
2025-10-26T20:15:16.454Z,1761509716.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052199,0.997691,0.043452],[-0.997100,0.049656,0.057670],[0.055379,-0.046336,0.997390]]
2025-10-26T20:15:16.859Z,1761509716.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051322,0.995698,0.077141],[-0.998187,0.048711,0.035354],[0.031444,-0.078815,0.996393]]
2025-10-26T20:15:17.263Z,1761509717.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051119,0.993612,0.100611],[-0.998639,0.049816,0.015419],[0.010308,-0.101262,0.994806]]
2025-10-26T20:15:17.667Z,1761509717.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021911,0.993437,0.112261],[-0.999751,0.022253,-0.001802],[-0.004289,-0.112193,0.993677]]
2025-10-26T20:15:18.072Z,1761509718.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006531,0.991504,0.129913],[-0.999978,0.006644,-0.000442],[-0.001302,-0.129907,0.991525]]
2025-10-26T20:15:18.474Z,1761509718.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016239,0.991522,0.128920],[-0.999660,0.013471,0.022315],[0.020389,-0.129239,0.991404]]
2025-10-26T20:15:18.878Z,1761509718.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009257,0.997675,0.067525],[-0.999381,-0.011522,0.033237],[0.033937,-0.067176,0.997164]]
2025-10-26T20:15:19.282Z,1761509719.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048169,0.998738,0.014188],[-0.998746,-0.048354,0.012974],[0.013643,-0.013545,0.999815]]
2025-10-26T20:15:19.687Z,1761509719.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054475,0.998279,0.021706],[-0.998414,-0.054148,-0.015382],[-0.014180,-0.022510,0.999646]]
2025-10-26T20:15:20.090Z,1761509720.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046958,0.997127,0.059437],[-0.998895,-0.046759,-0.004736],[-0.001943,-0.059593,0.998221]]
2025-10-26T20:15:20.329Z,1761509720.329 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-26T20:15:20.358Z,1761509720.358 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectChlActive = 0 bool
2025-10-26T20:15:20.381Z,1761509720.381 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-26T20:15:20.388Z,1761509720.388 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectChlActive = 0 bool
2025-10-26T20:15:20.391Z,1761509720.391 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.TimeWindowPeakReport = nan min
2025-10-26T20:15:20.398Z,1761509720.398 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestChlPeakReportActive = 0 bool
2025-10-26T20:15:20.405Z,1761509720.405 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestSaltPeakReportActive = 0 bool
2025-10-26T20:15:20.412Z,1761509720.412 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestOilPeakReportActive = 0 bool
2025-10-26T20:15:20.415Z,1761509720.415 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PatchTracking = 0 bool
2025-10-26T20:15:20.422Z,1761509720.422 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.FilterWidthHorizontal = 3.000000 count
2025-10-26T20:15:20.441Z,1761509720.441 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-26T20:15:20.452Z,1761509720.452 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-26T20:15:20.455Z,1761509720.455 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectNO3Active = 0 bool
2025-10-26T20:15:20.462Z,1761509720.462 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectOilActive = 0 bool
2025-10-26T20:15:20.494Z,1761509720.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062805,0.992673,0.103228],[-0.997179,-0.066675,0.034478],[0.041108,-0.100771,0.994060]]
2025-10-26T20:15:20.512Z,1761509720.512 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectFDOMActive = 0 bool
2025-10-26T20:15:20.519Z,1761509720.519 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectSalinityActive = 0 bool
2025-10-26T20:15:20.522Z,1761509720.522 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-26T20:15:20.533Z,1761509720.533 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-26T20:15:20.540Z,1761509720.540 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-26T20:15:20.543Z,1761509720.543 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-26T20:15:20.558Z,1761509720.558 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-26T20:15:20.577Z,1761509720.577 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-26T20:15:20.582Z,1761509720.582 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-26T20:15:20.597Z,1761509720.597 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-26T20:15:20.606Z,1761509720.606 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-26T20:15:20.622Z,1761509720.622 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledAanderaaO2 = 0 bool
2025-10-26T20:15:20.626Z,1761509720.626 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledNeilBrown = 0 bool
2025-10-26T20:15:20.638Z,1761509720.638 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledRBRTridente = 0 bool
2025-10-26T20:15:20.641Z,1761509720.641 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledSeabird = 1 bool
2025-10-26T20:15:20.650Z,1761509720.650 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-26T20:15:20.666Z,1761509720.666 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-26T20:15:20.682Z,1761509720.682 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsUBAT = 0 bool
2025-10-26T20:15:20.685Z,1761509720.685 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.LowPassWindowLength = 20.000000 count
2025-10-26T20:15:20.696Z,1761509720.696 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.MedianFilterLen = 5.000000 count
2025-10-26T20:15:20.708Z,1761509720.708 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ShallowBound = nan m
2025-10-26T20:15:20.711Z,1761509720.711 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DeepBound = nan m
2025-10-26T20:15:20.718Z,1761509720.718 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-26T20:15:20.726Z,1761509720.726 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalAscent = nan %
2025-10-26T20:15:20.750Z,1761509720.750 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionVerticalDescent = nan %
2025-10-26T20:15:20.772Z,1761509720.772 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-26T20:15:20.796Z,1761509720.796 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumberOfLayers = 1.000000 count
2025-10-26T20:15:20.816Z,1761509720.816 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlThreshTriggerActive = 0 bool
2025-10-26T20:15:20.819Z,1761509720.819 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlLowerThresh = nan ug/l
2025-10-26T20:15:20.826Z,1761509720.826 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlUpperThresh = nan ug/l
2025-10-26T20:15:20.830Z,1761509720.830 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesThresh = 5.000000 count
2025-10-26T20:15:20.841Z,1761509720.841 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-26T20:15:20.860Z,1761509720.860 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-26T20:15:20.872Z,1761509720.872 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-26T20:15:20.877Z,1761509720.877 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-26T20:15:20.880Z,1761509720.880 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.GoDown = 1 bool
2025-10-26T20:15:20.898Z,1761509720.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061172,0.990915,0.119771],[-0.997269,-0.065653,0.033827],[0.041383,-0.117375,0.992225]]
2025-10-26T20:15:20.924Z,1761509720.924 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChl = nan ug/l
2025-10-26T20:15:20.930Z,1761509720.930 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepth = nan m
2025-10-26T20:15:20.949Z,1761509720.949 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlTemperature = nan degC
2025-10-26T20:15:20.961Z,1761509720.961 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLatitude = nan arcdeg
2025-10-26T20:15:20.972Z,1761509720.972 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLongitude = nan arcdeg
2025-10-26T20:15:20.975Z,1761509720.975 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlAvgProfiles = nan ug/l
2025-10-26T20:15:20.982Z,1761509720.982 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepthAvgProfiles = nan m
2025-10-26T20:15:20.997Z,1761509720.997 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChl = nan ug/l
2025-10-26T20:15:21.011Z,1761509721.011 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlDepth = nan m
2025-10-26T20:15:21.015Z,1761509721.015 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlTemperature = nan degC
2025-10-26T20:15:21.022Z,1761509721.022 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLatitude = nan arcdeg
2025-10-26T20:15:21.026Z,1761509721.026 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgeChlLongitude = nan arcdeg
2025-10-26T20:15:21.038Z,1761509721.038 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3 = nan umol/l
2025-10-26T20:15:21.052Z,1761509721.052 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Depth = nan m
2025-10-26T20:15:21.060Z,1761509721.060 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Latitude = nan arcdeg
2025-10-26T20:15:21.066Z,1761509721.066 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Longitude = nan arcdeg
2025-10-26T20:15:21.069Z,1761509721.069 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOil = nan kg/m3
2025-10-26T20:15:21.078Z,1761509721.078 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilDepth = nan m
2025-10-26T20:15:21.086Z,1761509721.086 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLatitude = nan arcdeg
2025-10-26T20:15:21.089Z,1761509721.089 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLongitude = nan arcdeg
2025-10-26T20:15:21.092Z,1761509721.092 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOM = nan ppb
2025-10-26T20:15:21.100Z,1761509721.100 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMDepth = nan m
2025-10-26T20:15:21.114Z,1761509721.114 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMTemperature = nan degC
2025-10-26T20:15:21.121Z,1761509721.121 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLatitude = nan arcdeg
2025-10-26T20:15:21.134Z,1761509721.134 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLongitude = nan arcdeg
2025-10-26T20:15:21.141Z,1761509721.141 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSalt = nan psu
2025-10-26T20:15:21.157Z,1761509721.157 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltDepth = nan m
2025-10-26T20:15:21.164Z,1761509721.164 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltTemperature = nan degC
2025-10-26T20:15:21.170Z,1761509721.170 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLatitude = nan arcdeg
2025-10-26T20:15:21.182Z,1761509721.182 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLongitude = nan arcdeg
2025-10-26T20:15:21.185Z,1761509721.185 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-26T20:15:21.197Z,1761509721.197 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-26T20:15:21.212Z,1761509721.212 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-26T20:15:21.215Z,1761509721.215 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-26T20:15:21.222Z,1761509721.222 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-26T20:15:21.230Z,1761509721.230 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-26T20:15:21.234Z,1761509721.234 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-26T20:15:21.249Z,1761509721.249 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-26T20:15:21.257Z,1761509721.257 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-26T20:15:21.261Z,1761509721.261 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-26T20:15:21.282Z,1761509721.282 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-26T20:15:21.302Z,1761509721.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064945,0.993024,0.098415],[-0.997678,-0.066644,0.014070],[0.020530,-0.097272,0.995046]]
2025-10-26T20:15:21.321Z,1761509721.321 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-26T20:15:21.337Z,1761509721.337 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-26T20:15:21.341Z,1761509721.341 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-26T20:15:21.373Z,1761509721.373 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-26T20:15:21.380Z,1761509721.380 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-26T20:15:21.387Z,1761509721.387 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-26T20:15:21.391Z,1761509721.391 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-26T20:15:21.398Z,1761509721.398 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-26T20:15:21.402Z,1761509721.402 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-26T20:15:21.421Z,1761509721.421 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-26T20:15:21.429Z,1761509721.429 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-26T20:15:21.436Z,1761509721.436 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-26T20:15:21.444Z,1761509721.444 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-26T20:15:21.447Z,1761509721.447 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-26T20:15:21.454Z,1761509721.454 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-26T20:15:21.458Z,1761509721.458 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-26T20:15:21.469Z,1761509721.469 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-26T20:15:21.502Z,1761509721.502 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-26T20:15:21.513Z,1761509721.513 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-26T20:15:21.524Z,1761509721.524 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-26T20:15:21.533Z,1761509721.533 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-26T20:15:21.545Z,1761509721.545 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-26T20:15:21.548Z,1761509721.548 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-26T20:15:21.555Z,1761509721.555 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-26T20:15:21.559Z,1761509721.559 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-26T20:15:21.566Z,1761509721.566 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-26T20:15:21.570Z,1761509721.570 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-26T20:15:21.581Z,1761509721.581 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-26T20:15:21.585Z,1761509721.585 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-26T20:15:21.597Z,1761509721.597 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChl = nan ug/l
2025-10-26T20:15:21.604Z,1761509721.604 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDepth = nan m
2025-10-26T20:15:21.611Z,1761509721.611 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLatitude = nan arcdeg
2025-10-26T20:15:21.615Z,1761509721.615 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLongitude = nan arcdeg
2025-10-26T20:15:21.622Z,1761509721.622 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDistance = nan m
2025-10-26T20:15:21.626Z,1761509721.626 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSalt = nan psu
2025-10-26T20:15:21.637Z,1761509721.637 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDepth = nan m
2025-10-26T20:15:21.641Z,1761509721.641 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLatitude = nan arcdeg
2025-10-26T20:15:21.660Z,1761509721.660 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLongitude = nan arcdeg
2025-10-26T20:15:21.668Z,1761509721.668 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDistance = nan m
2025-10-26T20:15:21.671Z,1761509721.671 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOil = nan psu
2025-10-26T20:15:21.678Z,1761509721.678 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDepth = nan m
2025-10-26T20:15:21.682Z,1761509721.682 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLatitude = nan arcdeg
2025-10-26T20:15:21.706Z,1761509721.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093068,0.993207,0.069850],[-0.995214,-0.094896,0.023311],[0.029781,-0.067346,0.997285]]
2025-10-26T20:15:21.721Z,1761509721.721 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLongitude = nan arcdeg
2025-10-26T20:15:21.726Z,1761509721.726 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDistance = nan m
2025-10-26T20:15:21.741Z,1761509721.741 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.TriggeredOnChl = 0 bool
2025-10-26T20:15:21.752Z,1761509721.752 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.ChlTriggering = nan ug/l
2025-10-26T20:15:21.833Z,1761509721.833 [run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:21.872Z,1761509721.872 [run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T20:15:21.926Z,1761509721.926 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T20:15:21.967Z,1761509721.967 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T20:15:21.982Z,1761509721.982 [run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.010Z,1761509722.010 [run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.035Z,1761509722.035 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T20:15:22.077Z,1761509722.077 [run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.110Z,1761509722.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116903,0.990014,0.078774],[-0.990744,-0.121763,0.059998],[0.068991,-0.071031,0.995085]]
2025-10-26T20:15:22.150Z,1761509722.150 [run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.195Z,1761509722.195 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-26T20:15:22.237Z,1761509722.237 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.263Z,1761509722.263 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T20:15:22.342Z,1761509722.342 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.388Z,1761509722.388 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T20:15:22.439Z,1761509722.439 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.474Z,1761509722.474 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T20:15:22.514Z,1761509722.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121568,0.987719,0.098141],[-0.989776,-0.128061,0.062796],[0.074592,-0.089503,0.993189]]
2025-10-26T20:15:22.581Z,1761509722.581 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-26T20:15:22.616Z,1761509722.616 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-26T20:15:22.658Z,1761509722.658 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-26T20:15:22.674Z,1761509722.674 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-26T20:15:22.675Z,1761509722.675 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-26T20:15:22.680Z,1761509722.680 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-26T20:15:22.736Z,1761509722.736 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-26T20:15:22.744Z,1761509722.744 [MissionManager](INFO): DefineArg run_backseat_on_surface:BackseatDriver.EnableBackseat = 0 bool
2025-10-26T20:15:22.761Z,1761509722.761 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-26T20:15:22.803Z,1761509722.803 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-26T20:15:22.803Z,1761509722.803 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-26T20:15:22.814Z,1761509722.814 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-26T20:15:22.918Z,1761509722.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124502,0.986903,0.102579],[-0.991094,-0.128616,0.034497],[0.047238,-0.097370,0.994127]]
2025-10-26T20:15:23.113Z,1761509723.113 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-26T20:15:23.122Z,1761509723.122 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleAll = 0 bool
2025-10-26T20:15:23.126Z,1761509723.126 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad1 = 0 bool
2025-10-26T20:15:23.141Z,1761509723.141 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad2 = 0 bool
2025-10-26T20:15:23.150Z,1761509723.150 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad3 = 0 bool
2025-10-26T20:15:23.161Z,1761509723.161 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-26T20:15:23.177Z,1761509723.177 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-26T20:15:23.183Z,1761509723.183 [run_backseat_on_surface:E.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-26T20:15:23.212Z,1761509723.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:15:23.220Z,1761509723.220 [run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-10-26T20:15:23.222Z,1761509723.222 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-10-26T20:15:23.238Z,1761509723.238 [run_backseat_on_surface:H.Execute](DEBUG): Construct Execute.
2025-10-26T20:15:23.322Z,1761509723.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122625,0.988446,0.089094],[-0.991043,-0.126741,0.042086],[0.052891,-0.083136,0.995134]]
2025-10-26T20:15:23.373Z,1761509723.373 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission run_backseat_on_surface {
  arguments {
    ElapsedSinceMissionStarted = 0 minute
  }

  # Power the science payload.

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P2H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )

    syslog important "run_backseat_on_surface mission has been running for "
         + ElapsedSinceMissionStarted~minute
  }

  syslog important "Restarting logs and run_backseat_on_surface mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-10-26T20:15:23.380Z,1761509723.380 [DefaultWithUndock] Stopped
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault] Stopped
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-26T20:15:23.381Z,1761509723.381 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:15:23.381Z,1761509723.381 [MissionManager](IMPORTANT): Started mission run_backseat_on_surface
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface](DEBUG): Aggregate::initialize run_backseat_on_surface
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science](DEBUG): Aggregate::initialize run_backseat_on_surface:Science
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:A] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:B] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:C] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:D] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:E] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:F] Running Loop=1
2025-10-26T20:15:23.382Z,1761509723.382 [run_backseat_on_surface:Science:Read_Oil] Running Loop=1
2025-10-26T20:15:23.383Z,1761509723.383 [run_backseat_on_surface:Science:PeakDetectChl] Running Loop=1
2025-10-26T20:15:23.383Z,1761509723.383 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectChl
2025-10-26T20:15:23.383Z,1761509723.383 [run_backseat_on_surface:Science:PeakDetectChl:A] Running Loop=1
2025-10-26T20:15:23.383Z,1761509723.383 [run_backseat_on_surface:Science:EdgeDetectChl] Running Loop=1
2025-10-26T20:15:23.383Z,1761509723.383 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectChl
2025-10-26T20:15:23.390Z,1761509723.390 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/run_backseat_on_surface.tl
2025-10-26T20:15:23.391Z,1761509723.391 [run_backseat_on_surface:Science:EdgeDetectChl:A] Running Loop=1
2025-10-26T20:15:23.391Z,1761509723.391 [run_backseat_on_surface:Science:HighestChlPeakReport] Running Loop=1
2025-10-26T20:15:23.392Z,1761509723.392 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-10-26T20:15:23.392Z,1761509723.392 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T20:15:23.392Z,1761509723.392 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T20:15:23.392Z,1761509723.392 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-26T20:15:23.392Z,1761509723.392 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl
2025-10-26T20:15:23.392Z,1761509723.392 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:PeakDetectNO3] Running Loop=1
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectNO3
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:PeakDetectNO3:A] Running Loop=1
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:PeakDetectOil] Running Loop=1
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectOil
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:PeakDetectOil:A] Running Loop=1
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:HighestOilPeakReport] Running Loop=1
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-10-26T20:15:23.393Z,1761509723.393 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:PeakDetectFDOM] Running Loop=1
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:PeakDetectSalinity] Running Loop=1
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-10-26T20:15:23.394Z,1761509723.394 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-26T20:15:23.395Z,1761509723.395 [run_backseat_on_surface:Science:HighestSaltPeakReport] Running Loop=1
2025-10-26T20:15:23.395Z,1761509723.395 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-10-26T20:15:23.395Z,1761509723.395 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-26T20:15:23.395Z,1761509723.395 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-26T20:15:23.400Z,1761509723.400 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-26T20:15:23.400Z,1761509723.400 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-10-26T20:15:23.400Z,1761509723.400 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-26T20:15:23.400Z,1761509723.400 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-26T20:15:23.400Z,1761509723.400 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-26T20:15:23.401Z,1761509723.401 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-26T20:15:23.402Z,1761509723.402 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-26T20:15:23.403Z,1761509723.403 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-26T20:15:23.403Z,1761509723.403 [run_backseat_on_surface:Science:ChlThreshTrigger] Running Loop=1
2025-10-26T20:15:23.403Z,1761509723.403 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-10-26T20:15:23.403Z,1761509723.403 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-26T20:15:23.403Z,1761509723.403 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:Science:OceanCurrent] Running Loop=1
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:OceanCurrent
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::initialize run_backseat_on_surface:BackseatDriver
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::initialize run_backseat_on_surface:PowerOnly
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:PowerOnly:A] Running Loop=1
2025-10-26T20:15:23.408Z,1761509723.408 [run_backseat_on_surface:PowerOnly:B] Running Loop=1
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:PowerOnly:C] Running Loop=1
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:PowerOnly:D] Running Loop=1
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:PowerOnly:E.Wait] Running Loop=1
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:E.GoToSurface] Running Loop=1
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T20:15:23.409Z,1761509723.409 [run_backseat_on_surface:E.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-26T20:15:23.410Z,1761509723.410 [run_backseat_on_surface:E.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-26T20:15:23.410Z,1761509723.410 [run_backseat_on_surface:E.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-26T20:15:23.410Z,1761509723.410 [run_backseat_on_surface:E.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-26T20:15:23.410Z,1761509723.410 [run_backseat_on_surface:E.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T20:15:23.411Z,1761509723.411 [run_backseat_on_surface:E.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T20:15:23.411Z,1761509723.411 [run_backseat_on_surface:C] Running Loop=1
2025-10-26T20:15:23.416Z,1761509723.416 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-10-26T20:15:23.416Z,1761509723.416 [run_backseat_on_surface:PowerOnly:D] Stopped
2025-10-26T20:15:23.416Z,1761509723.416 [run_backseat_on_surface:PowerOnly:C] Stopped
2025-10-26T20:15:23.417Z,1761509723.417 [run_backseat_on_surface:PowerOnly:B] Stopped
2025-10-26T20:15:23.417Z,1761509723.417 [run_backseat_on_surface:PowerOnly:A] Stopped
2025-10-26T20:15:23.417Z,1761509723.417 [run_backseat_on_surface:C] Stopped
2025-10-26T20:15:23.417Z,1761509723.417 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-10-26T20:15:23.417Z,1761509723.417 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-10-26T20:15:23.457Z,1761509723.457 [run_backseat_on_surface:Science] Running Loop=1
2025-10-26T20:15:23.459Z,1761509723.459 [run_backseat_on_surface:Science:ChlThreshTrigger] Stopped
2025-10-26T20:15:23.459Z,1761509723.459 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-10-26T20:15:23.459Z,1761509723.459 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-26T20:15:23.459Z,1761509723.459 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-26T20:15:23.460Z,1761509723.460 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:HighestSaltPeakReport] Stopped
2025-10-26T20:15:23.461Z,1761509723.461 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectSalinity] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectSalinity:A] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectFDOM] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectFDOM:A] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:HighestOilPeakReport] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T20:15:23.462Z,1761509723.462 [run_backseat_on_surface:Science:PeakDetectOil] Stopped
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectOil
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDetectOil:A] Stopped
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDetectNO3] Stopped
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectNO3
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDetectNO3:A] Stopped
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-26T20:15:23.463Z,1761509723.463 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDepthAvgProfilesChl
2025-10-26T20:15:23.467Z,1761509723.467 [run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-26T20:15:23.467Z,1761509723.467 [run_backseat_on_surface:Science:HighestChlPeakReport] Stopped
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:EdgeDetectChl] Stopped
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:EdgeDetectChl
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:EdgeDetectChl:A] Stopped
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:PeakDetectChl] Stopped
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectChl
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:PeakDetectChl:A] Stopped
2025-10-26T20:15:23.468Z,1761509723.468 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-10-26T20:15:23.469Z,1761509723.469 [run_backseat_on_surface:Science:Read_Oil] Stopped
2025-10-26T20:15:23.469Z,1761509723.469 [run_backseat_on_surface:Science:F] Stopped
2025-10-26T20:15:23.469Z,1761509723.469 [run_backseat_on_surface:Science:E] Running Loop=1
2025-10-26T20:15:23.470Z,1761509723.470 [run_backseat_on_surface:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-10-26T20:15:23.470Z,1761509723.470 [run_backseat_on_surface:Science:D] Stopped
2025-10-26T20:15:23.470Z,1761509723.470 [run_backseat_on_surface:Science:C] Running Loop=1
2025-10-26T20:15:23.476Z,1761509723.476 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-10-26T20:15:23.479Z,1761509723.479 [run_backseat_on_surface:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-10-26T20:15:23.483Z,1761509723.483 [run_backseat_on_surface:Science:B] Running Loop=1
2025-10-26T20:15:23.484Z,1761509723.484 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-10-26T20:15:23.485Z,1761509723.485 [run_backseat_on_surface:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-10-26T20:15:23.485Z,1761509723.485 [run_backseat_on_surface:Science:A] Stopped
2025-10-26T20:15:23.727Z,1761509723.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117739,0.990396,0.072483],[-0.989184,-0.123399,0.079300],[0.087483,-0.062362,0.994212]]
2025-10-26T20:15:23.753Z,1761509723.753 [run_backseat_on_surface:CheckIn] Running Loop=1
2025-10-26T20:15:23.754Z,1761509723.754 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-10-26T20:15:23.754Z,1761509723.754 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-10-26T20:15:23.776Z,1761509723.776 [BackseatComponent](INFO): Powering up
2025-10-26T20:15:23.776Z,1761509723.776 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-10-26T20:15:24.130Z,1761509724.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114435,0.991185,0.066761],[-0.988227,-0.120447,0.094335],[0.101544,-0.055180,0.993300]]
2025-10-26T20:15:24.164Z,1761509724.164 [run_backseat_on_surface:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T20:15:24.253Z,1761509724.253 [WetLabsBB2FL](INFO): Powering up
2025-10-26T20:15:24.534Z,1761509724.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114521,0.991382,0.063619],[-0.989577,-0.119472,0.080397],[0.087305,-0.053749,0.994731]]
2025-10-26T20:15:24.938Z,1761509724.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119217,0.990516,0.068301],[-0.990360,-0.123520,0.062681],[0.070523,-0.060170,0.995694]]
2025-10-26T20:15:25.344Z,1761509725.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126911,0.988987,0.076146],[-0.989445,-0.131635,0.060590],[0.069946,-0.067653,0.995254]]
2025-10-26T20:15:25.752Z,1761509725.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126998,0.988685,0.079834],[-0.989909,-0.131432,0.052970],[0.062863,-0.072301,0.995400]]
2025-10-26T20:15:25.772Z,1761509725.772 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201525.00,A,3645.86167,N,12152.21372,W,0.894,334.99,261025,,,D*71
2025-10-26T20:15:25.774Z,1761509725.774 [NAL9602](INFO): GPS fix at 20251026T201525: (36.764361, -121.870229)
2025-10-26T20:15:25.794Z,1761509725.794 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-10-26T20:15:25.794Z,1761509725.794 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-10-26T20:15:26.150Z,1761509726.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118070,0.990119,0.075658],[-0.992853,-0.119042,0.008445],[0.017368,-0.074120,0.997098]]
2025-10-26T20:15:26.201Z,1761509726.201 [run_backseat_on_surface:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-26T20:15:26.650Z,1761509726.650 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-10-26T20:15:26.818Z,1761509726.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115985,0.990850,0.069022],[-0.992790,-0.113535,-0.038430],[-0.030242,-0.072981,0.996875]]
2025-10-26T20:15:27.114Z,1761509727.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125586,0.989235,0.075108],[-0.992068,-0.124809,-0.014970],[-0.005435,-0.076392,0.997063]]
2025-10-26T20:15:27.518Z,1761509727.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144003,0.985459,0.090190],[-0.989554,-0.144020,-0.006356],[0.006726,-0.090163,0.995904]]
2025-10-26T20:15:27.922Z,1761509727.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171720,0.976840,0.127652],[-0.985146,-0.170377,-0.021445],[0.000801,-0.129439,0.991587]]
2025-10-26T20:15:28.330Z,1761509728.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192249,0.965082,0.177928],[-0.981289,-0.191002,-0.024274],[0.010558,-0.179265,0.983744]]
2025-10-26T20:15:28.741Z,1761509728.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208501,0.963087,0.170266],[-0.977644,-0.210079,-0.008901],[0.027197,-0.168316,0.985358]]
2025-10-26T20:15:29.134Z,1761509729.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222423,0.968460,0.112307],[-0.973555,-0.226786,0.027535],[0.052136,-0.103213,0.993292]]
2025-10-26T20:15:29.538Z,1761509729.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215462,0.974661,0.060091],[-0.971933,-0.219998,0.083345],[0.094453,-0.040447,0.994707]]
2025-10-26T20:15:29.942Z,1761509729.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196272,0.980291,0.022496],[-0.973170,-0.197553,0.117953],[0.120072,0.001259,0.992764]]
2025-10-26T20:15:30.166Z,1761509730.166 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20251026T180417/Courier0036.lzma
2025-10-26T20:15:30.346Z,1761509730.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189165,0.981876,0.011642],[-0.975220,-0.189241,0.114601],[0.114727,0.010325,0.993343]]
2025-10-26T20:15:30.633Z,1761509730.633 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Courier0036.lzma.bak
2025-10-26T20:15:30.633Z,1761509730.633 [DataOverHttps](INFO): SBD MOMSN=26242371
2025-10-26T20:15:30.774Z,1761509730.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178854,0.982879,0.044284],[-0.977496,-0.182632,0.105584],[0.111864,-0.024403,0.993424]]
2025-10-26T20:15:31.154Z,1761509731.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181585,0.978763,0.095127],[-0.976351,-0.190984,0.101315],[0.117331,-0.074480,0.990296]]
2025-10-26T20:15:31.962Z,1761509731.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159675,0.977076,0.140808],[-0.982459,-0.171206,0.073913],[0.096326,-0.126536,0.987274]]
2025-10-26T20:15:32.366Z,1761509732.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156055,0.983776,0.088497],[-0.986013,-0.160463,0.045062],[0.058531,-0.080227,0.995057]]
2025-10-26T20:15:32.813Z,1761509732.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174506,0.984167,0.031033],[-0.984635,-0.174621,0.001039],[0.006442,-0.030375,0.999518]]
2025-10-26T20:15:33.174Z,1761509733.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185719,0.981849,0.038491],[-0.982582,-0.185317,-0.013790],[-0.006407,-0.040382,0.999164]]
2025-10-26T20:15:33.578Z,1761509733.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192671,0.977284,0.088281],[-0.980933,-0.194159,0.008504],[0.025451,-0.084959,0.996059]]
2025-10-26T20:15:33.983Z,1761509733.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197990,0.972137,0.125495],[-0.978352,-0.203855,0.035633],[0.060223,-0.115723,0.991454]]
2025-10-26T20:15:34.386Z,1761509734.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190996,0.973507,0.125719],[-0.979877,-0.196658,0.034164],[0.057983,-0.116664,0.991477]]
2025-10-26T20:15:34.825Z,1761509734.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197773,0.975377,0.097600],[-0.979647,-0.200156,0.015165],[0.034327,-0.092615,0.995110]]
2025-10-26T20:15:35.194Z,1761509735.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202252,0.976200,0.078279],[-0.979173,-0.203017,0.001855],[0.017703,-0.076274,0.996930]]
2025-10-26T20:15:35.600Z,1761509735.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211859,0.975179,0.064356],[-0.977134,-0.212578,0.004453],[0.018023,-0.061941,0.997917]]
2025-10-26T20:15:36.002Z,1761509736.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226310,0.972713,0.051121],[-0.973793,-0.227155,0.011307],[0.022611,-0.047223,0.998628]]
2025-10-26T20:15:36.406Z,1761509736.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222254,0.972445,0.070389],[-0.973454,-0.225374,0.039921],[0.054685,-0.059648,0.996720]]
2025-10-26T20:15:36.822Z,1761509736.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208749,0.971587,0.111549],[-0.972228,-0.218510,0.083817],[0.105811,-0.090955,0.990218]]
2025-10-26T20:15:37.224Z,1761509737.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206396,0.968478,0.139468],[-0.970852,-0.220449,0.094072],[0.121852,-0.115987,0.985748]]
2025-10-26T20:15:37.618Z,1761509737.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186605,0.973113,0.135016],[-0.979624,-0.194694,0.049304],[0.074265,-0.123065,0.989616]]
2025-10-26T20:15:38.022Z,1761509738.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164858,0.982166,0.090399],[-0.986314,-0.164413,-0.012400],[0.002684,-0.091206,0.995828]]
2025-10-26T20:15:38.427Z,1761509738.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175954,0.983238,0.047776],[-0.984299,-0.175038,-0.022760],[-0.014016,-0.051031,0.998599]]
2025-10-26T20:15:38.831Z,1761509738.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209660,0.977168,0.034430],[-0.977558,-0.210225,0.013654],[0.020581,-0.030794,0.999314]]
2025-10-26T20:15:39.236Z,1761509739.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237869,0.969093,0.065400],[-0.970758,-0.239440,0.017217],[0.032344,-0.059392,0.997711]]
2025-10-26T20:15:39.638Z,1761509739.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242120,0.964094,0.109093],[-0.970128,-0.242314,-0.011684],[0.015170,-0.108663,0.993963]]
2025-10-26T20:15:40.043Z,1761509740.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235641,0.961573,0.140892],[-0.971751,-0.235091,-0.020775],[0.013146,-0.141807,0.989807]]
2025-10-26T20:15:40.449Z,1761509740.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235890,0.963308,0.128041],[-0.971165,-0.238372,0.004202],[0.034569,-0.123357,0.991760]]
2025-10-26T20:15:40.850Z,1761509740.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240875,0.968655,0.060724],[-0.970060,-0.242280,0.016843],[0.031027,-0.054849,0.998012]]
2025-10-26T20:15:41.254Z,1761509741.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239630,0.970863,-0.001858],[-0.970764,-0.239577,0.014809],[0.013933,0.005352,0.999889]]
2025-10-26T20:15:42.062Z,1761509742.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213815,0.976083,0.039298],[-0.973901,-0.216128,0.069317],[0.076152,-0.023451,0.996820]]
2025-10-26T20:15:42.467Z,1761509742.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213481,0.972662,0.091403],[-0.974362,-0.218784,0.052463],[0.071026,-0.077860,0.994431]]
2025-10-26T20:15:42.870Z,1761509742.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223013,0.965943,0.131226],[-0.973986,-0.226348,0.010885],[0.040218,-0.125385,0.991293]]
2025-10-26T20:15:43.275Z,1761509743.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229039,0.962015,0.148557],[-0.972666,-0.232175,0.003885],[0.038229,-0.143607,0.988896]]
2025-10-26T20:15:43.679Z,1761509743.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230856,0.964875,0.125389],[-0.971227,-0.236266,0.029937],[0.058511,-0.114870,0.991656]]
2025-10-26T20:15:44.082Z,1761509744.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228313,0.970169,0.081514],[-0.969642,-0.234120,0.070590],[0.087568,-0.062923,0.994169]]
2025-10-26T20:15:44.488Z,1761509744.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215411,0.975796,0.037680],[-0.970016,-0.218263,0.106908],[0.112545,-0.013521,0.993555]]
2025-10-26T20:15:44.494Z,1761509744.494 [NAL9602](INFO): SBD MO Status=1, MOMSN=2984, MT Status=0, MTMSN=0
2025-10-26T20:15:44.494Z,1761509744.494 [NAL9602](INFO): No messages in MT queue
2025-10-26T20:15:44.892Z,1761509744.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212165,0.977204,0.007671],[-0.972053,-0.211840,0.101179],[0.100498,0.014010,0.994839]]
2025-10-26T20:15:45.294Z,1761509745.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218998,0.975475,0.022095],[-0.974757,-0.219733,0.039574],[0.043459,-0.012870,0.998972]]
2025-10-26T20:15:45.706Z,1761509745.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230345,0.969853,0.079531],[-0.972799,-0.231564,0.006325],[0.024551,-0.075911,0.996812]]
2025-10-26T20:15:46.102Z,1761509746.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223248,0.963504,0.147716],[-0.973448,-0.228237,0.017511],[0.050586,-0.139885,0.988875]]
2025-10-26T20:15:46.534Z,1761509746.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214423,0.963179,0.162203],[-0.975092,-0.220733,0.021722],[0.056726,-0.153505,0.986518]]
2025-10-26T20:15:46.910Z,1761509746.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221186,0.965444,0.137823],[-0.974497,-0.224285,0.007180],[0.037844,-0.132720,0.990431]]
2025-10-26T20:15:47.316Z,1761509747.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239373,0.964708,0.109718],[-0.970419,-0.241374,0.005134],[0.031436,-0.105244,0.993949]]
2025-10-26T20:15:47.431Z,1761509747.431 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251026T180417/Courier0039.lzma
2025-10-26T20:15:47.723Z,1761509747.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247776,0.965499,0.080119],[-0.967693,-0.250623,0.027525],[0.046655,-0.070711,0.996405]]
2025-10-26T20:15:48.122Z,1761509748.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243542,0.968352,0.054612],[-0.968697,-0.245649,0.035824],[0.048105,-0.044178,0.997865]]
2025-10-26T20:15:48.433Z,1761509748.433 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Courier0039.lzma.bak
2025-10-26T20:15:48.434Z,1761509748.434 [DataOverHttps](INFO): SBD MOMSN=26242374
2025-10-26T20:15:48.527Z,1761509748.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254450,0.966350,0.037725],[-0.966341,-0.255591,0.029298],[0.037955,-0.029000,0.998859]]
2025-10-26T20:15:48.930Z,1761509748.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273163,0.960696,0.049449],[-0.961349,-0.274470,0.021781],[0.034497,-0.041588,0.998539]]
2025-10-26T20:15:49.334Z,1761509749.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259221,0.961611,0.090047],[-0.964885,-0.261939,0.019601],[0.042435,-0.081804,0.995745]]
2025-10-26T20:15:49.745Z,1761509749.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239423,0.963737,0.117845],[-0.968664,-0.245363,0.038571],[0.066087,-0.104918,0.992283]]
2025-10-26T20:15:50.144Z,1761509750.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242062,0.963525,0.114127],[-0.967101,-0.249084,0.051692],[0.078234,-0.097860,0.992120]]
2025-10-26T20:15:50.547Z,1761509750.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255415,0.961547,0.100945],[-0.964961,-0.260020,0.035229],[0.060122,-0.088410,0.994268]]
2025-10-26T20:15:50.950Z,1761509750.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264971,0.960216,0.088180],[-0.963503,-0.267268,0.015140],[0.038106,-0.080950,0.995989]]
2025-10-26T20:15:51.354Z,1761509751.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273454,0.958084,0.085426],[-0.961304,-0.275295,0.010350],[0.033434,-0.079290,0.996291]]
2025-10-26T20:15:52.164Z,1761509752.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272534,0.953934,0.125442],[-0.956524,-0.282703,0.071703],[0.103862,-0.100447,0.989506]]
2025-10-26T20:15:52.566Z,1761509752.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250714,0.963981,0.088786],[-0.964400,-0.256682,0.063611],[0.084110,-0.069677,0.994017]]
2025-10-26T20:15:52.970Z,1761509752.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223703,0.974241,0.028491],[-0.972761,-0.224994,0.055794],[0.060767,-0.015234,0.998036]]
2025-10-26T20:15:53.375Z,1761509753.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237592,0.971332,-0.008048],[-0.970642,-0.237088,0.040537],[0.037466,0.017443,0.999146]]
2025-10-26T20:15:53.786Z,1761509753.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268312,0.962600,0.037538],[-0.963126,-0.268857,0.010211],[0.019921,-0.033414,0.999243]]
2025-10-26T20:15:54.189Z,1761509754.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277635,0.952401,0.125899],[-0.959639,-0.281058,0.009932],[0.044844,-0.118060,0.991993]]
2025-10-26T20:15:54.587Z,1761509754.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267426,0.946289,0.181715],[-0.959364,-0.279097,0.041536],[0.090021,-0.163223,0.982474]]
2025-10-26T20:15:54.990Z,1761509754.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248144,0.957384,0.147787],[-0.963170,-0.260146,0.068033],[0.103580,-0.125462,0.986676]]
2025-10-26T20:15:55.394Z,1761509755.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210754,0.976059,0.053768],[-0.972820,-0.214817,0.086457],[0.095938,-0.034086,0.994803]]
2025-10-26T20:15:55.798Z,1761509755.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190205,0.981434,-0.024687],[-0.977935,-0.187195,0.092740],[0.086396,0.041782,0.995384]]
2025-10-26T20:15:56.205Z,1761509756.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205617,0.978039,-0.034086],[-0.977092,-0.203215,0.063204],[0.054889,0.046301,0.997418]]
2025-10-26T20:15:56.608Z,1761509756.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217387,0.975554,0.032204],[-0.976032,-0.217601,0.003244],[0.010172,-0.030727,0.999476]]
2025-10-26T20:15:57.013Z,1761509757.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224397,0.968882,0.104467],[-0.974496,-0.222906,-0.025889],[-0.001797,-0.107612,0.994191]]
2025-10-26T20:15:57.414Z,1761509757.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231367,0.959593,0.160160],[-0.972232,-0.234007,-0.002440],[0.035137,-0.156277,0.987088]]
2025-10-26T20:15:57.818Z,1761509757.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210075,0.960098,0.184609],[-0.974733,-0.220337,0.036715],[0.075926,-0.172232,0.982126]]
2025-10-26T20:15:58.222Z,1761509758.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198006,0.969264,0.146015],[-0.976653,-0.207751,0.054668],[0.083323,-0.131782,0.987771]]
2025-10-26T20:15:58.629Z,1761509758.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179855,0.979879,0.086536],[-0.981194,-0.184969,0.055178],[0.070074,-0.074985,0.994720]]
2025-10-26T20:15:59.030Z,1761509759.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168106,0.985046,0.037735],[-0.983222,-0.170299,0.065364],[0.070812,-0.026114,0.997148]]
2025-10-26T20:15:59.585Z,1761509759.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193654,0.978735,0.067642],[-0.980978,-0.194116,0.000262],[0.013386,-0.066305,0.997710]]
2025-10-26T20:16:00.244Z,1761509760.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186677,0.976861,0.104380],[-0.981986,-0.182376,-0.049424],[-0.029244,-0.111726,0.993309]]
2025-10-26T20:16:00.647Z,1761509760.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202066,0.970745,0.129703],[-0.979193,-0.197715,-0.045722],[-0.018740,-0.136243,0.990498]]
2025-10-26T20:16:01.054Z,1761509761.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215814,0.967641,0.130749],[-0.976140,-0.217094,-0.004551],[0.023981,-0.128611,0.991405]]
2025-10-26T20:16:01.454Z,1761509761.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195252,0.975580,0.100602],[-0.978958,-0.200071,0.040172],[0.059318,-0.090641,0.994115]]
2025-10-26T20:16:01.859Z,1761509761.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170117,0.984468,0.043397],[-0.983745,-0.172232,0.050805],[0.057490,-0.034048,0.997765]]
2025-10-26T20:16:02.272Z,1761509762.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156031,0.987746,-0.003570],[-0.987518,-0.155914,0.022340],[0.021509,0.007012,0.999744]]
2025-10-26T20:16:02.686Z,1761509762.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162223,0.986714,-0.008849],[-0.986742,-0.162259,-0.003467],[-0.004857,0.008170,0.999955]]
2025-10-26T20:16:03.082Z,1761509763.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170911,0.984403,0.041714],[-0.985235,-0.171183,0.003011],[0.010105,-0.040583,0.999125]]
2025-10-26T20:16:03.487Z,1761509763.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162559,0.980788,0.107844],[-0.985762,-0.166193,0.025549],[0.042981,-0.102155,0.993840]]
2025-10-26T20:16:03.887Z,1761509763.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147602,0.976578,0.156555],[-0.986888,-0.155876,0.041890],[0.065312,-0.148320,0.986780]]
2025-10-26T20:16:04.304Z,1761509764.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149949,0.971884,0.181543],[-0.984925,-0.162854,0.058317],[0.086242,-0.170062,0.981652]]
2025-10-26T20:16:04.702Z,1761509764.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163426,0.970689,0.176222],[-0.983472,-0.174407,0.048636],[0.077945,-0.165361,0.983148]]
2025-10-26T20:16:05.109Z,1761509765.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165373,0.976731,0.136559],[-0.985219,-0.169885,0.021991],[0.044679,-0.130904,0.990388]]
2025-10-26T20:16:05.507Z,1761509765.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150937,0.985976,0.071206],[-0.987958,-0.152934,0.023452],[0.034013,-0.066808,0.997186]]
2025-10-26T20:16:05.915Z,1761509765.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137450,0.990496,0.004916],[-0.989739,-0.137537,0.038723],[0.039031,0.000457,0.999238]]
2025-10-26T20:16:06.319Z,1761509766.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134963,0.990788,-0.011180],[-0.990570,-0.134648,0.025299],[0.023561,0.014489,0.999617]]
2025-10-26T20:16:06.809Z,1761509766.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145190,0.984947,0.093805],[-0.989166,-0.142425,-0.035565],[-0.021670,-0.097952,0.994955]]
2025-10-26T20:16:07.536Z,1761509767.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140501,0.983374,0.115044],[-0.989052,-0.144699,0.028955],[0.045120,-0.109717,0.992938]]
2025-10-26T20:16:07.709Z,1761509767.709 [DataOverHttps](INFO): Sending 240 bytes from file Logs/20251026T180417/Express0037.lzma
2025-10-26T20:16:07.940Z,1761509767.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134831,0.986238,0.095687],[-0.988861,-0.140073,0.050334],[0.063044,-0.087835,0.994138]]
2025-10-26T20:16:08.343Z,1761509768.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137512,0.985824,0.096138],[-0.987549,-0.143942,0.063465],[0.076404,-0.086214,0.993343]]
2025-10-26T20:16:08.710Z,1761509768.710 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0037.lzma.bak
2025-10-26T20:16:08.710Z,1761509768.710 [DataOverHttps](INFO): SBD MOMSN=26242376
2025-10-26T20:16:08.774Z,1761509768.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148182,0.984637,0.092369],[-0.985329,-0.154989,0.071446],[0.084664,-0.080427,0.993158]]
2025-10-26T20:16:09.162Z,1761509769.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130704,0.988713,0.073227],[-0.987593,-0.136328,0.077935],[0.087038,-0.062132,0.994265]]
2025-10-26T20:16:09.550Z,1761509769.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113071,0.992270,0.051143],[-0.991494,-0.116023,0.058977],[0.064454,-0.044039,0.996948]]
2025-10-26T20:16:09.956Z,1761509769.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125543,0.989989,0.064508],[-0.992001,-0.126128,0.005061],[0.013147,-0.063356,0.997904]]
2025-10-26T20:16:10.358Z,1761509770.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132654,0.985435,0.106396],[-0.991066,-0.130381,-0.028074],[-0.013793,-0.109170,0.993927]]
2025-10-26T20:16:10.797Z,1761509770.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149689,0.979877,0.132036],[-0.988662,-0.146732,-0.031910],[-0.011893,-0.135316,0.990731]]
2025-10-26T20:16:11.174Z,1761509771.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166399,0.976059,0.140074],[-0.986009,-0.163281,-0.033550],[-0.009876,-0.143697,0.989572]]
2025-10-26T20:16:11.974Z,1761509771.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158145,0.984762,0.072346],[-0.987415,-0.157617,-0.012976],[-0.001376,-0.073488,0.997295]]
2025-10-26T20:16:12.378Z,1761509772.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155735,0.987421,0.027326],[-0.986051,-0.157045,0.055136],[0.058733,-0.018358,0.998105]]
2025-10-26T20:16:12.824Z,1761509772.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142409,0.989801,0.003824],[-0.978734,-0.141391,0.148621],[0.147646,0.017423,0.988887]]
2025-10-26T20:16:13.186Z,1761509773.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126415,0.991966,-0.004791],[-0.976659,-0.123616,0.175660],[0.173657,0.026886,0.984439]]
2025-10-26T20:16:13.592Z,1761509773.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125774,0.991864,0.019676],[-0.987064,-0.127104,0.097720],[0.099426,-0.007131,0.995019]]
2025-10-26T20:16:13.994Z,1761509773.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132155,0.988116,0.078501],[-0.990968,-0.133523,0.012412],[0.022746,-0.076152,0.996837]]
2025-10-26T20:16:14.398Z,1761509774.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141369,0.978627,0.149346],[-0.989650,-0.143466,0.003311],[0.024666,-0.147333,0.988779]]
2025-10-26T20:16:14.825Z,1761509774.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146324,0.970393,0.192162],[-0.988096,-0.152699,0.018713],[0.047502,-0.187137,0.981185]]
2025-10-26T20:16:15.214Z,1761509775.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134704,0.975295,0.175084],[-0.990524,-0.137309,0.002790],[0.026762,-0.173050,0.984549]]
2025-10-26T20:16:15.224Z,1761509775.224 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:16:15.610Z,1761509775.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120687,0.985981,0.115223],[-0.992587,-0.118184,-0.028333],[-0.014318,-0.117788,0.992936]]
2025-10-26T20:16:16.014Z,1761509776.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114791,0.992460,0.042961],[-0.992958,-0.113358,-0.034421],[-0.029292,-0.046609,0.998484]]
2025-10-26T20:16:16.418Z,1761509776.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131424,0.991325,-0.001491],[-0.991236,-0.131432,-0.013258],[-0.013339,-0.000264,0.999911]]
2025-10-26T20:16:17.226Z,1761509777.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161481,0.985300,0.055743],[-0.986617,-0.159887,-0.031997],[-0.022614,-0.060164,0.997932]]
2025-10-26T20:16:17.633Z,1761509777.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157501,0.981087,0.112527],[-0.987099,-0.153088,-0.046897],[-0.028783,-0.118461,0.992541]]
2025-10-26T20:16:18.036Z,1761509778.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148759,0.978677,0.141641],[-0.988859,-0.146446,-0.026677],[-0.005365,-0.144032,0.989559]]
2025-10-26T20:16:18.438Z,1761509778.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135913,0.981842,0.132340],[-0.990009,-0.139661,0.019420],[0.037550,-0.128379,0.991014]]
2025-10-26T20:16:18.842Z,1761509778.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144536,0.984576,0.098583],[-0.986267,-0.151393,0.066009],[0.079915,-0.087688,0.992937]]
2025-10-26T20:16:19.249Z,1761509779.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147645,0.987581,0.053717],[-0.984469,-0.151962,0.087912],[0.094983,-0.039903,0.994679]]
2025-10-26T20:16:19.657Z,1761509779.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130608,0.991431,0.002665],[-0.985852,-0.130157,0.105619],[0.105060,0.011168,0.994403]]
2025-10-26T20:16:20.054Z,1761509780.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115708,0.993273,0.004404],[-0.984820,-0.115299,0.129753],[0.129388,0.010676,0.991537]]
2025-10-26T20:16:20.458Z,1761509780.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090671,0.995057,0.040512],[-0.987237,-0.095158,0.127702],[0.130926,-0.028416,0.990985]]
2025-10-26T20:16:20.862Z,1761509780.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070731,0.994777,0.073595],[-0.992830,-0.077336,0.091150],[0.096365,-0.066621,0.993114]]
2025-10-26T20:16:21.275Z,1761509781.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087494,0.990558,0.105543],[-0.995446,-0.090965,0.028522],[0.037853,-0.102567,0.994006]]
2025-10-26T20:16:22.074Z,1761509782.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077912,0.991313,0.105966],[-0.995981,-0.072684,-0.052342],[-0.044186,-0.109618,0.992991]]
2025-10-26T20:16:22.480Z,1761509782.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076960,0.995041,0.063016],[-0.997029,-0.077001,-0.001788],[0.003073,-0.062966,0.998011]]
2025-10-26T20:16:22.882Z,1761509782.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099948,0.994741,0.022397],[-0.993903,-0.100866,0.044529],[0.046553,-0.017810,0.998757]]
2025-10-26T20:16:23.286Z,1761509783.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120558,0.991979,0.037984],[-0.990666,-0.122674,0.059425],[0.063609,-0.030465,0.997510]]
2025-10-26T20:16:23.690Z,1761509783.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116940,0.988867,0.092021],[-0.990713,-0.122625,0.058752],[0.069382,-0.084296,0.994022]]
2025-10-26T20:16:24.095Z,1761509784.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105517,0.986094,0.128395],[-0.992506,-0.112435,0.047858],[0.061629,-0.122383,0.990568]]
2025-10-26T20:16:24.501Z,1761509784.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094067,0.987167,0.129045],[-0.994483,-0.099215,0.034046],[0.046413,-0.125131,0.991054]]
2025-10-26T20:16:24.906Z,1761509784.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097798,0.990105,0.100634],[-0.994726,-0.100391,0.021022],[0.030916,-0.098047,0.994701]]
2025-10-26T20:16:25.306Z,1761509785.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123401,0.988827,0.083630],[-0.991977,-0.125247,0.017176],[0.027458,-0.080840,0.996349]]
2025-10-26T20:16:25.715Z,1761509785.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144971,0.986561,0.075377],[-0.988939,-0.146891,0.020559],[0.031355,-0.071563,0.996943]]
2025-10-26T20:16:25.728Z,1761509785.728 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20251026T180417/Express0040.lzma
2025-10-26T20:16:26.122Z,1761509786.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153411,0.986015,0.065110],[-0.986983,-0.156113,0.038639],[0.048263,-0.058335,0.997130]]
2025-10-26T20:16:26.518Z,1761509786.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136497,0.989341,0.050726],[-0.988237,-0.139552,0.062555],[0.068967,-0.041591,0.996752]]
2025-10-26T20:16:26.730Z,1761509786.730 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0040.lzma.bak
2025-10-26T20:16:26.730Z,1761509786.730 [DataOverHttps](INFO): SBD MOMSN=26242382
2025-10-26T20:16:26.922Z,1761509786.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110184,0.993188,0.037896],[-0.991252,-0.112597,0.068856],[0.072654,-0.029978,0.996907]]
2025-10-26T20:16:27.326Z,1761509787.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099198,0.993936,0.047446],[-0.993390,-0.101685,0.053254],[0.057756,-0.041849,0.997453]]
2025-10-26T20:16:27.764Z,1761509787.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092986,0.992462,0.079825],[-0.995328,-0.094748,0.018580],[0.026003,-0.077724,0.996636]]
2025-10-26T20:16:28.141Z,1761509788.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075174,0.992801,0.093247],[-0.997168,-0.075055,-0.004786],[0.002247,-0.093343,0.995632]]
2025-10-26T20:16:28.538Z,1761509788.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078600,0.993379,0.083783],[-0.996634,-0.080263,0.016664],[0.023278,-0.082192,0.996345]]
2025-10-26T20:16:28.564Z,1761509788.564 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-10-26T20:16:28.564Z,1761509788.564 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-10-26T20:16:28.564Z,1761509788.564 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:16:28.942Z,1761509788.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109567,0.988993,0.099434],[-0.991977,-0.115145,0.052191],[0.063065,-0.092917,0.993675]]
2025-10-26T20:16:29.346Z,1761509789.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131256,0.981569,0.138902],[-0.989131,-0.139037,0.047840],[0.066271,-0.131113,0.989150]]
2025-10-26T20:16:29.774Z,1761509789.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118945,0.981648,0.149064],[-0.991628,-0.125047,0.032220],[0.050269,-0.143983,0.988303]]
2025-10-26T20:16:30.154Z,1761509790.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089308,0.989722,0.111688],[-0.995494,-0.092286,0.021777],[0.031860,-0.109240,0.993505]]
2025-10-26T20:16:30.558Z,1761509790.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060006,0.996638,0.055789],[-0.997630,-0.061763,0.030320],[0.033664,-0.053838,0.997982]]
2025-10-26T20:16:30.968Z,1761509790.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060323,0.998164,0.005376],[-0.996200,-0.060542,0.062607],[0.062817,-0.001579,0.998024]]
2025-10-26T20:16:31.366Z,1761509791.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087438,0.996159,0.004783],[-0.993394,-0.087551,0.074185],[0.074319,0.001735,0.997233]]
2025-10-26T20:16:32.175Z,1761509792.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065292,0.991998,0.108056],[-0.997863,-0.064647,-0.009461],[-0.002399,-0.108443,0.994100]]
2025-10-26T20:16:32.580Z,1761509792.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070495,0.987366,0.141912],[-0.997454,-0.068241,-0.020695],[-0.010750,-0.143010,0.989663]]
2025-10-26T20:16:32.982Z,1761509792.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084007,0.984196,0.155885],[-0.996023,-0.078278,-0.042544],[-0.029669,-0.158839,0.986859]]
2025-10-26T20:16:33.386Z,1761509793.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100118,0.986370,0.130581],[-0.994270,-0.094242,-0.050447],[-0.037453,-0.134884,0.990153]]
2025-10-26T20:16:33.799Z,1761509793.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102837,0.991872,0.074930],[-0.994697,-0.102677,-0.005995],[0.001748,-0.075149,0.997171]]
2025-10-26T20:16:34.194Z,1761509794.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069572,0.997366,0.020535],[-0.996597,-0.070401,0.042879],[0.044212,-0.017482,0.998869]]
2025-10-26T20:16:34.604Z,1761509794.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043704,0.998607,-0.029552],[-0.997602,-0.042032,0.054993],[0.053674,0.031884,0.998049]]
2025-10-26T20:16:35.016Z,1761509795.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055868,0.998143,-0.024293],[-0.994944,-0.053622,0.084923],[0.083463,0.028915,0.996091]]
2025-10-26T20:16:35.406Z,1761509795.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062739,0.997182,0.041144],[-0.987737,-0.067944,0.140569],[0.142968,-0.031820,0.989216]]
2025-10-26T20:16:35.810Z,1761509795.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058411,0.992015,0.111775],[-0.986920,-0.074235,0.143101],[0.150256,-0.101954,0.983376]]
2025-10-26T20:16:36.226Z,1761509796.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062413,0.985720,0.156398],[-0.994520,-0.074593,0.073257],[0.083877,-0.150969,0.984974]]
2025-10-26T20:16:36.624Z,1761509796.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062315,0.984305,0.165109],[-0.998051,-0.061983,-0.007166],[0.003181,-0.165233,0.986249]]
2025-10-26T20:16:37.172Z,1761509797.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:16:37.430Z,1761509797.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091109,0.988120,0.123764],[-0.994340,-0.083445,-0.065761],[-0.054652,-0.129055,0.990130]]
2025-10-26T20:16:37.831Z,1761509797.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105985,0.989606,0.097199],[-0.991061,-0.097161,-0.091423],[-0.081028,-0.106019,0.991057]]
2025-10-26T20:16:38.235Z,1761509798.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096911,0.993450,0.060537],[-0.992981,-0.092364,-0.073872],[-0.067797,-0.067271,0.995429]]
2025-10-26T20:16:38.638Z,1761509798.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091901,0.995180,0.034221],[-0.995718,-0.092188,0.006907],[0.010029,-0.033439,0.999390]]
2025-10-26T20:16:39.447Z,1761509799.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089334,0.995651,0.026442],[-0.995206,-0.090292,0.037572],[0.039796,-0.022958,0.998944]]
2025-10-26T20:16:39.850Z,1761509799.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090379,0.994370,0.055312],[-0.995903,-0.090409,-0.001965],[0.003047,-0.055263,0.998467]]
2025-10-26T20:16:40.254Z,1761509800.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080824,0.991797,0.099022],[-0.996719,-0.080853,-0.003727],[0.004310,-0.098998,0.995078]]
2025-10-26T20:16:40.660Z,1761509800.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083283,0.988124,0.129128],[-0.995990,-0.086786,0.021734],[0.032682,-0.126801,0.991390]]
2025-10-26T20:16:41.063Z,1761509801.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095950,0.986728,0.131004],[-0.993017,-0.103963,0.055749],[0.068629,-0.124740,0.989813]]
2025-10-26T20:16:41.469Z,1761509801.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102641,0.988208,0.113623],[-0.988616,-0.113977,0.098222],[0.110014,-0.102247,0.988657]]
2025-10-26T20:16:41.870Z,1761509801.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096127,0.993282,0.064416],[-0.986481,-0.103698,0.126892],[0.132720,-0.051348,0.989823]]
2025-10-26T20:16:42.275Z,1761509802.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079730,0.996780,0.008515],[-0.990081,-0.080180,0.115369],[0.115680,0.000768,0.993286]]
2025-10-26T20:16:42.678Z,1761509802.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061801,0.998079,-0.004281],[-0.995057,-0.061278,0.078143],[0.077731,0.009089,0.996933]]
2025-10-26T20:16:43.088Z,1761509803.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050254,0.998304,0.029382],[-0.998378,-0.051003,0.025315],[0.026771,-0.028062,0.999248]]
2025-10-26T20:16:43.487Z,1761509803.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060388,0.993978,0.091442],[-0.998085,-0.058901,-0.018884],[-0.013385,-0.092407,0.995631]]
2025-10-26T20:16:43.891Z,1761509803.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076335,0.984724,0.156499],[-0.997011,-0.073505,-0.023799],[-0.011932,-0.157848,0.987391]]
2025-10-26T20:16:44.297Z,1761509804.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071646,0.983828,0.164161],[-0.997388,-0.072178,-0.002728],[0.009165,-0.163927,0.986430]]
2025-10-26T20:16:44.703Z,1761509804.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078961,0.991315,0.105166],[-0.996697,-0.080513,0.010593],[0.018968,-0.103982,0.994398]]
2025-10-26T20:16:45.108Z,1761509805.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108421,0.992315,0.059623],[-0.994090,-0.108558,-0.000943],[0.005536,-0.059372,0.998221]]
2025-10-26T20:16:45.506Z,1761509805.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112132,0.992640,0.045748],[-0.992955,-0.110156,-0.043663],[-0.038302,-0.050322,0.997998]]
2025-10-26T20:16:45.911Z,1761509805.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087923,0.995934,0.019605],[-0.993269,-0.086163,-0.077414],[-0.075410,-0.026280,0.996806]]
2025-10-26T20:16:46.317Z,1761509806.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081332,0.996670,0.005869],[-0.994469,-0.080757,-0.067160],[-0.066463,-0.011299,0.997725]]
2025-10-26T20:16:46.722Z,1761509806.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096123,0.994622,0.038579],[-0.995326,-0.096407,0.005566],[0.009255,-0.037864,0.999240]]
2025-10-26T20:16:47.526Z,1761509807.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089011,0.985221,0.146344],[-0.988942,-0.104916,0.104815],[0.118620,-0.135397,0.983665]]
2025-10-26T20:16:47.932Z,1761509807.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075680,0.986659,0.144137],[-0.991062,-0.090354,0.098140],[0.109854,-0.135422,0.984679]]
2025-10-26T20:16:48.337Z,1761509808.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089394,0.991840,0.090899],[-0.992673,-0.096173,0.073152],[0.081297,-0.083694,0.993170]]
2025-10-26T20:16:48.745Z,1761509808.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092788,0.994935,0.038658],[-0.995497,-0.093458,0.015885],[0.019417,-0.037010,0.999126]]
2025-10-26T20:16:49.144Z,1761509809.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087592,0.995940,0.020750],[-0.995847,-0.087027,-0.026752],[-0.024838,-0.023007,0.999427]]
2025-10-26T20:16:49.547Z,1761509809.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097329,0.994540,0.037657],[-0.995252,-0.097255,-0.003805],[-0.000122,-0.037848,0.999283]]
2025-10-26T20:16:49.951Z,1761509809.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111204,0.991288,0.070587],[-0.993156,-0.113403,0.027943],[0.035704,-0.066996,0.997114]]
2025-10-26T20:16:50.356Z,1761509810.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104365,0.988830,0.106413],[-0.993895,-0.107548,0.024612],[0.035782,-0.103195,0.994017]]
2025-10-26T20:16:50.794Z,1761509810.794 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:16:50.834Z,1761509810.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081441,0.991003,0.106207],[-0.996581,-0.082459,0.005217],[0.013928,-0.105419,0.994330]]
2025-10-26T20:16:51.596Z,1761509811.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094684,0.993823,0.057893],[-0.995500,-0.094745,-0.001694],[0.003802,-0.057793,0.998321]]
2025-10-26T20:16:52.383Z,1761509812.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140762,0.983043,0.117526],[-0.989586,-0.143310,0.013479],[0.030093,-0.114405,0.992978]]
2025-10-26T20:16:52.840Z,1761509812.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133105,0.978189,0.159465],[-0.989270,-0.140907,0.038610],[0.060238,-0.152615,0.986448]]
2025-10-26T20:16:53.187Z,1761509813.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102319,0.987721,0.118056],[-0.990537,-0.112078,0.079215],[0.091474,-0.108834,0.989842]]
2025-10-26T20:16:53.596Z,1761509813.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090096,0.995441,0.031310],[-0.990792,-0.092776,0.098613],[0.101069,-0.022137,0.994633]]
2025-10-26T20:16:53.994Z,1761509813.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104463,0.994515,-0.005228],[-0.989902,-0.103469,0.096896],[0.095824,0.015298,0.995281]]
2025-10-26T20:16:54.396Z,1761509814.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096074,0.995260,0.015059],[-0.992293,-0.096955,0.077157],[0.078252,-0.007530,0.996905]]
2025-10-26T20:16:54.828Z,1761509814.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090037,0.994349,0.056252],[-0.995375,-0.091742,0.028500],[0.033500,-0.053426,0.998010]]
2025-10-26T20:16:55.204Z,1761509815.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103239,0.987678,0.117619],[-0.994635,-0.101730,-0.018775],[-0.006578,-0.118927,0.992881]]
2025-10-26T20:16:56.010Z,1761509816.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152424,0.973340,0.171394],[-0.988305,-0.149320,-0.030939],[-0.004522,-0.174106,0.984717]]
2025-10-26T20:16:56.416Z,1761509816.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154742,0.983060,0.098223],[-0.987955,-0.154004,-0.015096],[0.000286,-0.099376,0.995050]]
2025-10-26T20:16:56.828Z,1761509816.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139050,0.990276,0.004349],[-0.990088,-0.139108,0.019366],[0.019783,-0.001613,0.999803]]
2025-10-26T20:16:57.626Z,1761509817.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123558,0.992114,-0.021044],[-0.988137,-0.121058,0.094501],[0.091208,0.032470,0.995302]]
2025-10-26T20:16:58.040Z,1761509818.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120373,0.991811,0.042682],[-0.985835,-0.124485,0.112393],[0.116786,-0.028549,0.992747]]
2025-10-26T20:16:58.439Z,1761509818.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106793,0.989417,0.098233],[-0.984628,-0.118973,0.127882],[0.138216,-0.083066,0.986913]]
2025-10-26T20:16:58.838Z,1761509818.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103485,0.986132,0.129750],[-0.983420,-0.120975,0.135095],[0.148918,-0.113619,0.982300]]
2025-10-26T20:16:59.244Z,1761509819.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103163,0.988179,0.113403],[-0.986128,-0.116516,0.118218],[0.130033,-0.099634,0.986491]]
2025-10-26T20:16:59.652Z,1761509819.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095919,0.993870,0.054971],[-0.993768,-0.098767,0.051679],[0.056791,-0.049671,0.997150]]
2025-10-26T20:17:00.073Z,1761509820.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079870,0.996687,0.015332],[-0.996582,-0.079517,-0.022395],[-0.021102,-0.017068,0.999632]]
2025-10-26T20:17:00.455Z,1761509820.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051022,0.998542,0.017634],[-0.997519,-0.050096,-0.049463],[-0.048508,-0.020114,0.998620]]
2025-10-26T20:17:00.859Z,1761509820.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052551,0.997699,0.042829],[-0.998455,-0.051718,-0.020337],[-0.018075,-0.043831,0.998875]]
2025-10-26T20:17:01.264Z,1761509821.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091495,0.990745,0.100266],[-0.995094,-0.094771,0.028403],[0.037643,-0.097175,0.994555]]
2025-10-26T20:17:02.091Z,1761509822.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077989,0.985211,0.152567],[-0.994663,-0.087262,0.055050],[0.067549,-0.147460,0.986759]]
2025-10-26T20:17:02.474Z,1761509822.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063629,0.993628,0.093031],[-0.997579,-0.065948,0.022061],[0.028056,-0.091402,0.995419]]
2025-10-26T20:17:02.878Z,1761509822.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057655,0.998097,0.021888],[-0.998334,-0.057594,-0.003385],[-0.002118,-0.022046,0.999755]]
2025-10-26T20:17:03.282Z,1761509823.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063505,0.997980,-0.001652],[-0.997328,-0.063523,-0.036076],[-0.036108,-0.000643,0.999348]]
2025-10-26T20:17:03.688Z,1761509823.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082699,0.995927,0.035927],[-0.995501,-0.080883,-0.049347],[-0.046241,-0.039846,0.998135]]
2025-10-26T20:17:04.069Z,1761509824.069 [CTD_Seabird](ERROR): Failed to parse device response: .58
2025-10-26T20:17:04.105Z,1761509824.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089396,0.991306,0.096540],[-0.995923,-0.087794,-0.020725],[-0.012069,-0.097999,0.995113]]
2025-10-26T20:17:04.495Z,1761509824.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075751,0.985301,0.153111],[-0.996136,-0.081622,0.032417],[0.044438,-0.150064,0.987677]]
2025-10-26T20:17:04.898Z,1761509824.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045278,0.988038,0.147410],[-0.996373,-0.055308,0.064674],[0.072053,-0.143947,0.986959]]
2025-10-26T20:17:05.311Z,1761509825.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027425,0.996113,0.083701],[-0.997069,-0.033241,0.068908],[0.071422,-0.081566,0.994106]]
2025-10-26T20:17:05.712Z,1761509825.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040126,0.998982,0.020588],[-0.997269,-0.041319,0.061207],[0.061996,-0.018076,0.997913]]
2025-10-26T20:17:06.115Z,1761509826.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053343,0.998288,0.024006],[-0.997729,-0.054273,0.039897],[0.041131,-0.021823,0.998915]]
2025-10-26T20:17:06.514Z,1761509826.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039372,0.996542,0.073175],[-0.998908,-0.041096,0.022203],[0.025134,-0.072221,0.997072]]
2025-10-26T20:17:06.918Z,1761509826.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024929,0.992848,0.116751],[-0.999126,-0.028665,0.030428],[0.033557,-0.115890,0.992695]]
2025-10-26T20:17:07.322Z,1761509827.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027811,0.990068,0.137808],[-0.998903,-0.032723,0.033508],[0.037684,-0.136724,0.989892]]
2025-10-26T20:17:07.731Z,1761509827.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033065,0.991566,0.125315],[-0.998914,-0.036906,0.028453],[0.032838,-0.124238,0.991709]]
2025-10-26T20:17:08.135Z,1761509828.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024713,0.996977,0.073659],[-0.999073,-0.027229,0.033349],[0.035254,-0.072767,0.996726]]
2025-10-26T20:17:08.544Z,1761509828.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011021,0.999841,0.014048],[-0.999813,-0.011242,0.015756],[0.015911,-0.013872,0.999777]]
2025-10-26T20:17:08.939Z,1761509828.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001590,0.999975,-0.006843],[-0.999973,0.001639,0.007216],[0.007227,0.006832,0.999951]]
2025-10-26T20:17:09.342Z,1761509829.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004389,0.999913,0.012416],[-0.999020,-0.004932,0.043987],[0.044044,-0.012211,0.998955]]
2025-10-26T20:17:09.376Z,1761509829.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:17:09.749Z,1761509829.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009353,0.998509,0.053789],[-0.998187,-0.012521,0.058879],[0.059465,-0.053141,0.996815]]
2025-10-26T20:17:10.154Z,1761509830.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012039,0.994291,0.106025],[-0.999532,0.008983,0.029255],[0.028136,-0.106328,0.993933]]
2025-10-26T20:17:10.559Z,1761509830.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017881,0.988666,0.149064],[-0.999558,0.014136,0.026147],[0.023743,-0.149466,0.988482]]
2025-10-26T20:17:10.958Z,1761509830.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017491,0.988136,0.152580],[-0.999065,0.011236,0.041759],[0.039550,-0.153168,0.987408]]
2025-10-26T20:17:11.364Z,1761509831.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024442,0.992348,0.121030],[-0.999304,0.020840,0.030940],[0.028181,-0.121702,0.992167]]
2025-10-26T20:17:11.766Z,1761509831.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030694,0.997128,0.069241],[-0.999227,0.032314,-0.022404],[-0.024577,-0.068499,0.997348]]
2025-10-26T20:17:12.174Z,1761509832.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024381,0.999530,0.018577],[-0.998168,0.025369,-0.054922],[-0.055367,-0.017204,0.998318]]
2025-10-26T20:17:12.574Z,1761509832.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015131,0.999819,0.011504],[-0.999569,0.015415,-0.024979],[-0.025152,-0.011121,0.999622]]
2025-10-26T20:17:12.979Z,1761509832.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014074,0.999347,0.033265],[-0.999490,0.013106,0.029126],[0.028671,-0.033658,0.999022]]
2025-10-26T20:17:13.382Z,1761509833.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026280,0.997356,0.067756],[-0.997152,0.021361,0.072325],[0.070686,-0.069464,0.995077]]
2025-10-26T20:17:13.788Z,1761509833.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043372,0.993484,0.105396],[-0.995821,0.034504,0.084555],[0.080367,-0.108622,0.990829]]
2025-10-26T20:17:14.190Z,1761509834.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058061,0.989922,0.129167],[-0.995906,0.048454,0.076317],[0.069289,-0.133069,0.988682]]
2025-10-26T20:17:14.594Z,1761509834.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068775,0.990739,0.117071],[-0.994376,0.058603,0.088216],[0.080538,-0.122480,0.989198]]
2025-10-26T20:17:14.998Z,1761509834.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072210,0.994092,0.081030],[-0.991517,0.062744,0.113834],[0.108077,-0.088563,0.990190]]
2025-10-26T20:17:15.408Z,1761509835.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063405,0.996662,0.051433],[-0.993360,0.058069,0.099321],[0.096003,-0.057389,0.993725]]
2025-10-26T20:17:15.806Z,1761509835.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065861,0.996902,0.042991],[-0.995657,0.062816,0.068718],[0.065805,-0.047330,0.996709]]
2025-10-26T20:17:16.211Z,1761509836.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091541,0.995163,0.035657],[-0.994313,0.089389,0.057886],[0.054418,-0.040753,0.997686]]
2025-10-26T20:17:16.325Z,1761509836.325 [BackseatComponent](IMPORTANT): ptvr-v2b: running backseat_app backseat application.
2025-10-26T20:17:16.618Z,1761509836.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101401,0.994114,0.038156],[-0.993196,0.098950,0.061412],[0.057275,-0.044123,0.997383]]
2025-10-26T20:17:17.025Z,1761509837.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106497,0.992336,0.062677],[-0.993756,0.104116,0.040113],[0.033280,-0.066558,0.997227]]
2025-10-26T20:17:17.422Z,1761509837.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102911,0.990475,0.091483],[-0.994404,0.104654,-0.014458],[-0.023894,-0.089483,0.995702]]
2025-10-26T20:17:17.826Z,1761509837.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098866,0.988628,0.113318],[-0.992006,0.106892,-0.067073],[-0.078423,-0.105781,0.991292]]
2025-10-26T20:17:18.230Z,1761509838.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113818,0.986750,0.115624],[-0.989753,0.122719,-0.073002],[-0.086224,-0.106131,0.990607]]
2025-10-26T20:17:18.636Z,1761509838.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123287,0.986575,0.107095],[-0.991522,0.126925,-0.027815],[-0.041034,-0.102758,0.993860]]
2025-10-26T20:17:19.159Z,1761509839.159 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:17:19.160Z,1761509839.160 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:17:19.341Z,1761509839.341 [DAT](ERROR): Failed to copy DAT.enableBroadcast's data value to LCM message.
2025-10-26T20:17:19.341Z,1761509839.341 [DAT](INFO): Activating messaging.
2025-10-26T20:17:19.443Z,1761509839.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098517,0.991487,0.085139],[-0.994582,0.095249,0.041638],[0.033174,-0.088779,0.995499]]
2025-10-26T20:17:19.492Z,1761509839.492 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.horizontalCmdMode with code: 2115
2025-10-26T20:17:19.494Z,1761509839.494 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.rudderAngleCmd with code: 2117
2025-10-26T20:17:19.504Z,1761509839.504 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.speedCmd with code: 2114
2025-10-26T20:17:19.847Z,1761509839.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084349,0.994400,0.063674],[-0.995219,0.080916,0.054690],[0.049231,-0.067983,0.996471]]
2025-10-26T20:17:20.250Z,1761509840.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070057,0.995835,0.058354],[-0.995653,0.066204,0.065518],[0.061382,-0.062691,0.996144]]
2025-10-26T20:17:20.654Z,1761509840.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079944,0.993321,0.083202],[-0.995111,0.074674,0.064645],[0.058000,-0.087963,0.994434]]
2025-10-26T20:17:20.666Z,1761509840.666 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201719.00,A,3645.86114,N,12152.22563,W,0.583,316.83,261025,,,D*7D
2025-10-26T20:17:20.690Z,1761509840.690 [NAL9602](INFO): GPS fix at 20251026T201719: (36.764352, -121.870427)
2025-10-26T20:17:21.061Z,1761509841.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102397,0.989303,0.103897],[-0.993101,0.095668,0.067814],[0.057149,-0.110124,0.992273]]
2025-10-26T20:17:21.462Z,1761509841.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098976,0.990134,0.099189],[-0.992471,0.090997,0.081981],[0.072147,-0.106556,0.991686]]
2025-10-26T20:17:21.871Z,1761509841.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084848,0.992445,0.088615],[-0.992304,0.076115,0.097674],[0.090191,-0.096221,0.991265]]
2025-10-26T20:17:22.273Z,1761509842.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086528,0.993282,0.076839],[-0.992700,0.079458,0.090733],[0.084018,-0.084129,0.992907]]
2025-10-26T20:17:22.675Z,1761509842.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111595,0.992983,0.039123],[-0.991652,0.108713,0.069343],[0.064603,-0.046535,0.996825]]
2025-10-26T20:17:22.801Z,1761509842.801 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:17:23.078Z,1761509843.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141487,0.989755,-0.019122],[-0.988527,0.142290,0.050681],[0.052883,0.011732,0.998532]]
2025-10-26T20:17:23.482Z,1761509843.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143543,0.987993,-0.057138],[-0.988610,0.145792,0.037344],[0.045226,0.051127,0.997668]]
2025-10-26T20:17:23.888Z,1761509843.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136919,0.990441,-0.016720],[-0.989928,0.137422,0.034037],[0.036009,0.011891,0.999281]]
2025-10-26T20:17:24.297Z,1761509844.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154762,0.984399,0.083704],[-0.987186,0.150750,0.052333],[0.038898,-0.090731,0.995116]]
2025-10-26T20:17:24.695Z,1761509844.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159487,0.977399,0.138764],[-0.985286,0.148850,0.083990],[0.061436,-0.150118,0.986757]]
2025-10-26T20:17:25.099Z,1761509845.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147496,0.979513,0.137108],[-0.986839,0.136453,0.086771],[0.066285,-0.148101,0.986748]]
2025-10-26T20:17:25.508Z,1761509845.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133604,0.984754,0.111402],[-0.989525,0.126352,0.069820],[0.054680,-0.119563,0.991320]]
2025-10-26T20:17:25.908Z,1761509845.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138020,0.988230,0.065972],[-0.989939,0.135549,0.040594],[0.031174,-0.070911,0.996995]]
2025-10-26T20:17:26.317Z,1761509846.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156015,0.987708,0.009564],[-0.987754,0.156002,0.002124],[0.000606,-0.009778,0.999952]]
2025-10-26T20:17:26.725Z,1761509846.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153607,0.988030,-0.014205],[-0.987689,0.153092,-0.032148],[-0.029589,0.018969,0.999382]]
2025-10-26T20:17:27.122Z,1761509847.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150465,0.988357,0.022593],[-0.988485,0.150776,-0.012770],[-0.016028,-0.020411,0.999663]]
2025-10-26T20:17:27.529Z,1761509847.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168507,0.984786,0.042440],[-0.984967,0.166565,0.045776],[0.038010,-0.049515,0.998050]]
2025-10-26T20:17:27.934Z,1761509847.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170890,0.984395,0.041999],[-0.983526,0.167879,0.067035],[0.058938,-0.052763,0.996866]]
2025-10-26T20:17:28.342Z,1761509848.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157992,0.984355,0.077998],[-0.986871,0.154725,0.046332],[0.033539,-0.084295,0.995876]]
2025-10-26T20:17:28.743Z,1761509848.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138367,0.982331,0.126022],[-0.990072,0.134021,0.042378],[0.024739,-0.130634,0.991122]]
2025-10-26T20:17:29.142Z,1761509849.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118458,0.980104,0.159258],[-0.992812,0.114150,0.035961],[0.017066,-0.162373,0.986582]]
2025-10-26T20:17:29.548Z,1761509849.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120141,0.984893,0.124707],[-0.992747,0.118638,0.019438],[0.004349,-0.126138,0.992003]]
2025-10-26T20:17:29.954Z,1761509849.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125331,0.991318,0.039773],[-0.991950,0.124477,0.023266],[0.018113,-0.042369,0.998938]]
2025-10-26T20:17:30.354Z,1761509850.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115307,0.993235,-0.013765],[-0.993216,0.115492,0.013535],[0.015033,0.012111,0.999814]]
2025-10-26T20:17:30.783Z,1761509850.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109758,0.993929,-0.007691],[-0.993560,0.109491,-0.029148],[-0.028129,0.010840,0.999545]]
2025-10-26T20:17:31.162Z,1761509851.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109978,0.993756,0.018811],[-0.992702,0.110764,-0.047686],[-0.049472,-0.013429,0.998685]]
2025-10-26T20:17:31.567Z,1761509851.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098336,0.992721,0.069527],[-0.995051,0.099087,-0.007420],[-0.014255,-0.068454,0.997552]]
2025-10-26T20:17:31.970Z,1761509851.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073621,0.988322,0.133415],[-0.996658,0.068165,0.045016],[0.035396,-0.136283,0.990037]]
2025-10-26T20:17:32.374Z,1761509852.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076608,0.983489,0.163950],[-0.995798,0.067195,0.062218],[0.050174,-0.168028,0.984505]]
2025-10-26T20:17:32.806Z,1761509852.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097218,0.986826,0.129318],[-0.993982,0.089681,0.062901],[0.050475,-0.134655,0.989606]]
2025-10-26T20:17:32.949Z,1761509852.949 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:17:33.184Z,1761509853.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086780,0.995107,0.047229],[-0.994116,0.083413,0.069112],[0.064835,-0.052948,0.996490]]
2025-10-26T20:17:33.586Z,1761509853.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069856,0.997487,-0.011839],[-0.993763,0.070619,0.086297],[0.086916,0.005737,0.996199]]
2025-10-26T20:17:33.998Z,1761509853.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076742,0.997014,-0.008634],[-0.994085,0.077178,0.076403],[0.076842,0.002720,0.997040]]
2025-10-26T20:17:34.394Z,1761509854.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084967,0.995446,0.043222],[-0.996095,0.083818,0.027731],[0.023982,-0.045410,0.998681]]
2025-10-26T20:17:34.825Z,1761509854.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083650,0.991385,0.100786],[-0.996395,0.084645,-0.005631],[-0.014113,-0.099951,0.994892]]
2025-10-26T20:17:35.215Z,1761509855.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099275,0.990067,0.099554],[-0.995029,0.099569,0.002029],[-0.007904,-0.099261,0.995030]]
2025-10-26T20:17:35.606Z,1761509855.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119082,0.991757,0.047302],[-0.992661,0.117909,0.026862],[0.021063,-0.050154,0.998519]]
2025-10-26T20:17:36.013Z,1761509856.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115263,0.993048,0.023865],[-0.992927,0.114494,0.031414],[0.028464,-0.027317,0.999222]]
2025-10-26T20:17:36.415Z,1761509856.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100484,0.994114,0.040506],[-0.994923,0.100167,0.009773],[0.005659,-0.041282,0.999131]]
2025-10-26T20:17:36.831Z,1761509856.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097663,0.991950,0.080605],[-0.995192,0.097944,0.000463],[-0.007435,-0.080263,0.996746]]
2025-10-26T20:17:37.641Z,1761509857.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101592,0.994738,0.013230],[-0.994302,0.101097,0.033808],[0.032292,-0.016589,0.999341]]
2025-10-26T20:17:38.047Z,1761509858.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099616,0.994971,-0.010457],[-0.994139,0.099966,0.041162],[0.042000,0.006295,0.999098]]
2025-10-26T20:17:38.443Z,1761509858.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112773,0.993618,0.002166],[-0.990902,0.112303,0.074173],[0.073457,-0.010511,0.997243]]
2025-10-26T20:17:38.850Z,1761509858.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120842,0.990827,0.060491],[-0.985588,0.112489,0.126340],[0.118377,-0.074887,0.990141]]
2025-10-26T20:17:39.307Z,1761509859.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113454,0.986218,0.120424],[-0.986605,0.097531,0.130759],[0.117212,-0.133646,0.984073]]
2025-10-26T20:17:39.688Z,1761509859.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114297,0.982722,0.145580],[-0.990740,0.101946,0.089669],[0.073279,-0.154481,0.985275]]
2025-10-26T20:17:40.090Z,1761509860.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124345,0.986199,0.109313],[-0.991612,0.119594,0.049018],[0.035268,-0.114491,0.992798]]
2025-10-26T20:17:40.500Z,1761509860.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113077,0.992621,0.043796],[-0.993240,0.111764,0.031360],[0.026234,-0.047046,0.998548]]
2025-10-26T20:17:40.902Z,1761509860.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094796,0.995442,0.010442],[-0.994811,0.094337,0.038091],[0.036932,-0.013998,0.999220]]
2025-10-26T20:17:41.304Z,1761509861.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082061,0.996109,0.032125],[-0.995279,0.080231,0.054622],[0.051832,-0.036455,0.997990]]
2025-10-26T20:17:41.710Z,1761509861.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064822,0.994045,0.087598],[-0.996746,0.060282,0.053513],[0.047913,-0.090781,0.994718]]
2025-10-26T20:17:42.110Z,1761509862.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072527,0.989227,0.127161],[-0.996871,0.067881,0.040506],[0.031438,-0.129701,0.991055]]
2025-10-26T20:17:42.515Z,1761509862.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075477,0.991403,0.106880],[-0.996823,0.072281,0.033473],[0.025460,-0.109067,0.993708]]
2025-10-26T20:17:42.922Z,1761509862.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070649,0.995339,0.065644],[-0.996270,0.067139,0.054213],[0.049553,-0.069229,0.996369]]
2025-10-26T20:17:43.323Z,1761509863.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067263,0.997372,0.026932],[-0.995633,0.065345,0.066667],[0.064732,-0.031298,0.997412]]
2025-10-26T20:17:43.732Z,1761509863.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061100,0.998072,0.010938],[-0.996391,0.060343,0.059689],[0.058914,-0.014546,0.998157]]
2025-10-26T20:17:44.131Z,1761509864.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068456,0.996942,0.037693],[-0.995598,0.065842,0.066704],[0.064018,-0.042093,0.997061]]
2025-10-26T20:17:44.535Z,1761509864.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072155,0.993801,0.084572],[-0.994109,0.064782,0.086899],[0.080882,-0.090344,0.992621]]
2025-10-26T20:17:44.941Z,1761509864.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078273,0.990653,0.111711],[-0.994460,0.069701,0.078686],[0.070164,-0.117251,0.990621]]
2025-10-26T20:17:45.343Z,1761509865.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093759,0.991991,0.084637],[-0.994791,0.089929,0.047993],[0.039998,-0.088696,0.995255]]
2025-10-26T20:17:45.746Z,1761509865.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093324,0.994580,0.045846],[-0.995018,0.091545,0.039470],[0.035059,-0.049301,0.998168]]
2025-10-26T20:17:46.152Z,1761509866.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081334,0.996025,0.036310],[-0.995536,0.079436,0.050969],[0.047882,-0.040293,0.998040]]
2025-10-26T20:17:46.554Z,1761509866.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084804,0.995040,0.052006],[-0.995427,0.082302,0.048490],[0.043969,-0.055880,0.997469]]
2025-10-26T20:17:46.966Z,1761509866.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097964,0.992370,0.074869],[-0.994602,0.095044,0.041625],[0.034192,-0.078543,0.996324]]
2025-10-26T20:17:46.976Z,1761509866.976 [NAL9602](INFO): SBD MO Status=1, MOMSN=2985, MT Status=0, MTMSN=0
2025-10-26T20:17:46.976Z,1761509866.976 [NAL9602](INFO): No messages in MT queue
2025-10-26T20:17:47.363Z,1761509867.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086238,0.989721,0.114088],[-0.995889,0.082452,0.037505],[0.027712,-0.116853,0.992763]]
2025-10-26T20:17:47.769Z,1761509867.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071481,0.985756,0.152239],[-0.997268,0.067781,0.029362],[0.018625,-0.153922,0.987908]]
2025-10-26T20:17:48.128Z,1761509868.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:17:48.170Z,1761509868.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071172,0.988692,0.131997],[-0.997463,0.070776,0.007699],[-0.001730,-0.132210,0.991220]]
2025-10-26T20:17:48.191Z,1761509868.191 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201747.00,A,3645.86043,N,12152.22677,W,0.272,237.97,261025,,,D*7D
2025-10-26T20:17:48.193Z,1761509868.193 [NAL9602](INFO): GPS fix at 20251026T201747: (36.764341, -121.870446)
2025-10-26T20:17:48.574Z,1761509868.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077306,0.995169,0.060515],[-0.996982,0.077594,-0.002420],[-0.007104,-0.060145,0.998164]]
2025-10-26T20:17:48.985Z,1761509868.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088799,0.995860,-0.019420],[-0.995898,0.089108,0.015693],[0.017358,0.017947,0.999688]]
2025-10-26T20:17:49.382Z,1761509869.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102105,0.992804,-0.062574],[-0.993222,0.105255,0.049301],[0.055533,0.057116,0.996822]]
2025-10-26T20:17:49.786Z,1761509869.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097721,0.994723,-0.031236],[-0.991536,0.100008,0.082797],[0.085484,0.022881,0.996077]]
2025-10-26T20:17:50.190Z,1761509870.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092972,0.994409,0.050065],[-0.991154,0.087650,0.099660],[0.094714,-0.058888,0.993761]]
2025-10-26T20:17:50.595Z,1761509870.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105753,0.987225,0.119181],[-0.990632,0.094180,0.098884],[0.086396,-0.128522,0.987936]]
2025-10-26T20:17:51.001Z,1761509871.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127763,0.981371,0.143486],[-0.989016,0.115222,0.092582],[0.074325,-0.153738,0.985312]]
2025-10-26T20:17:51.017Z,1761509871.017 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201750.00,A,3645.86015,N,12152.22654,W,0.233,190.78,261025,,,D*73
2025-10-26T20:17:51.019Z,1761509871.019 [NAL9602](INFO): GPS fix at 20251026T201750: (36.764336, -121.870442)
2025-10-26T20:17:51.402Z,1761509871.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142819,0.982277,0.121385],[-0.988107,0.134445,0.074625],[0.056983,-0.130599,0.989796]]
2025-10-26T20:17:51.806Z,1761509871.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133758,0.987291,0.085819],[-0.989914,0.129028,0.058493],[0.046676,-0.092777,0.994592]]
2025-10-26T20:17:52.211Z,1761509872.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123256,0.990350,0.063355],[-0.991626,0.120432,0.046631],[0.038551,-0.068572,0.996901]]
2025-10-26T20:17:52.614Z,1761509872.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131783,0.990425,0.041134],[-0.990379,0.129782,0.048027],[0.042229,-0.047068,0.997999]]
2025-10-26T20:17:53.021Z,1761509873.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137206,0.990302,0.021850],[-0.989623,0.136094,0.046103],[0.042683,-0.027948,0.998698]]
2025-10-26T20:17:53.425Z,1761509873.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122266,0.991554,0.043265],[-0.991883,0.120541,0.040475],[0.034918,-0.047863,0.998243]]
2025-10-26T20:17:53.827Z,1761509873.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101986,0.989442,0.102977],[-0.994559,0.099206,0.031782],[0.021231,-0.105658,0.994176]]
2025-10-26T20:17:54.230Z,1761509874.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098004,0.983936,0.149214],[-0.995081,0.099066,0.000313],[-0.014474,-0.148511,0.988805]]
2025-10-26T20:17:54.239Z,1761509874.239 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201753.00,A,3645.86048,N,12152.22798,W,2.060,284.76,261025,,,D*77
2025-10-26T20:17:54.242Z,1761509874.242 [NAL9602](INFO): GPS fix at 20251026T201753: (36.764341, -121.870466)
2025-10-26T20:17:54.635Z,1761509874.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113265,0.985326,0.127686],[-0.992679,0.117652,-0.027331],[-0.041953,-0.123656,0.991438]]
2025-10-26T20:17:55.042Z,1761509875.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119082,0.988246,0.095864],[-0.992752,0.120088,-0.004771],[-0.016227,-0.094601,0.995383]]
2025-10-26T20:17:55.451Z,1761509875.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110338,0.990921,0.076822],[-0.993440,0.107623,0.038644],[0.030025,-0.080582,0.996296]]
2025-10-26T20:17:55.847Z,1761509875.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086520,0.994383,0.060967],[-0.995344,0.083670,0.047849],[0.042479,-0.064823,0.996992]]
2025-10-26T20:17:56.250Z,1761509876.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071764,0.995702,0.058544],[-0.997398,0.071237,0.011055],[0.006837,-0.059185,0.998224]]
2025-10-26T20:17:56.655Z,1761509876.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076480,0.995283,0.059680],[-0.996205,0.078771,-0.037018],[-0.041544,-0.056622,0.997531]]
2025-10-26T20:17:57.064Z,1761509877.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077065,0.995068,0.062457],[-0.995587,0.080167,-0.048786],[-0.053552,-0.058422,0.996855]]
2025-10-26T20:17:57.071Z,1761509877.071 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201756.00,A,3645.86053,N,12152.22917,W,0.233,277.28,261025,,,D*70
2025-10-26T20:17:57.074Z,1761509877.074 [NAL9602](INFO): GPS fix at 20251026T201756: (36.764342, -121.870486)
2025-10-26T20:17:57.471Z,1761509877.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074279,0.994783,0.069925],[-0.997230,0.074374,0.001259],[-0.003948,-0.069825,0.997551]]
2025-10-26T20:17:57.868Z,1761509877.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082541,0.994081,0.070645],[-0.994917,0.078093,0.063578],[0.057684,-0.075534,0.995473]]
2025-10-26T20:17:58.270Z,1761509878.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088587,0.993517,0.071242],[-0.992609,0.082098,0.089369],[0.082941,-0.078633,0.993447]]
2025-10-26T20:17:58.676Z,1761509878.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074876,0.995123,0.064218],[-0.993178,0.068647,0.094257],[0.089389,-0.070837,0.993475]]
2025-10-26T20:17:59.081Z,1761509879.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063807,0.995574,0.068998],[-0.993734,0.057027,0.096127],[0.091767,-0.074700,0.992975]]
2025-10-26T20:17:59.482Z,1761509879.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074348,0.992899,0.092861],[-0.994559,0.067013,0.079757],[0.072967,-0.098286,0.992480]]
2025-10-26T20:17:59.887Z,1761509879.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080839,0.990632,0.110064],[-0.995672,0.075180,0.054635],[0.045848,-0.114004,0.992422]]
2025-10-26T20:17:59.894Z,1761509879.894 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201759.00,A,3645.86021,N,12152.22768,W,1.166,114.47,261025,,,D*71
2025-10-26T20:17:59.897Z,1761509879.897 [NAL9602](INFO): GPS fix at 20251026T201759: (36.764337, -121.870461)
2025-10-26T20:18:00.290Z,1761509880.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086819,0.990443,0.107172],[-0.995315,0.081643,0.051782],[0.042538,-0.111166,0.992891]]
2025-10-26T20:18:00.728Z,1761509880.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092942,0.993004,0.072836],[-0.995061,0.090074,0.041723],[0.034870,-0.076354,0.996471]]
2025-10-26T20:18:01.101Z,1761509881.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098911,0.994659,0.029483],[-0.995003,0.098451,0.016655],[0.013663,-0.030983,0.999427]]
2025-10-26T20:18:01.503Z,1761509881.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092714,0.995679,0.005222],[-0.995615,0.092640,0.013002],[0.012462,-0.006405,0.999902]]
2025-10-26T20:18:01.923Z,1761509881.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083972,0.996432,0.008442],[-0.996191,0.083745,0.024300],[0.023506,-0.010450,0.999669]]
2025-10-26T20:18:02.310Z,1761509882.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076869,0.996090,0.043552],[-0.996472,0.075276,0.037102],[0.033678,-0.046250,0.998362]]
2025-10-26T20:18:02.720Z,1761509882.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083047,0.991734,0.097805],[-0.995833,0.078875,0.045786],[0.037694,-0.101200,0.994152]]
2025-10-26T20:18:03.122Z,1761509883.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115638,0.983624,0.138246],[-0.991627,0.106265,0.073380],[0.057488,-0.145574,0.987676]]
2025-10-26T20:18:03.126Z,1761509883.126 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201802.00,A,3645.86004,N,12152.22767,W,0.564,179.42,261025,,,D*71
2025-10-26T20:18:03.141Z,1761509883.141 [NAL9602](INFO): GPS fix at 20251026T201802: (36.764334, -121.870461)
2025-10-26T20:18:03.522Z,1761509883.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128808,0.983942,0.123559],[-0.988393,0.117262,0.096586],[0.080546,-0.134566,0.987626]]
2025-10-26T20:18:03.931Z,1761509883.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111249,0.990000,0.086739],[-0.990658,0.103548,0.088739],[0.078870,-0.095801,0.992271]]
2025-10-26T20:18:04.334Z,1761509884.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092867,0.992829,0.075277],[-0.994426,0.088694,0.057003],[0.049918,-0.080152,0.995532]]
2025-10-26T20:18:04.742Z,1761509884.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078815,0.993907,0.077057],[-0.996785,0.077453,0.020505],[0.014412,-0.078425,0.996816]]
2025-10-26T20:18:05.001Z,1761509885.001 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:18:05.149Z,1761509885.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073920,0.992853,0.093700],[-0.997262,0.073791,0.004838],[-0.002110,-0.093801,0.995589]]
2025-10-26T20:18:05.543Z,1761509885.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087029,0.989776,0.113003],[-0.996205,0.086323,0.011129],[0.001260,-0.113543,0.993532]]
2025-10-26T20:18:05.953Z,1761509885.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104877,0.989868,0.095716],[-0.994183,0.101988,0.034609],[0.024497,-0.098789,0.994807]]
2025-10-26T20:18:05.962Z,1761509885.962 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201805.00,A,3645.86025,N,12152.22925,W,1.749,275.99,261025,,,D*78
2025-10-26T20:18:05.965Z,1761509885.965 [NAL9602](INFO): GPS fix at 20251026T201805: (36.764338, -121.870487)
2025-10-26T20:18:06.350Z,1761509886.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106915,0.991501,0.074122],[-0.992759,0.102350,0.062881],[0.054760,-0.080308,0.995265]]
2025-10-26T20:18:06.789Z,1761509886.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087277,0.991692,0.094494],[-0.993938,0.080321,0.075076],[0.066863,-0.100474,0.992691]]
2025-10-26T20:18:07.162Z,1761509887.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062605,0.990817,0.119841],[-0.996017,0.054387,0.070661],[0.063494,-0.123787,0.990275]]
2025-10-26T20:18:07.564Z,1761509887.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050680,0.988765,0.140624],[-0.997512,0.043205,0.055707],[0.049005,-0.143097,0.988495]]
2025-10-26T20:18:07.967Z,1761509887.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042634,0.988279,0.146581],[-0.998457,0.036919,0.041490],[0.035592,-0.148124,0.988328]]
2025-10-26T20:18:08.376Z,1761509888.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031884,0.993176,0.112186],[-0.999471,0.030955,0.010018],[0.006477,-0.112446,0.993637]]
2025-10-26T20:18:08.830Z,1761509888.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025999,0.998545,0.047249],[-0.999629,0.026353,-0.006904],[-0.008139,-0.047051,0.998859]]
2025-10-26T20:18:09.220Z,1761509889.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028311,0.999547,0.010194],[-0.999392,0.028096,0.020641],[0.020345,-0.010772,0.999735]]
2025-10-26T20:18:09.237Z,1761509889.237 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201808.00,A,3645.86026,N,12152.23017,W,0.680,252.74,261025,,,D*7C
2025-10-26T20:18:09.252Z,1761509889.252 [NAL9602](INFO): GPS fix at 20251026T201808: (36.764338, -121.870503)
2025-10-26T20:18:09.583Z,1761509889.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031116,0.999169,0.026330],[-0.996030,0.028799,0.084225],[0.083397,-0.028846,0.996099]]
2025-10-26T20:18:09.987Z,1761509889.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039820,0.997329,0.061238],[-0.991062,0.031612,0.129600],[0.127318,-0.065852,0.989673]]
2025-10-26T20:18:10.390Z,1761509890.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046041,0.995906,0.077795],[-0.987869,0.033831,0.151560],[0.148308,-0.083829,0.985382]]
2025-10-26T20:18:10.829Z,1761509890.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059224,0.994616,0.085040],[-0.986475,0.045270,0.157533],[0.152835,-0.093219,0.983845]]
2025-10-26T20:18:11.202Z,1761509891.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073437,0.993646,0.085290],[-0.990311,0.062549,0.123981],[0.117858,-0.093568,0.988612]]
2025-10-26T20:18:11.608Z,1761509891.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052818,0.996217,0.069006],[-0.996745,0.048379,0.064492],[0.060909,-0.072187,0.995530]]
2025-10-26T20:18:12.010Z,1761509892.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043096,0.997916,0.048018],[-0.998916,0.042193,0.019661],[0.017594,-0.048814,0.998653]]
2025-10-26T20:18:12.029Z,1761509892.029 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201811.00,A,3645.85978,N,12152.22951,W,0.136,130.83,261025,,,D*7A
2025-10-26T20:18:12.031Z,1761509892.031 [NAL9602](INFO): GPS fix at 20251026T201811: (36.764330, -121.870492)
2025-10-26T20:18:12.420Z,1761509892.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059476,0.996921,0.051105],[-0.998212,0.059705,-0.002962],[-0.006004,-0.050837,0.998689]]
2025-10-26T20:18:12.831Z,1761509892.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051598,0.995532,0.079082],[-0.998596,0.052379,-0.007841],[-0.011948,-0.078566,0.996837]]
2025-10-26T20:18:13.222Z,1761509893.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048513,0.993879,0.099255],[-0.998667,0.050022,-0.012762],[-0.017649,-0.098504,0.994980]]
2025-10-26T20:18:13.627Z,1761509893.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062311,0.994955,0.078625],[-0.998029,0.061526,0.012381],[0.007481,-0.079241,0.996827]]
2025-10-26T20:18:14.032Z,1761509894.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046367,0.997178,0.059044],[-0.997824,0.043462,0.049576],[0.046870,-0.061214,0.997024]]
2025-10-26T20:18:14.438Z,1761509894.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011899,0.996692,0.080395],[-0.999712,0.010181,0.021755],[0.020865,-0.080630,0.996526]]
2025-10-26T20:18:14.838Z,1761509894.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004256,0.994950,0.100277],[-0.999410,0.007650,-0.033487],[-0.034085,-0.100076,0.994396]]
2025-10-26T20:18:15.284Z,1761509895.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008719,0.995890,0.090152],[-0.999458,0.005818,0.032391],[0.031733,-0.090386,0.995401]]
2025-10-26T20:18:15.293Z,1761509895.293 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201814.00,A,3645.85969,N,12152.22945,W,0.292,130.83,261025,,,D*77
2025-10-26T20:18:15.295Z,1761509895.295 [NAL9602](INFO): GPS fix at 20251026T201814: (36.764328, -121.870491)
2025-10-26T20:18:16.050Z,1761509896.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022379,0.994023,0.106853],[-0.997729,0.015415,0.065564],[0.063525,-0.108078,0.992111]]
2025-10-26T20:18:16.454Z,1761509896.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036935,0.993377,0.108804],[-0.997474,0.030037,0.064373],[0.060678,-0.110907,0.991977]]
2025-10-26T20:18:16.858Z,1761509896.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049024,0.994878,0.088401],[-0.997046,0.043506,0.063301],[0.059131,-0.091243,0.994072]]
2025-10-26T20:18:17.274Z,1761509897.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047149,0.996478,0.069342],[-0.998102,0.044246,0.042824],[0.039605,-0.071230,0.996673]]
2025-10-26T20:18:18.081Z,1761509898.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044233,0.996214,0.074834],[-0.999014,0.043814,0.007225],[0.003919,-0.075080,0.997170]]
2025-10-26T20:18:18.086Z,1761509898.086 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201817.00,A,3645.85978,N,12152.22951,W,0.991,190.48,261025,,,D*74
2025-10-26T20:18:18.088Z,1761509898.088 [NAL9602](INFO): GPS fix at 20251026T201817: (36.764330, -121.870492)
2025-10-26T20:18:18.479Z,1761509898.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024862,0.995242,0.094207],[-0.999573,0.023303,0.017607],[0.015328,-0.094605,0.995397]]
2025-10-26T20:18:18.886Z,1761509898.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022859,0.995110,0.096090],[-0.999424,0.020334,0.027178],[0.025091,-0.096656,0.995002]]
2025-10-26T20:18:18.966Z,1761509898.966 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:18:18.966Z,1761509898.966 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:18:19.064Z,1761509899.064 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:18:19.288Z,1761509899.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047334,0.996878,0.063200],[-0.998554,0.045608,0.028476],[0.025504,-0.064456,0.997595]]
2025-10-26T20:18:19.688Z,1761509899.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057708,0.997958,0.027379],[-0.997968,0.056924,0.028614],[0.026997,-0.028974,0.999216]]
2025-10-26T20:18:20.090Z,1761509900.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027028,0.998966,0.036552],[-0.998774,0.025469,0.042453],[0.041478,-0.037655,0.998430]]
2025-10-26T20:18:20.494Z,1761509900.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009191,0.996103,0.087719],[-0.997636,-0.015109,0.067042],[0.068106,-0.086895,0.993887]]
2025-10-26T20:18:20.906Z,1761509900.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018266,0.991039,0.132317],[-0.996252,-0.029231,0.081408],[0.084546,-0.130334,0.987859]]
2025-10-26T20:18:20.920Z,1761509900.920 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201820.00,A,3645.85994,N,12152.23094,W,1.147,274.97,261025,,,D*7A
2025-10-26T20:18:20.922Z,1761509900.922 [NAL9602](INFO): GPS fix at 20251026T201820: (36.764332, -121.870516)
2025-10-26T20:18:21.308Z,1761509901.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016144,0.988609,0.149637],[-0.997173,-0.026904,0.070165],[0.073392,-0.148081,0.986248]]
2025-10-26T20:18:21.710Z,1761509901.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020534,0.990602,0.135229],[-0.996830,-0.030683,0.073401],[0.076860,-0.133293,0.988092]]
2025-10-26T20:18:22.110Z,1761509902.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023074,0.995131,0.095820],[-0.992170,-0.034561,0.120016],[0.122743,-0.092301,0.988137]]
2025-10-26T20:18:22.515Z,1761509902.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021331,0.998626,0.047863],[-0.983128,-0.029651,0.180498],[0.181669,-0.043205,0.982410]]
2025-10-26T20:18:22.924Z,1761509902.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021207,0.999656,0.015430],[-0.977559,-0.023969,0.209295],[0.209593,-0.010645,0.977731]]
2025-10-26T20:18:23.328Z,1761509903.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016397,0.999605,0.022826],[-0.978952,-0.020695,0.203038],[0.203430,-0.019017,0.978905]]
2025-10-26T20:18:23.731Z,1761509903.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008919,0.997994,0.062674],[-0.985364,-0.019441,0.169348],[0.170227,-0.060246,0.983561]]
2025-10-26T20:18:24.130Z,1761509904.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018526,0.993352,0.113614],[-0.992763,0.004790,0.119998],[0.118657,-0.115015,0.986252]]
2025-10-26T20:18:24.139Z,1761509904.139 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201823.00,A,3645.85982,N,12152.23092,W,0.719,156.37,261025,,,D*7D
2025-10-26T20:18:24.141Z,1761509904.141 [NAL9602](INFO): GPS fix at 20251026T201823: (36.764330, -121.870515)
2025-10-26T20:18:24.534Z,1761509904.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034734,0.989922,0.137289],[-0.995229,0.021730,0.095113],[0.091172,-0.139938,0.985954]]
2025-10-26T20:18:24.940Z,1761509904.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028414,0.993487,0.110347],[-0.994567,0.017039,0.102691],[0.100142,-0.112665,0.988574]]
2025-10-26T20:18:25.342Z,1761509905.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012790,0.997535,0.068999],[-0.992324,0.004174,0.123594],[0.123002,-0.070051,0.989931]]
2025-10-26T20:18:25.747Z,1761509905.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005979,0.998886,0.046804],[-0.991295,-0.000235,0.131658],[0.131523,-0.047184,0.990190]]
2025-10-26T20:18:26.157Z,1761509906.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005383,0.999312,0.036688],[-0.991846,-0.010007,0.127050],[0.127330,-0.035705,0.991218]]
2025-10-26T20:18:26.554Z,1761509906.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002622,0.999110,0.042103],[-0.993683,-0.007327,0.111985],[0.112194,-0.041544,0.992818]]
2025-10-26T20:18:26.958Z,1761509906.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001287,0.998162,0.060590],[-0.995750,-0.006859,0.091841],[0.092088,-0.060214,0.993929]]
2025-10-26T20:18:26.972Z,1761509906.972 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201826.00,A,3645.85971,N,12152.23106,W,0.078,179.85,261025,,,D*7C
2025-10-26T20:18:26.974Z,1761509906.974 [NAL9602](INFO): GPS fix at 20251026T201826: (36.764328, -121.870518)
2025-10-26T20:18:27.366Z,1761509907.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013619,0.995555,0.093197],[-0.997266,-0.020294,0.071053],[0.072628,-0.091975,0.993109]]
2025-10-26T20:18:27.766Z,1761509907.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019115,0.991564,0.128203],[-0.997492,-0.027652,0.065148],[0.068144,-0.126636,0.989606]]
2025-10-26T20:18:28.170Z,1761509908.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015007,0.992501,0.121312],[-0.995674,-0.025960,0.089218],[0.091698,-0.119449,0.988597]]
2025-10-26T20:18:28.574Z,1761509908.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016560,0.996723,0.079182],[-0.993747,-0.025153,0.108781],[0.110416,-0.076885,0.990907]]
2025-10-26T20:18:28.998Z,1761509908.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016753,0.998666,0.048849],[-0.994962,-0.021481,0.097922],[0.098840,-0.046963,0.993995]]
2025-10-26T20:18:29.380Z,1761509909.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:18:29.402Z,1761509909.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013984,0.998407,0.054658],[-0.996053,-0.018701,0.086770],[0.087654,-0.053228,0.994728]]
2025-10-26T20:18:29.786Z,1761509909.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008904,0.997022,0.076600],[-0.995535,-0.016037,0.093021],[0.093972,-0.075430,0.992713]]
2025-10-26T20:18:30.190Z,1761509910.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003956,0.995214,0.097643],[-0.996324,-0.004433,0.085555],[0.085578,-0.097622,0.991537]]
2025-10-26T20:18:30.195Z,1761509910.195 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201829.00,A,3645.85967,N,12152.23095,W,0.194,179.85,261025,,,D*7C
2025-10-26T20:18:30.197Z,1761509910.197 [NAL9602](INFO): GPS fix at 20251026T201829: (36.764328, -121.870516)
2025-10-26T20:18:30.595Z,1761509910.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018872,0.995351,0.094448],[-0.998683,0.014259,0.049281],[0.047705,-0.095254,0.994309]]
2025-10-26T20:18:30.999Z,1761509910.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028809,0.997401,0.066043],[-0.999483,0.027798,0.016180],[0.014302,-0.066475,0.997686]]
2025-10-26T20:18:31.412Z,1761509911.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005942,0.999213,0.039218],[-0.999964,0.005700,0.006272],[0.006043,-0.039254,0.999211]]
2025-10-26T20:18:31.806Z,1761509911.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016924,0.998951,0.042549],[-0.999678,-0.016101,-0.019611],[-0.018906,-0.042867,0.998902]]
2025-10-26T20:18:32.210Z,1761509912.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014411,0.997325,0.071664],[-0.999260,-0.011810,-0.036599],[-0.035654,-0.072138,0.996757]]
2025-10-26T20:18:32.616Z,1761509912.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000160,0.991709,0.128501],[-0.999948,0.001467,-0.010082],[-0.010187,-0.128492,0.991658]]
2025-10-26T20:18:33.018Z,1761509913.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006413,0.986924,0.161058],[-0.999698,0.002506,0.024447],[0.023723,-0.161166,0.986642]]
2025-10-26T20:18:33.031Z,1761509913.031 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201832.00,A,3645.85976,N,12152.23175,W,0.933,280.47,261025,,,D*77
2025-10-26T20:18:33.033Z,1761509913.033 [NAL9602](INFO): GPS fix at 20251026T201832: (36.764329, -121.870529)
2025-10-26T20:18:33.423Z,1761509913.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003782,0.988568,0.150730],[-0.998909,-0.010751,0.045441],[0.046542,-0.150394,0.987530]]
2025-10-26T20:18:33.826Z,1761509913.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016153,0.994817,0.100395],[-0.998431,-0.021432,0.051730],[0.053614,-0.099402,0.993602]]
2025-10-26T20:18:34.232Z,1761509914.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005445,0.999574,0.028671],[-0.999293,-0.006505,0.037027],[0.037197,-0.028449,0.998903]]
2025-10-26T20:18:34.634Z,1761509914.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000463,0.999728,-0.023307],[-0.999982,-0.000322,0.006023],[0.006014,0.023309,0.999710]]
2025-10-26T20:18:35.058Z,1761509915.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010565,0.999912,0.008026],[-0.999761,-0.010409,-0.019226],[-0.019141,-0.008227,0.999783]]
2025-10-26T20:18:35.442Z,1761509915.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022713,0.995447,0.092571],[-0.999498,-0.020566,-0.024084],[-0.022070,-0.093072,0.995415]]
2025-10-26T20:18:35.848Z,1761509915.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019552,0.989541,0.142920],[-0.999634,-0.022020,0.015705],[0.018688,-0.142561,0.989610]]
2025-10-26T20:18:35.854Z,1761509915.854 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201835.00,A,3645.85984,N,12152.23253,W,0.758,277.42,261025,,,D*74
2025-10-26T20:18:35.857Z,1761509915.857 [NAL9602](INFO): GPS fix at 20251026T201835: (36.764331, -121.870542)
2025-10-26T20:18:36.250Z,1761509916.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000434,0.991999,0.126242],[-0.997280,-0.009733,0.073054],[0.073699,-0.125867,0.989306]]
2025-10-26T20:18:36.659Z,1761509916.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004406,0.997722,0.067316],[-0.996814,-0.000979,0.079754],[0.079638,-0.067453,0.994539]]
2025-10-26T20:18:37.058Z,1761509917.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029855,0.998900,0.036158],[-0.998904,-0.031121,0.034966],[0.036053,-0.035074,0.998734]]
2025-10-26T20:18:37.472Z,1761509917.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046803,0.997467,0.053559],[-0.998838,-0.046114,-0.014023],[-0.011518,-0.054153,0.998466]]
2025-10-26T20:18:37.872Z,1761509917.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034981,0.996506,0.075843],[-0.998954,-0.032629,-0.032036],[-0.029449,-0.076884,0.996605]]
2025-10-26T20:18:38.272Z,1761509918.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041875,0.994998,0.090689],[-0.999109,-0.041223,-0.009060],[-0.005276,-0.090988,0.995838]]
2025-10-26T20:18:38.674Z,1761509918.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059693,0.992573,0.105995],[-0.997330,-0.063777,0.035569],[0.042065,-0.103589,0.993730]]
2025-10-26T20:18:39.078Z,1761509919.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064922,0.991629,0.111614],[-0.995641,-0.071875,0.059442],[0.066967,-0.107269,0.991972]]
2025-10-26T20:18:39.083Z,1761509919.083 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201838.00,A,3645.85994,N,12152.23262,W,0.797,77.56,261025,,,D*4E
2025-10-26T20:18:39.085Z,1761509919.085 [NAL9602](INFO): GPS fix at 20251026T201838: (36.764332, -121.870544)
2025-10-26T20:18:39.495Z,1761509919.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061945,0.993917,0.091059],[-0.995290,-0.068331,0.068767],[0.074571,-0.086370,0.993468]]
2025-10-26T20:18:39.892Z,1761509919.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051368,0.997197,0.054398],[-0.993403,-0.056613,0.099732],[0.102532,-0.048917,0.993526]]
2025-10-26T20:18:40.290Z,1761509920.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056492,0.998149,0.022531],[-0.992340,-0.058617,0.108741],[0.109860,-0.016216,0.993815]]
2025-10-26T20:18:40.344Z,1761509920.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:18:40.738Z,1761509920.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054490,0.998484,0.007723],[-0.997748,-0.054750,0.038759],[0.039123,-0.005594,0.999219]]
2025-10-26T20:18:41.098Z,1761509921.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036787,0.998725,0.034566],[-0.999306,-0.036564,-0.007061],[-0.005788,-0.034801,0.999377]]
2025-10-26T20:18:41.510Z,1761509921.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025275,0.997508,0.065871],[-0.999182,-0.027288,0.029836],[0.031559,-0.065063,0.997382]]
2025-10-26T20:18:41.906Z,1761509921.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037690,0.995145,0.090912],[-0.996442,-0.044290,0.071706],[0.075384,-0.087886,0.993274]]
2025-10-26T20:18:41.924Z,1761509921.924 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201841.00,A,3645.85970,N,12152.23203,W,0.428,113.74,261025,,,D*79
2025-10-26T20:18:41.926Z,1761509921.926 [NAL9602](INFO): GPS fix at 20251026T201841: (36.764328, -121.870534)
2025-10-26T20:18:42.310Z,1761509922.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069846,0.989554,0.126116],[-0.995574,-0.077118,0.053718],[0.062883,-0.121806,0.990560]]
2025-10-26T20:18:42.718Z,1761509922.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091852,0.985768,0.140802],[-0.995243,-0.095492,0.019300],[0.032471,-0.138360,0.989850]]
2025-10-26T20:18:43.119Z,1761509923.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095391,0.988804,0.114750],[-0.995318,-0.096551,0.004579],[0.015607,-0.113776,0.993384]]
2025-10-26T20:18:43.526Z,1761509923.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098070,0.992526,0.072625],[-0.994920,-0.099448,0.015602],[0.022708,-0.070726,0.997237]]
2025-10-26T20:18:43.926Z,1761509923.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097348,0.994432,0.040367],[-0.995124,-0.097901,0.011954],[0.015839,-0.039006,0.999113]]
2025-10-26T20:18:44.333Z,1761509924.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109370,0.993764,0.021730],[-0.993831,-0.108920,-0.020910],[-0.018413,-0.023883,0.999545]]
2025-10-26T20:18:44.741Z,1761509924.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135448,0.989408,0.052204],[-0.990626,-0.134295,-0.024996],[-0.017721,-0.055101,0.998324]]
2025-10-26T20:18:45.138Z,1761509925.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158773,0.981192,0.109791],[-0.987154,-0.159770,0.000286],[0.017822,-0.108335,0.993955]]
2025-10-26T20:18:45.146Z,1761509925.146 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201844.00,A,3645.85978,N,12152.23290,W,0.991,271.10,261025,,,D*74
2025-10-26T20:18:45.148Z,1761509925.148 [NAL9602](INFO): GPS fix at 20251026T201844: (36.764330, -121.870548)
2025-10-26T20:18:45.549Z,1761509925.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157891,0.976071,0.149519],[-0.986383,-0.162959,0.022191],[0.046026,-0.143980,0.988510]]
2025-10-26T20:18:45.948Z,1761509925.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140716,0.981139,0.132533],[-0.987150,-0.149280,0.057015],[0.075724,-0.122807,0.989537]]
2025-10-26T20:18:46.358Z,1761509926.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132900,0.986043,0.100280],[-0.985376,-0.142337,0.093669],[0.106635,-0.086365,0.990540]]
2025-10-26T20:18:46.774Z,1761509926.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131439,0.988520,0.074508],[-0.985272,-0.138560,0.100199],[0.109372,-0.060241,0.992174]]
2025-10-26T20:18:47.158Z,1761509927.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128178,0.990615,0.047467],[-0.987538,-0.131894,0.085865],[0.091319,-0.035870,0.995175]]
2025-10-26T20:18:47.574Z,1761509927.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125571,0.991497,0.034147],[-0.989178,-0.127761,0.072134],[0.075884,-0.024719,0.996810]]
2025-10-26T20:18:47.966Z,1761509927.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141774,0.988783,0.046997],[-0.988897,-0.143607,0.038219],[0.044539,-0.041057,0.998164]]
2025-10-26T20:18:47.971Z,1761509927.971 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201847.00,A,3645.85987,N,12152.23313,W,0.894,278.34,261025,,,D*76
2025-10-26T20:18:47.973Z,1761509927.973 [NAL9602](INFO): GPS fix at 20251026T201847: (36.764331, -121.870552)
2025-10-26T20:18:48.374Z,1761509928.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148565,0.983687,0.101428],[-0.988636,-0.145358,-0.038350],[-0.022981,-0.105973,0.994103]]
2025-10-26T20:18:48.800Z,1761509928.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139726,0.981828,0.128413],[-0.988055,-0.129734,-0.083167],[-0.064996,-0.138500,0.988227]]
2025-10-26T20:18:49.179Z,1761509929.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146350,0.982764,0.112944],[-0.988456,-0.140755,-0.056060],[-0.039196,-0.119845,0.992019]]
2025-10-26T20:18:49.585Z,1761509929.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171398,0.981624,0.083881],[-0.985200,-0.170612,-0.016503],[-0.001888,-0.085468,0.996339]]
2025-10-26T20:18:49.696Z,1761509929.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:18:49.986Z,1761509929.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194199,0.978044,0.075613],[-0.980583,-0.195688,0.012738],[0.027255,-0.071671,0.997056]]
2025-10-26T20:18:50.391Z,1761509930.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207927,0.973080,0.099404],[-0.976458,-0.212459,0.037300],[0.057415,-0.089308,0.994348]]
2025-10-26T20:18:50.819Z,1761509930.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218983,0.966405,0.134566],[-0.972010,-0.228094,0.056306],[0.085108,-0.118470,0.989304]]
2025-10-26T20:18:51.198Z,1761509931.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208414,0.966495,0.149840],[-0.973314,-0.220002,0.065256],[0.096035,-0.132241,0.986554]]
2025-10-26T20:18:51.206Z,1761509931.206 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201850.00,A,3645.86020,N,12152.23372,W,0.661,344.64,261025,,,D*7F
2025-10-26T20:18:51.209Z,1761509931.209 [NAL9602](INFO): GPS fix at 20251026T201850: (36.764337, -121.870562)
2025-10-26T20:18:51.606Z,1761509931.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193059,0.973743,0.120633],[-0.978183,-0.200621,0.053936],[0.076721,-0.107588,0.991231]]
2025-10-26T20:18:52.007Z,1761509932.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179288,0.982440,0.051652],[-0.982654,-0.181362,0.038715],[0.047402,-0.043815,0.997914]]
2025-10-26T20:18:52.412Z,1761509932.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169600,0.985340,-0.018455],[-0.983806,-0.168174,0.061993],[0.057981,0.028671,0.997906]]
2025-10-26T20:18:52.841Z,1761509932.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181672,0.982569,-0.039426],[-0.977172,-0.175893,0.119145],[0.110133,0.060171,0.992094]]
2025-10-26T20:18:53.227Z,1761509933.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191419,0.981489,0.006262],[-0.970880,-0.190278,0.145554],[0.144051,0.021782,0.989331]]
2025-10-26T20:18:53.633Z,1761509933.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186280,0.979434,0.077513],[-0.974107,-0.194402,0.115428],[0.128123,-0.054004,0.990287]]
2025-10-26T20:18:54.030Z,1761509934.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192163,0.970536,0.145370],[-0.977678,-0.202154,0.057264],[0.084964,-0.131121,0.987719]]
2025-10-26T20:18:54.050Z,1761509934.050 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201853.00,A,3645.85989,N,12152.23295,W,0.603,103.53,261025,,,D*7C
2025-10-26T20:18:54.053Z,1761509934.053 [NAL9602](INFO): GPS fix at 20251026T201853: (36.764331, -121.870549)
2025-10-26T20:18:54.448Z,1761509934.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206637,0.960805,0.184812],[-0.977448,-0.211122,0.004708],[0.043542,-0.179672,0.982763]]
2025-10-26T20:18:54.850Z,1761509934.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218726,0.958211,0.184364],[-0.974850,-0.222856,0.001723],[0.042738,-0.179350,0.982857]]
2025-10-26T20:18:55.246Z,1761509935.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225063,0.965129,0.133692],[-0.971684,-0.232458,0.042348],[0.071949,-0.120375,0.990118]]
2025-10-26T20:18:55.651Z,1761509935.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218837,0.974999,0.038560],[-0.969496,-0.221733,0.104463],[0.110401,-0.014523,0.993781]]
2025-10-26T20:18:56.055Z,1761509936.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200869,0.978788,-0.040320],[-0.971331,-0.193658,0.137884],[0.127151,0.066861,0.989627]]
2025-10-26T20:18:56.460Z,1761509936.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203291,0.977830,-0.050217],[-0.974176,-0.196852,0.110591],[0.098254,0.071402,0.992597]]
2025-10-26T20:18:56.864Z,1761509936.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204458,0.978673,0.019904],[-0.977696,-0.205167,0.044909],[0.048035,-0.010278,0.998793]]
2025-10-26T20:18:56.870Z,1761509936.870 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201856.00,A,3645.85990,N,12152.23345,W,1.438,295.81,261025,,,D*75
2025-10-26T20:18:56.873Z,1761509936.873 [NAL9602](INFO): GPS fix at 20251026T201856: (36.764332, -121.870558)
2025-10-26T20:18:57.269Z,1761509937.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197986,0.973496,0.114487],[-0.979942,-0.199282,-0.000127],[0.022692,-0.112215,0.993425]]
2025-10-26T20:18:57.671Z,1761509937.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186636,0.964604,0.186298],[-0.982354,-0.185578,-0.023260],[0.012136,-0.187351,0.982218]]
2025-10-26T20:18:58.074Z,1761509938.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189932,0.958295,0.213533],[-0.981748,-0.187549,-0.031555],[0.009809,-0.215629,0.976426]]
2025-10-26T20:18:58.479Z,1761509938.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208096,0.960475,0.184890],[-0.978087,-0.205589,-0.032848],[0.006462,-0.187674,0.982210]]
2025-10-26T20:18:58.884Z,1761509938.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226997,0.968001,0.106991],[-0.973895,-0.225664,-0.024569],[0.000361,-0.109775,0.993956]]
2025-10-26T20:18:59.286Z,1761509939.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237599,0.971203,0.017642],[-0.971242,-0.237816,0.011470],[0.015335,-0.014410,0.999779]]
2025-10-26T20:18:59.690Z,1761509939.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252784,0.966803,-0.037324],[-0.966836,-0.250963,0.047386],[0.036446,0.048065,0.998179]]
2025-10-26T20:19:00.094Z,1761509940.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263208,0.964484,-0.022191],[-0.963644,-0.261744,0.053671],[0.045957,0.035511,0.998312]]
2025-10-26T20:19:00.110Z,1761509940.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201859.00,A,3645.86009,N,12152.23470,W,0.739,290.00,261025,,,D*7E
2025-10-26T20:19:00.124Z,1761509940.124 [NAL9602](INFO): GPS fix at 20251026T201859: (36.764335, -121.870578)
2025-10-26T20:19:00.500Z,1761509940.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254781,0.965266,0.057862],[-0.966559,-0.256012,0.014851],[0.029148,-0.052143,0.998214]]
2025-10-26T20:19:00.903Z,1761509940.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247369,0.957718,0.146917],[-0.968919,-0.244168,-0.039727],[-0.002175,-0.152178,0.988351]]
2025-10-26T20:19:01.307Z,1761509941.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263352,0.946760,0.185180],[-0.964669,-0.256904,-0.058438],[-0.007754,-0.194027,0.980966]]
2025-10-26T20:19:01.737Z,1761509941.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278750,0.944404,0.174355],[-0.960340,-0.275391,-0.043672],[0.006772,-0.179614,0.983714]]
2025-10-26T20:19:02.117Z,1761509942.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274663,0.952473,0.131740],[-0.960692,-0.277589,0.004015],[0.040394,-0.125459,0.991276]]
2025-10-26T20:19:02.525Z,1761509942.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294755,0.953826,0.057757],[-0.953992,-0.297205,0.039614],[0.054951,-0.043423,0.997544]]
2025-10-26T20:19:02.927Z,1761509942.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301035,0.952841,0.038364],[-0.953170,-0.301878,0.018350],[0.029066,-0.031044,0.999095]]
2025-10-26T20:19:02.943Z,1761509942.943 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201902.00,A,3645.86013,N,12152.23487,W,0.564,353.53,261025,,,D*70
2025-10-26T20:19:02.949Z,1761509942.949 [NAL9602](INFO): GPS fix at 20251026T201902: (36.764336, -121.870581)
2025-10-26T20:19:03.216Z,1761509943.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:19:03.337Z,1761509943.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307183,0.950434,0.048108],[-0.951282,-0.308078,0.012258],[0.026472,-0.041998,0.998767]]
2025-10-26T20:19:03.736Z,1761509943.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309318,0.946786,0.088989],[-0.949935,-0.311969,0.017261],[0.044105,-0.079195,0.995883]]
2025-10-26T20:19:04.139Z,1761509944.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310232,0.944121,0.111318],[-0.948793,-0.314829,0.025970],[0.059565,-0.097561,0.993446]]
2025-10-26T20:19:04.538Z,1761509944.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295283,0.949387,0.107111],[-0.953512,-0.299901,0.029561],[0.060187,-0.093403,0.993808]]
2025-10-26T20:19:04.942Z,1761509944.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275194,0.959434,0.061279],[-0.960703,-0.276845,0.020144],[0.036292,-0.053328,0.997917]]
2025-10-26T20:19:05.352Z,1761509945.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274028,0.961682,0.008766],[-0.961679,-0.274090,0.006910],[0.009048,-0.006536,0.999938]]
2025-10-26T20:19:05.758Z,1761509945.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294667,0.955600,0.000144],[-0.955443,-0.294621,0.018070],[0.017310,0.005187,0.999837]]
2025-10-26T20:19:06.154Z,1761509946.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300321,0.952388,0.052580],[-0.952567,-0.302310,0.035008],[0.049236,-0.039572,0.998003]]
2025-10-26T20:19:06.183Z,1761509946.183 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201905.00,A,3645.85985,N,12152.23426,W,0.214,107.42,261025,,,D*7A
2025-10-26T20:19:06.185Z,1761509946.185 [NAL9602](INFO): GPS fix at 20251026T201905: (36.764331, -121.870571)
2025-10-26T20:19:06.559Z,1761509946.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282856,0.952012,0.116897],[-0.953615,-0.292213,0.072323],[0.103011,-0.091017,0.990507]]
2025-10-26T20:19:06.962Z,1761509946.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269951,0.951535,0.147334],[-0.951751,-0.286881,0.108948],[0.145936,-0.110815,0.983068]]
2025-10-26T20:19:07.376Z,1761509947.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268891,0.951611,0.148774],[-0.954218,-0.284206,0.093250],[0.131021,-0.116889,0.984465]]
2025-10-26T20:19:07.771Z,1761509947.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258889,0.958019,0.123191],[-0.962768,-0.266215,0.046988],[0.077811,-0.106440,0.991270]]
2025-10-26T20:19:08.176Z,1761509948.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235248,0.969110,0.074057],[-0.971160,-0.237420,0.021919],[0.038825,-0.066764,0.997013]]
2025-10-26T20:19:08.982Z,1761509948.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271933,0.961949,0.026591],[-0.962294,-0.271635,-0.014311],[-0.006543,-0.029480,0.999544]]
2025-10-26T20:19:08.995Z,1761509948.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201908.00,A,3645.85987,N,12152.23460,W,1.769,282.12,261025,,,D*72
2025-10-26T20:19:09.005Z,1761509949.005 [NAL9602](INFO): GPS fix at 20251026T201908: (36.764331, -121.870577)
2025-10-26T20:19:09.386Z,1761509949.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284420,0.956234,0.068713],[-0.957538,-0.279817,-0.069447],[-0.047180,-0.085547,0.995216]]
2025-10-26T20:19:09.799Z,1761509949.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276612,0.955379,0.103619],[-0.960476,-0.271356,-0.062065],[-0.031178,-0.116692,0.992679]]
2025-10-26T20:19:10.194Z,1761509950.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281523,0.951651,0.122905],[-0.959426,-0.281262,-0.019823],[0.015704,-0.123499,0.992220]]
2025-10-26T20:19:10.598Z,1761509950.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304535,0.943541,0.130342],[-0.952075,-0.305630,-0.012006],[0.028509,-0.127751,0.991396]]
2025-10-26T20:19:11.003Z,1761509951.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317633,0.941188,0.115212],[-0.948192,-0.316098,-0.031851],[0.006441,-0.119360,0.992830]]
2025-10-26T20:19:11.408Z,1761509951.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307913,0.947760,0.083304],[-0.951232,-0.304955,-0.046486],[-0.018654,-0.093555,0.995439]]
2025-10-26T20:19:11.817Z,1761509951.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313633,0.948186,0.050780],[-0.949419,-0.312273,-0.033009],[-0.015441,-0.058565,0.998164]]
2025-10-26T20:19:12.214Z,1761509952.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361074,0.930505,0.061532],[-0.932000,-0.362319,0.010055],[0.031650,-0.053718,0.998054]]
2025-10-26T20:19:12.246Z,1761509952.246 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201911.00,A,3645.86012,N,12152.23595,W,0.564,283.43,261025,,,D*7C
2025-10-26T20:19:12.260Z,1761509952.260 [NAL9602](INFO): GPS fix at 20251026T201911: (36.764335, -121.870599)
2025-10-26T20:19:12.622Z,1761509952.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381252,0.917127,0.116293],[-0.919993,-0.388759,0.049803],[0.090886,-0.088001,0.991966]]
2025-10-26T20:19:13.024Z,1761509953.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352022,0.925386,0.140501],[-0.928771,-0.363958,0.070138],[0.116041,-0.105803,0.987593]]
2025-10-26T20:19:13.426Z,1761509953.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326164,0.940713,0.093151],[-0.940701,-0.332715,0.066198],[0.093266,-0.066035,0.993449]]
2025-10-26T20:19:13.837Z,1761509953.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321457,0.946337,0.033337],[-0.944663,-0.322922,0.057725],[0.065392,-0.012936,0.997776]]
2025-10-26T20:19:14.235Z,1761509954.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318863,0.947558,0.021427],[-0.943382,-0.319476,0.089249],[0.091414,0.008245,0.995779]]
2025-10-26T20:19:14.638Z,1761509954.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313906,0.948471,0.043192],[-0.938037,-0.316844,0.140342],[0.146795,0.003538,0.989161]]
2025-10-26T20:19:15.043Z,1761509955.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307230,0.949522,0.063389],[-0.942062,-0.312888,0.120914],[0.134644,-0.022568,0.990637]]
2025-10-26T20:19:15.050Z,1761509955.050 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201914.00,A,3645.85991,N,12152.23515,W,0.680,97.15,261025,,,D*4D
2025-10-26T20:19:15.053Z,1761509955.053 [NAL9602](INFO): GPS fix at 20251026T201914: (36.764332, -121.870586)
2025-10-26T20:19:15.447Z,1761509955.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289794,0.954274,0.073357],[-0.955654,-0.292704,0.032399],[0.052389,-0.060715,0.996779]]
2025-10-26T20:19:15.855Z,1761509955.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266798,0.960181,0.082893],[-0.963643,-0.264482,-0.037963],[-0.014528,-0.090007,0.995835]]
2025-10-26T20:19:16.254Z,1761509956.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268848,0.959012,0.089536],[-0.962636,-0.264401,-0.058515],[-0.032444,-0.101922,0.994263]]
2025-10-26T20:19:16.659Z,1761509956.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305798,0.946526,0.102837],[-0.951889,-0.301687,-0.053781],[-0.019880,-0.114336,0.993243]]
2025-10-26T20:19:17.062Z,1761509957.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322709,0.939979,0.110902],[-0.946498,-0.320529,-0.037446],[0.000349,-0.117053,0.993126]]
2025-10-26T20:19:17.467Z,1761509957.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334479,0.938631,0.084238],[-0.942403,-0.333164,-0.029633],[0.000250,-0.089298,0.996005]]
2025-10-26T20:19:17.873Z,1761509957.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335451,0.940926,0.046160],[-0.941559,-0.333276,-0.048937],[-0.030663,-0.059878,0.997735]]
2025-10-26T20:19:17.885Z,1761509957.885 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201917.00,A,3645.85997,N,12152.23574,W,0.700,292.75,261025,,,D*77
2025-10-26T20:19:17.888Z,1761509957.888 [NAL9602](INFO): GPS fix at 20251026T201917: (36.764333, -121.870596)
2025-10-26T20:19:18.024Z,1761509958.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:19:18.276Z,1761509958.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322655,0.946397,0.015050],[-0.945946,-0.321867,-0.039849],[-0.032869,-0.027094,0.999092]]
2025-10-26T20:19:18.682Z,1761509958.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325952,0.945161,0.020642],[-0.944968,-0.326380,0.022632],[0.028128,-0.012129,0.999531]]
2025-10-26T20:19:19.082Z,1761509959.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326293,0.944243,0.044034],[-0.942677,-0.328492,0.058766],[0.069954,-0.022335,0.997300]]
2025-10-26T20:19:19.486Z,1761509959.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319387,0.945598,0.061933],[-0.945626,-0.322274,0.043934],[0.061503,-0.044534,0.997113]]
2025-10-26T20:19:19.562Z,1761509959.562 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:19:19.562Z,1761509959.562 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:19:19.892Z,1761509959.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311514,0.945487,0.094940],[-0.948072,-0.315996,0.036153],[0.064183,-0.078748,0.994826]]
2025-10-26T20:19:20.301Z,1761509960.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322924,0.937379,0.130543],[-0.943244,-0.330061,0.036739],[0.077526,-0.111270,0.990762]]
2025-10-26T20:19:20.701Z,1761509960.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339190,0.927198,0.158914],[-0.937086,-0.347854,0.029451],[0.082585,-0.138927,0.986853]]
2025-10-26T20:19:21.103Z,1761509961.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321428,0.931908,0.168021],[-0.942126,-0.332579,0.042300],[0.095300,-0.144701,0.984875]]
2025-10-26T20:19:21.110Z,1761509961.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201920.00,A,3645.86005,N,12152.23584,W,0.194,292.75,261025,,,D*76
2025-10-26T20:19:21.113Z,1761509961.113 [NAL9602](INFO): GPS fix at 20251026T201920: (36.764334, -121.870597)
2025-10-26T20:19:21.506Z,1761509961.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298839,0.944804,0.134315],[-0.948341,-0.309725,0.068704],[0.106512,-0.106845,0.988554]]
2025-10-26T20:19:21.911Z,1761509961.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293365,0.954232,0.058127],[-0.950570,-0.297631,0.088504],[0.101754,-0.029290,0.994378]]
2025-10-26T20:19:22.315Z,1761509962.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295264,0.955337,-0.012281],[-0.951525,-0.292879,0.093924],[0.086132,0.039418,0.995504]]
2025-10-26T20:19:22.730Z,1761509962.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295326,0.954808,-0.033533],[-0.953276,-0.292151,0.076897],[0.063625,0.054676,0.996475]]
2025-10-26T20:19:23.122Z,1761509963.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296580,0.954726,0.023208],[-0.954057,-0.297282,0.037399],[0.042605,-0.011050,0.999031]]
2025-10-26T20:19:23.527Z,1761509963.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299496,0.947365,0.113144],[-0.953941,-0.299481,-0.017535],[0.017272,-0.113184,0.993424]]
2025-10-26T20:19:23.936Z,1761509963.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312484,0.932256,0.182355],[-0.949884,-0.308398,-0.051096],[0.008603,-0.189182,0.981904]]
2025-10-26T20:19:23.946Z,1761509963.946 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201923.00,A,3645.86001,N,12152.23644,W,0.797,266.22,261025,,,D*72
2025-10-26T20:19:23.952Z,1761509963.952 [NAL9602](INFO): GPS fix at 20251026T201923: (36.764333, -121.870607)
2025-10-26T20:19:24.334Z,1761509964.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311771,0.929690,0.196152],[-0.949870,-0.310037,-0.040294],[0.023353,-0.198881,0.979745]]
2025-10-26T20:19:24.750Z,1761509964.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307019,0.944320,0.118321],[-0.951443,-0.307461,-0.014961],[0.022252,-0.117169,0.992863]]
2025-10-26T20:19:25.142Z,1761509965.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305811,0.952083,0.004236],[-0.951898,-0.305836,0.018827],[0.019221,0.001725,0.999814]]
2025-10-26T20:19:25.546Z,1761509965.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312826,0.948960,-0.040180],[-0.948666,-0.310093,0.062248],[0.046611,0.057590,0.997252]]
2025-10-26T20:19:25.953Z,1761509965.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334034,0.942504,0.010366],[-0.940078,-0.333932,0.068866],[0.068368,0.013258,0.997572]]
2025-10-26T20:19:26.356Z,1761509966.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327475,0.940565,0.089988],[-0.942379,-0.332028,0.040986],[0.068429,-0.071381,0.995099]]
2025-10-26T20:19:26.820Z,1761509966.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305085,0.941268,0.144697],[-0.948675,-0.313677,0.040274],[0.083297,-0.124983,0.988656]]
2025-10-26T20:19:27.162Z,1761509967.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292056,0.941735,0.166850],[-0.951603,-0.303587,0.047809],[0.095677,-0.144812,0.984822]]
2025-10-26T20:19:27.168Z,1761509967.168 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201926.00,A,3645.86002,N,12152.23658,W,0.525,309.62,261025,,,D*7E
2025-10-26T20:19:27.170Z,1761509967.170 [NAL9602](INFO): GPS fix at 20251026T201926: (36.764334, -121.870610)
2025-10-26T20:19:27.566Z,1761509967.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279417,0.948705,0.147937],[-0.957096,-0.287516,0.036088],[0.076771,-0.131506,0.988338]]
2025-10-26T20:19:27.788Z,1761509967.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:19:27.979Z,1761509967.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284424,0.953920,0.095602],[-0.957634,-0.287391,0.018555],[0.045175,-0.086274,0.995247]]
2025-10-26T20:19:28.374Z,1761509968.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306713,0.950202,0.055169],[-0.951607,-0.307307,0.002418],[0.019252,-0.051757,0.998474]]
2025-10-26T20:19:28.828Z,1761509968.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307043,0.950811,0.041030],[-0.951535,-0.307498,0.005114],[0.017479,-0.037471,0.999145]]
2025-10-26T20:19:29.184Z,1761509969.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293069,0.955646,0.029186],[-0.955764,-0.293632,0.017223],[0.025029,-0.022847,0.999426]]
2025-10-26T20:19:29.586Z,1761509969.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296170,0.954354,0.038610],[-0.954745,-0.296962,0.016573],[0.027282,-0.031954,0.999117]]
2025-10-26T20:19:29.994Z,1761509969.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296343,0.950828,0.090042],[-0.954343,-0.298503,0.011240],[0.037565,-0.082599,0.995875]]
2025-10-26T20:19:29.999Z,1761509969.999 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201929.00,A,3645.86002,N,12152.23671,W,0.350,309.62,261025,,,D*7E
2025-10-26T20:19:30.001Z,1761509970.001 [NAL9602](INFO): GPS fix at 20251026T201929: (36.764334, -121.870612)
2025-10-26T20:19:30.395Z,1761509970.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278687,0.951627,0.129380],[-0.959449,-0.281816,0.006168],[0.042331,-0.122415,0.991576]]
2025-10-26T20:19:30.842Z,1761509970.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273936,0.954397,0.118683],[-0.961523,-0.274448,-0.012326],[0.020808,-0.117493,0.992856]]
2025-10-26T20:19:31.202Z,1761509971.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294462,0.950818,0.096110],[-0.955657,-0.293339,-0.025938],[0.003530,-0.099486,0.995033]]
2025-10-26T20:19:31.607Z,1761509971.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302752,0.949933,0.077260],[-0.953004,-0.302687,-0.012835],[0.011193,-0.077515,0.996928]]
2025-10-26T20:19:32.015Z,1761509972.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314733,0.948027,0.046770],[-0.948407,-0.316083,0.024808],[0.038302,-0.036550,0.998598]]
2025-10-26T20:19:32.416Z,1761509972.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316736,0.947977,0.031905],[-0.946733,-0.318023,0.050582],[0.058097,-0.014184,0.998210]]
2025-10-26T20:19:32.825Z,1761509972.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296071,0.954503,0.035592],[-0.954487,-0.297060,0.026648],[0.036009,-0.026082,0.999011]]
2025-10-26T20:19:33.222Z,1761509973.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280186,0.957680,0.065918],[-0.959847,-0.278509,-0.033572],[-0.013793,-0.072678,0.997260]]
2025-10-26T20:19:33.257Z,1761509973.257 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201932.00,A,3645.85986,N,12152.23757,W,0.933,280.36,261025,,,D*79
2025-10-26T20:19:33.264Z,1761509973.264 [NAL9602](INFO): GPS fix at 20251026T201932: (36.764331, -121.870626)
2025-10-26T20:19:33.627Z,1761509973.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298057,0.947218,0.118069],[-0.954369,-0.293317,-0.056081],[-0.018489,-0.129396,0.991421]]
2025-10-26T20:19:34.041Z,1761509974.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335324,0.924603,0.180741],[-0.941316,-0.336662,-0.024163],[0.038507,-0.178237,0.983234]]
2025-10-26T20:19:34.436Z,1761509974.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335087,0.920920,0.199057],[-0.936986,-0.347884,0.032157],[0.098863,-0.175738,0.979460]]
2025-10-26T20:19:34.838Z,1761509974.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295155,0.946113,0.133244],[-0.947086,-0.308124,0.089931],[0.126141,-0.099650,0.986995]]
2025-10-26T20:19:35.243Z,1761509975.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273964,0.960608,0.046642],[-0.953343,-0.277648,0.118527],[0.126808,-0.011994,0.991855]]
2025-10-26T20:19:35.649Z,1761509975.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291776,0.956255,0.021063],[-0.952425,-0.292494,0.085640],[0.088054,0.004927,0.996104]]
2025-10-26T20:19:36.078Z,1761509976.078 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201935.00,A,3645.86003,N,12152.23730,W,0.719,4.74,261025,,,D*76
2025-10-26T20:19:36.080Z,1761509976.080 [NAL9602](INFO): GPS fix at 20251026T201935: (36.764334, -121.870622)
2025-10-26T20:19:36.454Z,1761509976.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294048,0.948251,0.119812],[-0.955647,-0.293856,-0.019669],[0.016557,-0.120282,0.992602]]
2025-10-26T20:19:36.859Z,1761509976.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287048,0.948989,0.130473],[-0.957777,-0.286652,-0.022220],[0.016314,-0.131342,0.991203]]
2025-10-26T20:19:37.269Z,1761509977.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280600,0.954789,0.098195],[-0.959820,-0.279453,-0.025525],[0.003069,-0.101412,0.994840]]
2025-10-26T20:19:37.666Z,1761509977.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293489,0.953554,0.067811],[-0.955884,-0.293637,-0.007994],[0.012289,-0.067165,0.997666]]
2025-10-26T20:19:38.078Z,1761509978.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318632,0.944588,0.078915],[-0.946661,-0.321336,0.023996],[0.048025,-0.067060,0.996593]]
2025-10-26T20:19:38.475Z,1761509978.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311545,0.941585,0.127896],[-0.947603,-0.317860,0.031829],[0.070622,-0.111279,0.991277]]
2025-10-26T20:19:38.878Z,1761509978.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286854,0.946515,0.147729],[-0.955733,-0.293302,0.023412],[0.065489,-0.134474,0.988751]]
2025-10-26T20:19:38.896Z,1761509978.896 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201938.00,A,3645.85978,N,12152.23757,W,0.603,235.96,261025,,,D*7A
2025-10-26T20:19:38.898Z,1761509978.898 [NAL9602](INFO): GPS fix at 20251026T201938: (36.764330, -121.870626)
2025-10-26T20:19:39.284Z,1761509979.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275856,0.953577,0.120807],[-0.959718,-0.280221,0.020432],[0.053336,-0.110304,0.992466]]
2025-10-26T20:19:39.687Z,1761509979.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279736,0.956849,0.078668],[-0.958767,-0.282694,0.029158],[0.050139,-0.067268,0.996474]]
2025-10-26T20:19:39.936Z,1761509979.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:19:40.095Z,1761509980.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294013,0.953568,0.065310],[-0.954942,-0.295960,0.022240],[0.040536,-0.055829,0.997617]]
2025-10-26T20:19:40.494Z,1761509980.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308517,0.947728,0.081418],[-0.951169,-0.308241,-0.016248],[0.009698,-0.082455,0.996548]]
2025-10-26T20:19:40.899Z,1761509980.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307646,0.945324,0.108248],[-0.951500,-0.305768,-0.033954],[0.001001,-0.113444,0.993544]]
2025-10-26T20:19:41.302Z,1761509981.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307838,0.942983,0.126568],[-0.951156,-0.308252,-0.016793],[0.023179,-0.125556,0.991816]]
2025-10-26T20:19:41.743Z,1761509981.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303552,0.946686,0.107896],[-0.951370,-0.307375,0.020369],[0.052448,-0.096466,0.993953]]
2025-10-26T20:19:42.115Z,1761509982.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279599,0.958767,0.050902],[-0.957041,-0.282552,0.065100],[0.076798,-0.030513,0.996580]]
2025-10-26T20:19:42.120Z,1761509982.120 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201941.00,A,3645.85958,N,12152.23788,W,0.292,239.78,261025,,,D*74
2025-10-26T20:19:42.122Z,1761509982.122 [NAL9602](INFO): GPS fix at 20251026T201941: (36.764326, -121.870631)
2025-10-26T20:19:42.517Z,1761509982.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261954,0.964978,-0.014045],[-0.960923,-0.259448,0.096511],[0.089487,0.038777,0.995233]]
2025-10-26T20:19:42.918Z,1761509982.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256105,0.966332,-0.024750],[-0.960877,-0.251699,0.115597],[0.105475,0.053386,0.992988]]
2025-10-26T20:19:43.322Z,1761509983.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251694,0.966214,0.055495],[-0.958831,-0.256741,0.121353],[0.131501,-0.022666,0.991057]]
2025-10-26T20:19:43.731Z,1761509983.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273239,0.948151,0.162329],[-0.956106,-0.286253,0.062620],[0.105840,-0.138093,0.984748]]
2025-10-26T20:19:44.142Z,1761509984.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301368,0.925066,0.231151],[-0.952985,-0.300246,-0.040891],[0.031575,-0.232607,0.972058]]
2025-10-26T20:19:44.534Z,1761509984.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299092,0.924441,0.236546],[-0.954196,-0.291676,-0.066604],[0.007423,-0.245632,0.969335]]
2025-10-26T20:19:44.938Z,1761509984.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296243,0.937171,0.184260],[-0.953781,-0.300458,-0.005266],[0.050427,-0.177304,0.982863]]
2025-10-26T20:19:44.950Z,1761509984.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201944.00,A,3645.85986,N,12152.23865,W,1.225,283.98,261025,,,D*7C
2025-10-26T20:19:44.952Z,1761509984.953 [NAL9602](INFO): GPS fix at 20251026T201944: (36.764331, -121.870644)
2025-10-26T20:19:45.342Z,1761509985.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299945,0.948288,0.103839],[-0.949776,-0.307036,0.060459],[0.089215,-0.080489,0.992755]]
2025-10-26T20:19:45.755Z,1761509985.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280672,0.959312,0.030711],[-0.955193,-0.282313,0.088918],[0.093970,-0.004378,0.995565]]
2025-10-26T20:19:46.154Z,1761509986.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269828,0.962842,0.011327],[-0.959188,-0.269800,0.084652],[0.084563,0.011977,0.996346]]
2025-10-26T20:19:46.554Z,1761509986.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293782,0.953603,0.065828],[-0.954842,-0.295965,0.026091],[0.044363,-0.055190,0.997490]]
2025-10-26T20:19:46.958Z,1761509986.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323869,0.934270,0.149162],[-0.946101,-0.319635,-0.052209],[-0.001100,-0.158031,0.987434]]
2025-10-26T20:19:47.363Z,1761509987.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340684,0.915746,0.212941],[-0.940176,-0.331373,-0.079125],[-0.001896,-0.227159,0.973856]]
2025-10-26T20:19:47.773Z,1761509987.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349952,0.921810,0.166733],[-0.935662,-0.352604,-0.014412],[0.045506,-0.161049,0.985897]]
2025-10-26T20:19:48.175Z,1761509988.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338585,0.936109,0.095185],[-0.938346,-0.343421,0.039607],[0.069765,-0.075906,0.994671]]
2025-10-26T20:19:48.180Z,1761509988.180 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201947.00,A,3645.85988,N,12152.23911,W,0.719,197.93,261025,,,D*75
2025-10-26T20:19:48.182Z,1761509988.182 [NAL9602](INFO): GPS fix at 20251026T201947: (36.764331, -121.870652)
2025-10-26T20:19:48.579Z,1761509988.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333628,0.942160,0.032034],[-0.937640,-0.335162,0.092180],[0.097585,0.000717,0.995227]]
2025-10-26T20:19:48.984Z,1761509988.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338736,0.940882,0.000205],[-0.937416,-0.337507,0.085682],[0.080685,0.028832,0.996323]]
2025-10-26T20:19:49.386Z,1761509989.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335300,0.941921,0.018924],[-0.940517,-0.335833,0.051418],[0.054787,-0.000557,0.998498]]
2025-10-26T20:19:49.787Z,1761509989.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321704,0.944012,0.073134],[-0.943889,-0.325837,0.053891],[0.074703,-0.051693,0.995865]]
2025-10-26T20:19:50.198Z,1761509990.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304655,0.945883,0.111764],[-0.946719,-0.313593,0.073361],[0.104439,-0.083460,0.991023]]
2025-10-26T20:19:50.332Z,1761509990.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:19:50.599Z,1761509990.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296297,0.949518,0.103075],[-0.950895,-0.303382,0.061306],[0.089482,-0.079849,0.992783]]
2025-10-26T20:19:51.002Z,1761509991.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283667,0.955887,0.076243],[-0.957898,-0.286142,0.023545],[0.044322,-0.066354,0.996811]]
2025-10-26T20:19:51.020Z,1761509991.020 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201950.00,A,3645.85939,N,12152.23790,W,1.011,127.10,261025,,,D*70
2025-10-26T20:19:51.022Z,1761509991.022 [NAL9602](INFO): GPS fix at 20251026T201950: (36.764323, -121.870632)
2025-10-26T20:19:51.406Z,1761509991.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288703,0.955872,0.054401],[-0.957334,-0.288967,-0.003126],[0.012732,-0.052982,0.998514]]
2025-10-26T20:19:51.810Z,1761509991.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292712,0.954644,0.054545],[-0.956086,-0.293084,-0.001228],[0.014814,-0.052509,0.998511]]
2025-10-26T20:19:52.215Z,1761509992.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268315,0.960424,0.074788],[-0.961647,-0.271626,0.038142],[0.056947,-0.061686,0.996470]]
2025-10-26T20:19:52.618Z,1761509992.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247547,0.963957,0.097511],[-0.965779,-0.253543,0.054650],[0.077404,-0.080646,0.993733]]
2025-10-26T20:19:53.022Z,1761509993.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264674,0.957758,0.112464],[-0.963898,-0.266271,-0.000849],[0.029133,-0.108629,0.993655]]
2025-10-26T20:19:53.427Z,1761509993.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283430,0.951084,0.122912],[-0.958268,-0.275900,-0.074841],[-0.037269,-0.138995,0.989592]]
2025-10-26T20:19:53.834Z,1761509993.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286825,0.949737,0.125425],[-0.957259,-0.279053,-0.076054],[-0.037231,-0.141878,0.989184]]
2025-10-26T20:19:54.240Z,1761509994.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289438,0.950299,0.114703],[-0.956868,-0.290393,-0.008668],[0.025072,-0.112265,0.993362]]
2025-10-26T20:19:54.250Z,1761509994.250 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201953.00,A,3645.85946,N,12152.23871,W,1.691,275.09,261025,,,D*79
2025-10-26T20:19:54.269Z,1761509994.269 [NAL9602](INFO): GPS fix at 20251026T201953: (36.764324, -121.870645)
2025-10-26T20:19:54.638Z,1761509994.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285558,0.954367,0.087405],[-0.957373,-0.288217,0.019210],[0.043525,-0.078194,0.995988]]
2025-10-26T20:19:55.043Z,1761509995.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291513,0.953992,0.070140],[-0.956519,-0.291446,-0.011415],[0.009552,-0.070418,0.997472]]
2025-10-26T20:19:55.447Z,1761509995.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308812,0.947813,0.079288],[-0.951106,-0.307223,-0.031813],[-0.005794,-0.085236,0.996344]]
2025-10-26T20:19:55.850Z,1761509995.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321315,0.941522,0.101457],[-0.946838,-0.321225,-0.017674],[0.015950,-0.101742,0.994683]]
2025-10-26T20:19:56.264Z,1761509996.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326728,0.937690,0.118260],[-0.944281,-0.329139,0.000908],[0.039775,-0.111374,0.992982]]
2025-10-26T20:19:56.658Z,1761509996.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329481,0.936872,0.117108],[-0.943333,-0.331846,0.000744],[0.039558,-0.110226,0.993119]]
2025-10-26T20:19:57.063Z,1761509997.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334195,0.935924,0.111175],[-0.941865,-0.335979,-0.002843],[0.034691,-0.105662,0.993797]]
2025-10-26T20:19:57.070Z,1761509997.070 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201956.00,A,3645.85963,N,12152.23994,W,0.544,275.30,261025,,,D*71
2025-10-26T20:19:57.073Z,1761509997.073 [NAL9602](INFO): GPS fix at 20251026T201956: (36.764327, -121.870666)
2025-10-26T20:19:57.466Z,1761509997.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339397,0.935403,0.099154],[-0.940207,-0.340558,-0.005495],[0.028628,-0.095090,0.995057]]
2025-10-26T20:19:57.870Z,1761509997.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350870,0.932399,0.086731],[-0.936156,-0.351480,-0.008643],[0.022425,-0.084226,0.996194]]
2025-10-26T20:19:58.275Z,1761509998.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360034,0.930097,0.072764],[-0.932237,-0.361692,0.010606],[0.036183,-0.064014,0.997293]]
2025-10-26T20:19:58.679Z,1761509998.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357091,0.930936,0.076446],[-0.931084,-0.361293,0.050486],[0.074619,-0.053149,0.995795]]
2025-10-26T20:19:59.082Z,1761509999.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347891,0.933581,0.086008],[-0.932264,-0.354191,0.073705],[0.099273,-0.054541,0.993564]]
2025-10-26T20:19:59.486Z,1761509999.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337964,0.938197,0.074608],[-0.936362,-0.343177,0.073869],[0.094907,-0.044895,0.994473]]
2025-10-26T20:19:59.894Z,1761509999.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326886,0.942048,0.075432],[-0.941085,-0.331788,0.065392],[0.086630,-0.049612,0.995004]]
2025-10-26T20:19:59.906Z,1761509999.906 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201959.00,A,3645.85961,N,12152.23973,W,0.641,59.99,261025,,,D*4C
2025-10-26T20:19:59.909Z,1761509999.909 [NAL9602](INFO): GPS fix at 20251026T201959: (36.764327, -121.870662)
2025-10-26T20:20:00.294Z,1761510000.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312391,0.945660,0.090212],[-0.945927,-0.318395,0.062015],[0.087369,-0.065961,0.993990]]
2025-10-26T20:20:00.660Z,1761510000.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:20:00.701Z,1761510000.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301829,0.948693,0.094232],[-0.949424,-0.308086,0.060646],[0.086566,-0.071162,0.993701]]
2025-10-26T20:20:01.103Z,1761510001.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294185,0.951450,0.090545],[-0.951718,-0.300319,0.063579],[0.087684,-0.067469,0.993861]]
2025-10-26T20:20:01.506Z,1761510001.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295303,0.950503,0.096650],[-0.951738,-0.301514,0.057310],[0.083614,-0.075061,0.993667]]
2025-10-26T20:20:01.910Z,1761510001.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298200,0.948610,0.105906],[-0.953490,-0.301155,0.012727],[0.043967,-0.097185,0.994295]]
2025-10-26T20:20:02.321Z,1761510002.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298584,0.949557,0.095858],[-0.954379,-0.296758,-0.033105],[-0.002988,-0.101369,0.994844]]
2025-10-26T20:20:02.763Z,1761510002.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305039,0.948984,0.079883],[-0.952339,-0.303849,-0.026943],[-0.001296,-0.084295,0.996440]]
2025-10-26T20:20:03.144Z,1761510003.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319126,0.943038,0.094012],[-0.945822,-0.323181,0.031228],[0.059832,-0.078953,0.995081]]
2025-10-26T20:20:03.161Z,1761510003.161 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202002.00,A,3645.85966,N,12152.23989,W,0.583,307.42,261025,,,D*79
2025-10-26T20:20:03.163Z,1761510003.163 [NAL9602](INFO): GPS fix at 20251026T202002: (36.764328, -121.870665)
2025-10-26T20:20:03.541Z,1761510003.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312226,0.942608,0.118342],[-0.943458,-0.322261,0.077686],[0.111364,-0.087395,0.989929]]
2025-10-26T20:20:03.938Z,1761510003.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287875,0.950775,0.114695],[-0.952598,-0.296597,0.067731],[0.098415,-0.089760,0.991089]]
2025-10-26T20:20:04.342Z,1761510004.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276349,0.957467,0.082996],[-0.959921,-0.279190,0.024604],[0.046730,-0.072870,0.996246]]
2025-10-26T20:20:04.757Z,1761510004.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276604,0.958920,0.062952],[-0.960830,-0.277140,-0.000226],[0.017230,-0.060549,0.998017]]
2025-10-26T20:20:05.164Z,1761510005.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274574,0.959903,0.056523],[-0.961222,-0.275572,0.010552],[0.025705,-0.051434,0.998345]]
2025-10-26T20:20:05.554Z,1761510005.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268196,0.961922,0.052696],[-0.962660,-0.269690,0.023510],[0.036827,-0.044423,0.998334]]
2025-10-26T20:20:05.958Z,1761510005.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271949,0.961157,0.047138],[-0.961939,-0.272881,0.014498],[0.026798,-0.041401,0.998783]]
2025-10-26T20:20:05.985Z,1761510005.985 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202005.00,A,3645.85939,N,12152.23995,W,0.369,272.94,261025,,,D*73
2025-10-26T20:20:05.987Z,1761510005.987 [NAL9602](INFO): GPS fix at 20251026T202005: (36.764323, -121.870666)
2025-10-26T20:20:06.366Z,1761510006.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282565,0.957734,0.053876],[-0.959246,-0.282232,-0.013863],[0.001929,-0.055597,0.998451]]
2025-10-26T20:20:06.819Z,1761510006.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290621,0.953954,0.074241],[-0.956777,-0.288845,-0.033861],[-0.010858,-0.080873,0.996665]]
2025-10-26T20:20:06.867Z,1761510006.867 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050300082491,35.0, +150,1508.8,  0
2025-10-26T20:20:07.175Z,1761510007.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292470,0.949250,0.115696],[-0.955538,-0.294845,0.003586],[0.037516,-0.109503,0.993278]]
2025-10-26T20:20:07.580Z,1761510007.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294347,0.942640,0.157445],[-0.948516,-0.308303,0.072573],[0.116951,-0.127977,0.984857]]
2025-10-26T20:20:07.982Z,1761510007.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286818,0.944630,0.159407],[-0.949481,-0.302430,0.083790],[0.127360,-0.127322,0.983651]]
2025-10-26T20:20:08.386Z,1761510008.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260889,0.959231,0.108683],[-0.961617,-0.268139,0.058264],[0.085031,-0.089311,0.992368]]
2025-10-26T20:20:08.818Z,1761510008.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242194,0.969281,0.042863],[-0.968835,-0.243976,0.042823],[0.051965,-0.031156,0.998163]]
2025-10-26T20:20:09.202Z,1761510009.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247287,0.968775,0.017992],[-0.968020,-0.247819,0.039037],[0.042276,-0.007763,0.999076]]
2025-10-26T20:20:09.209Z,1761510009.209 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202008.00,A,3645.85942,N,12152.23992,W,0.467,264.22,261025,,,D*76
2025-10-26T20:20:09.213Z,1761510009.213 [NAL9602](INFO): GPS fix at 20251026T202008: (36.764324, -121.870665)
2025-10-26T20:20:09.598Z,1761510009.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249014,0.967923,0.033432],[-0.967966,-0.249875,0.024586],[0.032151,-0.026239,0.999139]]
2025-10-26T20:20:10.002Z,1761510010.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239180,0.969020,0.061586],[-0.970970,-0.238482,-0.018552],[-0.003290,-0.064236,0.997929]]
2025-10-26T20:20:10.406Z,1761510010.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224260,0.968277,0.110212],[-0.974476,-0.221621,-0.035800],[-0.010239,-0.115427,0.993263]]
2025-10-26T20:20:10.825Z,1761510010.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212915,0.962539,0.167887],[-0.976388,-0.216026,0.000277],[0.036535,-0.163864,0.985806]]
2025-10-26T20:20:11.217Z,1761510011.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224139,0.954934,0.194582],[-0.972933,-0.230782,0.011868],[0.056240,-0.186655,0.980815]]
2025-10-26T20:20:11.618Z,1761510011.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234214,0.960016,0.153341],[-0.972100,-0.233341,-0.023925],[0.012813,-0.154667,0.987884]]
2025-10-26T20:20:11.848Z,1761510011.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:20:12.022Z,1761510012.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236413,0.970068,0.055473],[-0.971135,-0.234038,-0.046080],[-0.031718,-0.064766,0.997396]]
2025-10-26T20:20:12.031Z,1761510012.031 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202011.00,A,3645.85951,N,12152.24106,W,0.875,266.86,261025,,,D*7D
2025-10-26T20:20:12.033Z,1761510012.033 [NAL9602](INFO): GPS fix at 20251026T202011: (36.764325, -121.870684)
2025-10-26T20:20:12.428Z,1761510012.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243020,0.969769,-0.022113],[-0.968961,-0.243757,-0.041198],[-0.045343,0.011415,0.998906]]
2025-10-26T20:20:12.830Z,1761510012.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243527,0.969615,-0.023281],[-0.969610,-0.243967,-0.018358],[-0.023479,0.018103,0.999560]]
2025-10-26T20:20:13.234Z,1761510013.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242856,0.969199,0.040912],[-0.969807,-0.243544,0.012700],[0.022272,-0.036593,0.999082]]
2025-10-26T20:20:13.639Z,1761510013.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253035,0.959689,0.122353],[-0.964785,-0.259703,0.041768],[0.071860,-0.107476,0.991607]]
2025-10-26T20:20:14.045Z,1761510014.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252865,0.948526,0.190679],[-0.961933,-0.267593,0.055483],[0.103651,-0.169391,0.980083]]
2025-10-26T20:20:14.446Z,1761510014.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251586,0.944939,0.209271],[-0.963575,-0.264819,0.037349],[0.090712,-0.192252,0.977144]]
2025-10-26T20:20:14.850Z,1761510014.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245537,0.955153,0.165511],[-0.967160,-0.252943,0.024928],[0.065675,-0.153955,0.985893]]
2025-10-26T20:20:15.254Z,1761510015.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228035,0.970892,0.073271],[-0.972873,-0.230218,0.022766],[0.038971,-0.066092,0.997052]]
2025-10-26T20:20:15.266Z,1761510015.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202014.00,A,3645.85967,N,12152.24118,W,0.564,243.56,261025,,,D*75
2025-10-26T20:20:15.268Z,1761510015.268 [NAL9602](INFO): GPS fix at 20251026T202014: (36.764328, -121.870686)
2025-10-26T20:20:15.660Z,1761510015.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216340,0.976159,-0.017646],[-0.976310,-0.216376,-0.000125],[-0.003940,0.017201,0.999844]]
2025-10-26T20:20:16.062Z,1761510016.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212917,0.975866,-0.048506],[-0.977005,-0.213213,-0.000970],[-0.011289,0.047184,0.998822]]
2025-10-26T20:20:16.467Z,1761510016.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229200,0.973378,0.001300],[-0.973255,-0.229192,0.015650],[0.015531,0.002322,0.999877]]
2025-10-26T20:20:16.871Z,1761510016.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255252,0.961815,0.098784],[-0.966842,-0.254742,-0.017957],[0.007893,-0.100093,0.994947]]
2025-10-26T20:20:17.276Z,1761510017.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260606,0.949675,0.173788],[-0.965176,-0.252028,-0.070120],[-0.022792,-0.186009,0.982284]]
2025-10-26T20:20:17.686Z,1761510017.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257484,0.949222,0.180775],[-0.966119,-0.249456,-0.066222],[-0.017764,-0.191701,0.981293]]
2025-10-26T20:20:18.082Z,1761510018.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245003,0.959889,0.136331],[-0.969394,-0.244821,-0.018360],[0.015753,-0.136657,0.990493]]
2025-10-26T20:20:18.090Z,1761510018.090 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202017.00,A,3645.85940,N,12152.24130,W,0.564,182.71,261025,,,D*72
2025-10-26T20:20:18.093Z,1761510018.093 [NAL9602](INFO): GPS fix at 20251026T202017: (36.764323, -121.870688)
2025-10-26T20:20:18.489Z,1761510018.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230593,0.971042,0.062483],[-0.971757,-0.233120,0.036639],[0.050144,-0.052270,0.997373]]
2025-10-26T20:20:18.892Z,1761510018.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242550,0.970070,0.011585],[-0.967679,-0.242767,0.068272],[0.069041,0.005349,0.997599]]
2025-10-26T20:20:19.294Z,1761510019.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255549,0.966698,0.013772],[-0.964196,-0.255880,0.069649],[0.070854,0.004520,0.997476]]
2025-10-26T20:20:19.705Z,1761510019.705 [BackseatComponent](FAULT): Failed to create a data reader. azimuth_vehicleFrame is unknown.
2025-10-26T20:20:19.706Z,1761510019.706 [BackseatComponent](ERROR): Failed to request data from azimuth_vehicleFrame.
2025-10-26T20:20:19.712Z,1761510019.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244043,0.967931,0.059605],[-0.964945,-0.248491,0.084463],[0.096566,-0.036903,0.994642]]
2025-10-26T20:20:20.049Z,1761510020.049 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T202019
2025-10-26T20:20:20.109Z,1761510020.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228307,0.967816,0.105866],[-0.967004,-0.238044,0.090764],[0.113043,-0.081651,0.990229]]
2025-10-26T20:20:20.508Z,1761510020.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208228,0.970291,0.123194],[-0.975396,-0.215329,0.047293],[0.072416,-0.110315,0.991255]]
2025-10-26T20:20:20.910Z,1761510020.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186241,0.976279,0.110428],[-0.981963,-0.188690,0.012067],[0.032618,-0.106189,0.993811]]
2025-10-26T20:20:20.915Z,1761510020.915 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202020.00,A,3645.85945,N,12152.24097,W,0.467,152.01,261025,,,D*77
2025-10-26T20:20:20.932Z,1761510020.932 [NAL9602](INFO): GPS fix at 20251026T202020: (36.764324, -121.870683)
2025-10-26T20:20:21.314Z,1761510021.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198598,0.977188,0.075249],[-0.979719,-0.200026,0.011870],[0.026651,-0.071365,0.997094]]
2025-10-26T20:20:21.722Z,1761510021.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224907,0.973660,0.037460],[-0.974370,-0.224914,-0.004071],[0.004462,-0.037416,0.999290]]
2025-10-26T20:20:22.122Z,1761510022.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235599,0.971031,0.039893],[-0.971201,-0.233742,-0.046190],[-0.035527,-0.049627,0.998136]]
2025-10-26T20:20:22.526Z,1761510022.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244453,0.964930,0.095668],[-0.968767,-0.238799,-0.066831],[-0.041641,-0.109017,0.993167]]
2025-10-26T20:20:22.930Z,1761510022.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245933,0.956234,0.158538],[-0.969270,-0.243582,-0.034400],[0.005722,-0.162127,0.986753]]
2025-10-26T20:20:23.336Z,1761510023.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232920,0.958057,0.166957],[-0.971535,-0.236866,0.003842],[0.043227,-0.161310,0.985957]]
2025-10-26T20:20:23.741Z,1761510023.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230854,0.965693,0.118922],[-0.971866,-0.234727,0.019464],[0.046710,-0.111083,0.992713]]
2025-10-26T20:20:24.142Z,1761510024.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225742,0.971331,0.074547],[-0.972636,-0.229038,0.038992],[0.054949,-0.063705,0.996455]]
2025-10-26T20:20:24.151Z,1761510024.151 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202023.00,A,3645.85967,N,12152.24204,W,0.486,277.36,261025,,,D*73
2025-10-26T20:20:24.153Z,1761510024.153 [NAL9602](INFO): GPS fix at 20251026T202023: (36.764328, -121.870701)
2025-10-26T20:20:24.546Z,1761510024.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221970,0.974395,0.035827],[-0.972755,-0.223819,0.060443],[0.066915,-0.021434,0.997528]]
2025-10-26T20:20:24.958Z,1761510024.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237129,0.971391,0.012979],[-0.969797,-0.237483,0.055639],[0.057129,0.000607,0.998367]]
2025-10-26T20:20:25.354Z,1761510025.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240686,0.969878,0.037509],[-0.969793,-0.241884,0.031519],[0.039642,-0.028790,0.998799]]
2025-10-26T20:20:25.760Z,1761510025.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223404,0.971777,0.075758],[-0.974071,-0.225428,0.019198],[0.035734,-0.069505,0.996941]]
2025-10-26T20:20:26.169Z,1761510026.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217728,0.971258,0.096194],[-0.974522,-0.221778,0.033502],[0.053873,-0.086449,0.994799]]
2025-10-26T20:20:26.566Z,1761510026.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231368,0.966998,0.106696],[-0.970275,-0.237359,0.047189],[0.070957,-0.092607,0.993171]]
2025-10-26T20:20:26.977Z,1761510026.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247851,0.959497,0.133924],[-0.966706,-0.254021,0.030868],[0.063637,-0.121814,0.990511]]
2025-10-26T20:20:26.982Z,1761510026.982 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202026.00,A,3645.85973,N,12152.24258,W,0.661,316.80,261025,,,D*7A
2025-10-26T20:20:27.006Z,1761510027.006 [NAL9602](INFO): GPS fix at 20251026T202026: (36.764329, -121.870710)
2025-10-26T20:20:27.374Z,1761510027.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234693,0.961844,0.140628],[-0.971047,-0.238613,0.011456],[0.044575,-0.133868,0.989996]]
2025-10-26T20:20:27.780Z,1761510027.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207975,0.974371,0.085715],[-0.977551,-0.210078,0.016188],[0.033780,-0.080424,0.996188]]
2025-10-26T20:20:28.187Z,1761510028.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210412,0.976716,0.041872],[-0.976850,-0.211746,0.030458],[0.038615,-0.034494,0.998659]]
2025-10-26T20:20:28.263Z,1761510028.263 [DataOverHttps](INFO): Received command: stop
2025-10-26T20:20:28.344Z,1761510028.344 [CommandExec](IMPORTANT): got command stop
2025-10-26T20:20:28.344Z,1761510028.344 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-10-26T20:20:28.586Z,1761510028.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226908,0.973115,0.039488],[-0.973775,-0.227378,0.007790],[0.016559,-0.036685,0.999190]]
2025-10-26T20:20:28.629Z,1761510028.629 [MissionManager](INFO): MissionManager is completed.
2025-10-26T20:20:28.629Z,1761510028.629 [MissionManager](INFO): Uninitializing Mission run_backseat_on_surface
2025-10-26T20:20:28.629Z,1761510028.629 [run_backseat_on_surface] Stopped
2025-10-26T20:20:28.629Z,1761510028.629 [run_backseat_on_surface](DEBUG): Aggregate::uninitialize run_backseat_on_surface
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science:B] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science:C] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science:E] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science:OceanCurrent] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:OceanCurrent
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:Science:OceanCurrent:A.] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:BackseatDriver] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::uninitialize run_backseat_on_surface:BackseatDriver
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-10-26T20:20:28.630Z,1761510028.630 [run_backseat_on_surface:PowerOnly] Stopped
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::uninitialize run_backseat_on_surface:PowerOnly
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:PowerOnly:E.Wait] Stopped
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:E.GoToSurface] Stopped
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:CheckIn] Stopped
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-10-26T20:20:28.631Z,1761510028.631 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:20:28.993Z,1761510028.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230876,0.971089,0.060679],[-0.972738,-0.228970,-0.036779],[-0.021822,-0.067516,0.997479]]
2025-10-26T20:20:29.066Z,1761510029.066 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-26T20:20:29.066Z,1761510029.066 [DefaultWithUndock] Running Loop=1
2025-10-26T20:20:29.066Z,1761510029.066 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-26T20:20:29.066Z,1761510029.066 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-26T20:20:29.067Z,1761510029.067 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:20:29.395Z,1761510029.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229649,0.969830,0.081796],[-0.972452,-0.225190,-0.060220],[-0.039983,-0.093372,0.994828]]
2025-10-26T20:20:29.801Z,1761510029.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244024,0.963662,0.108662],[-0.969310,-0.238925,-0.057907],[-0.029841,-0.119458,0.992391]]
2025-10-26T20:20:29.941Z,1761510029.941 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-10-26T20:20:29.941Z,1761510029.941 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-10-26T20:20:30.202Z,1761510030.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273511,0.952843,0.131465],[-0.961867,-0.270642,-0.039562],[-0.002117,-0.137272,0.990531]]
2025-10-26T20:20:30.207Z,1761510030.207 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202029.00,A,3645.85972,N,12152.24303,W,0.311,298.89,261025,,,D*77
2025-10-26T20:20:30.218Z,1761510030.218 [NAL9602](INFO): GPS fix at 20251026T202029: (36.764329, -121.870717)
2025-10-26T20:20:30.268Z,1761510030.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:20:30.606Z,1761510030.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297051,0.946514,0.125982],[-0.954381,-0.298491,-0.007734],[0.030284,-0.122532,0.992002]]
2025-10-26T20:20:31.050Z,1761510031.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278570,0.956826,0.082959],[-0.958333,-0.282613,0.041568],[0.063219,-0.067922,0.995686]]
2025-10-26T20:20:31.825Z,1761510031.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258683,0.965391,0.033222],[-0.964759,-0.259924,0.040982],[0.048198,-0.021450,0.998607]]
2025-10-26T20:20:32.227Z,1761510032.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256960,0.965465,0.043001],[-0.965340,-0.258523,0.035850],[0.045728,-0.032298,0.998432]]
2025-10-26T20:20:32.631Z,1761510032.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262500,0.962486,0.068660],[-0.963617,-0.265191,0.033404],[0.050359,-0.057394,0.997081]]
2025-10-26T20:20:33.039Z,1761510033.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257481,0.961943,0.091483],[-0.964190,-0.261998,0.041166],[0.063567,-0.077607,0.994955]]
2025-10-26T20:20:33.047Z,1761510033.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202032.00,A,3645.85960,N,12152.24265,W,0.486,100.72,261025,,,D*70
2025-10-26T20:20:33.053Z,1761510033.053 [NAL9602](INFO): GPS fix at 20251026T202032: (36.764327, -121.870711)
2025-10-26T20:20:33.435Z,1761510033.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243406,0.962913,0.116417],[-0.966510,-0.250858,0.054120],[0.081317,-0.099346,0.991725]]
2025-10-26T20:20:33.839Z,1761510033.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226083,0.965617,0.128337],[-0.969453,-0.235906,0.067148],[0.095115,-0.109235,0.989455]]
2025-10-26T20:20:34.242Z,1761510034.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219784,0.970995,0.094151],[-0.971530,-0.226608,0.069129],[0.088459,-0.076277,0.993155]]
2025-10-26T20:20:34.654Z,1761510034.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212198,0.976496,0.037797],[-0.974753,-0.214253,0.062864],[0.069485,-0.023503,0.997306]]
2025-10-26T20:20:35.050Z,1761510035.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210618,0.977529,0.008736],[-0.975703,-0.210760,0.059869],[0.060365,0.004085,0.998168]]
2025-10-26T20:20:35.454Z,1761510035.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226835,0.973234,0.036907],[-0.972999,-0.228114,0.035166],[0.042644,-0.027934,0.998700]]
2025-10-26T20:20:35.860Z,1761510035.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239963,0.964613,0.109267],[-0.970669,-0.240131,-0.011816],[0.014840,-0.108898,0.993942]]
2025-10-26T20:20:35.866Z,1761510035.866 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202035.00,A,3645.85973,N,12152.24304,W,1.730,287.27,261025,,,D*70
2025-10-26T20:20:35.869Z,1761510035.869 [NAL9602](INFO): GPS fix at 20251026T202035: (36.764329, -121.870717)
2025-10-26T20:20:36.263Z,1761510036.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246127,0.948796,0.198011],[-0.969163,-0.243455,-0.038118],[0.012040,-0.201286,0.979458]]
2025-10-26T20:20:36.669Z,1761510036.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255742,0.935961,0.242019],[-0.966673,-0.250641,-0.052182],[0.011819,-0.247299,0.968867]]
2025-10-26T20:20:37.070Z,1761510037.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259626,0.942615,0.209931],[-0.965707,-0.253900,-0.054266],[0.002149,-0.216821,0.976209]]
2025-10-26T20:20:37.475Z,1761510037.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251536,0.962375,0.102781],[-0.967491,-0.252905,0.000302],[0.026284,-0.099363,0.994704]]
2025-10-26T20:20:37.878Z,1761510037.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250491,0.967965,-0.017245],[-0.965376,-0.248402,0.079664],[0.072828,0.036603,0.996673]]
2025-10-26T20:20:38.282Z,1761510038.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244003,0.965499,-0.090958],[-0.965514,-0.233078,0.116007],[0.090805,0.116128,0.989075]]
2025-10-26T20:20:38.686Z,1761510038.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227460,0.970974,-0.073972],[-0.967947,-0.217135,0.126220],[0.106494,0.100310,0.989241]]
2025-10-26T20:20:39.092Z,1761510039.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222369,0.974849,0.014871],[-0.967183,-0.222492,0.122692],[0.122915,0.012900,0.992333]]
2025-10-26T20:20:39.102Z,1761510039.102 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202038.00,A,3645.85972,N,12152.24366,W,0.467,303.58,261025,,,D*7D
2025-10-26T20:20:39.105Z,1761510039.105 [NAL9602](INFO): GPS fix at 20251026T202038: (36.764329, -121.870728)
2025-10-26T20:20:39.510Z,1761510039.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228093,0.965887,0.122622],[-0.969688,-0.236693,0.060675],[0.087629,-0.105065,0.990597]]
2025-10-26T20:20:39.564Z,1761510039.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:20:39.898Z,1761510039.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233579,0.948967,0.211901],[-0.972239,-0.231043,-0.037008],[0.013838,-0.214663,0.976590]]
2025-10-26T20:20:40.302Z,1761510040.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232221,0.942602,0.239948],[-0.972244,-0.217710,-0.085692],[-0.028534,-0.253188,0.966996]]
2025-10-26T20:20:40.708Z,1761510040.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236950,0.956250,0.171584],[-0.971246,-0.228948,-0.065303],[-0.023162,-0.182124,0.983003]]
2025-10-26T20:20:41.146Z,1761510041.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263623,0.961507,0.077510],[-0.964416,-0.261038,-0.041958],[-0.020110,-0.085813,0.996108]]
2025-10-26T20:20:41.543Z,1761510041.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285495,0.958255,0.015461],[-0.958216,-0.285110,-0.023134],[-0.017760,-0.021420,0.999613]]
2025-10-26T20:20:41.946Z,1761510041.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279905,0.960023,-0.002986],[-0.959753,-0.279750,0.024794],[0.022967,0.009806,0.999688]]
2025-10-26T20:20:41.960Z,1761510041.960 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202041.00,A,3645.85976,N,12152.24426,W,0.292,262.20,261025,,,D*71
2025-10-26T20:20:41.962Z,1761510041.962 [NAL9602](INFO): GPS fix at 20251026T202041: (36.764329, -121.870738)
2025-10-26T20:20:42.350Z,1761510042.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260039,0.965353,0.021727],[-0.963592,-0.260883,0.058564],[0.062203,-0.005707,0.998047]]
2025-10-26T20:20:42.793Z,1761510042.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260281,0.963502,0.062590],[-0.963849,-0.263107,0.042063],[0.056996,-0.049379,0.997153]]
2025-10-26T20:20:43.161Z,1761510043.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258712,0.960966,0.098047],[-0.965457,-0.260502,0.005695],[0.031014,-0.093187,0.995165]]
2025-10-26T20:20:43.562Z,1761510043.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245003,0.962884,0.113259],[-0.969280,-0.245876,-0.006413],[0.021672,-0.111351,0.993545]]
2025-10-26T20:20:43.966Z,1761510043.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244798,0.961606,0.124044],[-0.969026,-0.246951,0.002045],[0.032599,-0.119701,0.992275]]
2025-10-26T20:20:44.372Z,1761510044.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269827,0.954444,0.127400],[-0.962702,-0.270140,-0.015139],[0.019967,-0.126733,0.991736]]
2025-10-26T20:20:44.814Z,1761510044.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300227,0.946289,0.120000],[-0.953850,-0.298611,-0.031662],[0.005872,-0.123967,0.992269]]
2025-10-26T20:20:45.178Z,1761510045.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308916,0.945525,0.102733],[-0.950955,-0.308883,-0.016634],[0.016004,-0.102833,0.994570]]
2025-10-26T20:20:45.187Z,1761510045.187 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202044.00,A,3645.85969,N,12152.24381,W,0.175,217.08,261025,,,D*72
2025-10-26T20:20:45.189Z,1761510045.189 [NAL9602](INFO): GPS fix at 20251026T202044: (36.764328, -121.870730)
2025-10-26T20:20:45.582Z,1761510045.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293530,0.953079,0.074033],[-0.955842,-0.293778,-0.007762],[0.014352,-0.073042,0.997226]]
2025-10-26T20:20:45.987Z,1761510045.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276653,0.960302,0.035816],[-0.960970,-0.276492,-0.009454],[0.000824,-0.037034,0.999314]]
2025-10-26T20:20:46.390Z,1761510046.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261608,0.965101,0.011912],[-0.965103,-0.261719,0.008957],[0.011762,-0.009153,0.999889]]
2025-10-26T20:20:46.826Z,1761510046.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249681,0.968224,0.014184],[-0.967877,-0.249985,0.026862],[0.029554,-0.007022,0.999538]]
2025-10-26T20:20:47.198Z,1761510047.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248609,0.967782,0.039900],[-0.967700,-0.249946,0.032934],[0.041846,-0.030423,0.998661]]
2025-10-26T20:20:47.603Z,1761510047.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262299,0.961520,0.081723],[-0.963966,-0.264974,0.023620],[0.044366,-0.072583,0.996375]]
2025-10-26T20:20:48.008Z,1761510048.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272554,0.954204,0.123326],[-0.961267,-0.275521,0.007343],[0.040986,-0.116548,0.992339]]
2025-10-26T20:20:48.013Z,1761510048.013 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202047.00,A,3645.85952,N,12152.24382,W,0.389,195.75,261025,,,D*78
2025-10-26T20:20:48.015Z,1761510048.015 [NAL9602](INFO): GPS fix at 20251026T202047: (36.764325, -121.870730)
2025-10-26T20:20:48.040Z,1761510048.040 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-10-26T20:20:48.041Z,1761510048.041 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-10-26T20:20:48.041Z,1761510048.041 [LcmPublisher](INFO): Deactivating messaging.
2025-10-26T20:20:48.228Z,1761510048.228 [WetLabsBB2FL](INFO): Powering down
2025-10-26T20:20:48.229Z,1761510048.229 [DAT](INFO): Deactivating messaging.
2025-10-26T20:20:48.410Z,1761510048.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247911,0.958293,0.142178],[-0.968267,-0.249886,-0.004073],[0.031625,-0.138676,0.989833]]
2025-10-26T20:20:48.822Z,1761510048.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223739,0.969045,0.104369],[-0.974492,-0.224338,-0.006109],[0.017494,-0.103073,0.994520]]
2025-10-26T20:20:49.218Z,1761510049.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227661,0.972060,0.057187],[-0.973740,-0.227246,-0.013757],[-0.000377,-0.058818,0.998269]]
2025-10-26T20:20:49.472Z,1761510049.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:20:49.623Z,1761510049.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241555,0.969106,0.049838],[-0.970307,-0.241875,0.000401],[0.012443,-0.048261,0.998757]]
2025-10-26T20:20:50.026Z,1761510050.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257524,0.962938,0.080195],[-0.965549,-0.259653,0.017190],[0.037376,-0.073006,0.996631]]
2025-10-26T20:20:50.430Z,1761510050.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263976,0.957771,0.113982],[-0.964165,-0.265273,-0.003902],[0.026499,-0.110927,0.993475]]
2025-10-26T20:20:50.834Z,1761510050.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258319,0.957526,0.128118],[-0.965986,-0.257650,-0.022063],[0.011884,-0.129459,0.991514]]
2025-10-26T20:20:51.240Z,1761510051.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257933,0.957310,0.130490],[-0.965209,-0.261318,0.009216],[0.042922,-0.123573,0.991407]]
2025-10-26T20:20:51.642Z,1761510051.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264572,0.954884,0.134904],[-0.959292,-0.274923,0.064625],[0.098798,-0.112314,0.988749]]
2025-10-26T20:20:52.046Z,1761510052.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261904,0.956098,0.131466],[-0.957957,-0.274080,0.084846],[0.117154,-0.103717,0.987683]]
2025-10-26T20:20:52.450Z,1761510052.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270977,0.957018,0.103384],[-0.960304,-0.276162,0.039387],[0.066245,-0.088607,0.993861]]
2025-10-26T20:20:52.856Z,1761510052.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276856,0.958417,0.069189],[-0.960883,-0.275580,-0.027545],[-0.007332,-0.074109,0.997223]]
2025-10-26T20:20:53.259Z,1761510053.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274487,0.960680,0.041829],[-0.960971,-0.272489,-0.047807],[-0.034529,-0.053319,0.997980]]
2025-10-26T20:20:53.662Z,1761510053.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280924,0.958643,0.045660],[-0.959729,-0.280684,-0.011709],[0.001591,-0.047110,0.998888]]
2025-10-26T20:20:54.066Z,1761510054.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282077,0.954533,0.096429],[-0.957885,-0.285839,0.027441],[0.053756,-0.084627,0.994962]]
2025-10-26T20:20:54.472Z,1761510054.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278855,0.948328,0.151372],[-0.957376,-0.286881,0.033612],[0.075301,-0.135547,0.987905]]
2025-10-26T20:20:54.875Z,1761510054.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271781,0.949754,0.155249],[-0.960936,-0.276595,0.009873],[0.052318,-0.146501,0.987826]]
2025-10-26T20:20:55.278Z,1761510055.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260333,0.960441,0.098894],[-0.965424,-0.260375,-0.012716],[0.013537,-0.098785,0.995017]]
2025-10-26T20:20:55.682Z,1761510055.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252269,0.967479,0.018556],[-0.967644,-0.252319,0.000352],[0.005023,-0.017866,0.999828]]
2025-10-26T20:20:56.088Z,1761510056.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251575,0.967150,-0.036487],[-0.967239,-0.249915,0.044617],[0.034033,0.046516,0.998338]]
2025-10-26T20:20:56.490Z,1761510056.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256718,0.965839,-0.035362],[-0.965217,-0.254335,0.060573],[0.049510,0.049682,0.997537]]
2025-10-26T20:20:56.894Z,1761510056.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258929,0.965429,0.030023],[-0.965461,-0.259620,0.021941],[0.028977,-0.023305,0.999308]]
2025-10-26T20:20:57.298Z,1761510057.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271168,0.953994,0.127922],[-0.962499,-0.269861,-0.027778],[0.008022,-0.130658,0.991395]]
2025-10-26T20:20:57.703Z,1761510057.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281041,0.937340,0.205935],[-0.959584,-0.277738,-0.045392],[0.014648,-0.210369,0.977512]]
2025-10-26T20:20:58.106Z,1761510058.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273311,0.937667,0.214667],[-0.960400,-0.278560,-0.006017],[0.054156,-0.207811,0.976669]]
2025-10-26T20:20:58.180Z,1761510058.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:20:58.510Z,1761510058.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288605,0.943036,0.165501],[-0.953107,-0.299414,0.044027],[0.091072,-0.145034,0.985226]]
2025-10-26T20:20:58.914Z,1761510058.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298410,0.949109,0.100719],[-0.951834,-0.303724,0.042007],[0.070460,-0.083332,0.994028]]
2025-10-26T20:20:59.320Z,1761510059.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281693,0.958870,0.034896],[-0.959319,-0.282167,0.009384],[0.018845,-0.030833,0.999347]]
2025-10-26T20:20:59.334Z,1761510059.334 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-26T20:20:59.334Z,1761510059.334 [DefaultWithUndock:A.Wait] Stopped
2025-10-26T20:20:59.334Z,1761510059.334 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:20:59.334Z,1761510059.334 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-26T20:20:59.334Z,1761510059.334 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-26T20:20:59.335Z,1761510059.335 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-26T20:20:59.335Z,1761510059.335 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-26T20:20:59.335Z,1761510059.335 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-26T20:20:59.335Z,1761510059.335 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T20:20:59.335Z,1761510059.335 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:20:59.724Z,1761510059.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277848,0.960581,-0.009222],[-0.960189,-0.277998,-0.027463],[-0.028944,0.001224,0.999580]]
2025-10-26T20:20:59.743Z,1761510059.743 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T20:20:59.744Z,1761510059.744 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:20:59.744Z,1761510059.744 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.146624 m.
2025-10-26T20:20:59.745Z,1761510059.745 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-26T20:20:59.745Z,1761510059.745 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T20:21:00.126Z,1761510060.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288115,0.957517,0.012251],[-0.956994,-0.287457,-0.039114],[-0.033931,-0.022993,0.999160]]
2025-10-26T20:21:00.153Z,1761510060.153 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-26T20:21:00.530Z,1761510060.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291409,0.953205,0.080505],[-0.956264,-0.292498,0.001825],[0.025287,-0.076452,0.996753]]
2025-10-26T20:21:00.586Z,1761510060.586 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T20:21:00.705Z,1761510060.705 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T20:21:00.934Z,1761510060.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303754,0.942791,0.137398],[-0.950222,-0.310280,0.028352],[0.069362,-0.121947,0.990110]]
2025-10-26T20:21:01.343Z,1761510061.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321123,0.934996,0.150543],[-0.946564,-0.321909,-0.019796],[0.029952,-0.148856,0.988405]]
2025-10-26T20:21:01.743Z,1761510061.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317663,0.939061,0.131359],[-0.947997,-0.311640,-0.064663],[-0.019786,-0.145069,0.989224]]
2025-10-26T20:21:02.147Z,1761510062.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316257,0.944162,0.092405],[-0.948673,-0.314853,-0.029782],[0.000975,-0.097081,0.995276]]
2025-10-26T20:21:02.551Z,1761510062.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325567,0.943192,0.066291],[-0.943180,-0.328891,0.047360],[0.066472,-0.047106,0.996676]]
2025-10-26T20:21:02.956Z,1761510062.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320090,0.946635,0.037748],[-0.943475,-0.322133,0.078006],[0.086003,-0.010646,0.996238]]
2025-10-26T20:21:03.359Z,1761510063.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304078,0.952386,0.022296],[-0.950270,-0.304888,0.063478],[0.067254,-0.001885,0.997734]]
2025-10-26T20:21:03.763Z,1761510063.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292469,0.955479,0.039011],[-0.954175,-0.294286,0.054268],[0.063333,-0.021352,0.997764]]
2025-10-26T20:21:04.166Z,1761510064.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273926,0.959716,0.062519],[-0.960064,-0.276716,0.041294],[0.056930,-0.048710,0.997189]]
2025-10-26T20:21:04.572Z,1761510064.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265056,0.961371,0.074234],[-0.964161,-0.265189,-0.008239],[0.011765,-0.073757,0.997207]]
2025-10-26T20:21:04.975Z,1761510064.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276718,0.954863,0.108002],[-0.960477,-0.271298,-0.062303],[-0.030189,-0.120974,0.992197]]
2025-10-26T20:21:05.379Z,1761510065.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292648,0.943679,0.154359],[-0.955804,-0.283923,-0.076328],[-0.028203,-0.169874,0.985062]]
2025-10-26T20:21:05.782Z,1761510065.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300834,0.939260,0.165194],[-0.953671,-0.296894,-0.048645],[0.003355,-0.172174,0.985061]]
2025-10-26T20:21:06.186Z,1761510066.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317307,0.938461,0.136408],[-0.947547,-0.319567,-0.005587],[0.038349,-0.131026,0.990637]]
2025-10-26T20:21:06.596Z,1761510066.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326993,0.940996,0.087187],[-0.944227,-0.329118,0.010822],[0.038879,-0.078785,0.996133]]
2025-10-26T20:21:06.994Z,1761510066.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336035,0.940960,0.040914],[-0.941556,-0.336698,0.010348],[0.023513,-0.035045,0.999109]]
2025-10-26T20:21:07.012Z,1761510067.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:21:07.400Z,1761510067.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341667,0.938824,0.043280],[-0.939683,-0.342043,0.001371],[0.016091,-0.040201,0.999062]]
2025-10-26T20:21:07.802Z,1761510067.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351199,0.929846,0.109749],[-0.935677,-0.352823,-0.004897],[0.034168,-0.104410,0.993947]]
2025-10-26T20:21:08.206Z,1761510068.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361067,0.912350,0.192997],[-0.929396,-0.369038,0.005793],[0.076508,-0.177279,0.981182]]
2025-10-26T20:21:08.611Z,1761510068.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351989,0.908764,0.224169],[-0.928648,-0.369027,0.037851],[0.117122,-0.194850,0.973815]]
2025-10-26T20:21:09.014Z,1761510069.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339324,0.925346,0.169096],[-0.932385,-0.354662,0.069806],[0.124566,-0.133975,0.983125]]
2025-10-26T20:21:09.418Z,1761510069.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325507,0.942170,0.079752],[-0.940349,-0.331392,0.076955],[0.098934,-0.049945,0.993840]]
2025-10-26T20:21:09.825Z,1761510069.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296029,0.955115,0.011016],[-0.951224,-0.295832,0.087495],[0.086827,0.015422,0.996104]]
2025-10-26T20:21:10.226Z,1761510070.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261506,0.964656,-0.032458],[-0.960003,-0.256465,0.112335],[0.100040,0.060536,0.993140]]
2025-10-26T20:21:10.630Z,1761510070.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256386,0.966145,-0.028804],[-0.962693,-0.252575,0.097099],[0.086536,0.052624,0.994858]]
2025-10-26T20:21:11.035Z,1761510071.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283156,0.958741,0.025258],[-0.958054,-0.283971,0.038646],[0.044224,-0.013255,0.998934]]
2025-10-26T20:21:11.440Z,1761510071.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307710,0.943931,0.119620],[-0.951326,-0.307485,-0.020797],[0.017150,-0.120197,0.992602]]
2025-10-26T20:21:11.843Z,1761510071.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306884,0.933989,0.182992],[-0.951741,-0.301825,-0.055591],[0.003310,-0.191221,0.981541]]
2025-10-26T20:21:12.246Z,1761510072.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297376,0.941346,0.159482],[-0.954493,-0.289164,-0.072989],[-0.022592,-0.173929,0.984499]]
2025-10-26T20:21:12.650Z,1761510072.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300287,0.949335,0.092684],[-0.953036,-0.294600,-0.070242],[-0.039379,-0.109424,0.993215]]
2025-10-26T20:21:13.056Z,1761510073.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307227,0.950476,0.046978],[-0.951486,-0.305927,-0.032904],[-0.016903,-0.054808,0.998354]]
2025-10-26T20:21:13.459Z,1761510073.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304747,0.951576,0.040398],[-0.952229,-0.305287,0.007794],[0.019749,-0.036093,0.999153]]
2025-10-26T20:21:13.868Z,1761510073.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306158,0.951063,0.041802],[-0.951442,-0.307167,0.020184],[0.032037,-0.033593,0.998922]]
2025-10-26T20:21:14.271Z,1761510074.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306203,0.950649,0.050050],[-0.950924,-0.307904,0.030627],[0.044526,-0.038215,0.998277]]
2025-10-26T20:21:14.675Z,1761510074.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293589,0.953796,0.063861],[-0.955545,-0.294715,0.008775],[0.027190,-0.058446,0.997920]]
2025-10-26T20:21:15.081Z,1761510075.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288992,0.953328,0.087460],[-0.957031,-0.285405,-0.051338],[-0.023980,-0.098538,0.994844]]
2025-10-26T20:21:15.481Z,1761510075.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309205,0.944660,0.109591],[-0.949259,-0.299623,-0.095573],[-0.057448,-0.133582,0.989371]]
2025-10-26T20:21:15.882Z,1761510075.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334373,0.934403,0.122822],[-0.941569,-0.325611,-0.086165],[-0.040521,-0.144457,0.988681]]
2025-10-26T20:21:16.286Z,1761510076.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332297,0.935081,0.123295],[-0.942900,-0.332506,-0.019490],[0.022771,-0.122731,0.992179]]
2025-10-26T20:21:16.690Z,1761510076.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318944,0.943836,0.086303],[-0.945962,-0.322640,0.032560],[0.058577,-0.071255,0.995737]]
2025-10-26T20:21:16.809Z,1761510076.809 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:21:17.095Z,1761510077.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322461,0.945635,0.042355],[-0.945681,-0.323784,0.029176],[0.041304,-0.030646,0.998677]]
2025-10-26T20:21:17.500Z,1761510077.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317459,0.947503,0.038189],[-0.947691,-0.318417,0.022193],[0.033188,-0.029146,0.999024]]
2025-10-26T20:21:17.902Z,1761510077.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306612,0.949829,0.061762],[-0.949571,-0.309711,0.048936],[0.065609,-0.043643,0.996891]]
2025-10-26T20:21:18.306Z,1761510078.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312436,0.945697,0.089674],[-0.945546,-0.318670,0.066271],[0.091249,-0.064085,0.993764]]
2025-10-26T20:21:18.710Z,1761510078.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314794,0.943152,0.106625],[-0.946983,-0.319688,0.031984],[0.064252,-0.090903,0.993785]]
2025-10-26T20:21:19.116Z,1761510079.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318877,0.941229,0.111380],[-0.947308,-0.320276,-0.005580],[0.030420,-0.107291,0.993762]]
2025-10-26T20:21:19.518Z,1761510079.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347199,0.929245,0.126322],[-0.937516,-0.347199,-0.022735],[0.022732,-0.126322,0.991729]]
2025-10-26T20:21:19.922Z,1761510079.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366942,0.918767,0.145674],[-0.930028,-0.365705,-0.036167],[0.020045,-0.148752,0.988671]]
2025-10-26T20:21:20.326Z,1761510080.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365897,0.921332,0.131405],[-0.930613,-0.363567,-0.042184],[0.008909,-0.137722,0.990431]]
2025-10-26T20:21:20.353Z,1761510080.353 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1301.30 m. Transitioning docking module to standby.
2025-10-26T20:21:20.736Z,1761510080.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354911,0.931399,0.080837],[-0.934723,-0.355199,-0.011276],[0.018211,-0.079562,0.996664]]
2025-10-26T20:21:20.740Z,1761510080.740 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:21:20.821Z,1761510080.821 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-10-26T20:21:21.134Z,1761510081.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345864,0.937437,0.039863],[-0.936551,-0.347495,0.046034],[0.057006,-0.021413,0.998144]]
2025-10-26T20:21:21.194Z,1761510081.194 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-10-26T20:21:21.194Z,1761510081.194 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-26T20:21:21.195Z,1761510081.195 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-10-26T20:21:21.248Z,1761510081.248 [DefaultWithUndock:LeaveDock] Stopped
2025-10-26T20:21:21.249Z,1761510081.249 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-26T20:21:21.249Z,1761510081.249 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-10-26T20:21:21.249Z,1761510081.249 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-10-26T20:21:21.249Z,1761510081.249 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-10-26T20:21:21.249Z,1761510081.249 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T20:21:21.249Z,1761510081.249 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-26T20:21:21.250Z,1761510081.250 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-26T20:21:21.250Z,1761510081.250 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-26T20:21:21.250Z,1761510081.250 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-26T20:21:21.250Z,1761510081.250 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T20:21:21.251Z,1761510081.251 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T20:21:21.540Z,1761510081.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348563,0.936805,0.030009],[-0.932322,-0.349830,0.091620],[0.096328,0.003957,0.995342]]
2025-10-26T20:21:21.568Z,1761510081.568 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-10-26T20:21:21.568Z,1761510081.568 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-26T20:21:21.569Z,1761510081.569 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-26T20:21:21.942Z,1761510081.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336895,0.939999,0.053888],[-0.936675,-0.340416,0.082200],[0.095612,-0.022783,0.995158]]
2025-10-26T20:21:22.347Z,1761510082.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317109,0.946785,0.055145],[-0.946942,-0.319300,0.036717],[0.052371,-0.040576,0.997803]]
2025-10-26T20:21:22.772Z,1761510082.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316785,0.947099,0.051478],[-0.948412,-0.317017,-0.003812],[0.012709,-0.050030,0.998667]]
2025-10-26T20:21:23.156Z,1761510083.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327005,0.942486,0.069197],[-0.944953,-0.326993,-0.011822],[0.011485,-0.069254,0.997533]]
2025-10-26T20:21:23.558Z,1761510083.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324774,0.940983,0.095255],[-0.944920,-0.327147,0.010017],[0.040588,-0.086755,0.995403]]
2025-10-26T20:21:23.573Z,1761510083.573 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202122.00,A,3645.85952,N,12152.24786,W,0.486,170.69,261025,,,D*74
2025-10-26T20:21:23.575Z,1761510083.575 [NAL9602](INFO): GPS fix at 20251026T202122: (36.764325, -121.870798)
2025-10-26T20:21:23.587Z,1761510083.587 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-26T20:21:23.587Z,1761510083.587 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-26T20:21:23.962Z,1761510083.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320668,0.938691,0.126617],[-0.945065,-0.326029,0.023597],[0.063431,-0.112094,0.991671]]
2025-10-26T20:21:24.366Z,1761510084.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326450,0.935966,0.131902],[-0.944172,-0.329452,0.000989],[0.044381,-0.124215,0.991262]]
2025-10-26T20:21:24.806Z,1761510084.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329309,0.939012,0.099060],[-0.944221,-0.327306,-0.036307],[-0.001669,-0.105491,0.994419]]
2025-10-26T20:21:25.174Z,1761510085.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321179,0.945122,0.059900],[-0.946852,-0.319291,-0.039050],[-0.017781,-0.069258,0.997440]]
2025-10-26T20:21:25.578Z,1761510085.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319200,0.947026,0.035386],[-0.947667,-0.319215,-0.005385],[0.006196,-0.035253,0.999359]]
2025-10-26T20:21:25.982Z,1761510085.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322233,0.946316,0.025547],[-0.946559,-0.322477,0.005958],[0.013877,-0.022261,0.999656]]
2025-10-26T20:21:26.388Z,1761510086.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315730,0.948396,0.029305],[-0.948848,-0.315526,-0.011472],[-0.001634,-0.031429,0.999505]]
2025-10-26T20:21:26.873Z,1761510086.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324704,0.944984,0.039649],[-0.945813,-0.324325,-0.015818],[-0.002089,-0.042636,0.999088]]
2025-10-26T20:21:27.194Z,1761510087.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352898,0.932635,0.075198],[-0.935411,-0.353522,-0.005295],[0.021646,-0.072210,0.997155]]
2025-10-26T20:21:27.599Z,1761510087.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361705,0.923155,0.130208],[-0.931504,-0.363599,-0.009768],[0.038326,-0.124822,0.991439]]
2025-10-26T20:21:28.003Z,1761510088.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353531,0.922035,0.157694],[-0.935139,-0.352519,-0.035293],[0.023048,-0.159943,0.986857]]
2025-10-26T20:21:28.406Z,1761510088.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343827,0.929121,0.136079],[-0.938975,-0.338569,-0.060798],[-0.010416,-0.148679,0.988831]]
2025-10-26T20:21:28.822Z,1761510088.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335329,0.938128,0.086427],[-0.942012,-0.332625,-0.044427],[-0.012930,-0.096313,0.995267]]
2025-10-26T20:21:29.215Z,1761510089.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346693,0.937118,0.040168],[-0.937325,-0.347732,0.022455],[0.035011,-0.029865,0.998941]]
2025-10-26T20:21:29.618Z,1761510089.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361179,0.932336,0.017313],[-0.929057,-0.361378,0.079109],[0.080013,0.012488,0.996716]]
2025-10-26T20:21:30.022Z,1761510090.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372790,0.927284,0.034236],[-0.923977,-0.374351,0.078286],[0.085409,-0.002449,0.996343]]
2025-10-26T20:21:30.426Z,1761510090.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392090,0.916247,0.082197],[-0.917784,-0.395707,0.032997],[0.062759,-0.062501,0.996070]]
2025-10-26T20:21:30.832Z,1761510090.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389960,0.910629,0.136697],[-0.920536,-0.389278,-0.032804],[0.023341,-0.138627,0.990070]]
2025-10-26T20:21:31.234Z,1761510091.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373489,0.916361,0.144182],[-0.927633,-0.369286,-0.055910],[0.002010,-0.154630,0.987970]]
2025-10-26T20:21:31.638Z,1761510091.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375524,0.918721,0.122201],[-0.926529,-0.375391,-0.024999],[0.022906,-0.122611,0.992190]]
2025-10-26T20:21:32.043Z,1761510092.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377821,0.921563,0.089294],[-0.924742,-0.380375,0.012909],[0.045862,-0.077697,0.995922]]
2025-10-26T20:21:32.448Z,1761510092.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378776,0.924113,0.050430],[-0.924260,-0.380518,0.030803],[0.047655,-0.034943,0.998253]]
2025-10-26T20:21:32.794Z,1761510092.794 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251026T180417/Courier0042.lzma
2025-10-26T20:21:32.851Z,1761510092.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388613,0.920387,0.043225],[-0.919650,-0.390338,0.043366],[0.056786,-0.022900,0.998124]]
2025-10-26T20:21:33.254Z,1761510093.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392423,0.917356,0.066799],[-0.916286,-0.396227,0.058525],[0.080155,-0.038240,0.996049]]
2025-10-26T20:21:33.659Z,1761510093.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389109,0.917673,0.080446],[-0.917600,-0.393815,0.054040],[0.081271,-0.052790,0.995293]]
2025-10-26T20:21:33.789Z,1761510093.789 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Courier0042.lzma.bak
2025-10-26T20:21:33.790Z,1761510093.790 [DataOverHttps](INFO): SBD MOMSN=26242406
2025-10-26T20:21:34.064Z,1761510094.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374520,0.924339,0.073025],[-0.925114,-0.377812,0.037704],[0.062441,-0.053436,0.996617]]
2025-10-26T20:21:34.466Z,1761510094.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355792,0.931693,0.073215],[-0.933283,-0.358314,0.024362],[0.048932,-0.059662,0.997019]]
2025-10-26T20:21:34.871Z,1761510094.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352969,0.930900,0.094006],[-0.935391,-0.353384,-0.012754],[0.021348,-0.092434,0.995490]]
2025-10-26T20:21:35.274Z,1761510095.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362305,0.927252,0.094545],[-0.930933,-0.355015,-0.085600],[-0.045807,-0.119028,0.991834]]
2025-10-26T20:21:35.680Z,1761510095.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390947,0.915579,0.094214],[-0.916965,-0.378584,-0.125896],[-0.079600,-0.135610,0.987560]]
2025-10-26T20:21:36.082Z,1761510096.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421780,0.899961,0.110328],[-0.905949,-0.413355,-0.091620],[-0.036850,-0.138595,0.989663]]
2025-10-26T20:21:36.486Z,1761510096.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432243,0.893671,0.120493],[-0.901694,-0.429923,-0.045991],[0.010702,-0.128527,0.991648]]
2025-10-26T20:21:36.892Z,1761510096.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405889,0.908602,0.098473],[-0.913673,-0.405933,-0.020499],[0.021348,-0.098292,0.994929]]
2025-10-26T20:21:37.296Z,1761510097.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381285,0.922272,0.063534],[-0.923510,-0.383104,0.018969],[0.041835,-0.051441,0.997799]]
2025-10-26T20:21:37.698Z,1761510097.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389394,0.919237,0.058108],[-0.918074,-0.392439,0.055969],[0.074252,-0.031553,0.996740]]
2025-10-26T20:21:38.102Z,1761510098.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400679,0.913749,0.067225],[-0.913624,-0.403985,0.045679],[0.068897,-0.043116,0.996692]]
2025-10-26T20:21:38.506Z,1761510098.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393134,0.916333,0.076020],[-0.918439,-0.395279,0.014963],[0.043760,-0.063938,0.996994]]
2025-10-26T20:21:38.911Z,1761510098.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392211,0.915118,0.093435],[-0.918813,-0.394613,0.008016],[0.044207,-0.082706,0.995593]]
2025-10-26T20:21:39.317Z,1761510099.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389596,0.913585,0.116520],[-0.920029,-0.391828,-0.004047],[0.041958,-0.108779,0.993180]]
2025-10-26T20:21:39.718Z,1761510099.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379328,0.919866,0.099782],[-0.925260,-0.377334,-0.038892],[0.001875,-0.107077,0.994249]]
2025-10-26T20:21:40.122Z,1761510100.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390293,0.917826,0.072569],[-0.920275,-0.386535,-0.060697],[-0.027659,-0.090473,0.995515]]
2025-10-26T20:21:40.526Z,1761510100.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407021,0.909648,0.082914],[-0.913262,-0.403593,-0.055353],[-0.016888,-0.098252,0.995018]]
2025-10-26T20:21:40.931Z,1761510100.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425856,0.899295,0.099570],[-0.904761,-0.424144,-0.038844],[0.007300,-0.106629,0.994272]]
2025-10-26T20:21:41.334Z,1761510101.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446484,0.889723,0.095104],[-0.894406,-0.446884,-0.018247],[0.026266,-0.093208,0.995300]]
2025-10-26T20:21:41.738Z,1761510101.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448664,0.889310,0.088476],[-0.892322,-0.451268,0.010902],[0.049622,-0.074058,0.996019]]
2025-10-26T20:21:42.142Z,1761510102.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432152,0.898005,0.082659],[-0.898381,-0.436676,0.047185],[0.078467,-0.053868,0.995460]]
2025-10-26T20:21:42.546Z,1761510102.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409674,0.909205,0.074247],[-0.906717,-0.414783,0.076288],[0.100158,-0.036068,0.994318]]
2025-10-26T20:21:42.950Z,1761510102.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386509,0.919955,0.065525],[-0.917186,-0.390861,0.077442],[0.096854,-0.030167,0.994841]]
2025-10-26T20:21:43.354Z,1761510103.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385690,0.921088,0.053301],[-0.920055,-0.388284,0.052296],[0.068865,-0.028870,0.997208]]
2025-10-26T20:21:43.760Z,1761510103.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390100,0.919310,0.051881],[-0.920186,-0.391244,0.013675],[0.032870,-0.042405,0.998560]]
2025-10-26T20:21:44.162Z,1761510104.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375776,0.923345,0.078907],[-0.926473,-0.376244,-0.009412],[0.020998,-0.076642,0.996838]]
2025-10-26T20:21:44.566Z,1761510104.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362420,0.925046,0.113762],[-0.931059,-0.364867,0.000733],[0.042186,-0.105653,0.993508]]
2025-10-26T20:21:44.970Z,1761510104.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365449,0.922518,0.124127],[-0.929720,-0.368267,-0.000256],[0.045476,-0.115497,0.992266]]
2025-10-26T20:21:45.375Z,1761510105.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372794,0.919389,0.125493],[-0.927648,-0.372504,-0.026658],[0.022238,-0.126351,0.991736]]
2025-10-26T20:21:45.778Z,1761510105.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379147,0.916173,0.129900],[-0.925325,-0.374707,-0.058028],[-0.004489,-0.142201,0.989828]]
2025-10-26T20:21:46.182Z,1761510106.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385387,0.912115,0.139728],[-0.922715,-0.379523,-0.067515],[-0.008551,-0.154948,0.987886]]
2025-10-26T20:21:46.586Z,1761510106.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391488,0.910948,0.130044],[-0.919893,-0.390984,-0.030458],[0.023099,-0.131550,0.991040]]
2025-10-26T20:21:46.991Z,1761510106.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403495,0.910429,0.091162],[-0.912777,-0.407433,0.028931],[0.063482,-0.071537,0.995416]]
2025-10-26T20:21:47.396Z,1761510107.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416794,0.908403,0.032956],[-0.907576,-0.417896,0.040854],[0.050884,-0.012882,0.998622]]
2025-10-26T20:21:47.798Z,1761510107.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418620,0.908049,0.014263],[-0.908014,-0.418784,0.011445],[0.016366,-0.008160,0.999833]]
2025-10-26T20:21:48.202Z,1761510108.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402724,0.912612,0.070372],[-0.914544,-0.404360,0.010161],[0.037729,-0.060266,0.997469]]
2025-10-26T20:21:48.606Z,1761510108.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389244,0.910838,0.137342],[-0.916813,-0.397513,0.037908],[0.089123,-0.111161,0.989798]]
2025-10-26T20:21:49.012Z,1761510109.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407990,0.894744,0.181598],[-0.904995,-0.422598,0.048944],[0.120535,-0.144376,0.982154]]
2025-10-26T20:21:49.414Z,1761510109.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431014,0.883037,0.185670],[-0.894486,-0.445216,0.040968],[0.118839,-0.148421,0.981758]]
2025-10-26T20:21:49.818Z,1761510109.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423729,0.894187,0.144509],[-0.899039,-0.434625,0.053195],[0.110374,-0.107378,0.988073]]
2025-10-26T20:21:50.165Z,1761510110.165 [DataOverHttps](INFO): Sending 1170 bytes from file Logs/20251026T180417/Express0043.lzma
2025-10-26T20:21:50.222Z,1761510110.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401736,0.911428,0.088924],[-0.907485,-0.409248,0.094798],[0.122793,-0.042614,0.991517]]
2025-10-26T20:21:50.627Z,1761510110.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394590,0.917177,0.055536],[-0.908752,-0.398476,0.124040],[0.135897,-0.001524,0.990722]]
2025-10-26T20:21:51.030Z,1761510111.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388423,0.920475,0.043050],[-0.913975,-0.390790,0.109242],[0.117378,0.003085,0.993082]]
2025-10-26T20:21:51.165Z,1761510111.165 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0043.lzma.bak
2025-10-26T20:21:51.166Z,1761510111.166 [DataOverHttps](INFO): SBD MOMSN=26242409
2025-10-26T20:21:51.434Z,1761510111.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370132,0.928576,0.027368],[-0.925902,-0.371141,0.070425],[0.075552,0.000726,0.997142]]
2025-10-26T20:21:51.844Z,1761510111.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370127,0.928604,0.026457],[-0.928255,-0.370814,0.028974],[0.036716,-0.013835,0.999230]]
2025-10-26T20:21:52.244Z,1761510112.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388625,0.918604,0.071671],[-0.921349,-0.388212,-0.020169],[0.009296,-0.073873,0.997224]]
2025-10-26T20:21:52.646Z,1761510112.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396829,0.909198,0.126038],[-0.917615,-0.389577,-0.078817],[-0.022558,-0.146931,0.988889]]
2025-10-26T20:21:53.050Z,1761510113.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405573,0.902457,0.145199],[-0.912546,-0.390612,-0.121167],[-0.052632,-0.181643,0.981955]]
2025-10-26T20:21:53.455Z,1761510113.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421672,0.896203,0.137888],[-0.905966,-0.410093,-0.105115],[-0.037658,-0.169246,0.984854]]
2025-10-26T20:21:53.859Z,1761510113.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411838,0.904486,0.110883],[-0.911136,-0.410706,-0.033930],[0.014851,-0.115003,0.993254]]
2025-10-26T20:21:54.262Z,1761510114.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377698,0.924417,0.052894],[-0.924462,-0.379698,0.034629],[0.052096,-0.035819,0.998000]]
2025-10-26T20:21:54.666Z,1761510114.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371479,0.928441,-0.000385],[-0.926717,-0.370763,0.061076],[0.056562,0.023045,0.998133]]
2025-10-26T20:21:55.070Z,1761510115.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397370,0.917586,0.011536],[-0.917142,-0.397536,0.028550],[0.030783,0.000765,0.999526]]
2025-10-26T20:21:55.476Z,1761510115.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421334,0.903793,0.075071],[-0.906890,-0.420358,-0.029135],[0.005225,-0.080356,0.996753]]
2025-10-26T20:21:55.878Z,1761510115.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423610,0.893095,0.151445],[-0.905577,-0.421590,-0.046826],[0.022028,-0.156981,0.987356]]
2025-10-26T20:21:56.283Z,1761510116.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414981,0.889533,0.191107],[-0.907408,-0.419961,-0.015635],[0.066350,-0.179900,0.981445]]
2025-10-26T20:21:56.686Z,1761510116.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409540,0.896331,0.169907],[-0.908837,-0.417044,0.009439],[0.079319,-0.150552,0.985415]]
2025-10-26T20:21:57.090Z,1761510117.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414742,0.903031,0.111910],[-0.909091,-0.416519,-0.008119],[0.039281,-0.105104,0.993685]]
2025-10-26T20:21:57.494Z,1761510117.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418617,0.905972,0.063040],[-0.908163,-0.417614,-0.028957],[0.000092,-0.069373,0.997591]]
2025-10-26T20:21:57.898Z,1761510117.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419022,0.906717,0.047797],[-0.907899,-0.417720,-0.035060],[-0.011824,-0.058085,0.998242]]
2025-10-26T20:21:58.302Z,1761510118.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429906,0.901380,0.051921],[-0.902871,-0.429332,-0.022314],[0.002178,-0.056472,0.998402]]
2025-10-26T20:21:58.706Z,1761510118.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446287,0.890697,0.086521],[-0.893710,-0.448574,0.007999],[0.045936,-0.073754,0.996218]]
2025-10-26T20:21:59.115Z,1761510119.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452704,0.882989,0.124054],[-0.886268,-0.460869,0.046149],[0.097922,-0.089053,0.991202]]
2025-10-26T20:21:59.521Z,1761510119.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403007,0.908506,0.110462],[-0.904613,-0.413737,0.102456],[0.138784,-0.058635,0.988585]]
2025-10-26T20:21:59.924Z,1761510119.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391733,0.918003,0.061770],[-0.914831,-0.395780,0.080259],[0.098125,-0.025069,0.994858]]
2025-10-26T20:22:00.328Z,1761510120.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401441,0.914791,0.044741],[-0.913979,-0.403278,0.044837],[0.059060,-0.022893,0.997992]]
2025-10-26T20:22:00.734Z,1761510120.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390473,0.918935,0.055573],[-0.919423,-0.392327,0.027224],[0.046820,-0.040465,0.998083]]
2025-10-26T20:22:01.133Z,1761510121.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366529,0.927765,0.070063],[-0.929269,-0.368764,0.021724],[0.045991,-0.057145,0.997306]]
2025-10-26T20:22:01.536Z,1761510121.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358174,0.930362,0.078341],[-0.932531,-0.360597,0.018847],[0.045784,-0.066305,0.996748]]
2025-10-26T20:22:01.938Z,1761510121.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360040,0.926731,0.107426],[-0.931476,-0.363527,0.014180],[0.052193,-0.094960,0.994112]]
2025-10-26T20:22:02.344Z,1761510122.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386948,0.911392,0.140131],[-0.920256,-0.391298,0.003817],[0.058312,-0.127480,0.990126]]
2025-10-26T20:22:02.774Z,1761510122.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412130,0.897402,0.157540],[-0.910251,-0.413104,-0.028064],[0.039896,-0.154967,0.987114]]
2025-10-26T20:22:03.150Z,1761510123.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414642,0.897628,0.149451],[-0.909397,-0.414650,-0.032608],[0.032700,-0.149431,0.988231]]
2025-10-26T20:22:03.554Z,1761510123.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402466,0.907841,0.117667],[-0.913945,-0.405809,0.004911],[0.052209,-0.105564,0.993041]]
2025-10-26T20:22:03.958Z,1761510123.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394307,0.915597,0.078772],[-0.915693,-0.398693,0.050493],[0.077637,-0.052221,0.995613]]
2025-10-26T20:22:04.365Z,1761510124.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391235,0.919520,0.037646],[-0.916065,-0.393028,0.079713],[0.088094,-0.003299,0.996107]]
2025-10-26T20:22:04.811Z,1761510124.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387041,0.922019,0.008990],[-0.918866,-0.386492,0.079437],[0.076717,0.022485,0.996799]]
2025-10-26T20:22:05.170Z,1761510125.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376656,0.926068,0.022984],[-0.924499,-0.377355,0.053893],[0.058582,-0.000949,0.998282]]
2025-10-26T20:22:05.575Z,1761510125.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362961,0.928676,0.076293],[-0.930723,-0.365266,0.018307],[0.044868,-0.064363,0.996917]]
2025-10-26T20:22:05.980Z,1761510125.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364155,0.921253,0.136694],[-0.930835,-0.364840,-0.020911],[0.030607,-0.134854,0.990393]]
2025-10-26T20:22:06.383Z,1761510126.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379971,0.909389,0.169215],[-0.924975,-0.374842,-0.062560],[0.006538,-0.180291,0.983592]]
2025-10-26T20:22:06.390Z,1761510126.390 [NAL9602](INFO): SBD MO Status=2, MOMSN=2986, MT Status=2, MTMSN=0
2025-10-26T20:22:06.390Z,1761510126.390 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T20:22:06.841Z,1761510126.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390866,0.908732,0.146390],[-0.920349,-0.383522,-0.076603],[-0.013468,-0.164672,0.986256]]
2025-10-26T20:22:07.190Z,1761510127.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383072,0.920325,0.079113],[-0.923677,-0.380835,-0.042255],[-0.008759,-0.089262,0.995970]]
2025-10-26T20:22:07.596Z,1761510127.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376051,0.926595,-0.002811],[-0.926390,-0.375900,0.022380],[0.019681,0.011020,0.999746]]
2025-10-26T20:22:07.998Z,1761510127.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384636,0.922011,-0.044168],[-0.921558,-0.380831,0.075490],[0.052782,0.069740,0.996168]]
2025-10-26T20:22:08.402Z,1761510128.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387307,0.921853,0.013435],[-0.917368,-0.386792,0.093954],[0.091809,0.024064,0.995486]]
2025-10-26T20:22:08.579Z,1761510128.579 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20251026T180417/Express0046.lzma
2025-10-26T20:22:08.820Z,1761510128.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386462,0.914293,0.121310],[-0.916742,-0.395218,0.058191],[0.101147,-0.088722,0.990907]]
2025-10-26T20:22:09.211Z,1761510129.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390546,0.899207,0.197230],[-0.918742,-0.394260,-0.021748],[0.058204,-0.189697,0.980116]]
2025-10-26T20:22:09.581Z,1761510129.581 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0046.lzma.bak
2025-10-26T20:22:09.581Z,1761510129.581 [DataOverHttps](INFO): SBD MOMSN=26242483
2025-10-26T20:22:09.614Z,1761510129.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395314,0.894951,0.206857],[-0.918451,-0.388352,-0.075032],[0.013183,-0.219649,0.975490]]
2025-10-26T20:22:10.018Z,1761510130.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410700,0.896932,0.163827],[-0.911721,-0.405875,-0.063493],[0.009544,-0.175441,0.984444]]
2025-10-26T20:22:10.422Z,1761510130.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420639,0.902801,0.089522],[-0.906979,-0.420784,-0.018169],[0.021266,-0.088837,0.995819]]
2025-10-26T20:22:10.828Z,1761510130.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405873,0.913281,0.034408],[-0.913483,-0.406564,0.015959],[0.028564,-0.024954,0.999280]]
2025-10-26T20:22:11.230Z,1761510131.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395267,0.918304,0.021957],[-0.917056,-0.395875,0.047871],[0.052653,-0.001213,0.998612]]
2025-10-26T20:22:11.264Z,1761510131.264 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-26T20:22:11.265Z,1761510131.265 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-10-26T20:22:11.265Z,1761510131.265 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:22:11.634Z,1761510131.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401039,0.914756,0.048880],[-0.912766,-0.403549,0.063290],[0.077621,-0.019234,0.996797]]
2025-10-26T20:22:12.039Z,1761510132.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407298,0.910894,0.066182],[-0.909049,-0.411318,0.066691],[0.087970,-0.032999,0.995576]]
2025-10-26T20:22:12.443Z,1761510132.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400824,0.913358,0.071532],[-0.914332,-0.403729,0.031624],[0.057764,-0.052729,0.996937]]
2025-10-26T20:22:12.846Z,1761510132.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393215,0.915723,0.082663],[-0.918900,-0.394489,-0.000994],[0.031700,-0.076349,0.996577]]
2025-10-26T20:22:13.250Z,1761510133.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398986,0.908346,0.125373],[-0.915760,-0.401708,-0.003872],[0.046847,-0.116356,0.992102]]
2025-10-26T20:22:13.654Z,1761510133.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417821,0.893741,0.163259],[-0.906915,-0.420996,-0.016331],[0.054135,-0.154886,0.986448]]
2025-10-26T20:22:14.060Z,1761510134.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431754,0.886448,0.166730],[-0.901027,-0.432404,-0.034299],[0.041690,-0.165037,0.985406]]
2025-10-26T20:22:14.463Z,1761510134.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428027,0.894414,0.129676],[-0.902718,-0.430016,-0.013693],[0.043516,-0.122922,0.991462]]
2025-10-26T20:22:14.867Z,1761510134.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413821,0.907490,0.072205],[-0.907535,-0.417480,0.045728],[0.071642,-0.046605,0.996341]]
2025-10-26T20:22:15.270Z,1761510135.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412167,0.911031,0.011859],[-0.908362,-0.411900,0.072233],[0.070691,0.019000,0.997317]]
2025-10-26T20:22:15.675Z,1761510135.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420870,0.907121,-0.000052],[-0.906424,-0.420544,0.039219],[0.035555,0.016553,0.999231]]
2025-10-26T20:22:16.080Z,1761510136.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422523,0.905156,0.046563],[-0.905956,-0.423299,0.007819],[0.026787,-0.038880,0.998885]]
2025-10-26T20:22:16.482Z,1761510136.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424100,0.898173,0.115862],[-0.904400,-0.426675,-0.002834],[0.046890,-0.105987,0.993261]]
2025-10-26T20:22:16.886Z,1761510136.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432504,0.890008,0.144312],[-0.899841,-0.436164,-0.006890],[0.056811,-0.132838,0.989508]]
2025-10-26T20:22:17.291Z,1761510137.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439352,0.890711,0.116634],[-0.897054,-0.441898,-0.004451],[0.047575,-0.106582,0.993165]]
2025-10-26T20:22:17.696Z,1761510137.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460119,0.884635,0.075577],[-0.887169,-0.461445,0.000093],[0.034957,-0.067007,0.997140]]
2025-10-26T20:22:18.098Z,1761510138.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471691,0.879599,0.061748],[-0.880396,-0.473702,0.022562],[0.049096,-0.043720,0.997837]]
2025-10-26T20:22:18.222Z,1761510138.222 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T202217
2025-10-26T20:22:18.502Z,1761510138.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463003,0.881448,0.093156],[-0.881323,-0.469009,0.057443],[0.094324,-0.055504,0.993993]]
2025-10-26T20:22:18.907Z,1761510138.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447201,0.886445,0.119273],[-0.886712,-0.456865,0.070824],[0.117273,-0.074089,0.990332]]
2025-10-26T20:22:19.312Z,1761510139.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439986,0.891690,0.106306],[-0.892880,-0.447028,0.054139],[0.095797,-0.071099,0.992858]]
2025-10-26T20:22:19.721Z,1761510139.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442047,0.893946,0.073864],[-0.894883,-0.445153,0.031986],[0.061474,-0.051960,0.996755]]
2025-10-26T20:22:20.118Z,1761510140.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440313,0.895424,0.065886],[-0.897031,-0.441851,0.010164],[0.038213,-0.054626,0.997775]]
2025-10-26T20:22:20.523Z,1761510140.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426652,0.900449,0.084619],[-0.904295,-0.426253,-0.023640],[0.014783,-0.086607,0.996133]]
2025-10-26T20:22:20.928Z,1761510140.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428540,0.900561,0.073100],[-0.903523,-0.427153,-0.034451],[0.000200,-0.080811,0.996729]]
2025-10-26T20:22:21.330Z,1761510141.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449111,0.891519,0.059098],[-0.893458,-0.448536,-0.023411],[0.005636,-0.063315,0.997978]]
2025-10-26T20:22:21.734Z,1761510141.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457374,0.884351,0.093444],[-0.888991,-0.457349,-0.022950],[0.022440,-0.093568,0.995360]]
2025-10-26T20:22:22.139Z,1761510142.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468422,0.874438,0.126251],[-0.882590,-0.469635,-0.021848],[0.040187,-0.121662,0.991758]]
2025-10-26T20:22:22.542Z,1761510142.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482866,0.866346,0.127614],[-0.874956,-0.483293,-0.029679],[0.035962,-0.125988,0.991380]]
2025-10-26T20:22:22.946Z,1761510142.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477173,0.872749,0.103032],[-0.878205,-0.477905,-0.019070],[0.032596,-0.099583,0.994495]]
2025-10-26T20:22:23.350Z,1761510143.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466145,0.881417,0.076244],[-0.882901,-0.468968,0.023563],[0.056525,-0.056332,0.996811]]
2025-10-26T20:22:23.756Z,1761510143.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471720,0.880025,0.055105],[-0.879209,-0.474182,0.046297],[0.066872,-0.026609,0.997407]]
2025-10-26T20:22:24.159Z,1761510144.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472597,0.879846,0.050239],[-0.879550,-0.474472,0.035619],[0.055176,-0.027354,0.998102]]
2025-10-26T20:22:24.562Z,1761510144.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471156,0.880020,0.059810],[-0.881337,-0.472417,0.008190],[0.035463,-0.048854,0.998176]]
2025-10-26T20:22:24.966Z,1761510144.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456729,0.886783,0.070817],[-0.889469,-0.456608,-0.018834],[0.015633,-0.071591,0.997312]]
2025-10-26T20:22:25.370Z,1761510145.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446440,0.890396,0.088800],[-0.894500,-0.446707,-0.017961],[0.023675,-0.087450,0.995888]]
2025-10-26T20:22:25.776Z,1761510145.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460363,0.882040,0.100355],[-0.886243,-0.463187,0.005547],[0.051376,-0.086386,0.994936]]
2025-10-26T20:22:25.921Z,1761510145.921 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.775 degree;set keepstation.Longitude -121.865 degree;set keepstation.Speed 1 m/s;run
2025-10-26T20:22:26.043Z,1761510146.043 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-10-26T20:22:26.044Z,1761510146.044 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-10-26T20:22:26.044Z,1761510146.044 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-10-26T20:22:26.049Z,1761510146.049 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-10-26T20:22:26.178Z,1761510146.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474391,0.874626,0.099917],[-0.878134,-0.478141,0.016171],[0.061918,-0.080070,0.994864]]
2025-10-26T20:22:26.582Z,1761510146.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473401,0.876928,0.083000],[-0.880068,-0.474841,-0.002691],[0.037052,-0.074320,0.996546]]
2025-10-26T20:22:26.987Z,1761510146.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475004,0.877224,0.069633],[-0.879968,-0.473031,-0.043570],[-0.005282,-0.081970,0.996621]]
2025-10-26T20:22:27.368Z,1761510147.368 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-10-26T20:22:27.397Z,1761510147.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497693,0.863907,0.077241],[-0.867140,-0.493618,-0.066405],[-0.019240,-0.100028,0.994799]]
2025-10-26T20:22:27.406Z,1761510147.406 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-10-26T20:22:27.414Z,1761510147.414 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-10-26T20:22:27.421Z,1761510147.421 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-10-26T20:22:27.432Z,1761510147.432 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-10-26T20:22:27.460Z,1761510147.460 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-10-26T20:22:27.463Z,1761510147.463 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-10-26T20:22:27.471Z,1761510147.471 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-10-26T20:22:27.478Z,1761510147.478 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-10-26T20:22:27.483Z,1761510147.483 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-10-26T20:22:27.502Z,1761510147.502 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-10-26T20:22:27.506Z,1761510147.506 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-10-26T20:22:27.517Z,1761510147.517 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-10-26T20:22:27.533Z,1761510147.533 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-10-26T20:22:27.538Z,1761510147.538 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-10-26T20:22:27.553Z,1761510147.553 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-10-26T20:22:27.569Z,1761510147.569 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-10-26T20:22:27.572Z,1761510147.572 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-10-26T20:22:27.584Z,1761510147.584 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-10-26T20:22:27.592Z,1761510147.592 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-10-26T20:22:27.603Z,1761510147.603 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-10-26T20:22:27.604Z,1761510147.604 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-10-26T20:22:27.604Z,1761510147.604 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-10-26T20:22:27.605Z,1761510147.605 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-10-26T20:22:27.795Z,1761510147.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521595,0.845830,0.111850],[-0.852847,-0.520615,-0.040138],[0.024281,-0.116327,0.992914]]
2025-10-26T20:22:27.924Z,1761510147.924 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:22:27.961Z,1761510147.961 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-10-26T20:22:27.972Z,1761510147.972 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-10-26T20:22:27.975Z,1761510147.975 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-10-26T20:22:27.979Z,1761510147.979 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-10-26T20:22:27.982Z,1761510147.982 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-10-26T20:22:27.986Z,1761510147.986 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-10-26T20:22:27.989Z,1761510147.989 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-10-26T20:22:27.993Z,1761510147.993 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-10-26T20:22:27.997Z,1761510147.997 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-10-26T20:22:28.004Z,1761510148.004 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-26T20:22:28.077Z,1761510148.077 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-26T20:22:28.077Z,1761510148.077 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-26T20:22:28.078Z,1761510148.078 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-26T20:22:28.198Z,1761510148.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519388,0.843628,0.136119],[-0.850847,-0.525332,0.009297],[0.079351,-0.110988,0.990649]]
2025-10-26T20:22:28.238Z,1761510148.238 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-26T20:22:28.260Z,1761510148.260 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-26T20:22:28.266Z,1761510148.266 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-26T20:22:28.278Z,1761510148.278 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-26T20:22:28.282Z,1761510148.282 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-26T20:22:28.283Z,1761510148.283 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-26T20:22:28.308Z,1761510148.308 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-26T20:22:28.330Z,1761510148.330 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-26T20:22:28.370Z,1761510148.370 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-26T20:22:28.370Z,1761510148.370 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-26T20:22:28.375Z,1761510148.375 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-26T20:22:28.422Z,1761510148.422 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-26T20:22:28.430Z,1761510148.430 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-10-26T20:22:28.437Z,1761510148.437 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-26T20:22:28.444Z,1761510148.444 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-26T20:22:28.444Z,1761510148.444 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-26T20:22:28.445Z,1761510148.445 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-26T20:22:28.602Z,1761510148.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502186,0.857174,0.114289],[-0.857465,-0.510712,0.062666],[0.112084,-0.066529,0.991469]]
2025-10-26T20:22:28.689Z,1761510148.689 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-26T20:22:28.702Z,1761510148.702 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-10-26T20:22:28.705Z,1761510148.705 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-10-26T20:22:28.717Z,1761510148.717 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-10-26T20:22:28.724Z,1761510148.724 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-10-26T20:22:28.733Z,1761510148.733 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-26T20:22:28.773Z,1761510148.773 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-26T20:22:28.788Z,1761510148.788 [keepstation:H.Pitch](DEBUG): Construct.
2025-10-26T20:22:28.895Z,1761510148.895 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-26T20:22:28.899Z,1761510148.899 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-10-26T20:22:28.912Z,1761510148.912 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-10-26T20:22:28.950Z,1761510148.950 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-26T20:22:28.962Z,1761510148.962 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-10-26T20:22:28.977Z,1761510148.977 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-10-26T20:22:28.987Z,1761510148.987 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-10-26T20:22:29.006Z,1761510149.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484311,0.872801,0.060510],[-0.865087,-0.488061,0.115849],[0.130646,0.003761,0.991422]]
2025-10-26T20:22:29.038Z,1761510149.038 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-10-26T20:22:29.068Z,1761510149.068 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-10-26T20:22:29.108Z,1761510149.108 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-10-26T20:22:29.169Z,1761510149.169 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

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

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-10-26T20:22:29.170Z,1761510149.170 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-10-26T20:22:29.410Z,1761510149.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474677,0.879938,0.019745],[-0.869889,-0.472437,0.141765],[0.134073,0.050116,0.989703]]
2025-10-26T20:22:29.816Z,1761510149.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473128,0.880570,0.027319],[-0.873980,-0.473040,0.111317],[0.110945,0.028791,0.993409]]
2025-10-26T20:22:30.219Z,1761510150.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465336,0.882046,0.073873],[-0.882395,-0.468838,0.039613],[0.069575,-0.046752,0.996481]]
2025-10-26T20:22:30.624Z,1761510150.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463206,0.877983,0.120774],[-0.885720,-0.463326,-0.028801],[0.030671,-0.120312,0.992262]]
2025-10-26T20:22:31.026Z,1761510151.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483098,0.863003,0.147788],[-0.875328,-0.479972,-0.058543],[0.020412,-0.157645,0.987285]]
2025-10-26T20:22:31.430Z,1761510151.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492593,0.853123,0.171854],[-0.867862,-0.496212,-0.024281],[0.064562,-0.161106,0.984823]]
2025-10-26T20:22:31.838Z,1761510151.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475249,0.864393,0.164207],[-0.872975,-0.486537,0.034581],[0.109785,-0.126914,0.985820]]
2025-10-26T20:22:32.239Z,1761510152.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463070,0.881246,0.094721],[-0.882186,-0.468582,0.046679],[0.085520,-0.061946,0.994409]]
2025-10-26T20:22:32.642Z,1761510152.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449429,0.893054,0.021649],[-0.892796,-0.449862,0.023214],[0.030471,-0.008895,0.999496]]
2025-10-26T20:22:33.046Z,1761510153.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441969,0.897017,0.004956],[-0.897010,-0.441990,0.004352],[0.006095,-0.002522,0.999978]]
2025-10-26T20:22:33.450Z,1761510153.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455027,0.888078,0.065323],[-0.890477,-0.453819,-0.033138],[0.000216,-0.073247,0.997314]]
2025-10-26T20:22:33.858Z,1761510153.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484729,0.861191,0.152930],[-0.874658,-0.476598,-0.088475],[-0.003308,-0.176648,0.984269]]
2025-10-26T20:22:34.258Z,1761510154.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513788,0.833838,0.201830],[-0.857915,-0.499838,-0.118927],[0.001716,-0.234257,0.972173]]
2025-10-26T20:22:34.662Z,1761510154.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513019,0.836250,0.193640],[-0.857806,-0.507693,-0.080108],[0.031320,-0.207202,0.977797]]
2025-10-26T20:22:35.068Z,1761510155.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481008,0.866800,0.131484],[-0.872996,-0.487351,0.019152],[0.080680,-0.105573,0.991133]]
2025-10-26T20:22:35.471Z,1761510155.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458310,0.887453,0.048776],[-0.881117,-0.460864,0.106006],[0.116555,0.005606,0.993168]]
2025-10-26T20:22:35.875Z,1761510155.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463144,0.886228,-0.009885],[-0.881592,-0.459518,0.107882],[0.091066,0.058680,0.994115]]
2025-10-26T20:22:36.279Z,1761510156.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463211,0.885720,-0.030599],[-0.886085,-0.462187,0.035168],[0.017006,0.043404,0.998913]]
2025-10-26T20:22:36.684Z,1761510156.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436411,0.899722,-0.006822],[-0.899571,-0.436463,-0.016481],[-0.017806,-0.001056,0.999841]]
2025-10-26T20:22:37.490Z,1761510157.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414601,0.905053,0.094789],[-0.908658,-0.417398,0.010933],[0.049460,-0.081598,0.995437]]
2025-10-26T20:22:37.896Z,1761510157.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421586,0.897718,0.127935],[-0.906385,-0.421392,-0.029924],[0.027047,-0.128574,0.991331]]
2025-10-26T20:22:38.298Z,1761510158.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409104,0.902076,0.137449],[-0.912452,-0.405758,-0.052845],[0.008101,-0.147035,0.989098]]
2025-10-26T20:22:38.702Z,1761510158.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408805,0.903933,0.125631],[-0.912262,-0.408619,-0.028440],[0.025627,-0.126235,0.991669]]
2025-10-26T20:22:39.106Z,1761510159.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428674,0.897504,0.103567],[-0.903182,-0.428556,-0.024527],[0.022371,-0.104054,0.994320]]
2025-10-26T20:22:39.511Z,1761510159.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437609,0.895064,0.085787],[-0.899149,-0.435029,-0.047754],[-0.005423,-0.098033,0.995168]]
2025-10-26T20:22:39.914Z,1761510159.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430136,0.899748,0.073731],[-0.902662,-0.427422,-0.050121],[-0.013582,-0.088114,0.996018]]
2025-10-26T20:22:40.318Z,1761510160.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425575,0.903194,0.055920],[-0.904898,-0.424286,-0.033792],[-0.006795,-0.064983,0.997863]]
2025-10-26T20:22:40.722Z,1761510160.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435327,0.899148,0.044980],[-0.900248,-0.434405,-0.029070],[-0.006598,-0.053148,0.998565]]
2025-10-26T20:22:40.734Z,1761510160.734 [NAL9602](INFO): SBD MO Status=2, MOMSN=2986, MT Status=2, MTMSN=0
2025-10-26T20:22:40.734Z,1761510160.734 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-26T20:22:40.740Z,1761510160.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:22:41.126Z,1761510161.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462257,0.884444,0.063850],[-0.886575,-0.459554,-0.052870],[-0.017418,-0.081048,0.996558]]
2025-10-26T20:22:41.530Z,1761510161.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470046,0.877361,0.096408],[-0.882584,-0.465958,-0.062673],[-0.010064,-0.114548,0.993367]]
2025-10-26T20:22:41.935Z,1761510161.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459798,0.879491,0.122807],[-0.886819,-0.461964,-0.011927],[0.046243,-0.114392,0.992359]]
2025-10-26T20:22:42.339Z,1761510162.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459628,0.878838,0.128010],[-0.882015,-0.468566,0.049957],[0.103885,-0.089945,0.990514]]
2025-10-26T20:22:42.802Z,1761510162.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454623,0.886038,0.090858],[-0.888180,-0.458624,0.028290],[0.066736,-0.067837,0.995462]]
2025-10-26T20:22:43.550Z,1761510163.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448947,0.889331,0.086822],[-0.891933,-0.451868,0.016464],[0.053874,-0.070048,0.996088]]
2025-10-26T20:22:43.955Z,1761510163.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451498,0.888483,0.082146],[-0.891271,-0.453436,0.005630],[0.042250,-0.070672,0.996604]]
2025-10-26T20:22:44.363Z,1761510164.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455980,0.886610,0.077491],[-0.889986,-0.454513,-0.036645],[0.002730,-0.085675,0.996319]]
2025-10-26T20:22:44.818Z,1761510164.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483266,0.867255,0.119679],[-0.875177,-0.482125,-0.040262],[0.022783,-0.124198,0.991996]]
2025-10-26T20:22:45.171Z,1761510165.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482044,0.868051,0.118829],[-0.874999,-0.483905,-0.014596],[0.044831,-0.111011,0.992807]]
2025-10-26T20:22:45.575Z,1761510165.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476687,0.873681,0.097219],[-0.877946,-0.478755,-0.002325],[0.044513,-0.086461,0.995260]]
2025-10-26T20:22:45.980Z,1761510165.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485459,0.872048,0.062150],[-0.873926,-0.486010,-0.006945],[0.024150,-0.057686,0.998043]]
2025-10-26T20:22:46.381Z,1761510166.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485260,0.873010,0.048743],[-0.874327,-0.485036,-0.017125],[0.008692,-0.050928,0.998664]]
2025-10-26T20:22:46.815Z,1761510166.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479092,0.875966,0.056156],[-0.877763,-0.478223,-0.028882],[0.001556,-0.063129,0.998004]]
2025-10-26T20:22:47.186Z,1761510167.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488646,0.869687,0.069777],[-0.872447,-0.487778,-0.030146],[0.007818,-0.075608,0.997107]]
2025-10-26T20:22:47.592Z,1761510167.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497505,0.861844,0.098561],[-0.866919,-0.497992,-0.021348],[0.030684,-0.096065,0.994902]]
2025-10-26T20:22:47.994Z,1761510167.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498753,0.858132,0.121877],[-0.865367,-0.500937,-0.014232],[0.048840,-0.112566,0.992443]]
2025-10-26T20:22:48.398Z,1761510168.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506064,0.854855,0.114551],[-0.861417,-0.507594,-0.017573],[0.043123,-0.107569,0.993262]]
2025-10-26T20:22:48.818Z,1761510168.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517796,0.851121,0.086491],[-0.855275,-0.517344,-0.029322],[0.019789,-0.089156,0.995821]]
2025-10-26T20:22:49.207Z,1761510169.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526097,0.846603,0.080530],[-0.850360,-0.524859,-0.037559],[0.010469,-0.088239,0.996044]]
2025-10-26T20:22:49.611Z,1761510169.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510236,0.855113,0.091877],[-0.859042,-0.511860,-0.006705],[0.041295,-0.082347,0.995748]]
2025-10-26T20:22:50.014Z,1761510170.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495684,0.864925,0.078758],[-0.864037,-0.500288,0.056150],[0.087967,-0.040217,0.995311]]
2025-10-26T20:22:50.418Z,1761510170.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501888,0.864308,0.032864],[-0.860698,-0.502825,0.079782],[0.085481,0.011755,0.996270]]
2025-10-26T20:22:50.825Z,1761510170.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502426,0.864575,-0.008873],[-0.864456,-0.502104,0.024667],[0.016871,0.020063,0.999656]]
2025-10-26T20:22:51.227Z,1761510171.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500582,0.865529,0.016639],[-0.865481,-0.499949,-0.031510],[-0.018954,-0.030174,0.999365]]
2025-10-26T20:22:51.631Z,1761510171.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509302,0.855388,0.094460],[-0.860483,-0.507881,-0.040337],[0.013471,-0.101825,0.994711]]
2025-10-26T20:22:52.035Z,1761510172.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520265,0.839319,0.157696],[-0.853378,-0.518016,-0.058353],[0.032712,-0.164934,0.985762]]
2025-10-26T20:22:52.042Z,1761510172.042 [NAL9602](INFO): SBD MO Status=1, MOMSN=2986, MT Status=0, MTMSN=0
2025-10-26T20:22:52.042Z,1761510172.042 [NAL9602](INFO): No messages in MT queue
2025-10-26T20:22:52.438Z,1761510172.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524002,0.833263,0.176337],[-0.851606,-0.515926,-0.092671],[0.013757,-0.198730,0.979958]]
2025-10-26T20:22:52.844Z,1761510172.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534836,0.832702,0.143381],[-0.844782,-0.523526,-0.110740],[-0.017150,-0.180353,0.983452]]
2025-10-26T20:22:52.940Z,1761510172.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:22:53.246Z,1761510173.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536830,0.837984,0.097961],[-0.843556,-0.531041,-0.080060],[-0.015068,-0.125614,0.991965]]
2025-10-26T20:22:53.650Z,1761510173.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520879,0.851934,0.053788],[-0.853237,-0.521517,-0.002512],[0.025912,-0.047202,0.998549]]
2025-10-26T20:22:54.054Z,1761510174.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512190,0.858849,0.006400],[-0.856902,-0.511505,0.063882],[0.058138,0.027236,0.997937]]
2025-10-26T20:22:54.458Z,1761510174.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516501,0.856199,-0.012211],[-0.854391,-0.514358,0.073835],[0.056936,0.048569,0.997196]]
2025-10-26T20:22:54.863Z,1761510174.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519847,0.853349,0.039437],[-0.852759,-0.521115,0.035224],[0.050609,-0.015320,0.998601]]
2025-10-26T20:22:55.267Z,1761510175.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532684,0.835599,0.134248],[-0.845232,-0.533287,-0.034471],[0.042789,-0.131833,0.990348]]
2025-10-26T20:22:55.670Z,1761510175.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558832,0.804403,0.201602],[-0.829174,-0.545905,-0.120244],[0.013331,-0.234360,0.972059]]
2025-10-26T20:22:56.075Z,1761510176.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580934,0.780373,0.231374],[-0.813770,-0.562836,-0.144892],[0.017156,-0.272458,0.962015]]
2025-10-26T20:22:56.480Z,1761510176.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583638,0.779177,0.228582],[-0.807984,-0.585268,-0.067994],[0.080803,-0.224375,0.971147]]
2025-10-26T20:22:56.883Z,1761510176.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553134,0.816413,0.165869],[-0.821449,-0.567655,0.054676],[0.138795,-0.106010,0.984631]]
2025-10-26T20:22:57.286Z,1761510177.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512560,0.856908,0.054690],[-0.844946,-0.514689,0.145469],[0.152802,0.028351,0.987850]]
2025-10-26T20:22:57.690Z,1761510177.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494566,0.868570,-0.031458],[-0.857856,-0.482012,0.178178],[0.139597,0.115108,0.983495]]
2025-10-26T20:22:58.096Z,1761510178.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510957,0.858967,-0.033130],[-0.853850,-0.502706,0.135005],[0.099310,0.097270,0.990291]]
2025-10-26T20:22:58.498Z,1761510178.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530636,0.846265,0.047552],[-0.845568,-0.532412,0.039390],[0.058652,-0.019306,0.998092]]
2025-10-26T20:22:58.902Z,1761510178.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540430,0.825093,0.164795],[-0.840267,-0.539369,-0.055071],[0.043446,-0.168233,0.984789]]
2025-10-26T20:22:59.306Z,1761510179.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553687,0.794305,0.250020],[-0.831453,-0.543921,-0.113293],[0.046001,-0.270609,0.961590]]
2025-10-26T20:22:59.712Z,1761510179.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555922,0.791285,0.254596],[-0.830184,-0.543927,-0.122218],[0.041773,-0.279305,0.959293]]
2025-10-26T20:23:00.114Z,1761510180.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553683,0.815011,0.170857],[-0.832360,-0.547764,-0.084452],[0.024760,-0.188974,0.981670]]
2025-10-26T20:23:00.206Z,1761510180.206 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 12 hour
2025-10-26T20:23:00.211Z,1761510180.211 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-10-26T20:23:00.212Z,1761510180.212 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.775 degree
2025-10-26T20:23:00.213Z,1761510180.213 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.865 degree
2025-10-26T20:23:00.214Z,1761510180.214 [CommandExec](IMPORTANT): got command set keepstation.Speed 1 meter_per_second
2025-10-26T20:23:00.214Z,1761510180.214 [CommandExec](IMPORTANT): got command run
2025-10-26T20:23:00.221Z,1761510180.221 [CommandExec](IMPORTANT): Running 
2025-10-26T20:23:00.518Z,1761510180.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558484,0.828668,0.037494],[-0.829260,-0.558862,-0.000464],[0.020570,-0.031351,0.999297]]
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock] Stopped
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault] Stopped
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-10-26T20:23:00.561Z,1761510180.561 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:23:00.562Z,1761510180.562 [MissionManager](IMPORTANT): Started mission keepstation
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation] Running Loop=1
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation:StandardEnvelopes] Running Loop=1
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-26T20:23:00.562Z,1761510180.562 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T20:23:00.563Z,1761510180.563 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-26T20:23:00.563Z,1761510180.563 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T20:23:00.563Z,1761510180.563 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-26T20:23:00.563Z,1761510180.563 [keepstation:BackseatDriver] Running Loop=1
2025-10-26T20:23:00.563Z,1761510180.563 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-10-26T20:23:00.567Z,1761510180.567 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-26T20:23:00.567Z,1761510180.567 [keepstation:PowerOnly] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly:A] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly:B] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly:C] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly:D] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:H.Pitch] Running Loop=1
2025-10-26T20:23:00.568Z,1761510180.568 [keepstation:H.Pitch](DEBUG): Initialize.
2025-10-26T20:23:00.569Z,1761510180.569 [keepstation:B] Running Loop=1
2025-10-26T20:23:00.569Z,1761510180.569 [keepstation:H.Pitch] Running Loop=1
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:PowerOnly] Running Loop=1
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:PowerOnly:D] Stopped
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:PowerOnly:C] Stopped
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:PowerOnly:B] Stopped
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:PowerOnly:A] Stopped
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:BackseatDriver] Running Loop=1
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:StandardEnvelopes] Running Loop=1
2025-10-26T20:23:00.570Z,1761510180.570 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-26T20:23:00.571Z,1761510180.571 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-26T20:23:00.571Z,1761510180.571 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-26T20:23:00.576Z,1761510180.576 [keepstation:B] Stopped
2025-10-26T20:23:00.576Z,1761510180.576 [keepstation:D] Running Loop=1
2025-10-26T20:23:00.926Z,1761510180.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558956,0.825689,-0.076198],[-0.828602,-0.552709,0.089059],[0.031420,0.112918,0.993107]]
2025-10-26T20:23:01.004Z,1761510181.004 [keepstation:D] Stopped
2025-10-26T20:23:01.004Z,1761510181.004 [keepstation:E] Running Loop=1
2025-10-26T20:23:01.326Z,1761510181.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546834,0.828744,-0.118983],[-0.836173,-0.533417,0.127597],[0.042277,0.169265,0.984663]]
2025-10-26T20:23:01.358Z,1761510181.358 [keepstation:E] Stopped
2025-10-26T20:23:01.358Z,1761510181.358 [keepstation:StartingMission] Running Loop=1
2025-10-26T20:23:01.358Z,1761510181.358 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-10-26T20:23:01.730Z,1761510181.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528820,0.845189,-0.077490],[-0.847657,-0.521343,0.098383],[0.042753,0.117711,0.992127]]
2025-10-26T20:23:01.760Z,1761510181.760 [keepstation:SurfaceComms] Running Loop=1
2025-10-26T20:23:01.760Z,1761510181.760 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-10-26T20:23:01.760Z,1761510181.760 [keepstation:SurfaceComms:A] Running Loop=1
2025-10-26T20:23:01.761Z,1761510181.761 [keepstation:SurfaceComms:A] Stopped
2025-10-26T20:23:01.761Z,1761510181.761 [keepstation:SurfaceComms:B] Running Loop=1
2025-10-26T20:23:01.761Z,1761510181.761 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-10-26T20:23:02.134Z,1761510182.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526051,0.849800,0.033311],[-0.849589,-0.526879,0.024446],[0.038325,-0.015441,0.999146]]
2025-10-26T20:23:02.149Z,1761510182.149 [keepstation:NeedComms] Running Loop=1
2025-10-26T20:23:02.150Z,1761510182.150 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-10-26T20:23:02.150Z,1761510182.150 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-10-26T20:23:02.150Z,1761510182.150 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T20:23:02.150Z,1761510182.150 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-26T20:23:02.151Z,1761510182.151 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-26T20:23:02.151Z,1761510182.151 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-26T20:23:02.151Z,1761510182.151 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-26T20:23:02.152Z,1761510182.152 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T20:23:02.152Z,1761510182.152 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T20:23:02.152Z,1761510182.152 [keepstation:NeedComms:A] Running Loop=1
2025-10-26T20:23:02.154Z,1761510182.154 [keepstation:NeedComms:A](INFO): last time_fix was:  1761510082.000000 second since 1970/01/01T00:00:00Z 
2025-10-26T20:23:02.154Z,1761510182.154 [keepstation:NeedComms:A] Stopped
2025-10-26T20:23:02.538Z,1761510182.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522978,0.836277,0.164726],[-0.851422,-0.521557,-0.055298],[0.039670,-0.169171,0.984788]]
2025-10-26T20:23:02.571Z,1761510182.571 [keepstation:NeedComms:C] Running Loop=1
2025-10-26T20:23:02.942Z,1761510182.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519253,0.820978,0.237427],[-0.853386,-0.513020,-0.092429],[0.045923,-0.250611,0.966998]]
2025-10-26T20:23:02.985Z,1761510182.985 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-26T20:23:03.347Z,1761510183.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516275,0.827217,0.221750],[-0.855585,-0.509633,-0.090824],[0.037880,-0.236616,0.970865]]
2025-10-26T20:23:03.751Z,1761510183.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501000,0.855354,0.131791],[-0.865416,-0.496430,-0.067911],[0.007337,-0.148077,0.988949]]
2025-10-26T20:23:04.154Z,1761510184.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497337,0.867316,0.020485],[-0.867115,-0.496190,-0.043682],[-0.027722,-0.039487,0.998835]]
2025-10-26T20:23:04.264Z,1761510184.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:23:04.558Z,1761510184.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517990,0.854945,-0.027474],[-0.855272,-0.518180,0.000257],[-0.014017,0.023631,0.999622]]
2025-10-26T20:23:04.563Z,1761510184.563 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202303.00,A,3645.86023,N,12152.25914,W,0.855,258.51,261025,,,D*7D
2025-10-26T20:23:04.565Z,1761510184.565 [NAL9602](INFO): GPS fix at 20251026T202303: (36.764337, -121.870986)
2025-10-26T20:23:04.599Z,1761510184.599 [keepstation:NeedComms:C] Stopped
2025-10-26T20:23:04.603Z,1761510184.603 [keepstation:NeedComms:D] Running Loop=1
2025-10-26T20:23:04.962Z,1761510184.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536330,0.844002,0.003336],[-0.843624,-0.536201,0.028053],[0.025466,0.012231,0.999601]]
2025-10-26T20:23:05.020Z,1761510185.020 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-26T20:23:05.428Z,1761510185.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530594,0.845376,0.061720],[-0.847098,-0.531426,-0.003401],[0.029925,-0.054087,0.998088]]
2025-10-26T20:23:05.770Z,1761510185.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518755,0.847874,0.109555],[-0.854745,-0.516983,-0.046250],[0.017424,-0.117634,0.992904]]
2025-10-26T20:23:06.174Z,1761510186.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520940,0.842653,0.136225],[-0.853426,-0.517328,-0.063533],[0.016937,-0.149355,0.988639]]
2025-10-26T20:23:06.579Z,1761510186.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537212,0.832908,0.132922],[-0.842976,-0.535472,-0.051594],[0.028203,-0.139767,0.989783]]
2025-10-26T20:23:06.984Z,1761510186.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535087,0.839001,0.098784],[-0.844542,-0.534128,-0.038156],[0.020750,-0.103844,0.994377]]
2025-10-26T20:23:07.386Z,1761510187.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522191,0.850576,0.061935],[-0.852828,-0.520892,-0.036824],[0.000940,-0.072049,0.997401]]
2025-10-26T20:23:07.790Z,1761510187.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529971,0.846386,0.052551],[-0.847915,-0.529844,-0.017483],[0.013047,-0.053825,0.998465]]
2025-10-26T20:23:08.194Z,1761510188.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542259,0.838052,0.060202],[-0.839384,-0.543512,0.005432],[0.037273,-0.047587,0.998171]]
2025-10-26T20:23:08.599Z,1761510188.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536591,0.841238,0.066251],[-0.843107,-0.537745,-0.000480],[0.035222,-0.056115,0.997803]]
2025-10-26T20:23:09.003Z,1761510189.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514351,0.854130,0.076841],[-0.857218,-0.514668,-0.017145],[0.024903,-0.074688,0.996896]]
2025-10-26T20:23:09.407Z,1761510189.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512147,0.850946,0.116605],[-0.857000,-0.515305,-0.003545],[0.057070,-0.101746,0.993172]]
2025-10-26T20:23:09.810Z,1761510189.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527826,0.833851,0.161534],[-0.843118,-0.537389,0.019085],[0.102721,-0.126119,0.986683]]
2025-10-26T20:23:10.214Z,1761510190.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520683,0.838265,0.161864],[-0.849736,-0.527200,-0.003149],[0.082695,-0.139181,0.986808]]
2025-10-26T20:23:10.619Z,1761510190.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502125,0.856690,0.118120],[-0.864434,-0.501156,-0.039947],[0.024975,-0.122165,0.992195]]
2025-10-26T20:23:10.939Z,1761510190.939 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251026T180417/Courier0048.lzma
2025-10-26T20:23:11.098Z,1761510191.098 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -96,  -66,A
2025-10-26T20:23:11.455Z,1761510191.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514097,0.855844,0.056884],[-0.856761,-0.515539,0.013411],[0.040804,-0.041841,0.998291]]
2025-10-26T20:23:11.909Z,1761510191.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509971,0.857499,0.068005],[-0.856332,-0.513575,0.054194],[0.081397,-0.030597,0.996212]]
2025-10-26T20:23:11.941Z,1761510191.941 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Courier0048.lzma.bak
2025-10-26T20:23:11.942Z,1761510191.942 [DataOverHttps](INFO): SBD MOMSN=26242487
2025-10-26T20:23:12.310Z,1761510192.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486575,0.869663,0.083249],[-0.869100,-0.491545,0.055217],[0.088941,-0.045484,0.994998]]
2025-10-26T20:23:12.714Z,1761510192.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469089,0.876970,0.104298],[-0.879118,-0.474953,0.039644],[0.084303,-0.073093,0.993756]]
2025-10-26T20:23:13.119Z,1761510193.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474787,0.872376,0.116353],[-0.879030,-0.476567,-0.013803],[0.043409,-0.108831,0.993112]]
2025-10-26T20:23:13.522Z,1761510193.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479813,0.871024,0.105340],[-0.876960,-0.472443,-0.087974],[-0.026860,-0.134590,0.990537]]
2025-10-26T20:23:13.926Z,1761510193.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472276,0.875540,0.101911],[-0.881086,-0.465588,-0.083155],[-0.025357,-0.129064,0.991312]]
2025-10-26T20:23:14.331Z,1761510194.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478730,0.872531,0.097506],[-0.877205,-0.479969,-0.011855],[0.036456,-0.091209,0.995164]]
2025-10-26T20:23:14.739Z,1761510194.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468717,0.880242,0.074012],[-0.881720,-0.471293,0.021285],[0.053617,-0.055281,0.997030]]
2025-10-26T20:23:15.138Z,1761510195.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447451,0.893485,0.038361],[-0.893419,-0.448507,0.025380],[0.039882,-0.022916,0.998942]]
2025-10-26T20:23:15.543Z,1761510195.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432951,0.901167,0.021243],[-0.900367,-0.433464,0.038059],[0.043506,-0.002649,0.999050]]
2025-10-26T20:23:15.947Z,1761510195.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432129,0.900901,0.040526],[-0.900015,-0.433668,0.043656],[0.056904,-0.017609,0.998224]]
2025-10-26T20:23:16.351Z,1761510196.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429546,0.898871,0.086722],[-0.901089,-0.432951,0.024313],[0.059401,-0.067700,0.995936]]
2025-10-26T20:23:16.795Z,1761510196.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422964,0.897082,0.127850],[-0.904973,-0.425368,-0.009240],[0.046095,-0.119609,0.991750]]
2025-10-26T20:23:17.158Z,1761510197.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399426,0.906244,0.138497],[-0.916487,-0.398442,-0.035980],[0.022576,-0.141302,0.989709]]
2025-10-26T20:23:17.562Z,1761510197.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384895,0.915358,0.118217],[-0.922953,-0.381226,-0.053140],[-0.003575,-0.129562,0.991565]]
2025-10-26T20:23:17.968Z,1761510197.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395111,0.911934,0.110738],[-0.918333,-0.389018,-0.073006],[-0.023497,-0.130540,0.991165]]
2025-10-26T20:23:18.370Z,1761510198.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417306,0.900464,0.122558],[-0.908451,-0.409797,-0.082359],[-0.023938,-0.145707,0.989038]]
2025-10-26T20:23:18.813Z,1761510198.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451077,0.886886,0.099810],[-0.892381,-0.446488,-0.065611],[-0.013626,-0.118664,0.992841]]
2025-10-26T20:23:19.583Z,1761510199.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425121,0.899011,0.105120],[-0.903703,-0.428109,0.006579],[0.050918,-0.092200,0.994438]]
2025-10-26T20:23:19.986Z,1761510199.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406734,0.908387,0.096955],[-0.906327,-0.414557,0.081939],[0.114626,-0.054546,0.991910]]
2025-10-26T20:23:20.390Z,1761510200.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412011,0.908817,0.065560],[-0.907015,-0.415936,0.065739],[0.087014,-0.032378,0.995681]]
2025-10-26T20:23:20.817Z,1761510200.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406978,0.912575,0.039701],[-0.913196,-0.405487,-0.040653],[-0.021001,-0.052800,0.998384]]
2025-10-26T20:23:21.607Z,1761510201.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419956,0.904936,0.068763],[-0.906766,-0.421528,0.009511],[0.037592,-0.058358,0.997588]]
2025-10-26T20:23:22.012Z,1761510202.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433318,0.893861,0.115102],[-0.894798,-0.441941,0.063441],[0.107576,-0.075503,0.991326]]
2025-10-26T20:23:22.416Z,1761510202.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415690,0.904369,0.096530],[-0.906423,-0.420673,0.037836],[0.074825,-0.071769,0.994611]]
2025-10-26T20:23:22.825Z,1761510202.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382256,0.920649,0.079281],[-0.921421,-0.386236,0.042488],[0.069738,-0.056810,0.995946]]
2025-10-26T20:23:23.221Z,1761510203.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353654,0.933535,0.058670],[-0.932895,-0.356587,0.050526],[0.068089,-0.036865,0.996998]]
2025-10-26T20:23:23.623Z,1761510203.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342998,0.938304,0.044013],[-0.938311,-0.344436,0.030605],[0.043876,-0.030800,0.998562]]
2025-10-26T20:23:24.027Z,1761510204.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331295,0.941772,0.057521],[-0.943079,-0.332400,0.010581],[0.029085,-0.050741,0.998288]]
2025-10-26T20:23:24.432Z,1761510204.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322719,0.942580,0.085997],[-0.945767,-0.324700,0.009755],[0.037118,-0.078185,0.996248]]
2025-10-26T20:23:24.834Z,1761510204.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323673,0.938170,0.122767],[-0.945689,-0.324904,-0.010416],[0.030116,-0.119471,0.992381]]
2025-10-26T20:23:25.238Z,1761510205.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324700,0.933807,0.150247],[-0.945807,-0.319836,-0.056159],[-0.004387,-0.160340,0.987052]]
2025-10-26T20:23:25.642Z,1761510205.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332647,0.931867,0.144807],[-0.941990,-0.321050,-0.097884],[-0.044724,-0.168968,0.984606]]
2025-10-26T20:23:26.048Z,1761510206.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336758,0.932666,0.129335],[-0.939441,-0.323527,-0.113048],[-0.063593,-0.159573,0.985136]]
2025-10-26T20:23:26.450Z,1761510206.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346343,0.931621,0.110128],[-0.935086,-0.333425,-0.120174],[-0.075238,-0.144601,0.986625]]
2025-10-26T20:23:26.854Z,1761510206.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351876,0.930915,0.097883],[-0.932934,-0.340261,-0.117716],[-0.076278,-0.132739,0.988211]]
2025-10-26T20:23:27.258Z,1761510207.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353150,0.929986,0.102036],[-0.934455,-0.345311,-0.086913],[-0.045593,-0.126042,0.990977]]
2025-10-26T20:23:27.664Z,1761510207.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362871,0.925777,0.106116],[-0.931790,-0.359322,-0.051525],[-0.009571,-0.117575,0.993018]]
2025-10-26T20:23:28.066Z,1761510208.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375439,0.920457,0.108649],[-0.926332,-0.376552,-0.010875],[0.030902,-0.104728,0.994021]]
2025-10-26T20:23:28.470Z,1761510208.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366921,0.922696,0.118324],[-0.925196,-0.375206,0.056863],[0.096863,-0.088609,0.991346]]
2025-10-26T20:23:28.874Z,1761510208.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346722,0.930648,0.116955],[-0.925285,-0.359800,0.119965],[0.153726,-0.066622,0.985865]]
2025-10-26T20:23:29.280Z,1761510209.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338492,0.936192,0.094694],[-0.927893,-0.348812,0.131698],[0.156325,-0.043287,0.986757]]
2025-10-26T20:23:29.682Z,1761510209.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317738,0.946243,0.060549],[-0.942034,-0.322293,0.093271],[0.107772,-0.027403,0.993798]]
2025-10-26T20:23:30.086Z,1761510210.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301563,0.952655,0.038846],[-0.951507,-0.303297,0.051430],[0.060777,-0.021453,0.997921]]
2025-10-26T20:23:30.490Z,1761510210.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299605,0.951620,0.068236],[-0.952704,-0.302228,0.031826],[0.050909,-0.055474,0.997161]]
2025-10-26T20:23:30.895Z,1761510210.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299543,0.945081,0.130752],[-0.951637,-0.305763,0.029940],[0.068275,-0.115460,0.990963]]
2025-10-26T20:23:31.300Z,1761510211.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309525,0.938275,0.154383],[-0.949832,-0.312738,-0.003642],[0.044864,-0.147765,0.988004]]
2025-10-26T20:23:31.702Z,1761510211.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311296,0.943232,0.115798],[-0.950114,-0.306416,-0.058250],[-0.019461,-0.128155,0.991563]]
2025-10-26T20:23:32.107Z,1761510212.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301067,0.951913,0.056749],[-0.953105,-0.298453,-0.050175],[-0.030825,-0.069194,0.997127]]
2025-10-26T20:23:32.511Z,1761510212.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292114,0.956292,0.013252],[-0.956196,-0.292303,0.015773],[0.018957,-0.008064,0.999788]]
2025-10-26T20:23:32.915Z,1761510212.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280208,0.959937,0.002206],[-0.958909,-0.280013,0.045664],[0.044452,0.010680,0.998954]]
2025-10-26T20:23:33.318Z,1761510213.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280454,0.959654,0.020240],[-0.959401,-0.280913,0.025262],[0.029929,-0.012334,0.999476]]
2025-10-26T20:23:33.722Z,1761510213.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289878,0.954357,0.071931],[-0.957055,-0.289378,-0.017514],[0.004101,-0.073919,0.997256]]
2025-10-26T20:23:34.127Z,1761510214.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290462,0.948726,0.124703],[-0.956867,-0.287149,-0.044164],[-0.006091,-0.132152,0.991211]]
2025-10-26T20:23:34.532Z,1761510214.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295296,0.945165,0.139510],[-0.955322,-0.294035,-0.030044],[0.012624,-0.142149,0.989765]]
2025-10-26T20:23:34.934Z,1761510214.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306082,0.942657,0.133082],[-0.951260,-0.308370,-0.003579],[0.037665,-0.127690,0.991099]]
2025-10-26T20:23:35.339Z,1761510215.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301137,0.945917,0.120656],[-0.952296,-0.304880,0.013427],[0.049487,-0.110857,0.992603]]
2025-10-26T20:23:35.742Z,1761510215.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292555,0.951821,0.091916],[-0.954817,-0.296023,0.026370],[0.052309,-0.080049,0.995417]]
2025-10-26T20:23:36.148Z,1761510216.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297466,0.952060,0.071379],[-0.953877,-0.299531,0.019973],[0.040396,-0.062145,0.997249]]
2025-10-26T20:23:36.550Z,1761510216.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300508,0.952051,0.057392],[-0.953766,-0.299641,-0.023366],[-0.005049,-0.061760,0.998078]]
2025-10-26T20:23:36.562Z,1761510216.562 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:23:36.954Z,1761510216.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287485,0.956973,0.039430],[-0.956703,-0.284960,-0.059309],[-0.045521,-0.054773,0.997461]]
2025-10-26T20:23:37.358Z,1761510217.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291177,0.956277,0.027382],[-0.954964,-0.288830,-0.067977],[-0.057096,-0.045942,0.997311]]
2025-10-26T20:23:37.764Z,1761510217.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308878,0.949757,0.050566],[-0.947429,-0.302582,-0.104031],[-0.083504,-0.080041,0.993288]]
2025-10-26T20:23:38.167Z,1761510218.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313855,0.944683,0.095232],[-0.947223,-0.304635,-0.099833],[-0.065299,-0.121539,0.990436]]
2025-10-26T20:23:38.571Z,1761510218.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310547,0.941742,0.129160],[-0.950434,-0.309820,-0.026199],[0.015343,-0.130895,0.991278]]
2025-10-26T20:23:38.974Z,1761510218.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310666,0.942863,0.120400],[-0.948991,-0.314848,0.016938],[0.053878,-0.108997,0.992581]]
2025-10-26T20:23:39.380Z,1761510219.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314045,0.946322,0.076488],[-0.949007,-0.315234,0.003685],[0.027599,-0.071430,0.997064]]
2025-10-26T20:23:39.782Z,1761510219.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306385,0.950935,0.043022],[-0.951874,-0.306443,-0.005388],[0.008060,-0.042603,0.999060]]
2025-10-26T20:23:40.188Z,1761510220.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302774,0.952447,0.034243],[-0.952997,-0.302979,0.000824],[0.011160,-0.032384,0.999413]]
2025-10-26T20:23:40.590Z,1761510220.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310551,0.948159,0.067468],[-0.950548,-0.309456,-0.026391],[-0.004145,-0.072327,0.997372]]
2025-10-26T20:23:40.995Z,1761510220.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326135,0.937099,0.124424],[-0.944624,-0.317996,-0.081017],[-0.036354,-0.143956,0.988916]]
2025-10-26T20:23:41.398Z,1761510221.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331093,0.929412,0.163007],[-0.943216,-0.321068,-0.085200],[-0.026849,-0.181960,0.982939]]
2025-10-26T20:23:41.803Z,1761510221.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331564,0.930266,0.157066],[-0.943156,-0.330873,-0.031299],[0.022853,-0.158515,0.987092]]
2025-10-26T20:23:42.206Z,1761510222.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348419,0.932489,0.095234],[-0.936269,-0.351074,0.012164],[0.044776,-0.084926,0.995381]]
2025-10-26T20:23:42.612Z,1761510222.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369534,0.928738,0.029855],[-0.928412,-0.370360,0.029736],[0.038674,-0.016729,0.999112]]
2025-10-26T20:23:43.014Z,1761510223.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361479,0.932129,0.021625],[-0.931647,-0.362017,0.031251],[0.036959,-0.008850,0.999278]]
2025-10-26T20:23:43.418Z,1761510223.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323537,0.944663,0.054179],[-0.945177,-0.325334,0.028251],[0.044314,-0.042069,0.998132]]
2025-10-26T20:23:43.822Z,1761510223.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306239,0.948586,0.080016],[-0.949918,-0.309998,0.039462],[0.062238,-0.063924,0.996012]]
2025-10-26T20:23:44.228Z,1761510224.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323273,0.942429,0.085572],[-0.942007,-0.329096,0.065715],[0.090093,-0.059366,0.994162]]
2025-10-26T20:23:44.630Z,1761510224.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333301,0.939233,0.082170],[-0.938091,-0.339086,0.070751],[0.094314,-0.053502,0.994104]]
2025-10-26T20:23:45.035Z,1761510225.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328554,0.941029,0.080727],[-0.940242,-0.333974,0.066385],[0.089431,-0.054092,0.994523]]
2025-10-26T20:23:45.438Z,1761510225.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307707,0.947001,0.092229],[-0.945753,-0.315034,0.079401],[0.104248,-0.062794,0.992567]]
2025-10-26T20:23:45.843Z,1761510225.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287552,0.952367,0.101542],[-0.951311,-0.296292,0.084967],[0.111006,-0.072166,0.991196]]
2025-10-26T20:23:46.246Z,1761510226.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287718,0.953392,0.090891],[-0.955091,-0.292655,0.046409],[0.070845,-0.073456,0.994779]]
2025-10-26T20:23:46.650Z,1761510226.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293441,0.953746,0.065279],[-0.955878,-0.293707,-0.005702],[0.013735,-0.064072,0.997851]]
2025-10-26T20:23:47.056Z,1761510227.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297020,0.953703,0.047228],[-0.954864,-0.296463,-0.018536],[-0.003676,-0.050602,0.998712]]
2025-10-26T20:23:47.458Z,1761510227.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317786,0.946937,0.048183],[-0.948076,-0.318033,-0.002662],[0.012803,-0.046527,0.998835]]
2025-10-26T20:23:47.863Z,1761510227.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335827,0.938546,0.079697],[-0.941672,-0.336490,-0.005364],[0.021783,-0.076850,0.996805]]
2025-10-26T20:23:48.268Z,1761510228.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319050,0.939367,0.125682],[-0.947549,-0.318818,-0.022503],[0.018931,-0.126269,0.991815]]
2025-10-26T20:23:48.671Z,1761510228.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313487,0.939990,0.134703],[-0.949165,-0.314435,-0.014741],[0.028499,-0.132477,0.990776]]
2025-10-26T20:23:49.074Z,1761510229.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326510,0.939134,0.106854],[-0.943326,-0.330879,0.025588],[0.059386,-0.092443,0.993945]]
2025-10-26T20:23:49.478Z,1761510229.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350210,0.932424,0.089092],[-0.932827,-0.355800,0.056915],[0.084768,-0.063176,0.994396]]
2025-10-26T20:23:49.883Z,1761510229.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352185,0.933614,0.065811],[-0.934743,-0.354408,0.025496],[0.047127,-0.052537,0.997506]]
2025-10-26T20:23:50.287Z,1761510230.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323116,0.945603,0.037814],[-0.946222,-0.322131,-0.029918],[-0.016109,-0.045447,0.998837]]
2025-10-26T20:23:50.690Z,1761510230.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309195,0.950716,0.023186],[-0.949862,-0.307542,-0.056397],[-0.046487,-0.039461,0.998139]]
2025-10-26T20:23:51.096Z,1761510231.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323323,0.945134,0.046731],[-0.945889,-0.321357,-0.044984],[-0.027499,-0.058746,0.997894]]
2025-10-26T20:23:51.498Z,1761510231.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333065,0.937196,0.103592],[-0.942106,-0.335287,0.004317],[0.038779,-0.096157,0.994611]]
2025-10-26T20:23:51.930Z,1761510231.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324355,0.932417,0.159350],[-0.941492,-0.334527,0.041048],[0.091581,-0.136712,0.986368]]
2025-10-26T20:23:52.306Z,1761510232.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320041,0.935829,0.147640],[-0.943687,-0.328681,0.037736],[0.083841,-0.127249,0.988321]]
2025-10-26T20:23:52.710Z,1761510232.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316644,0.943949,0.093251],[-0.947831,-0.318686,0.007485],[0.036784,-0.086016,0.995614]]
2025-10-26T20:23:53.114Z,1761510233.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319088,0.945608,0.063308],[-0.947609,-0.319381,-0.005709],[0.014821,-0.061812,0.997978]]
2025-10-26T20:23:53.518Z,1761510233.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323306,0.943890,0.067421],[-0.946277,-0.322916,-0.016905],[0.005815,-0.069264,0.997581]]
2025-10-26T20:23:53.922Z,1761510233.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315073,0.946086,0.075169],[-0.948823,-0.312206,-0.047566],[-0.021534,-0.086309,0.996036]]
2025-10-26T20:23:54.327Z,1761510234.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302831,0.951288,0.057827],[-0.952565,-0.300197,-0.050007],[-0.030211,-0.070228,0.997073]]
2025-10-26T20:23:54.735Z,1761510234.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317182,0.947524,0.039930],[-0.948364,-0.316870,-0.014080],[-0.000689,-0.042335,0.999103]]
2025-10-26T20:23:55.134Z,1761510235.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348534,0.936520,0.038128],[-0.936709,-0.349467,0.021183],[0.033163,-0.028332,0.999048]]
2025-10-26T20:23:55.539Z,1761510235.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352498,0.933160,0.070410],[-0.933878,-0.355608,0.037625],[0.060149,-0.052491,0.996808]]
2025-10-26T20:23:55.943Z,1761510235.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330775,0.936629,0.115384],[-0.939260,-0.338605,0.056009],[0.091530,-0.089849,0.991741]]
2025-10-26T20:23:56.346Z,1761510236.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307313,0.945182,0.110409],[-0.945821,-0.316157,0.073938],[0.104791,-0.081706,0.991132]]
2025-10-26T20:23:56.788Z,1761510236.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302560,0.950131,0.075551],[-0.950782,-0.306426,0.046011],[0.066867,-0.057911,0.996080]]
2025-10-26T20:23:57.154Z,1761510237.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310028,0.949009,0.057135],[-0.950357,-0.311024,0.009235],[0.026534,-0.051436,0.998324]]
2025-10-26T20:23:57.561Z,1761510237.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321673,0.945498,0.050599],[-0.946679,-0.322174,0.001846],[0.018047,-0.047307,0.998717]]
2025-10-26T20:23:57.962Z,1761510237.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326046,0.943419,0.060455],[-0.944684,-0.327555,0.016721],[0.035577,-0.051659,0.998031]]
2025-10-26T20:23:58.366Z,1761510238.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311197,0.947981,0.066998],[-0.948998,-0.313735,0.031186],[0.050584,-0.053876,0.997266]]
2025-10-26T20:23:58.767Z,1761510238.767 [DataOverHttps](INFO): Sending 360 bytes from file Logs/20251026T180417/Express0049.lzma
2025-10-26T20:23:58.811Z,1761510238.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300637,0.951857,0.059875],[-0.952159,-0.303159,0.038575],[0.054870,-0.045413,0.997460]]
2025-10-26T20:23:59.174Z,1761510239.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313307,0.947974,0.056431],[-0.947748,-0.315887,0.044601],[0.060106,-0.039508,0.997410]]
2025-10-26T20:23:59.579Z,1761510239.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329995,0.940622,0.079578],[-0.941617,-0.333961,0.042744],[0.066782,-0.060827,0.995912]]
2025-10-26T20:23:59.750Z,1761510239.750 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0049.lzma.bak
2025-10-26T20:23:59.751Z,1761510239.751 [DataOverHttps](IMPORTANT): SBD MOMSN=26242492, MTMSN=20251026T202358
2025-10-26T20:23:59.982Z,1761510239.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337956,0.931397,0.135224],[-0.937158,-0.346265,0.042833],[0.086718,-0.112251,0.989889]]
2025-10-26T20:24:00.387Z,1761510240.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329904,0.929425,0.165324],[-0.937315,-0.343328,0.059722],[0.112267,-0.135259,0.984429]]
2025-10-26T20:24:00.821Z,1761510240.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300477,0.943955,0.136608],[-0.945526,-0.313615,0.087328],[0.125276,-0.102926,0.986768]]
2025-10-26T20:24:01.194Z,1761510241.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274140,0.959570,0.063822],[-0.953634,-0.279816,0.110838],[0.124216,-0.030478,0.991787]]
2025-10-26T20:24:01.600Z,1761510241.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266035,0.963963,0.000304],[-0.958052,-0.264439,0.110493],[0.106591,0.029103,0.993877]]
2025-10-26T20:24:02.003Z,1761510242.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254601,0.966986,-0.010820],[-0.963705,-0.252776,0.085890],[0.080319,0.032295,0.996246]]
2025-10-26T20:24:02.406Z,1761510242.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244528,0.969224,0.028467],[-0.967083,-0.245909,0.065415],[0.070402,-0.011534,0.997452]]
2025-10-26T20:24:02.820Z,1761510242.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244831,0.964512,0.098862],[-0.965625,-0.251749,0.064739],[0.087330,-0.079614,0.992993]]
2025-10-26T20:24:03.214Z,1761510243.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238200,0.958416,0.157162],[-0.966315,-0.250110,0.060657],[0.097443,-0.137419,0.985708]]
2025-10-26T20:24:03.621Z,1761510243.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218123,0.964937,0.146011],[-0.974779,-0.222652,0.015228],[0.047204,-0.139006,0.989166]]
2025-10-26T20:24:04.022Z,1761510244.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208436,0.974288,0.085542],[-0.977858,-0.205930,-0.037244],[-0.018671,-0.091411,0.995638]]
2025-10-26T20:24:04.831Z,1761510244.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209583,0.977749,0.008997],[-0.976567,-0.208851,-0.051946],[-0.048911,-0.019673,0.998609]]
2025-10-26T20:24:05.235Z,1761510245.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189927,0.981728,0.011745],[-0.981216,-0.189389,-0.036700],[-0.033805,-0.018495,0.999257]]
2025-10-26T20:24:05.639Z,1761510245.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205615,0.977847,0.039225],[-0.978442,-0.204618,-0.027987],[-0.019340,-0.044134,0.998838]]
2025-10-26T20:24:06.042Z,1761510246.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228733,0.968442,0.098996],[-0.973462,-0.226777,-0.030732],[-0.007312,-0.103398,0.994613]]
2025-10-26T20:24:06.448Z,1761510246.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221859,0.962848,0.153955],[-0.974995,-0.221128,-0.022074],[0.012790,-0.155003,0.987831]]
2025-10-26T20:24:06.858Z,1761510246.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213530,0.959462,0.183950],[-0.976328,-0.216223,-0.005529],[0.034469,-0.180777,0.982920]]
2025-10-26T20:24:07.260Z,1761510247.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219582,0.969236,0.111195],[-0.975423,-0.220249,-0.006405],[0.018283,-0.109869,0.993778]]
2025-10-26T20:24:07.668Z,1761510247.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200406,0.979166,0.032746],[-0.979467,-0.200992,0.015680],[0.021935,-0.028931,0.999341]]
2025-10-26T20:24:08.068Z,1761510248.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191981,0.981255,-0.016795],[-0.980677,-0.191156,0.041616],[0.037626,0.024460,0.998993]]
2025-10-26T20:24:08.470Z,1761510248.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203163,0.979132,0.005002],[-0.978377,-0.203204,0.038570],[0.038782,0.002942,0.999243]]
2025-10-26T20:24:08.873Z,1761510248.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209281,0.975277,0.070967],[-0.977264,-0.211127,0.019521],[0.034021,-0.065268,0.997288]]
2025-10-26T20:24:09.274Z,1761510249.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219170,0.968914,0.114763],[-0.975395,-0.220461,-0.001479],[0.023868,-0.112263,0.993392]]
2025-10-26T20:24:09.681Z,1761510249.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227190,0.967682,0.109440],[-0.973799,-0.226899,-0.015275],[0.010051,-0.110043,0.993876]]
2025-10-26T20:24:10.082Z,1761510250.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213136,0.975202,0.059618],[-0.976653,-0.214337,0.014453],[0.026873,-0.055145,0.998117]]
2025-10-26T20:24:10.486Z,1761510250.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185527,0.982337,0.024369],[-0.976849,-0.187066,0.103787],[0.106512,-0.004549,0.994301]]
2025-10-26T20:24:10.891Z,1761510250.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163529,0.986355,0.019023],[-0.967146,-0.164089,0.194175],[0.194647,0.013355,0.980783]]
2025-10-26T20:24:11.295Z,1761510251.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163591,0.986029,0.031375],[-0.969048,-0.166572,0.182208],[0.184889,-0.000596,0.982759]]
2025-10-26T20:24:11.698Z,1761510251.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168110,0.983562,0.065914],[-0.981155,-0.173410,0.085229],[0.095258,-0.050344,0.994179]]
2025-10-26T20:24:11.843Z,1761510251.843 [DataOverHttps](INFO): Received command: stop
2025-10-26T20:24:11.925Z,1761510251.925 [CommandExec](IMPORTANT): got command stop
2025-10-26T20:24:11.925Z,1761510251.925 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-10-26T20:24:12.102Z,1761510252.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153173,0.983622,0.094999],[-0.988199,-0.152547,-0.013861],[0.000858,-0.096001,0.995381]]
2025-10-26T20:24:12.128Z,1761510252.128 [MissionManager](INFO): MissionManager is completed.
2025-10-26T20:24:12.128Z,1761510252.128 [MissionManager](INFO): Uninitializing Mission keepstation
2025-10-26T20:24:12.128Z,1761510252.128 [keepstation] Stopped
2025-10-26T20:24:12.128Z,1761510252.128 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-10-26T20:24:12.128Z,1761510252.128 [keepstation:NeedComms] Stopped
2025-10-26T20:24:12.128Z,1761510252.128 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:NeedComms:D] Stopped
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes] Stopped
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-26T20:24:12.129Z,1761510252.129 [keepstation:BackseatDriver] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:PowerOnly] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:PowerOnly:E.Wait] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:H.Pitch] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:SurfaceComms] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:SurfaceComms:B] Stopped
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-10-26T20:24:12.130Z,1761510252.130 [keepstation:StartingMission] Stopped
2025-10-26T20:24:12.131Z,1761510252.131 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-10-26T20:24:12.506Z,1761510252.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167595,0.980077,0.106586],[-0.984367,-0.160420,-0.072717],[-0.054170,-0.117106,0.991641]]
2025-10-26T20:24:12.539Z,1761510252.539 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-26T20:24:12.539Z,1761510252.539 [DefaultWithUndock] Running Loop=1
2025-10-26T20:24:12.539Z,1761510252.539 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-26T20:24:12.539Z,1761510252.539 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-26T20:24:12.540Z,1761510252.540 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:24:12.910Z,1761510252.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198886,0.973793,0.110326],[-0.977308,-0.188700,-0.096238],[-0.072897,-0.126963,0.989225]]
2025-10-26T20:24:13.316Z,1761510253.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202666,0.972639,0.113577],[-0.978399,-0.196296,-0.064835],[-0.040766,-0.124263,0.991411]]
2025-10-26T20:24:13.718Z,1761510253.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191860,0.975879,0.104164],[-0.980685,-0.194746,0.018187],[0.038034,-0.098662,0.994394]]
2025-10-26T20:24:14.123Z,1761510254.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173597,0.982441,0.068365],[-0.979808,-0.179290,0.088499],[0.099202,-0.051621,0.993727]]
2025-10-26T20:24:14.526Z,1761510254.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161506,0.986680,0.019429],[-0.980735,-0.162663,0.108164],[0.109884,-0.001585,0.993943]]
2025-10-26T20:24:14.930Z,1761510254.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156524,0.987673,0.001236],[-0.984353,-0.156100,0.081743],[0.080928,0.011578,0.996653]]
2025-10-26T20:24:15.336Z,1761510255.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151485,0.987991,0.030447],[-0.985847,-0.153250,0.067964],[0.071814,-0.019720,0.997223]]
2025-10-26T20:24:15.739Z,1761510255.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138099,0.987387,0.077426],[-0.982507,-0.146437,0.115044],[0.124931,-0.060184,0.990338]]
2025-10-26T20:24:16.153Z,1761510256.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118371,0.986756,0.110908],[-0.972869,-0.137609,0.185984],[0.198783,-0.085884,0.976273]]
2025-10-26T20:24:16.546Z,1761510256.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096947,0.987819,0.121715],[-0.971584,-0.120459,0.203750],[0.215930,-0.098504,0.971427]]
2025-10-26T20:24:16.953Z,1761510256.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095112,0.990452,0.099797],[-0.980901,-0.110335,0.160182],[0.169664,-0.082656,0.982030]]
2025-10-26T20:24:17.355Z,1761510257.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108859,0.991842,0.066332],[-0.985583,-0.116385,0.122804],[0.129522,-0.052007,0.990212]]
2025-10-26T20:24:17.759Z,1761510257.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110273,0.992193,0.058248],[-0.987547,-0.115996,0.106284],[0.112210,-0.045802,0.992628]]
2025-10-26T20:24:18.162Z,1761510258.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083190,0.994173,0.068553],[-0.993245,-0.088303,0.075282],[0.080897,-0.061828,0.994803]]
2025-10-26T20:24:18.567Z,1761510258.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047217,0.996794,0.064599],[-0.997858,-0.050001,0.042182],[0.045276,-0.062469,0.997019]]
2025-10-26T20:24:18.970Z,1761510258.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040471,0.997752,0.053414],[-0.998166,-0.042781,0.042828],[0.045017,-0.051583,0.997654]]
2025-10-26T20:24:19.374Z,1761510259.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054995,0.995608,0.075765],[-0.997309,-0.058456,0.044248],[0.048482,-0.073128,0.996143]]
2025-10-26T20:24:19.778Z,1761510259.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065979,0.990681,0.119158],[-0.997657,-0.067659,0.010098],[0.018065,-0.118212,0.992824]]
2025-10-26T20:24:20.184Z,1761510260.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051502,0.991761,0.117297],[-0.998305,-0.047940,-0.032992],[-0.027097,-0.118797,0.992549]]
2025-10-26T20:24:20.586Z,1761510260.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038799,0.997163,0.064505],[-0.998375,-0.035988,-0.044186],[-0.041739,-0.066114,0.996939]]
2025-10-26T20:24:20.991Z,1761510260.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051863,0.998513,0.016773],[-0.998420,-0.051479,-0.022536],[-0.021639,-0.017915,0.999605]]
2025-10-26T20:24:21.394Z,1761510261.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071586,0.997245,0.019450],[-0.997307,-0.071252,-0.017364],[-0.015930,-0.020641,0.999660]]
2025-10-26T20:24:21.627Z,1761510261.627 [DataOverHttps](INFO): Sending 53 bytes from file Logs/20251026T180417/Express0050.lzma
2025-10-26T20:24:21.799Z,1761510261.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073761,0.995625,0.057358],[-0.997079,-0.072483,-0.024061],[-0.019798,-0.058965,0.998064]]
2025-10-26T20:24:22.203Z,1761510262.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052223,0.992717,0.108560],[-0.998230,-0.054991,0.022662],[0.028467,-0.107185,0.993832]]
2025-10-26T20:24:22.606Z,1761510262.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021591,0.990961,0.132402],[-0.996207,-0.032490,0.080723],[0.084295,-0.130157,0.987904]]
2025-10-26T20:24:22.629Z,1761510262.629 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0050.lzma.bak
2025-10-26T20:24:22.630Z,1761510262.630 [DataOverHttps](INFO): SBD MOMSN=26242506
2025-10-26T20:24:23.010Z,1761510263.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011570,0.993181,0.116004],[-0.996230,-0.021424,0.084063],[0.085975,-0.114594,0.989685]]
2025-10-26T20:24:23.414Z,1761510263.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016803,0.997102,0.074201],[-0.998723,-0.020274,0.046270],[0.047640,-0.073329,0.996169]]
2025-10-26T20:24:23.632Z,1761510263.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:24:23.820Z,1761510263.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021563,0.999107,0.036342],[-0.999756,-0.021722,0.003994],[0.004780,-0.036247,0.999331]]
2025-10-26T20:24:24.222Z,1761510264.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015098,0.999190,0.037305],[-0.999218,-0.013714,-0.037083],[-0.036542,-0.037835,0.998616]]
2025-10-26T20:24:24.626Z,1761510264.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012170,0.997543,0.068998],[-0.998946,-0.009075,-0.044998],[-0.044261,-0.069473,0.996601]]
2025-10-26T20:24:25.031Z,1761510265.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008190,0.994347,0.105860],[-0.999848,-0.006514,-0.016168],[-0.015387,-0.105977,0.994250]]
2025-10-26T20:24:25.435Z,1761510265.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000327,0.993943,0.109899],[-0.999699,-0.002370,0.024407],[0.024520,-0.109874,0.993643]]
2025-10-26T20:24:25.838Z,1761510265.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001375,0.996555,0.082918],[-0.998465,-0.003223,0.055299],[0.055375,-0.082867,0.995021]]
2025-10-26T20:24:26.242Z,1761510266.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008184,0.998592,0.052416],[-0.997633,0.004575,0.068610],[0.068273,-0.052854,0.996266]]
2025-10-26T20:24:26.647Z,1761510266.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014890,0.999266,0.035288],[-0.998286,0.012860,0.057092],[0.056597,-0.036078,0.997745]]
2025-10-26T20:24:27.051Z,1761510267.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004224,0.999049,0.043398],[-0.999292,0.002594,0.037545],[0.037396,-0.043526,0.998352]]
2025-10-26T20:24:27.456Z,1761510267.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006434,0.997472,0.070776],[-0.999079,0.003411,0.042761],[0.042412,-0.070986,0.996575]]
2025-10-26T20:24:27.858Z,1761510267.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024059,0.996296,0.082560],[-0.996606,0.017399,0.080464],[0.078730,-0.084215,0.993332]]
2025-10-26T20:24:28.262Z,1761510268.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034102,0.996930,0.070482],[-0.993611,0.026228,0.109766],[0.107581,-0.073775,0.991455]]
2025-10-26T20:24:28.667Z,1761510268.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031078,0.998456,0.046051],[-0.992340,0.025310,0.120920],[0.119568,-0.049456,0.991593]]
2025-10-26T20:24:29.071Z,1761510269.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039681,0.998538,0.036700],[-0.988842,0.033965,0.145047],[0.143589,-0.042046,0.988744]]
2025-10-26T20:24:29.474Z,1761510269.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055719,0.997957,0.031271],[-0.985051,0.049832,0.164898],[0.163003,-0.039991,0.985815]]
2025-10-26T20:24:29.878Z,1761510269.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069388,0.997581,0.004142],[-0.986169,0.067966,0.151166],[0.150519,-0.014574,0.988500]]
2025-10-26T20:24:30.282Z,1761510270.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074851,0.997168,-0.007270],[-0.986817,0.075119,0.143349],[0.143489,-0.003555,0.989645]]
2025-10-26T20:24:30.688Z,1761510270.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077223,0.996702,0.024919],[-0.986860,0.072855,0.144224],[0.141933,-0.035729,0.989231]]
2025-10-26T20:24:31.090Z,1761510271.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090305,0.992804,0.078642],[-0.986915,0.078618,0.140780],[0.133584,-0.090326,0.986913]]
2025-10-26T20:24:31.494Z,1761510271.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107312,0.988571,0.105883],[-0.988515,0.094692,0.117774],[0.106401,-0.117305,0.987379]]
2025-10-26T20:24:31.898Z,1761510271.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102072,0.989019,0.106872],[-0.992776,0.094466,0.073975],[0.063067,-0.113651,0.991517]]
2025-10-26T20:24:32.302Z,1761510272.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092292,0.992227,0.083476],[-0.995188,0.089145,0.040679],[0.032921,-0.086829,0.995679]]
2025-10-26T20:24:32.716Z,1761510272.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081274,0.995956,0.038302],[-0.995454,0.079198,0.052913],[0.049666,-0.042428,0.997864]]
2025-10-26T20:24:33.110Z,1761510273.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068900,0.997588,0.008386],[-0.994815,0.068073,0.075566],[0.074813,-0.013549,0.997106]]
2025-10-26T20:24:33.514Z,1761510273.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082207,0.996381,0.021597],[-0.994236,0.080495,0.070825],[0.068830,-0.027295,0.997255]]
2025-10-26T20:24:33.920Z,1761510273.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110839,0.992336,0.054627],[-0.991694,0.106824,0.071636],[0.065252,-0.062114,0.995934]]
2025-10-26T20:24:34.322Z,1761510274.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122401,0.990082,0.068960],[-0.988955,0.115820,0.092484],[0.083579,-0.079519,0.993323]]
2025-10-26T20:24:34.726Z,1761510274.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105789,0.991824,0.071378],[-0.990550,0.098808,0.095116],[0.087286,-0.080765,0.992904]]
2025-10-26T20:24:35.130Z,1761510275.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075200,0.992622,0.095113],[-0.995750,0.069664,0.060242],[0.053172,-0.099239,0.993642]]
2025-10-26T20:24:35.534Z,1761510275.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066795,0.991648,0.110329],[-0.997422,0.063458,0.033494],[0.026213,-0.112282,0.993331]]
2025-10-26T20:24:35.938Z,1761510275.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084827,0.992819,0.084348],[-0.995934,0.081906,0.037520],[0.030342,-0.087188,0.995730]]
2025-10-26T20:24:36.342Z,1761510276.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086066,0.995799,0.031241],[-0.995721,0.084916,0.036441],[0.033635,-0.034244,0.998847]]
2025-10-26T20:24:36.760Z,1761510276.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080963,0.996716,0.001477],[-0.996227,0.080877,0.031463],[0.031240,-0.004019,0.999504]]
2025-10-26T20:24:37.150Z,1761510277.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095313,0.995364,0.012853],[-0.993853,0.094423,0.057793],[0.056312,-0.018283,0.998246]]
2025-10-26T20:24:37.554Z,1761510277.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109450,0.993054,0.043179],[-0.989142,0.104527,0.103303],[0.098072,-0.054017,0.993712]]
2025-10-26T20:24:37.959Z,1761510277.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108975,0.989705,0.092781],[-0.989447,0.099031,0.105768],[0.095491,-0.103327,0.990053]]
2025-10-26T20:24:38.363Z,1761510278.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119378,0.984218,0.130627],[-0.992081,0.113075,0.054671],[0.039037,-0.136119,0.989923]]
2025-10-26T20:24:38.813Z,1761510278.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115579,0.985325,0.125603],[-0.993223,0.116197,0.002424],[-0.012206,-0.125032,0.992078]]
2025-10-26T20:24:39.171Z,1761510279.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100059,0.992034,0.076531],[-0.994708,0.101540,-0.015691],[-0.023337,-0.074556,0.996944]]
2025-10-26T20:24:39.574Z,1761510279.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102279,0.994661,0.013745],[-0.994705,0.102124,0.011550],[0.010084,-0.014853,0.999839]]
2025-10-26T20:24:39.980Z,1761510279.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109612,0.993891,-0.012854],[-0.993348,0.109993,0.034086],[0.035292,0.009032,0.999336]]
2025-10-26T20:24:40.320Z,1761510280.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:24:40.382Z,1761510280.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103868,0.993978,0.034904],[-0.994135,0.102694,0.033908],[0.030119,-0.038221,0.998815]]
2025-10-26T20:24:40.813Z,1761510280.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107283,0.988408,0.107428],[-0.994001,0.104321,0.032842],[0.021254,-0.110307,0.993670]]
2025-10-26T20:24:41.191Z,1761510281.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115159,0.982872,0.143880],[-0.993344,0.113601,0.019025],[0.002354,-0.145113,0.989412]]
2025-10-26T20:24:41.595Z,1761510281.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114960,0.985429,0.125355],[-0.993051,0.117201,-0.010625],[-0.025162,-0.123262,0.992055]]
2025-10-26T20:24:41.998Z,1761510281.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111524,0.990825,0.076341],[-0.993563,0.112710,-0.011398],[-0.019898,-0.074578,0.997017]]
2025-10-26T20:24:42.402Z,1761510282.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104648,0.994030,0.030889],[-0.994083,0.103644,0.032499],[0.029103,-0.034107,0.998994]]
2025-10-26T20:24:42.818Z,1761510282.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114959,0.993351,0.006256],[-0.991553,0.114365,0.061180],[0.060058,-0.013236,0.998107]]
2025-10-26T20:24:42.857Z,1761510282.857 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-10-26T20:24:42.857Z,1761510282.857 [DefaultWithUndock:A.Wait] Stopped
2025-10-26T20:24:42.857Z,1761510282.857 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-26T20:24:42.857Z,1761510282.857 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-10-26T20:24:42.858Z,1761510282.858 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-10-26T20:24:42.858Z,1761510282.858 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-10-26T20:24:42.858Z,1761510282.858 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-10-26T20:24:42.858Z,1761510282.858 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-10-26T20:24:42.858Z,1761510282.858 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T20:24:42.858Z,1761510282.858 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:24:43.211Z,1761510283.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147511,0.989027,0.008188],[-0.987462,0.146798,0.058040],[0.056201,-0.016646,0.998281]]
2025-10-26T20:24:43.236Z,1761510283.236 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-10-26T20:24:43.236Z,1761510283.236 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-26T20:24:43.237Z,1761510283.237 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.133659 m.
2025-10-26T20:24:43.237Z,1761510283.237 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-10-26T20:24:43.237Z,1761510283.237 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-26T20:24:43.614Z,1761510283.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165556,0.985656,0.032755],[-0.985065,0.163681,0.053429],[0.047301,-0.041112,0.998034]]
2025-10-26T20:24:43.644Z,1761510283.644 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-26T20:24:44.018Z,1761510284.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159719,0.983790,0.081530],[-0.985944,0.154874,0.062683],[0.049040,-0.090396,0.994698]]
2025-10-26T20:24:44.038Z,1761510284.038 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-26T20:24:44.152Z,1761510284.152 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-26T20:24:44.422Z,1761510284.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145942,0.978744,0.144090],[-0.987985,0.136707,0.072088],[0.050857,-0.152879,0.986935]]
2025-10-26T20:24:44.828Z,1761510284.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141426,0.976586,0.162105],[-0.988796,0.131453,0.070731],[0.047765,-0.170292,0.984235]]
2025-10-26T20:24:45.231Z,1761510285.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149769,0.984758,0.088437],[-0.987031,0.143686,0.071584],[0.057785,-0.098011,0.993506]]
2025-10-26T20:24:45.634Z,1761510285.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171578,0.985071,-0.014035],[-0.982119,0.172150,0.076205],[0.077484,0.000709,0.996993]]
2025-10-26T20:24:46.040Z,1761510286.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189884,0.979451,-0.067964],[-0.979382,0.193823,0.056952],[0.068955,0.055749,0.996061]]
2025-10-26T20:24:46.442Z,1761510286.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195466,0.980054,-0.035891],[-0.979651,0.196825,0.039302],[0.045583,0.027479,0.998583]]
2025-10-26T20:24:46.847Z,1761510286.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180385,0.981273,0.067566],[-0.983044,0.177557,0.045807],[0.032952,-0.074684,0.996663]]
2025-10-26T20:24:47.252Z,1761510287.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169673,0.969307,0.177916],[-0.985378,0.164021,0.046123],[0.015525,-0.183141,0.982964]]
2025-10-26T20:24:47.655Z,1761510287.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179576,0.962063,0.205394],[-0.983744,0.175733,0.036958],[-0.000539,-0.208692,0.977981]]
2025-10-26T20:24:48.059Z,1761510288.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177302,0.974212,0.139557],[-0.984156,0.175380,0.026046],[0.000898,-0.141963,0.989872]]
2025-10-26T20:24:48.465Z,1761510288.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165817,0.984765,0.052373],[-0.985884,0.164289,0.032275],[0.023179,-0.056985,0.998106]]
2025-10-26T20:24:48.866Z,1761510288.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149289,0.988747,-0.009546],[-0.987247,0.149589,0.054459],[0.055274,0.001294,0.998470]]
2025-10-26T20:24:49.271Z,1761510289.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130359,0.991103,-0.026875],[-0.989345,0.131804,0.061831],[0.064824,0.018529,0.997725]]
2025-10-26T20:24:49.674Z,1761510289.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132841,0.991018,0.015404],[-0.989612,0.131759,0.057503],[0.054957,-0.022883,0.998227]]
2025-10-26T20:24:50.080Z,1761510290.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150911,0.985151,0.081876],[-0.985883,0.143910,0.085587],[0.072533,-0.093636,0.992961]]
2025-10-26T20:24:50.483Z,1761510290.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149276,0.980762,0.125785],[-0.982633,0.132961,0.129435],[0.110221,-0.142922,0.983577]]
2025-10-26T20:24:50.886Z,1761510290.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127807,0.983016,0.131700],[-0.986334,0.112055,0.120788],[0.103979,-0.145337,0.983903]]
2025-10-26T20:24:51.291Z,1761510291.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121155,0.988592,0.089485],[-0.990735,0.114859,0.072462],[0.061357,-0.097435,0.993349]]
2025-10-26T20:24:51.694Z,1761510291.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126648,0.991523,0.029035],[-0.990423,0.124777,0.059107],[0.054983,-0.036242,0.997829]]
2025-10-26T20:24:52.098Z,1761510292.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138074,0.990339,-0.012807],[-0.988269,0.138614,0.064116],[0.065272,0.003804,0.997860]]
2025-10-26T20:24:52.507Z,1761510292.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140988,0.989966,-0.009512],[-0.987995,0.141308,0.062431],[0.063149,0.000596,0.998004]]
2025-10-26T20:24:52.913Z,1761510292.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152448,0.986019,0.067280],[-0.985700,0.146747,0.082824],[0.071793,-0.078944,0.994290]]
2025-10-26T20:24:53.317Z,1761510293.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138984,0.988030,0.066935],[-0.988241,0.134028,0.073588],[0.063736,-0.076376,0.995040]]
2025-10-26T20:24:53.719Z,1761510293.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140665,0.987882,0.065590],[-0.989093,0.137297,0.053324],[0.043673,-0.072375,0.996421]]
2025-10-26T20:24:54.123Z,1761510294.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152849,0.985699,0.070959],[-0.988098,0.151174,0.028436],[0.017302,-0.074461,0.997074]]
2025-10-26T20:24:54.524Z,1761510294.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141391,0.986874,0.078031],[-0.989698,0.142706,-0.011509],[-0.022494,-0.075600,0.996884]]
2025-10-26T20:24:54.927Z,1761510294.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118979,0.989378,0.083512],[-0.992022,0.121983,-0.031820],[-0.041669,-0.079060,0.995999]]
2025-10-26T20:24:55.331Z,1761510295.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110089,0.991021,0.075884],[-0.993920,0.109906,0.006601],[-0.001798,-0.076149,0.997095]]
2025-10-26T20:24:55.734Z,1761510295.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123453,0.991610,0.038329],[-0.989654,0.120181,0.078363],[0.073099,-0.047606,0.996188]]
2025-10-26T20:24:56.138Z,1761510296.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139838,0.990173,-0.001784],[-0.980778,0.138758,0.137187],[0.136087,-0.017434,0.990543]]
2025-10-26T20:24:56.544Z,1761510296.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136214,0.990642,0.008569],[-0.981853,0.133843,0.134353],[0.131949,-0.026714,0.990896]]
2025-10-26T20:24:56.946Z,1761510296.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127858,0.990329,0.053866],[-0.988283,0.122652,0.090842],[0.083356,-0.064850,0.994407]]
2025-10-26T20:24:57.352Z,1761510297.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128610,0.986799,0.098424],[-0.990133,0.122205,0.068576],[0.055643,-0.106272,0.992779]]
2025-10-26T20:24:57.754Z,1761510297.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118612,0.985300,0.122943],[-0.992368,0.113427,0.048374],[0.033718,-0.127742,0.991234]]
2025-10-26T20:24:58.160Z,1761510298.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114367,0.984004,0.136587],[-0.993431,0.113805,0.011943],[-0.003793,-0.137056,0.990556]]
2025-10-26T20:24:58.562Z,1761510298.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120221,0.986478,0.111394],[-0.992548,0.121684,-0.006402],[-0.019871,-0.109795,0.993756]]
2025-10-26T20:24:58.966Z,1761510298.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123375,0.990977,0.052384],[-0.992152,0.124258,-0.013937],[-0.020321,-0.050254,0.998530]]
2025-10-26T20:24:59.316Z,1761510299.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:24:59.371Z,1761510299.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102482,0.994653,0.012753],[-0.993719,0.102949,-0.043865],[-0.044943,-0.008178,0.998956]]
2025-10-26T20:24:59.774Z,1761510299.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079274,0.996675,0.018816],[-0.995315,0.080186,-0.054031],[-0.055360,-0.014444,0.998362]]
2025-10-26T20:25:00.178Z,1761510300.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069928,0.996015,0.055349],[-0.997349,0.070925,-0.016250],[-0.020111,-0.054066,0.998335]]
2025-10-26T20:25:00.582Z,1761510300.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064177,0.993290,0.096210],[-0.997776,0.062127,0.024153],[0.018013,-0.097546,0.995068]]
2025-10-26T20:25:00.986Z,1761510300.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071340,0.991154,0.111916],[-0.997002,0.067487,0.037856],[0.029969,-0.114281,0.992996]]
2025-10-26T20:25:01.390Z,1761510301.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084669,0.991594,0.097843],[-0.995327,0.079594,0.054664],[0.046417,-0.102015,0.993699]]
2025-10-26T20:25:01.794Z,1761510301.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082166,0.994195,0.069467],[-0.994710,0.077498,0.067417],[0.061642,-0.074639,0.995304]]
2025-10-26T20:25:02.199Z,1761510302.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061343,0.997126,0.044469],[-0.996443,0.058601,0.060553],[0.057773,-0.048025,0.997174]]
2025-10-26T20:25:02.602Z,1761510302.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058253,0.997476,0.040588],[-0.997295,0.056320,0.047240],[0.044835,-0.043230,0.998059]]
2025-10-26T20:25:03.006Z,1761510303.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088523,0.994585,0.054442],[-0.994629,0.085319,0.058606],[0.053643,-0.059337,0.996796]]
2025-10-26T20:25:03.410Z,1761510303.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112730,0.992113,0.054814],[-0.990098,0.107514,0.090254],[0.083649,-0.064446,0.994409]]
2025-10-26T20:25:03.816Z,1761510303.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102477,0.993257,0.054215],[-0.991120,0.097310,0.090615],[0.084728,-0.063019,0.994409]]
2025-10-26T20:25:03.831Z,1761510303.831 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1301.30 m. Transitioning docking module to standby.
2025-10-26T20:25:04.218Z,1761510304.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089614,0.993659,0.067902],[-0.994608,0.085710,0.058376],[0.052186,-0.072768,0.995983]]
2025-10-26T20:25:04.238Z,1761510304.238 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-10-26T20:25:04.622Z,1761510304.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094679,0.993347,0.065561],[-0.995277,0.093033,0.027721],[0.021438,-0.067876,0.997463]]
2025-10-26T20:25:04.654Z,1761510304.654 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-10-26T20:25:04.654Z,1761510304.654 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-10-26T20:25:04.655Z,1761510304.655 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-10-26T20:25:04.655Z,1761510304.655 [DefaultWithUndock:LeaveDock] Stopped
2025-10-26T20:25:04.655Z,1761510304.655 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-10-26T20:25:04.655Z,1761510304.655 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-10-26T20:25:04.655Z,1761510304.655 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-10-26T20:25:04.656Z,1761510304.656 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-10-26T20:25:04.656Z,1761510304.656 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-26T20:25:04.656Z,1761510304.656 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-26T20:25:04.656Z,1761510304.656 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-26T20:25:04.656Z,1761510304.656 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-26T20:25:04.657Z,1761510304.657 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-26T20:25:04.657Z,1761510304.657 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-26T20:25:04.657Z,1761510304.657 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-26T20:25:05.026Z,1761510305.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106178,0.993721,0.035298],[-0.994347,0.106123,0.003410],[-0.000357,-0.035460,0.999371]]
2025-10-26T20:25:05.074Z,1761510305.074 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-10-26T20:25:05.074Z,1761510305.074 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-10-26T20:25:05.074Z,1761510305.074 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-10-26T20:25:05.431Z,1761510305.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111207,0.993792,-0.003239],[-0.993778,0.111184,-0.006571],[-0.006170,0.003949,0.999973]]
2025-10-26T20:25:05.837Z,1761510305.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099328,0.995029,-0.007143],[-0.995044,0.099358,0.004044],[0.004734,0.006706,0.999966]]
2025-10-26T20:25:06.238Z,1761510306.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081510,0.995709,0.043823],[-0.996506,0.080613,0.021854],[0.018228,-0.045451,0.998800]]
2025-10-26T20:25:06.642Z,1761510306.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071082,0.991391,0.109963],[-0.996571,0.065903,0.050038],[0.042360,-0.113143,0.992675]]
2025-10-26T20:25:07.047Z,1761510307.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069650,0.988526,0.134032],[-0.995551,0.060332,0.072376],[0.063459,-0.138477,0.988330]]
2025-10-26T20:25:07.052Z,1761510307.052 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202506.00,A,3645.86213,N,12152.27128,W,0.330,244.98,261025,,,D*7A
2025-10-26T20:25:07.054Z,1761510307.054 [NAL9602](INFO): GPS fix at 20251026T202506: (36.764369, -121.871188)
2025-10-26T20:25:07.108Z,1761510307.108 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-10-26T20:25:07.108Z,1761510307.108 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-10-26T20:25:07.452Z,1761510307.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068162,0.990898,0.116084],[-0.995230,0.059392,0.077399],[0.069800,-0.120805,0.990219]]
2025-10-26T20:25:07.854Z,1761510307.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063489,0.994234,0.086417],[-0.996294,0.058109,0.063416],[0.058029,-0.090123,0.994239]]
2025-10-26T20:25:08.258Z,1761510308.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072370,0.995630,0.059024],[-0.997011,0.070612,0.031348],[0.027043,-0.061116,0.997764]]
2025-10-26T20:25:08.662Z,1761510308.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080208,0.996309,0.030580],[-0.996756,0.079964,0.009103],[0.006624,-0.031211,0.999491]]
2025-10-26T20:25:09.068Z,1761510309.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054834,0.997736,0.038934],[-0.998232,0.053883,0.025083],[0.022928,-0.040241,0.998927]]
2025-10-26T20:25:09.470Z,1761510309.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032957,0.996403,0.078068],[-0.998212,0.028917,0.052322],[0.049876,-0.079653,0.995574]]
2025-10-26T20:25:09.874Z,1761510309.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019728,0.992182,0.123231],[-0.998688,0.013731,0.049327],[0.047249,-0.124042,0.991151]]
2025-10-26T20:25:10.278Z,1761510310.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001755,0.989657,0.143441],[-0.999836,-0.000852,0.018113],[0.018048,-0.143449,0.989493]]
2025-10-26T20:25:10.683Z,1761510310.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002710,0.990626,0.136575],[-0.999880,0.000599,0.015492],[0.015265,-0.136600,0.990509]]
2025-10-26T20:25:11.086Z,1761510311.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029639,0.995048,0.094877],[-0.998867,0.025949,0.039893],[0.037233,-0.095952,0.994689]]
2025-10-26T20:25:11.490Z,1761510311.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043188,0.998451,0.035092],[-0.998224,0.041683,0.042555],[0.041026,-0.036868,0.998478]]
2025-10-26T20:25:11.894Z,1761510311.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043226,0.999061,-0.002956],[-0.998900,0.043273,0.018069],[0.018179,0.002172,0.999832]]
2025-10-26T20:25:12.300Z,1761510312.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030908,0.999487,-0.008408],[-0.999522,0.030916,0.000752],[0.001012,0.008381,0.999964]]
2025-10-26T20:25:12.702Z,1761510312.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017659,0.999364,0.030985],[-0.999783,0.017990,-0.010464],[-0.011015,-0.030793,0.999465]]
2025-10-26T20:25:13.106Z,1761510313.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008476,0.994990,0.099618],[-0.999754,0.010474,-0.019553],[-0.020498,-0.099428,0.994834]]
2025-10-26T20:25:13.510Z,1761510313.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009111,0.987784,0.155565],[-0.999877,0.010989,-0.011218],[-0.012791,-0.155443,0.987762]]
2025-10-26T20:25:13.916Z,1761510313.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003145,0.987297,0.158854],[-0.999701,-0.006956,0.023441],[0.024248,-0.158733,0.987024]]
2025-10-26T20:25:14.318Z,1761510314.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018557,0.993973,0.108043],[-0.998505,-0.023980,0.049112],[0.051407,-0.106971,0.992932]]
2025-10-26T20:25:14.722Z,1761510314.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019059,0.998254,0.055911],[-0.998630,-0.021732,0.047599],[0.048731,-0.054927,0.997301]]
2025-10-26T20:25:15.126Z,1761510315.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002725,0.999778,0.020873],[-0.999604,-0.003307,0.027933],[0.027996,-0.020789,0.999392]]
2025-10-26T20:25:15.532Z,1761510315.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011280,0.999916,0.006426],[-0.999898,-0.011336,0.008694],[0.008766,-0.006327,0.999942]]
2025-10-26T20:25:15.934Z,1761510315.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027244,0.999069,0.033449],[-0.999610,-0.027023,-0.007033],[-0.006123,-0.033627,0.999416]]
2025-10-26T20:25:16.338Z,1761510316.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019107,0.995526,0.092534],[-0.999804,-0.019496,0.003304],[0.005094,-0.092453,0.995704]]
2025-10-26T20:25:16.754Z,1761510316.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032964,0.990571,0.132978],[-0.998173,-0.039369,0.045830],[0.050633,-0.131224,0.990059]]
2025-10-26T20:25:17.148Z,1761510317.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061842,0.989393,0.131445],[-0.993059,-0.074196,0.091265],[0.100050,-0.124888,0.987114]]
2025-10-26T20:25:17.550Z,1761510317.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049858,0.994646,0.090518],[-0.991614,-0.060117,0.114399],[0.119228,-0.084055,0.989302]]
2025-10-26T20:25:17.954Z,1761510317.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014101,0.999430,0.030680],[-0.995464,-0.016919,0.093623],[0.094089,-0.029220,0.995135]]
2025-10-26T20:25:18.358Z,1761510318.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010921,0.999929,-0.004859],[-0.998221,-0.010617,0.058664],[0.058608,0.005491,0.998266]]
2025-10-26T20:25:18.794Z,1761510318.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040836,0.999166,0.000746],[-0.997757,-0.040818,0.053049],[0.053035,0.001422,0.998592]]
2025-10-26T20:25:19.168Z,1761510319.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062971,0.996848,0.048251],[-0.995548,-0.066139,0.067156],[0.070136,-0.043808,0.996575]]
2025-10-26T20:25:19.570Z,1761510319.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056545,0.991675,0.115684],[-0.995042,-0.065470,0.074866],[0.081817,-0.110877,0.990461]]
2025-10-26T20:25:19.974Z,1761510319.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031072,0.986067,0.163420],[-0.995541,-0.045101,0.082852],[0.089068,-0.160117,0.983071]]
2025-10-26T20:25:20.379Z,1761510320.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024830,0.988198,0.151157],[-0.994027,-0.040479,0.101349],[0.106272,-0.147737,0.983301]]
2025-10-26T20:25:20.811Z,1761510320.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039100,0.995486,0.086481],[-0.993646,-0.047876,0.101857],[0.105538,-0.081949,0.991033]]
2025-10-26T20:25:21.186Z,1761510321.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041125,0.999026,0.015982],[-0.996482,-0.042179,0.072423],[0.073026,-0.012947,0.997246]]
2025-10-26T20:25:21.590Z,1761510321.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030470,0.999337,-0.019938],[-0.998905,-0.029736,0.036118],[0.035501,0.021016,0.999149]]
2025-10-26T20:25:22.011Z,1761510322.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013285,0.999881,-0.007882],[-0.999873,-0.013215,0.008869],[0.008764,0.007999,0.999930]]
2025-10-26T20:25:22.400Z,1761510322.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015896,0.998944,0.043102],[-0.999867,-0.015718,-0.004452],[-0.003769,-0.043167,0.999061]]
2025-10-26T20:25:22.818Z,1761510322.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053659,0.989231,0.136173],[-0.998520,-0.051949,-0.016078],[-0.008831,-0.136834,0.990555]]
2025-10-26T20:25:23.206Z,1761510323.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076036,0.975417,0.206834],[-0.997078,-0.075894,-0.008635],[0.007275,-0.206887,0.978338]]
2025-10-26T20:25:23.218Z,1761510323.218 [NAL9602](INFO): SBD MO Status=1, MOMSN=2987, MT Status=0, MTMSN=0
2025-10-26T20:25:23.218Z,1761510323.218 [NAL9602](INFO): No messages in MT queue
2025-10-26T20:25:23.611Z,1761510323.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076174,0.978335,0.192506],[-0.996242,-0.082658,0.025870],[0.041222,-0.189812,0.980955]]
2025-10-26T20:25:24.016Z,1761510324.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076470,0.990744,0.112152],[-0.995612,-0.081958,0.045159],[0.053932,-0.108206,0.992664]]
2025-10-26T20:25:24.418Z,1761510324.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069229,0.997172,0.029236],[-0.996686,-0.070391,0.040779],[0.042722,-0.026316,0.998740]]
2025-10-26T20:25:24.823Z,1761510324.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066990,0.997485,-0.023141],[-0.997363,-0.066297,0.029523],[0.027915,0.025058,0.999296]]
2025-10-26T20:25:25.226Z,1761510325.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072005,0.997087,-0.025173],[-0.997212,-0.071473,0.021433],[0.019571,0.026646,0.999453]]
2025-10-26T20:25:25.632Z,1761510325.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075814,0.996802,0.025276],[-0.996904,-0.076303,0.018988],[0.020856,-0.023758,0.999500]]
2025-10-26T20:25:26.035Z,1761510326.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068623,0.992513,0.101035],[-0.996948,-0.072000,0.030162],[0.037211,-0.098656,0.994426]]
2025-10-26T20:25:26.439Z,1761510326.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066021,0.984419,0.162975],[-0.995981,-0.074922,0.049079],[0.060525,-0.159080,0.985409]]
2025-10-26T20:25:26.843Z,1761510326.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091542,0.979590,0.178954],[-0.993860,-0.101092,0.044981],[0.062154,-0.173737,0.982829]]
2025-10-26T20:25:27.247Z,1761510327.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109108,0.981977,0.154323],[-0.993663,-0.111965,0.009920],[0.027020,-0.152263,0.987971]]
2025-10-26T20:25:27.650Z,1761510327.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114102,0.988801,0.096199],[-0.993415,-0.112546,-0.021461],[-0.010394,-0.098014,0.995131]]
2025-10-26T20:25:28.054Z,1761510328.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117616,0.991915,0.047651],[-0.992937,-0.118218,0.010017],[0.015569,-0.046136,0.998814]]
2025-10-26T20:25:28.458Z,1761510328.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121696,0.992154,0.028644],[-0.990903,-0.123112,0.054358],[0.057458,-0.021769,0.998111]]
2025-10-26T20:25:28.864Z,1761510328.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112449,0.993637,0.006450],[-0.993009,-0.112608,0.035392],[0.035893,-0.002425,0.999353]]
2025-10-26T20:25:29.266Z,1761510329.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088480,0.996056,-0.006588],[-0.995863,-0.088321,0.021352],[0.020686,0.008450,0.999750]]
2025-10-26T20:25:29.670Z,1761510329.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075919,0.996928,0.019278],[-0.995063,-0.076988,0.062620],[0.063912,-0.014429,0.997851]]
2025-10-26T20:25:30.075Z,1761510330.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084428,0.993288,0.079058],[-0.994298,-0.089169,0.058480],[0.065137,-0.073670,0.995153]]
2025-10-26T20:25:30.479Z,1761510330.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101124,0.985309,0.137622],[-0.994867,-0.100663,-0.010319],[0.003686,-0.137959,0.990431]]
2025-10-26T20:25:30.882Z,1761510330.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126718,0.980415,0.150760],[-0.991365,-0.120004,-0.052868],[-0.033740,-0.156158,0.987156]]
2025-10-26T20:25:31.286Z,1761510331.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136524,0.980458,0.141648],[-0.990504,-0.132759,-0.035744],[-0.016241,-0.145182,0.989272]]
2025-10-26T20:25:31.690Z,1761510331.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126448,0.984889,0.118345],[-0.991616,-0.128700,0.011551],[0.026607,-0.115892,0.992905]]
2025-10-26T20:25:32.096Z,1761510332.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111803,0.990532,0.079667],[-0.990809,-0.117259,0.067437],[0.076140,-0.071395,0.994538]]
2025-10-26T20:25:32.498Z,1761510332.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101542,0.994116,0.037716],[-0.987225,-0.105372,0.119510],[0.122781,-0.025098,0.992116]]
2025-10-26T20:25:32.902Z,1761510332.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096896,0.995281,0.005211],[-0.984811,-0.096632,0.144252],[0.144075,0.008846,0.989527]]
2025-10-26T20:25:33.307Z,1761510333.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112590,0.993606,0.008447],[-0.984347,-0.112693,0.135505],[0.135591,0.006942,0.990741]]
2025-10-26T20:25:33.713Z,1761510333.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109230,0.992044,0.062585],[-0.988901,-0.114832,0.094276],[0.100713,-0.051592,0.993577]]
2025-10-26T20:25:34.114Z,1761510334.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078687,0.990337,0.114199],[-0.995398,-0.084336,0.045500],[0.054691,-0.110093,0.992415]]
2025-10-26T20:25:34.518Z,1761510334.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076702,0.990577,0.113466],[-0.996820,-0.078650,0.012780],[0.021584,-0.112125,0.993460]]
2025-10-26T20:25:34.922Z,1761510334.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096481,0.990273,0.100255],[-0.995320,-0.095439,-0.015151],[-0.005436,-0.101247,0.994846]]
2025-10-26T20:25:35.328Z,1761510335.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108536,0.991499,0.071765],[-0.994050,-0.107579,-0.017071],[-0.009206,-0.073191,0.997275]]
2025-10-26T20:25:35.730Z,1761510335.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110116,0.992867,0.045714],[-0.993291,-0.111565,0.030434],[0.035317,-0.042056,0.998491]]
2025-10-26T20:25:36.134Z,1761510336.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115522,0.992709,0.034393],[-0.990784,-0.117625,0.067165],[0.070720,-0.026317,0.997149]]
2025-10-26T20:25:36.538Z,1761510336.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133121,0.989507,0.056167],[-0.988614,-0.136585,0.063147],[0.070156,-0.047121,0.996422]]
2025-10-26T20:25:36.945Z,1761510336.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160501,0.982488,0.094639],[-0.986274,-0.163404,0.023709],[0.038759,-0.089535,0.995229]]
2025-10-26T20:25:37.346Z,1761510337.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164019,0.973909,0.156841],[-0.986430,-0.163099,-0.018805],[0.007266,-0.157797,0.987445]]
2025-10-26T20:25:37.750Z,1761510337.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133784,0.970171,0.202162],[-0.990987,-0.132369,-0.020566],[0.006808,-0.203092,0.979136]]
2025-10-26T20:25:38.170Z,1761510338.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111434,0.986966,0.116104],[-0.990003,-0.120416,0.073440],[0.086463,-0.106759,0.990518]]
2025-10-26T20:25:38.562Z,1761510338.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129418,0.990610,0.044070],[-0.987647,-0.132735,0.083271],[0.088338,-0.032749,0.995552]]
2025-10-26T20:25:38.968Z,1761510338.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158636,0.987091,0.022035],[-0.986515,-0.159375,0.037251],[0.040282,-0.015828,0.999063]]
2025-10-26T20:25:39.370Z,1761510339.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170020,0.984308,0.047229],[-0.984985,-0.168289,-0.038522],[-0.029970,-0.053070,0.998141]]
2025-10-26T20:25:39.776Z,1761510339.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172696,0.982122,0.074916],[-0.983436,-0.167675,-0.068842],[-0.055050,-0.085564,0.994811]]
2025-10-26T20:25:40.175Z,1761510340.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177322,0.980543,0.084214],[-0.984151,-0.176489,-0.017293],[-0.002093,-0.085946,0.996298]]
2025-10-26T20:25:40.578Z,1761510340.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178075,0.980666,0.081135],[-0.982282,-0.182049,0.044496],[0.058406,-0.071774,0.995709]]
2025-10-26T20:25:40.983Z,1761510340.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172191,0.982382,0.072638],[-0.982153,-0.176879,0.063951],[0.075673,-0.060329,0.995306]]
2025-10-26T20:25:41.387Z,1761510341.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166550,0.984754,0.050213],[-0.982333,-0.170117,0.077989],[0.085342,-0.036337,0.995689]]
2025-10-26T20:25:41.790Z,1761510341.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174079,0.984378,0.026375],[-0.980457,-0.175754,0.088401],[0.091655,-0.010471,0.995736]]
2025-10-26T20:25:42.194Z,1761510342.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179051,0.983503,0.025744],[-0.981040,-0.180452,0.070687],[0.074167,-0.012599,0.997166]]
2025-10-26T20:25:42.598Z,1761510342.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156816,0.986519,0.046797],[-0.986139,-0.159004,0.047404],[0.054205,-0.038714,0.997779]]
2025-10-26T20:25:43.005Z,1761510343.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154715,0.985079,0.075386],[-0.987079,-0.157346,0.030280],[0.041690,-0.069727,0.996695]]
2025-10-26T20:25:43.407Z,1761510343.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172270,0.976948,0.126079],[-0.984560,-0.174803,0.009227],[0.031053,-0.122543,0.991977]]
2025-10-26T20:25:43.811Z,1761510343.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169677,0.972391,0.160205],[-0.984441,-0.174775,0.018181],[0.045679,-0.154628,0.986916]]
2025-10-26T20:25:44.214Z,1761510344.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149216,0.982098,0.114972],[-0.987373,-0.154245,0.036106],[0.053193,-0.108133,0.992712]]
2025-10-26T20:25:44.619Z,1761510344.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131253,0.991092,0.022565],[-0.991245,-0.131534,0.011455],[0.014321,-0.020864,0.999680]]
2025-10-26T20:25:45.023Z,1761510345.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148768,0.988166,-0.037375],[-0.988745,-0.149249,-0.010410],[-0.015865,0.035406,0.999247]]
2025-10-26T20:25:45.426Z,1761510345.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174309,0.984645,0.009487],[-0.984556,-0.174436,0.014887],[0.016313,-0.006745,0.999844]]
2025-10-26T20:25:45.830Z,1761510345.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157596,0.982946,0.094767],[-0.984289,-0.164095,0.065169],[0.079609,-0.083007,0.993364]]
2025-10-26T20:25:46.235Z,1761510346.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.149618,0.978144,0.144394],[-0.985122,-0.159960,0.062833],[0.084557,-0.132844,0.987523]]
2025-10-26T20:25:46.638Z,1761510346.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145545,0.979242,0.141072],[-0.988990,-0.147861,0.006022],[0.026756,-0.138642,0.989981]]
2025-10-26T20:25:47.044Z,1761510347.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140008,0.986317,0.087041],[-0.990045,-0.138166,-0.026863],[-0.014469,-0.089936,0.995842]]
2025-10-26T20:25:47.446Z,1761510347.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156829,0.986955,0.036395],[-0.987493,-0.156099,-0.022130],[-0.016160,-0.039410,0.999092]]
2025-10-26T20:25:47.851Z,1761510347.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164141,0.985858,0.033799],[-0.986317,-0.163491,-0.021206],[-0.015381,-0.036817,0.999204]]
2025-10-26T20:25:48.254Z,1761510348.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152123,0.985076,0.080522],[-0.988333,-0.150996,-0.019941],[-0.007485,-0.082616,0.996553]]
2025-10-26T20:25:48.658Z,1761510348.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159751,0.979044,0.126301],[-0.987037,-0.160415,-0.004959],[0.015405,-0.125456,0.991980]]
2025-10-26T20:25:49.063Z,1761510349.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178809,0.971226,0.157316],[-0.983274,-0.182028,0.006180],[0.034638,-0.153579,0.987529]]
2025-10-26T20:25:49.468Z,1761510349.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167958,0.974090,0.151454],[-0.984790,-0.172727,0.018809],[0.044482,-0.145991,0.988285]]
2025-10-26T20:25:49.870Z,1761510349.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164988,0.981554,0.096594],[-0.985355,-0.168313,0.027302],[0.043057,-0.090675,0.994949]]
2025-10-26T20:25:50.274Z,1761510350.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180242,0.982947,0.036440],[-0.983104,-0.181225,0.025758],[0.031922,-0.031181,0.999004]]
2025-10-26T20:25:50.678Z,1761510350.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195403,0.980714,0.004193],[-0.980355,-0.195445,0.026550],[0.026857,0.001077,0.999639]]
2025-10-26T20:25:51.084Z,1761510351.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217811,0.975476,0.031715],[-0.975404,-0.218691,0.027580],[0.033840,-0.024927,0.999116]]
2025-10-26T20:25:51.486Z,1761510351.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223876,0.970220,0.092479],[-0.973107,-0.227801,0.034195],[0.054244,-0.082337,0.995127]]
2025-10-26T20:25:51.890Z,1761510351.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218214,0.965329,0.143257],[-0.970709,-0.229824,0.070039],[0.100534,-0.123777,0.987204]]
2025-10-26T20:25:52.296Z,1761510352.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214716,0.965318,0.148519],[-0.968083,-0.230480,0.098461],[0.129277,-0.122637,0.983996]]
2025-10-26T20:25:52.698Z,1761510352.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211124,0.969940,0.121004],[-0.971247,-0.222103,0.085726],[0.110024,-0.099426,0.988943]]
2025-10-26T20:25:53.103Z,1761510353.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204948,0.976105,0.072223],[-0.976539,-0.208906,0.052253],[0.066092,-0.059819,0.996019]]
2025-10-26T20:25:53.507Z,1761510353.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193944,0.980735,0.023357],[-0.979754,-0.194846,0.046011],[0.049675,-0.013960,0.998668]]
2025-10-26T20:25:53.911Z,1761510353.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175800,0.984421,0.003182],[-0.980209,-0.175345,0.091897],[0.091023,0.013037,0.995763]]
2025-10-26T20:25:53.914Z,1761510353.914 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:25:54.314Z,1761510354.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168676,0.985486,0.019120],[-0.975190,-0.169672,0.142184],[0.143365,0.005337,0.989656]]
2025-10-26T20:25:54.718Z,1761510354.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175853,0.983239,0.048130],[-0.975265,-0.180661,0.127359],[0.133919,-0.024543,0.990688]]
2025-10-26T20:25:55.123Z,1761510355.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186741,0.979562,0.074747],[-0.979521,-0.191482,0.062235],[0.075276,-0.061595,0.995259]]
2025-10-26T20:25:55.528Z,1761510355.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176712,0.976998,0.119366],[-0.983045,-0.181222,0.027956],[0.048945,-0.112402,0.992457]]
2025-10-26T20:25:55.930Z,1761510355.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138667,0.978565,0.152258],[-0.988063,-0.147122,0.045687],[0.067108,-0.144106,0.987284]]
2025-10-26T20:25:56.334Z,1761510356.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108535,0.983949,0.141651],[-0.992088,-0.116256,0.047399],[0.063106,-0.135386,0.988781]]
2025-10-26T20:25:56.746Z,1761510356.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103922,0.989658,0.098881],[-0.994242,-0.105983,0.015808],[0.026124,-0.096669,0.994974]]
2025-10-26T20:25:57.145Z,1761510357.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111726,0.993359,0.027468],[-0.993517,-0.111074,-0.024236],[-0.021024,-0.029997,0.999329]]
2025-10-26T20:25:57.546Z,1761510357.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123564,0.991853,-0.030985],[-0.991432,-0.124724,-0.038809],[-0.042357,0.025924,0.998766]]
2025-10-26T20:25:57.950Z,1761510357.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135602,0.990630,-0.016274],[-0.990684,-0.135781,-0.010387],[-0.012499,0.014714,0.999814]]
2025-10-26T20:25:58.354Z,1761510358.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131444,0.989060,0.066952],[-0.991117,-0.132496,0.011505],[0.020250,-0.064845,0.997690]]
2025-10-26T20:25:58.581Z,1761510358.581 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.268291
2025-10-26T20:25:58.792Z,1761510358.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141507,0.977197,0.158311],[-0.989693,-0.143202,-0.000708],[0.021979,-0.156780,0.987389]]
2025-10-26T20:25:59.163Z,1761510359.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156162,0.965425,0.208727],[-0.987389,-0.158146,-0.007257],[0.026004,-0.207228,0.977947]]
2025-10-26T20:25:59.566Z,1761510359.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156619,0.969767,0.187144],[-0.986336,-0.163381,0.021172],[0.051108,-0.181271,0.982104]]
2025-10-26T20:25:59.972Z,1761510359.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153338,0.980202,0.125262],[-0.986268,-0.159676,0.042171],[0.061338,-0.117076,0.991227]]
2025-10-26T20:26:00.374Z,1761510360.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167717,0.984805,0.045048],[-0.984921,-0.169353,0.035350],[0.042442,-0.038440,0.998359]]
2025-10-26T20:26:00.810Z,1761510360.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194789,0.980826,0.006128],[-0.980389,-0.194886,0.029282],[0.029915,-0.000304,0.999552]]
2025-10-26T20:26:03.109Z,1761510363.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150386,0.982734,0.107784],[-0.984619,-0.158691,0.073093],[0.088935,-0.095134,0.991484]]
2025-10-26T20:26:03.466Z,1761510363.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146327,0.987909,0.051233],[-0.987119,-0.149204,0.057736],[0.064682,-0.042125,0.997016]]
2025-10-26T20:26:03.866Z,1761510363.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131349,0.991070,0.022964],[-0.990811,-0.131998,0.029497],[0.032265,-0.018879,0.999301]]
2025-10-26T20:26:04.262Z,1761510364.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135863,0.990675,0.010239],[-0.990653,-0.135972,0.010868],[0.012159,-0.008667,0.999889]]
2025-10-26T20:26:04.666Z,1761510364.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160202,0.986651,0.029252],[-0.987074,-0.160264,-0.000222],[0.004469,-0.028909,0.999572]]
2025-10-26T20:26:05.071Z,1761510365.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150959,0.985805,0.073487],[-0.988103,-0.152685,0.018437],[0.029395,-0.069830,0.997126]]
2025-10-26T20:26:05.478Z,1761510365.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116139,0.988935,0.092295],[-0.988953,-0.123755,0.081587],[0.092106,-0.081800,0.992384]]
2025-10-26T20:26:05.878Z,1761510365.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090176,0.993282,0.072527],[-0.985701,-0.099422,0.136050],[0.142347,-0.059221,0.988044]]
2025-10-26T20:26:06.282Z,1761510366.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095419,0.993857,0.056058],[-0.984908,-0.102429,0.139513],[0.144398,-0.041900,0.988632]]
2025-10-26T20:26:06.686Z,1761510366.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129386,0.988689,0.075853],[-0.987210,-0.135622,0.083807],[0.093146,-0.064039,0.993591]]
2025-10-26T20:26:07.090Z,1761510367.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150640,0.981925,0.114587],[-0.988579,-0.150136,-0.013062],[0.004378,-0.115246,0.993327]]
2025-10-26T20:26:07.495Z,1761510367.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135953,0.981489,0.134895],[-0.989788,-0.128670,-0.061357],[-0.042864,-0.141859,0.988958]]
2025-10-26T20:26:07.898Z,1761510367.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122039,0.985259,0.119876],[-0.992185,-0.117942,-0.040728],[-0.025989,-0.123910,0.991953]]
2025-10-26T20:26:08.303Z,1761510368.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144984,0.986335,0.078246],[-0.989433,-0.144626,-0.010264],[0.001192,-0.078907,0.996881]]
2025-10-26T20:26:08.706Z,1761510368.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180668,0.981654,0.060937],[-0.983302,-0.181652,0.010958],[0.021826,-0.057940,0.998081]]
2025-10-26T20:26:09.110Z,1761510369.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176980,0.982214,0.062724],[-0.982864,-0.179715,0.041003],[0.051546,-0.054392,0.997188]]
2025-10-26T20:26:09.515Z,1761510369.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160053,0.985789,0.051022],[-0.982395,-0.164121,0.089248],[0.096354,-0.035839,0.994702]]
2025-10-26T20:26:09.919Z,1761510369.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159890,0.986271,0.041288],[-0.978711,-0.163840,0.123617],[0.128685,-0.020643,0.991471]]
2025-10-26T20:26:10.322Z,1761510370.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178663,0.982836,0.045963],[-0.975071,-0.183113,0.125326],[0.131592,-0.022426,0.991050]]
2025-10-26T20:26:10.810Z,1761510370.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177955,0.982101,0.061716],[-0.978704,-0.183163,0.092683],[0.102328,-0.043909,0.993781]]
2025-10-26T20:26:10.932Z,1761510370.932 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002852
2025-10-26T20:26:11.130Z,1761510371.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156377,0.985164,0.070697],[-0.985274,-0.160605,0.058667],[0.069151,-0.060482,0.995771]]
2025-10-26T20:26:11.538Z,1761510371.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155966,0.983873,0.087567],[-0.986713,-0.159272,0.032086],[0.045516,-0.081399,0.995642]]
2025-10-26T20:26:11.968Z,1761510371.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190928,0.973653,0.124687],[-0.981186,-0.193009,0.004711],[0.028653,-0.121441,0.992185]]
2025-10-26T20:26:12.342Z,1761510372.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218653,0.963436,0.154862],[-0.974990,-0.222177,0.005611],[0.039812,-0.149762,0.987920]]
2025-10-26T20:26:12.758Z,1761510372.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207048,0.969562,0.130690],[-0.976369,-0.213237,0.035131],[0.061930,-0.120328,0.990801]]
2025-10-26T20:26:13.151Z,1761510373.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165232,0.983892,0.068230],[-0.984039,-0.169100,0.055421],[0.066066,-0.057984,0.996129]]
2025-10-26T20:26:13.554Z,1761510373.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150780,0.988562,0.003141],[-0.987322,-0.150749,0.049705],[0.049610,0.004393,0.998759]]
2025-10-26T20:26:13.958Z,1761510373.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163242,0.986388,-0.019775],[-0.985972,-0.162400,0.038550],[0.034814,0.025791,0.999061]]
2025-10-26T20:26:14.362Z,1761510374.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180019,0.983648,0.005510],[-0.983127,-0.180103,0.032010],[0.032479,0.000345,0.999472]]
2025-10-26T20:26:14.810Z,1761510374.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205445,0.975204,0.082283],[-0.978357,-0.206775,0.007893],[0.024712,-0.078880,0.996578]]
2025-10-26T20:26:15.170Z,1761510375.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228976,0.959291,0.165320],[-0.973212,-0.229209,-0.017928],[0.020695,-0.164996,0.986077]]
2025-10-26T20:26:15.574Z,1761510375.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221043,0.953854,0.203233],[-0.974370,-0.224914,-0.004146],[0.041756,-0.198940,0.979122]]
2025-10-26T20:26:15.582Z,1761510375.582 [NAL9602](INFO): SBD MO Status=1, MOMSN=2988, MT Status=0, MTMSN=0
2025-10-26T20:26:15.640Z,1761510375.640 [NAL9602](INFO): Sent 73 bytes from file Logs/20251026T180417/Courier0053.lzma
2025-10-26T20:26:15.640Z,1761510375.640 [NAL9602](INFO): Packets left to send: 0
2025-10-26T20:26:16.032Z,1761510376.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205500,0.963532,0.171395],[-0.976286,-0.214017,0.032591],[0.068084,-0.160633,0.984663]]
2025-10-26T20:26:16.391Z,1761510376.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189279,0.978011,0.087564],[-0.979111,-0.194729,0.058500],[0.074265,-0.074662,0.994440]]
2025-10-26T20:26:16.826Z,1761510376.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175490,0.984400,0.012680],[-0.979948,-0.175902,0.093598],[0.094368,0.004000,0.995529]]
2025-10-26T20:26:17.191Z,1761510377.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185475,0.982643,-0.003466],[-0.974770,-0.183541,0.127025],[0.124184,0.026939,0.991894]]
2025-10-26T20:26:17.597Z,1761510377.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201554,0.978842,0.035284],[-0.974234,-0.204067,0.096043],[0.101211,-0.015017,0.994752]]
2025-10-26T20:26:17.998Z,1761510377.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203636,0.974082,0.098468],[-0.978264,-0.206463,0.019322],[0.039151,-0.092393,0.994953]]
2025-10-26T20:26:18.403Z,1761510378.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205171,0.966674,0.153122],[-0.978623,-0.204896,-0.017746],[0.014220,-0.153489,0.988048]]
2025-10-26T20:26:18.818Z,1761510378.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202328,0.963779,0.173764],[-0.979273,-0.200799,-0.026520],[0.009333,-0.175528,0.984430]]
2025-10-26T20:26:19.211Z,1761510379.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193165,0.969922,0.148117],[-0.981166,-0.191065,-0.028413],[0.000742,-0.150816,0.988562]]
2025-10-26T20:26:19.614Z,1761510379.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196095,0.977648,0.075838],[-0.980447,-0.196777,0.001558],[0.016447,-0.074050,0.997119]]
2025-10-26T20:26:20.018Z,1761510380.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222566,0.974834,0.012760],[-0.974441,-0.222847,0.028351],[0.030481,-0.006124,0.999517]]
2025-10-26T20:26:20.422Z,1761510380.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233567,0.972279,-0.011001],[-0.972222,-0.233346,0.018280],[0.015206,0.014965,0.999772]]
2025-10-26T20:26:20.827Z,1761510380.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213970,0.976840,-0.000114],[-0.976796,-0.213959,0.009500],[0.009255,0.002144,0.999955]]
2025-10-26T20:26:21.230Z,1761510381.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204422,0.977852,0.044905],[-0.978631,-0.205195,0.013294],[0.022214,-0.041228,0.998903]]
2025-10-26T20:26:21.634Z,1761510381.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218621,0.970149,0.104960],[-0.975596,-0.219556,-0.002700],[0.020425,-0.102989,0.994473]]
2025-10-26T20:26:22.061Z,1761510382.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230339,0.961682,0.148702],[-0.973036,-0.229503,-0.022995],[0.012014,-0.149989,0.988615]]
2025-10-26T20:26:22.443Z,1761510382.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237607,0.955824,0.173041],[-0.970497,-0.241113,-0.000783],[0.040974,-0.168122,0.984914]]
2025-10-26T20:26:22.846Z,1761510382.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253533,0.954575,0.156551],[-0.963054,-0.264280,0.051800],[0.090821,-0.137634,0.986310]]
2025-10-26T20:26:23.250Z,1761510383.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261033,0.960851,0.092879],[-0.960619,-0.268048,0.073223],[0.095252,-0.070107,0.992981]]
2025-10-26T20:26:23.654Z,1761510383.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239357,0.970530,0.027922],[-0.968745,-0.240648,0.060184],[0.065130,-0.012643,0.997797]]
2025-10-26T20:26:24.059Z,1761510384.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227860,0.973639,-0.010323],[-0.972231,-0.226924,0.057208],[0.053357,0.023071,0.998309]]
2025-10-26T20:26:24.155Z,1761510384.155 [DataOverHttps](INFO): Sending 236 bytes from file Logs/20251026T180417/Express0055.lzma
2025-10-26T20:26:24.464Z,1761510384.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226800,0.973914,0.007227],[-0.973239,-0.226912,0.036276],[0.036970,0.001193,0.999316]]
2025-10-26T20:26:24.866Z,1761510384.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225311,0.972505,0.058893],[-0.974283,-0.225072,-0.010752],[0.002799,-0.059801,0.998206]]
2025-10-26T20:26:25.157Z,1761510385.157 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0055.lzma.bak
2025-10-26T20:26:25.158Z,1761510385.158 [DataOverHttps](INFO): SBD MOMSN=26242509
2025-10-26T20:26:25.270Z,1761510385.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244692,0.961761,0.123051],[-0.969570,-0.241699,-0.038925],[-0.007695,-0.128831,0.991637]]
2025-10-26T20:26:25.674Z,1761510385.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280066,0.943720,0.175943],[-0.959979,-0.275008,-0.053011],[-0.001641,-0.183748,0.982972]]
2025-10-26T20:26:26.087Z,1761510386.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300342,0.935250,0.187355],[-0.953813,-0.295720,-0.052829],[0.005996,-0.194568,0.980871]]
2025-10-26T20:26:26.482Z,1761510386.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314714,0.939414,0.135855],[-0.949163,-0.312473,-0.038076],[0.006682,-0.140932,0.989997]]
2025-10-26T20:26:26.886Z,1761510386.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313989,0.947467,0.060973],[-0.949307,-0.314322,-0.004306],[0.015085,-0.059234,0.998130]]
2025-10-26T20:26:27.292Z,1761510387.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294844,0.955539,0.003595],[-0.954720,-0.294743,0.040452],[0.039713,0.008495,0.999175]]
2025-10-26T20:26:27.694Z,1761510387.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296599,0.954786,-0.020304],[-0.953239,-0.294693,0.067013],[0.058000,0.039231,0.997545]]
2025-10-26T20:26:28.098Z,1761510388.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315705,0.948857,-0.000165],[-0.946839,-0.315023,0.065241],[0.061852,0.020753,0.997870]]
2025-10-26T20:26:28.503Z,1761510388.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330876,0.940679,0.075130],[-0.940360,-0.335334,0.057222],[0.079021,-0.051716,0.995531]]
2025-10-26T20:26:28.907Z,1761510388.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350129,0.918875,0.181873],[-0.930928,-0.362874,0.041184],[0.103840,-0.154891,0.982459]]
2025-10-26T20:26:29.310Z,1761510389.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363810,0.894593,0.259511],[-0.922834,-0.384022,0.030087],[0.126573,-0.228539,0.965272]]
2025-10-26T20:26:29.714Z,1761510389.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372745,0.887756,0.270092],[-0.914673,-0.400542,0.054220],[0.156317,-0.226836,0.961307]]
2025-10-26T20:26:30.118Z,1761510390.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373993,0.904764,0.203794],[-0.909800,-0.400559,0.108702],[0.179981,-0.144758,0.972960]]
2025-10-26T20:26:30.525Z,1761510390.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342847,0.936164,0.077798],[-0.921170,-0.351274,0.167486],[0.184122,-0.014243,0.982800]]
2025-10-26T20:26:30.927Z,1761510390.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322087,0.944974,-0.057312],[-0.932999,-0.306575,0.188480],[0.160538,0.114179,0.980403]]
2025-10-26T20:26:31.330Z,1761510391.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339290,0.934492,-0.107740],[-0.933452,-0.320293,0.161493],[0.116405,0.155363,0.980975]]
2025-10-26T20:26:31.736Z,1761510391.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352098,0.935499,-0.029483],[-0.932879,-0.348208,0.092135],[0.075926,0.059945,0.995310]]
2025-10-26T20:26:32.138Z,1761510392.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346091,0.930523,0.119782],[-0.935414,-0.352073,0.032336],[0.072261,-0.100855,0.992274]]
2025-10-26T20:26:32.543Z,1761510392.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329796,0.916106,0.228003],[-0.939259,-0.342715,0.018418],[0.095013,-0.208080,0.973486]]
2025-10-26T20:26:32.946Z,1761510392.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314304,0.924351,0.216307],[-0.943760,-0.328873,0.034058],[0.102619,-0.193438,0.975731]]
2025-10-26T20:26:33.351Z,1761510393.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320084,0.940328,0.115454],[-0.944331,-0.326456,0.040805],[0.076060,-0.095966,0.992474]]
2025-10-26T20:26:33.754Z,1761510393.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339146,0.940312,0.028164],[-0.938808,-0.340214,0.053787],[0.060159,-0.008199,0.998155]]
2025-10-26T20:26:34.158Z,1761510394.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345387,0.938449,0.004632],[-0.936194,-0.344891,0.067759],[0.065186,0.019067,0.997691]]
2025-10-26T20:26:34.562Z,1761510394.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352704,0.935153,0.032986],[-0.933102,-0.354135,0.062514],[0.070142,-0.008731,0.997499]]
2025-10-26T20:26:34.967Z,1761510394.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353727,0.933158,0.063977],[-0.934103,-0.355957,0.027305],[0.048253,-0.050103,0.997578]]
2025-10-26T20:26:35.370Z,1761510395.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350306,0.932613,0.086714],[-0.936518,-0.350223,-0.016668],[0.014824,-0.087048,0.996094]]
2025-10-26T20:26:35.774Z,1761510395.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351976,0.929928,0.106520],[-0.936005,-0.349381,-0.042739],[-0.002528,-0.114747,0.993392]]
2025-10-26T20:26:36.178Z,1761510396.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350837,0.928784,0.119472],[-0.936297,-0.350121,-0.027622],[0.016175,-0.121553,0.992453]]
2025-10-26T20:26:36.584Z,1761510396.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354166,0.928282,0.113398],[-0.934468,-0.356024,-0.004104],[0.036563,-0.107420,0.993541]]
2025-10-26T20:26:36.988Z,1761510396.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370242,0.924502,0.090651],[-0.928867,-0.369634,-0.024028],[0.011294,-0.093099,0.995593]]
2025-10-26T20:26:37.390Z,1761510397.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383498,0.920792,0.071213],[-0.923188,-0.380077,-0.057139],[-0.025547,-0.087656,0.995823]]
2025-10-26T20:26:37.794Z,1761510397.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390524,0.918262,0.065463],[-0.920393,-0.387971,-0.048526],[-0.019162,-0.079202,0.996674]]
2025-10-26T20:26:38.200Z,1761510398.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391825,0.916875,0.076252],[-0.919530,-0.393019,0.000716],[0.030625,-0.069835,0.997088]]
2025-10-26T20:26:38.602Z,1761510398.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394470,0.915856,0.074847],[-0.917263,-0.397328,0.027554],[0.054974,-0.057785,0.996814]]
2025-10-26T20:26:39.006Z,1761510399.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399006,0.914198,0.070971],[-0.916210,-0.400594,0.009147],[0.036793,-0.061374,0.997436]]
2025-10-26T20:26:39.410Z,1761510399.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403080,0.911351,0.083461],[-0.914968,-0.403207,-0.016075],[0.019002,-0.082844,0.996381]]
2025-10-26T20:26:39.816Z,1761510399.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408049,0.905563,0.115985],[-0.912619,-0.408066,-0.024683],[0.024978,-0.115922,0.992944]]
2025-10-26T20:26:40.219Z,1761510400.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419078,0.897003,0.140567],[-0.907325,-0.419487,-0.028161],[0.033705,-0.139342,0.989671]]
2025-10-26T20:26:40.628Z,1761510400.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445523,0.884740,0.136907],[-0.894769,-0.445153,-0.035026],[0.029956,-0.138105,0.989964]]
2025-10-26T20:26:41.034Z,1761510401.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461001,0.884734,0.068729],[-0.887386,-0.460037,-0.030195],[0.004903,-0.074909,0.997178]]
2025-10-26T20:26:41.436Z,1761510401.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462594,0.884695,0.057631],[-0.885118,-0.464579,0.027074],[0.050726,-0.038487,0.997971]]
2025-10-26T20:26:41.840Z,1761510401.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476042,0.876987,0.065400],[-0.873922,-0.480060,0.076184],[0.098208,-0.020888,0.994947]]
2025-10-26T20:26:42.242Z,1761510402.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492753,0.865978,0.085305],[-0.864279,-0.498448,0.067615],[0.101073,-0.040410,0.994058]]
2025-10-26T20:26:42.644Z,1761510402.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497482,0.859377,0.118250],[-0.861830,-0.505157,0.045451],[0.098794,-0.079301,0.991943]]
2025-10-26T20:26:43.048Z,1761510403.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493343,0.858797,0.138129],[-0.862783,-0.503314,0.047755],[0.110534,-0.095616,0.989262]]
2025-10-26T20:26:43.452Z,1761510403.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484939,0.866840,0.115855],[-0.869127,-0.492412,0.046344],[0.097221,-0.078219,0.992184]]
2025-10-26T20:26:43.854Z,1761510403.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469155,0.881264,0.057160],[-0.881831,-0.470980,0.023479],[0.047612,-0.039390,0.998089]]
2025-10-26T20:26:44.258Z,1761510404.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455022,0.890480,0.000311],[-0.890154,-0.454864,0.026910],[0.024105,0.011968,0.999638]]
2025-10-26T20:26:44.607Z,1761510404.607 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20251026T180417/Express0058.lzma
2025-10-26T20:26:44.664Z,1761510404.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456258,0.889689,-0.016806],[-0.888370,-0.454331,0.066203],[0.051264,0.045136,0.997665]]
2025-10-26T20:26:45.069Z,1761510405.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469287,0.882947,0.013211],[-0.879573,-0.468715,0.081598],[0.078238,0.026673,0.996578]]
2025-10-26T20:26:45.470Z,1761510405.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473997,0.877143,0.077116],[-0.878480,-0.477045,0.026458],[0.059995,-0.055204,0.996671]]
2025-10-26T20:26:45.874Z,1761510405.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460919,0.876087,0.141511],[-0.886914,-0.460250,-0.039407],[0.030606,-0.143672,0.989152]]
2025-10-26T20:26:46.278Z,1761510406.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449225,0.876509,0.173000],[-0.892776,-0.447750,-0.049715],[0.033885,-0.176784,0.983666]]
2025-10-26T20:26:46.281Z,1761510406.281 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-26T20:26:46.683Z,1761510406.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452659,0.879002,0.149854],[-0.890845,-0.453087,-0.033263],[0.038659,-0.148554,0.988148]]
2025-10-26T20:26:47.087Z,1761510407.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456622,0.885145,0.089523],[-0.889092,-0.457610,-0.010362],[0.031795,-0.084325,0.995931]]
2025-10-26T20:26:47.490Z,1761510407.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460262,0.886724,0.043349],[-0.886733,-0.461544,0.026121],[0.043170,-0.026417,0.998718]]
2025-10-26T20:26:47.894Z,1761510407.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461906,0.886241,0.034913],[-0.884982,-0.463142,0.048019],[0.058726,-0.008717,0.998236]]
2025-10-26T20:26:48.300Z,1761510408.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453851,0.889747,0.048672],[-0.890468,-0.454884,0.012162],[0.032961,-0.037821,0.998741]]
2025-10-26T20:26:48.621Z,1761510408.621 [DataOverHttps](INFO): Moved sent file to Logs/20251026T180417/Express0058.lzma.bak
2025-10-26T20:26:48.622Z,1761510408.622 [DataOverHttps](INFO): SBD MOMSN=26242516
2025-10-26T20:26:48.702Z,1761510408.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445797,0.890088,0.094911],[-0.894958,-0.445298,-0.027556],[0.017736,-0.097226,0.995104]]
2025-10-26T20:26:49.106Z,1761510409.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456034,0.876425,0.154637],[-0.889616,-0.453770,-0.051733],[0.024830,-0.161159,0.986616]]
2025-10-26T20:26:49.510Z,1761510409.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479304,0.855244,0.197040],[-0.877373,-0.472547,-0.083160],[0.021988,-0.212737,0.976862]]
2025-10-26T20:26:49.916Z,1761510409.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490073,0.850450,0.191214],[-0.871356,-0.483949,-0.080819],[0.023805,-0.206223,0.978215]]
2025-10-26T20:26:50.318Z,1761510410.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505432,0.852233,0.135043],[-0.862165,-0.505106,-0.039234],[0.034775,-0.136259,0.990063]]
2025-10-26T20:26:50.342Z,1761510410.342 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-10-26T20:26:50.342Z,1761510410.342 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-10-26T20:26:50.342Z,1761510410.342 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-10-26T20:26:50.722Z,1761510410.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533032,0.843489,0.066357],[-0.845180,-0.534462,0.004592],[0.039338,-0.053636,0.997785]]
2025-10-26T20:26:51.127Z,1761510411.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542803,0.838944,0.039230],[-0.839140,-0.543679,0.016037],[0.034782,-0.024214,0.999102]]
2025-10-26T20:26:51.532Z,1761510411.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536385,0.841465,0.065029],[-0.842861,-0.538040,0.009905],[0.043323,-0.049497,0.997834]]
2025-10-26T20:26:51.934Z,1761510411.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523653,0.845580,0.103838],[-0.849797,-0.527069,0.006543],[0.060263,-0.084815,0.994573]]
2025-10-26T20:26:52.338Z,1761510412.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517265,0.846614,0.125224],[-0.852251,-0.522919,0.014943],[0.078133,-0.098993,0.992016]]
2025-10-26T20:26:52.753Z,1761510412.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533769,0.836792,0.121944],[-0.840949,-0.540419,0.027433],[0.088857,-0.087906,0.992158]]
2025-10-26T20:26:53.150Z,1761510413.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557771,0.824491,0.095428],[-0.827162,-0.561673,0.018095],[0.068518,-0.068842,0.995272]]
2025-10-26T20:26:53.550Z,1761510413.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559757,0.825663,0.070379],[-0.827507,-0.561433,0.005008],[0.043648,-0.055436,0.997508]]
2025-10-26T20:26:53.954Z,1761510413.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540368,0.839416,0.058163],[-0.840573,-0.541644,0.007661],[0.037935,-0.044750,0.998278]]
2025-10-26T20:26:54.358Z,1761510414.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524242,0.849090,0.064937],[-0.849383,-0.526834,0.031523],[0.060977,-0.038631,0.997391]]
2025-10-26T20:26:54.814Z,1761510414.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519619,0.850672,0.079709],[-0.848816,-0.524619,0.065465],[0.097506,-0.033642,0.994666]]
2025-10-26T20:26:55.169Z,1761510415.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515018,0.852156,0.092662],[-0.849781,-0.521753,0.075144],[0.112381,-0.040042,0.992858]]
2025-10-26T20:26:55.570Z,1761510415.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506924,0.857233,0.090441],[-0.857469,-0.512214,0.048819],[0.088175,-0.052803,0.994704]]
2025-10-26T20:26:55.974Z,1761510415.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512287,0.853679,0.093782],[-0.855945,-0.516441,0.025427],[0.070139,-0.067246,0.995268]]
2025-10-26T20:26:56.379Z,1761510416.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526641,0.842767,0.111324],[-0.848143,-0.529765,-0.001784],[0.057472,-0.095358,0.993783]]
2025-10-26T20:26:56.811Z,1761510416.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532902,0.836703,0.126268],[-0.846055,-0.529392,-0.062727],[0.014361,-0.140258,0.990011]]
2025-10-26T20:26:57.187Z,1761510417.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528570,0.837880,0.136277],[-0.848664,-0.517876,-0.107580],[-0.019564,-0.172517,0.984812]]
2025-10-26T20:26:57.590Z,1761510417.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534064,0.833039,0.144297],[-0.845267,-0.522623,-0.111306],[-0.017309,-0.181414,0.983255]]
2025-10-26T20:26:57.994Z,1761510417.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542246,0.831993,0.117291],[-0.840209,-0.536221,-0.080717],[-0.004262,-0.142318,0.989812]]
2025-10-26T20:26:58.212Z,1761510418.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:26:58.399Z,1761510418.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546699,0.835020,0.062148],[-0.837274,-0.544303,-0.052032],[-0.009621,-0.080480,0.996710]]
2025-10-26T20:26:58.818Z,1761510418.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558001,0.828690,0.043679],[-0.829785,-0.556586,-0.040855],[-0.009545,-0.059041,0.998210]]
2025-10-26T20:26:59.206Z,1761510419.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579259,0.810734,0.084669],[-0.814885,-0.578559,-0.035097],[0.020531,-0.089326,0.995791]]
2025-10-26T20:26:59.610Z,1761510419.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607503,0.779875,0.150783],[-0.792689,-0.607383,-0.052244],[0.050839,-0.151262,0.987185]]
2025-10-26T20:27:00.016Z,1761510420.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620499,0.761053,0.189155],[-0.781347,-0.620566,-0.066302],[0.066924,-0.188936,0.979706]]
2025-10-26T20:27:00.418Z,1761510420.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606411,0.777190,0.168050],[-0.791287,-0.610644,-0.031292],[0.078299,-0.151951,0.985282]]
2025-10-26T20:27:00.823Z,1761510420.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580928,0.809099,0.088781],[-0.809748,-0.585553,0.037900],[0.082651,-0.049873,0.995330]]
2025-10-26T20:27:01.226Z,1761510421.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561333,0.827515,0.011139],[-0.823742,-0.559969,0.088785],[0.079709,0.040662,0.995988]]
2025-10-26T20:27:01.632Z,1761510421.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557098,0.830163,-0.021721],[-0.828599,-0.553924,0.081187],[0.055367,0.063227,0.996462]]
2025-10-26T20:27:02.035Z,1761510422.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570885,0.821027,0.002365],[-0.820745,-0.570760,0.024720],[0.021646,0.012171,0.999692]]
2025-10-26T20:27:02.438Z,1761510422.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587489,0.805227,0.080412],[-0.809141,-0.586007,-0.043426],[0.012154,-0.090577,0.995815]]
2025-10-26T20:27:02.842Z,1761510422.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580121,0.798618,0.160216],[-0.814237,-0.573859,-0.087768],[0.021848,-0.181370,0.983172]]
2025-10-26T20:27:03.247Z,1761510423.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584633,0.791276,0.179126],[-0.811087,-0.575090,-0.106815],[0.018494,-0.207735,0.978010]]
2025-10-26T20:27:03.652Z,1761510423.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605807,0.784487,0.132582],[-0.795610,-0.597698,-0.098802],[0.001735,-0.165339,0.986235]]
2025-10-26T20:27:04.054Z,1761510424.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622472,0.778883,0.076619],[-0.782332,-0.621993,-0.032888],[0.022041,-0.080414,0.996518]]
2025-10-26T20:27:04.458Z,1761510424.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631637,0.773709,0.049077],[-0.773178,-0.633315,0.033291],[0.056838,-0.016917,0.998240]]
2025-10-26T20:27:04.864Z,1761510424.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632698,0.773828,0.029722],[-0.772780,-0.633391,0.040338],[0.050040,0.002554,0.998744]]
2025-10-26T20:27:05.269Z,1761510425.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618541,0.785167,0.030343],[-0.784537,-0.619271,0.031721],[0.043696,-0.004184,0.999036]]
2025-10-26T20:27:05.671Z,1761510425.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600487,0.797383,0.059971],[-0.795760,-0.603268,0.053229],[0.078623,-0.015759,0.996780]]
2025-10-26T20:27:06.107Z,1761510426.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593536,0.801402,0.073962],[-0.801831,-0.596735,0.031222],[0.069157,-0.040773,0.996772]]
2025-10-26T20:27:06.518Z,1761510426.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607833,0.791164,0.067817],[-0.794061,-0.605325,-0.055224],[-0.002640,-0.087417,0.996168]]
2025-10-26T20:27:06.883Z,1761510426.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622142,0.778544,0.082516],[-0.781728,-0.611972,-0.119968],[-0.042903,-0.139142,0.989343]]
2025-10-26T20:27:06.968Z,1761510426.968 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:27:07.286Z,1761510427.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632233,0.766497,0.112975],[-0.774351,-0.620291,-0.124975],[-0.025716,-0.166496,0.985707]]
2025-10-26T20:27:07.690Z,1761510427.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641057,0.756911,0.127015],[-0.767441,-0.634106,-0.094571],[0.008959,-0.158102,0.987382]]
2025-10-26T20:27:08.094Z,1761510428.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648743,0.753909,0.103702],[-0.760939,-0.644462,-0.075098],[0.010214,-0.127630,0.991769]]
2025-10-26T20:27:08.500Z,1761510428.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656366,0.752172,0.058495],[-0.754377,-0.653311,-0.064027],[-0.009944,-0.086152,0.996232]]
2025-10-26T20:27:08.902Z,1761510428.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668130,0.743755,0.020770],[-0.743967,-0.667397,-0.033070],[-0.010735,-0.037547,0.999237]]
2025-10-26T20:27:09.306Z,1761510429.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688505,0.725147,0.011061],[-0.725183,-0.688556,0.001058],[0.008384,-0.007293,0.999938]]
2025-10-26T20:27:09.710Z,1761510429.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697329,0.715955,0.033768],[-0.716297,-0.697790,0.002696],[0.025493,-0.022308,0.999426]]
2025-10-26T20:27:10.117Z,1761510430.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694317,0.714804,0.083536],[-0.718036,-0.695875,-0.013531],[0.048459,-0.069376,0.996413]]
2025-10-26T20:27:10.518Z,1761510430.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682804,0.720630,0.120298],[-0.728134,-0.684732,-0.031043],[0.060001,-0.108789,0.992252]]
2025-10-26T20:27:10.922Z,1761510430.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669934,0.732981,0.118011],[-0.740076,-0.671951,-0.027747],[0.058959,-0.105926,0.992625]]
2025-10-26T20:27:11.326Z,1761510431.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671315,0.736351,0.084404],[-0.737874,-0.674711,0.017523],[0.069851,-0.050516,0.996278]]
2025-10-26T20:27:11.732Z,1761510431.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683938,0.727182,0.058608],[-0.721002,-0.686003,0.097756],[0.111291,0.024602,0.993483]]
2025-10-26T20:27:12.134Z,1761510432.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673565,0.736595,0.061146],[-0.720356,-0.672734,0.168869],[0.165523,0.069698,0.983740]]
2025-10-26T20:27:12.538Z,1761510432.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652249,0.755158,0.065631],[-0.736845,-0.651976,0.178849],[0.177850,0.068294,0.981685]]
2025-10-26T20:27:12.943Z,1761510432.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644507,0.761995,0.063051],[-0.755693,-0.647380,0.099131],[0.116355,0.016244,0.993075]]
2025-10-26T20:27:13.346Z,1761510433.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645307,0.758713,0.089063],[-0.762649,-0.646568,-0.017779],[0.044096,-0.079397,0.995867]]
2025-10-26T20:27:13.750Z,1761510433.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656956,0.736762,0.159968],[-0.752456,-0.653998,-0.078077],[0.047095,-0.171662,0.984030]]
2025-10-26T20:27:14.154Z,1761510434.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675311,0.703410,0.221742],[-0.731678,-0.676763,-0.081484],[0.092750,-0.217270,0.971695]]
2025-10-26T20:27:14.560Z,1761510434.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687001,0.694820,0.212730],[-0.719399,-0.691614,-0.064310],[0.102443,-0.197219,0.974992]]
2025-10-26T20:27:14.962Z,1761510434.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683708,0.718886,0.125483],[-0.725872,-0.687656,-0.015443],[0.075187,-0.101643,0.991976]]
2025-10-26T20:27:15.366Z,1761510435.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670336,0.741787,0.020040],[-0.740382,-0.670392,0.049076],[0.049838,0.018061,0.998594]]
2025-10-26T20:27:15.770Z,1761510435.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670586,0.741250,-0.029382],[-0.740571,-0.666611,0.084763],[0.043244,0.078600,0.995968]]
2025-10-26T20:27:16.175Z,1761510436.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683458,0.729976,0.004460],[-0.728158,-0.682163,0.066633],[0.051683,0.042293,0.997768]]
2025-10-26T20:27:16.580Z,1761510436.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679002,0.728199,0.093186],[-0.729169,-0.683693,0.029591],[0.085259,-0.047856,0.995209]]
2025-10-26T20:27:16.982Z,1761510436.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667625,0.724104,0.173064],[-0.733919,-0.679157,0.010387],[0.125059,-0.120081,0.984856]]
2025-10-26T20:27:17.386Z,1761510437.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672909,0.714267,0.192395],[-0.726721,-0.686882,0.008316],[0.138092,-0.134222,0.981282]]
2025-10-26T20:27:17.732Z,1761510437.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:27:17.792Z,1761510437.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680279,0.716932,0.152409],[-0.725167,-0.688570,0.002242],[0.106551,-0.108997,0.988315]]
2025-10-26T20:27:18.195Z,1761510438.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676068,0.730542,0.096121],[-0.733116,-0.680001,0.011785],[0.073972,-0.062501,0.995300]]
2025-10-26T20:27:18.598Z,1761510438.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659558,0.749808,0.052640],[-0.748210,-0.661620,0.049400],[0.071868,-0.006804,0.997391]]
2025-10-26T20:27:19.002Z,1761510439.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645569,0.763097,0.030403],[-0.760827,-0.646080,0.061018],[0.066206,0.016260,0.997674]]
2025-10-26T20:27:19.407Z,1761510439.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649084,0.759693,0.039452],[-0.759012,-0.650228,0.033230],[0.050897,-0.008376,0.998669]]
2025-10-26T20:27:19.827Z,1761510439.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660659,0.745951,0.084182],[-0.748830,-0.662750,-0.004061],[0.052763,-0.065721,0.996442]]
2025-10-26T20:27:20.214Z,1761510440.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665903,0.735371,0.125706],[-0.743901,-0.667247,-0.037323],[0.056431,-0.118366,0.991365]]
2025-10-26T20:27:20.619Z,1761510440.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658036,0.740884,0.134458],[-0.752026,-0.655650,-0.067675],[0.038018,-0.145649,0.988606]]
2025-10-26T20:27:21.022Z,1761510441.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636747,0.761601,0.120488],[-0.770741,-0.633237,-0.070489],[0.022613,-0.137749,0.990209]]
2025-10-26T20:27:21.428Z,1761510441.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636083,0.766527,0.088510],[-0.771461,-0.634083,-0.052785],[0.015662,-0.101858,0.994676]]
2025-10-26T20:27:21.830Z,1761510441.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661532,0.748424,0.047294],[-0.749902,-0.659800,-0.048068],[-0.004770,-0.067264,0.997724]]
2025-10-26T20:27:22.234Z,1761510442.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678544,0.734060,0.027077],[-0.734274,-0.676790,-0.052889],[-0.020498,-0.055770,0.998233]]
2025-10-26T20:27:22.638Z,1761510442.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687544,0.725061,0.039613],[-0.726100,-0.685892,-0.048274],[-0.007831,-0.061953,0.998048]]
2025-10-26T20:27:23.044Z,1761510443.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699356,0.710670,0.076477],[-0.714596,-0.697553,-0.052661],[0.015922,-0.091479,0.995680]]
2025-10-26T20:27:23.447Z,1761510443.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699694,0.705369,0.113504],[-0.713678,-0.697415,-0.065385],[0.033039,-0.126754,0.991384]]
2025-10-26T20:27:23.851Z,1761510443.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684691,0.717843,0.126095],[-0.726526,-0.685988,-0.039762],[0.057957,-0.118835,0.991221]]
2025-10-26T20:27:24.254Z,1761510444.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669603,0.735851,0.100778],[-0.737451,-0.674837,0.027583],[0.088306,-0.055850,0.994526]]
2025-10-26T20:27:24.659Z,1761510444.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666321,0.743677,0.054415],[-0.741203,-0.668539,0.060614],[0.081455,0.000056,0.996677]]
2025-10-26T20:27:25.062Z,1761510445.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671622,0.740661,0.018605],[-0.739883,-0.671805,0.035380],[0.038703,0.009996,0.999201]]
2025-10-26T20:27:25.466Z,1761510445.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681731,0.730486,0.040409],[-0.730761,-0.682556,0.010261],[0.035077,-0.022533,0.999131]]
2025-10-26T20:27:25.871Z,1761510445.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701161,0.705548,0.102835],[-0.708627,-0.705526,0.008951],[0.078868,-0.066595,0.994658]]
2025-10-26T20:27:26.279Z,1761510446.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705385,0.696368,0.132302],[-0.700322,-0.713500,0.021627],[0.109458,-0.077398,0.990973]]
2025-10-26T20:27:26.684Z,1761510446.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674026,0.730551,0.109474],[-0.729254,-0.681686,0.059104],[0.117805,-0.039997,0.992231]]
2025-10-26T20:27:27.124Z,1761510447.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665982,0.740786,0.087769],[-0.739211,-0.671166,0.055705],[0.100173,-0.027781,0.994582]]
2025-10-26T20:27:27.492Z,1761510447.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665326,0.744780,0.051427],[-0.743600,-0.667241,0.042997],[0.066338,-0.009634,0.997751]]
2025-10-26T20:27:27.894Z,1761510447.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666319,0.744136,0.047761],[-0.742411,-0.668026,0.050662],[0.069605,-0.001701,0.997573]]
2025-10-26T20:27:28.295Z,1761510448.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670314,0.738180,0.075952],[-0.736726,-0.674255,0.051140],[0.088961,-0.021676,0.995799]]
2025-10-26T20:27:28.698Z,1761510448.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661171,0.741340,0.115189],[-0.743936,-0.667700,0.027115],[0.097013,-0.067766,0.992974]]
2025-10-26T20:27:29.102Z,1761510449.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646222,0.750056,0.140757],[-0.757213,-0.653156,0.004090],[0.095004,-0.103940,0.990036]]
2025-10-26T20:27:29.412Z,1761510449.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:27:29.506Z,1761510449.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654607,0.742146,0.143909],[-0.751968,-0.658796,-0.023073],[0.077683,-0.123318,0.989322]]
2025-10-26T20:27:29.910Z,1761510449.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673419,0.723374,0.152436],[-0.736647,-0.673941,-0.056165],[0.062105,-0.150114,0.986716]]
2025-10-26T20:27:30.316Z,1761510450.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674591,0.721466,0.156248],[-0.735326,-0.675381,-0.056190],[0.064988,-0.152798,0.986118]]
2025-10-26T20:27:30.719Z,1761510450.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666764,0.736223,0.115768],[-0.742635,-0.669391,-0.020221],[0.062607,-0.099456,0.993070]]
2025-10-26T20:27:31.122Z,1761510451.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663848,0.745008,0.065335],[-0.744721,-0.666533,0.033537],[0.068533,-0.026393,0.997300]]
2025-10-26T20:27:31.526Z,1761510451.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662823,0.745718,0.067604],[-0.743401,-0.666176,0.059705],[0.089559,-0.010683,0.995924]]
2025-10-26T20:27:31.931Z,1761510451.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652295,0.751642,0.097699],[-0.752444,-0.657671,0.036011],[0.091321,-0.050023,0.994564]]
2025-10-26T20:27:32.334Z,1761510452.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649032,0.753583,0.104260],[-0.758812,-0.651064,-0.017863],[0.054419,-0.090708,0.994390]]
2025-10-26T20:27:32.747Z,1761510452.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663904,0.741012,0.100662],[-0.747669,-0.660416,-0.069584],[0.014916,-0.121459,0.992484]]
2025-10-26T20:27:33.142Z,1761510453.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675982,0.729927,0.101269],[-0.736918,-0.669646,-0.092339],[0.000414,-0.137046,0.990565]]
2025-10-26T20:27:33.548Z,1761510453.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681233,0.724608,0.104241],[-0.732038,-0.673004,-0.105764],[-0.006482,-0.148358,0.988912]]
2025-10-26T20:27:33.950Z,1761510453.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688375,0.718471,0.099692],[-0.725229,-0.679164,-0.113045],[-0.013512,-0.150117,0.988576]]
2025-10-26T20:27:34.354Z,1761510454.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702427,0.706736,0.084389],[-0.711731,-0.696456,-0.091587],[-0.005954,-0.124395,0.992215]]
2025-10-26T20:27:34.811Z,1761510454.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700122,0.710653,0.069290],[-0.713614,-0.699703,-0.034211],[0.024170,-0.073398,0.997010]]
2025-10-26T20:27:35.162Z,1761510455.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681336,0.730518,0.046094],[-0.730056,-0.682757,0.029340],[0.052904,-0.013661,0.998506]]
2025-10-26T20:27:35.566Z,1761510455.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676935,0.735891,0.014941],[-0.734822,-0.676841,0.043843],[0.042376,0.018700,0.998927]]
2025-10-26T20:27:35.970Z,1761510455.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691659,0.722199,0.005963],[-0.722224,-0.691632,-0.006195],[-0.000350,-0.008592,0.999963]]
2025-10-26T20:27:36.376Z,1761510456.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703232,0.709404,0.047010],[-0.710947,-0.701279,-0.052557],[-0.004317,-0.070382,0.997511]]
2025-10-26T20:27:36.811Z,1761510456.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690748,0.714324,0.112288],[-0.721399,-0.691400,-0.039378],[0.049507,-0.108204,0.992895]]
2025-10-26T20:27:37.586Z,1761510457.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647835,0.756387,0.090496],[-0.758381,-0.651587,0.017085],[0.071889,-0.057562,0.995750]]
2025-10-26T20:27:37.991Z,1761510457.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644991,0.763335,0.036145],[-0.763209,-0.645838,0.020114],[0.038698,-0.014613,0.999144]]
2025-10-26T20:27:38.028Z,1761510458.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:27:38.394Z,1761510458.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659424,0.751241,0.028239],[-0.751248,-0.659901,0.012518],[0.028039,-0.012960,0.999523]]
2025-10-26T20:27:38.816Z,1761510458.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670006,0.739405,0.066129],[-0.741652,-0.670589,-0.016246],[0.032333,-0.059929,0.997679]]
2025-10-26T20:27:39.202Z,1761510459.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672043,0.732446,0.108999],[-0.739712,-0.670845,-0.052847],[0.034414,-0.116143,0.992636]]
2025-10-26T20:27:39.609Z,1761510459.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676601,0.725127,0.128074],[-0.735180,-0.675029,-0.062011],[0.041488,-0.136114,0.989824]]
2025-10-26T20:27:40.011Z,1761510460.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666708,0.732485,0.137719],[-0.742703,-0.668395,-0.040501],[0.062384,-0.129287,0.989643]]
2025-10-26T20:27:40.414Z,1761510460.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635672,0.760073,0.134944],[-0.765345,-0.643356,0.018442],[0.100834,-0.091555,0.990682]]
2025-10-26T20:27:40.821Z,1761510460.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616320,0.783162,0.082504],[-0.779782,-0.621552,0.074922],[0.109957,-0.018159,0.993770]]
2025-10-26T20:27:41.222Z,1761510461.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622700,0.782358,0.012628],[-0.779684,-0.621769,0.074135],[0.065852,0.036318,0.997168]]
2025-10-26T20:27:41.626Z,1761510461.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627397,0.778426,0.020643],[-0.777471,-0.627675,0.039533],[0.043731,0.008753,0.999005]]
2025-10-26T20:27:42.030Z,1761510462.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625101,0.773261,0.106377],[-0.775961,-0.630379,0.022498],[0.084455,-0.068481,0.994071]]
2025-10-26T20:27:42.436Z,1761510462.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618904,0.760757,0.195464],[-0.774385,-0.632631,0.010277],[0.131475,-0.145004,0.980657]]
2025-10-26T20:27:42.838Z,1761510462.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611003,0.760043,0.221381],[-0.780545,-0.625043,-0.008384],[0.132001,-0.177921,0.975151]]
2025-10-26T20:27:43.243Z,1761510463.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605965,0.772515,0.189808],[-0.787512,-0.616271,-0.005931],[0.112392,-0.153070,0.981803]]
2025-10-26T20:27:43.646Z,1761510463.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589013,0.796190,0.138367],[-0.801106,-0.597791,0.029584],[0.106269,-0.093421,0.989939]]
2025-10-26T20:27:44.052Z,1761510464.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571233,0.817100,0.077715],[-0.814476,-0.576014,0.069554],[0.101597,-0.023566,0.994546]]
2025-10-26T20:27:44.454Z,1761510464.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553302,0.831982,0.040764],[-0.827055,-0.554535,0.092042],[0.099182,0.017213,0.994920]]
2025-10-26T20:27:44.858Z,1761510464.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542182,0.838800,0.049541],[-0.834908,-0.544435,0.080739],[0.094695,0.002413,0.995503]]
2025-10-26T20:27:45.263Z,1761510465.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536962,0.839388,0.084264],[-0.839727,-0.541388,0.041931],[0.080816,-0.048243,0.995561]]
2025-10-26T20:27:45.668Z,1761510465.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529948,0.839350,0.121027],[-0.845575,-0.533856,-0.000151],[0.064484,-0.102417,0.992649]]
2025-10-26T20:27:46.070Z,1761510466.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531265,0.832046,0.159553],[-0.845450,-0.532796,-0.036647],[0.054517,-0.154363,0.986509]]
2025-10-26T20:27:46.475Z,1761510466.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533435,0.826664,0.179091],[-0.844799,-0.531208,-0.064295],[0.041985,-0.185593,0.981729]]
2025-10-26T20:27:46.878Z,1761510466.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527054,0.834433,0.161046],[-0.849759,-0.519936,-0.087042],[0.011103,-0.182726,0.983101]]
2025-10-26T20:27:47.284Z,1761510467.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533942,0.835984,0.126637],[-0.845497,-0.529038,-0.072482],[0.006402,-0.145772,0.989297]]
2025-10-26T20:27:47.686Z,1761510467.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542354,0.834021,0.101298],[-0.839404,-0.542999,-0.023508],[0.035398,-0.097780,0.994578]]
2025-10-26T20:27:47.716Z,1761510467.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:27:48.090Z,1761510468.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524895,0.847249,0.081570],[-0.848470,-0.528446,0.029026],[0.067698,-0.053974,0.996245]]
2025-10-26T20:27:48.494Z,1761510468.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514623,0.855872,0.051445],[-0.854496,-0.516895,0.051544],[0.070707,-0.017434,0.997345]]
2025-10-26T20:27:48.899Z,1761510468.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510249,0.859071,0.040539],[-0.858799,-0.511472,0.029349],[0.045947,-0.019839,0.998747]]
2025-10-26T20:27:49.302Z,1761510469.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477609,0.877364,0.046065],[-0.878157,-0.478338,0.005680],[0.027018,-0.037740,0.998922]]
2025-10-26T20:27:49.706Z,1761510469.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456902,0.887589,0.058540],[-0.889142,-0.457630,-0.001088],[0.025824,-0.052547,0.998285]]
2025-10-26T20:27:50.110Z,1761510470.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463834,0.882442,0.078444],[-0.885610,-0.464200,-0.014607],[0.023524,-0.076246,0.996812]]
2025-10-26T20:27:50.515Z,1761510470.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473306,0.876339,0.089505],[-0.880692,-0.472946,-0.026538],[0.019075,-0.091387,0.995633]]
2025-10-26T20:27:50.918Z,1761510470.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477174,0.874880,0.083004],[-0.878772,-0.475889,-0.035920],[0.008075,-0.090081,0.995902]]
2025-10-26T20:27:51.322Z,1761510471.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471286,0.879454,0.066705],[-0.881944,-0.469223,-0.044780],[-0.008083,-0.079934,0.996767]]
2025-10-26T20:27:51.726Z,1761510471.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461140,0.885102,0.062798],[-0.887312,-0.459558,-0.038523],[-0.005238,-0.073486,0.997283]]
2025-10-26T20:27:52.132Z,1761510472.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451916,0.889214,0.071205],[-0.892060,-0.450456,-0.036308],[-0.000211,-0.079927,0.996801]]
2025-10-26T20:27:52.535Z,1761510472.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456894,0.884909,0.090461],[-0.889456,-0.455727,-0.034378],[0.010804,-0.096169,0.995306]]
2025-10-26T20:27:52.938Z,1761510472.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469353,0.876177,0.109643],[-0.882538,-0.469531,-0.025812],[0.028865,-0.108879,0.993636]]
2025-10-26T20:27:53.342Z,1761510473.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480540,0.867711,0.127118],[-0.875965,-0.481866,-0.022144],[0.042039,-0.121992,0.991640]]
2025-10-26T20:27:53.746Z,1761510473.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472545,0.871794,0.129135],[-0.881033,-0.470950,-0.044574],[0.021957,-0.134836,0.990625]]
2025-10-26T20:27:54.151Z,1761510474.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463853,0.876537,0.128540],[-0.885885,-0.460072,-0.059514],[0.006971,-0.141477,0.989917]]
2025-10-26T20:27:54.554Z,1761510474.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483305,0.864301,0.139285],[-0.874792,-0.482967,-0.038501],[0.033994,-0.140453,0.989504]]
2025-10-26T20:27:54.959Z,1761510474.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494609,0.856773,0.145951],[-0.866441,-0.499249,-0.005531],[0.068127,-0.129193,0.989276]]
2025-10-26T20:27:55.363Z,1761510475.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475542,0.871645,0.118723],[-0.875904,-0.481675,0.027971],[0.081567,-0.090689,0.992533]]
2025-10-26T20:27:55.768Z,1761510475.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457718,0.886798,0.063901],[-0.885472,-0.461157,0.057226],[0.080216,-0.030389,0.996314]]
2025-10-26T20:27:56.170Z,1761510476.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459242,0.887923,0.026268],[-0.886487,-0.459992,0.050475],[0.056901,-0.000106,0.998380]]
2025-10-26T20:27:56.574Z,1761510476.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458287,0.888241,0.031634],[-0.888425,-0.458841,0.012870],[0.025947,-0.022206,0.999417]]
2025-10-26T20:27:56.981Z,1761510476.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459569,0.886267,0.057675],[-0.887557,-0.460654,0.006392],[0.032233,-0.048252,0.998315]]
2025-10-26T20:27:57.416Z,1761510477.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:27:57.786Z,1761510477.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467322,0.874200,0.131852],[-0.881467,-0.472200,0.006584],[0.068016,-0.113146,0.991248]]
2025-10-26T20:27:58.190Z,1761510478.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461809,0.870974,0.167738],[-0.883893,-0.467661,-0.005181],[0.073932,-0.150655,0.985818]]
2025-10-26T20:27:58.595Z,1761510478.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467986,0.867556,0.168329],[-0.880857,-0.473284,-0.009672],[0.071277,-0.152800,0.985683]]
2025-10-26T20:27:59.001Z,1761510479.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456666,0.880583,0.126610],[-0.887533,-0.460733,0.003217],[0.061166,-0.110901,0.991947]]
2025-10-26T20:27:59.402Z,1761510479.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429603,0.901123,0.058460],[-0.900591,-0.432293,0.045366],[0.066152,-0.033159,0.997258]]
2025-10-26T20:27:59.806Z,1761510479.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416801,0.908900,0.013317],[-0.905505,-0.416438,0.081489],[0.079611,0.021906,0.996585]]
2025-10-26T20:28:00.210Z,1761510480.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421839,0.906660,0.004495],[-0.904889,-0.421316,0.060580],[0.056820,0.021487,0.998153]]
2025-10-26T20:28:00.615Z,1761510480.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416851,0.908334,0.034115],[-0.908929,-0.416912,-0.005644],[0.009096,-0.033361,0.999402]]
2025-10-26T20:28:01.019Z,1761510481.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409133,0.908435,0.085770],[-0.912441,-0.408112,-0.029921],[0.007823,-0.090502,0.995866]]
2025-10-26T20:28:01.422Z,1761510481.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415387,0.899603,0.134790],[-0.908788,-0.416843,-0.018594],[0.039459,-0.130219,0.990700]]
2025-10-26T20:28:01.826Z,1761510481.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427093,0.892288,0.146335],[-0.902817,-0.429787,-0.014307],[0.050127,-0.138224,0.989132]]
2025-10-26T20:28:02.232Z,1761510482.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417147,0.900450,0.123199],[-0.908122,-0.418354,-0.017153],[0.036096,-0.119035,0.992234]]
2025-10-26T20:28:02.634Z,1761510482.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396814,0.914148,0.082900],[-0.917896,-0.395435,-0.033144],[0.002483,-0.089246,0.996006]]
2025-10-26T20:28:03.040Z,1761510483.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394098,0.917463,0.054309],[-0.918891,-0.392172,-0.042892],[-0.018053,-0.066808,0.997603]]
2025-10-26T20:28:03.444Z,1761510483.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416262,0.906646,0.068697],[-0.909238,-0.414779,-0.035279],[-0.003492,-0.077147,0.997014]]
2025-10-26T20:28:03.847Z,1761510483.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453018,0.883970,0.115633],[-0.891144,-0.452681,-0.030684],[0.025222,-0.116946,0.992818]]
2025-10-26T20:28:04.250Z,1761510484.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463572,0.874399,0.143275],[-0.884847,-0.465301,-0.023253],[0.046334,-0.137556,0.989410]]
2025-10-26T20:28:04.658Z,1761510484.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452620,0.878209,0.154544],[-0.889799,-0.456139,-0.013943],[0.058248,-0.143824,0.987888]]
2025-10-26T20:28:05.067Z,1761510485.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441444,0.884940,0.148352],[-0.893957,-0.447987,0.012201],[0.077257,-0.127234,0.988859]]
2025-10-26T20:28:05.474Z,1761510485.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428477,0.895476,0.120543],[-0.898943,-0.435939,0.043115],[0.091158,-0.089887,0.991771]]
2025-10-26T20:28:05.878Z,1761510485.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426465,0.901039,0.079095],[-0.901866,-0.430266,0.038848],[0.069036,-0.054766,0.996110]]
2025-10-26T20:28:06.283Z,1761510486.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431937,0.899488,0.065971],[-0.901406,-0.432972,0.001559],[0.029966,-0.058793,0.997820]]
2025-10-26T20:28:06.688Z,1761510486.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446641,0.888894,0.101877],[-0.894213,-0.447296,-0.017607],[0.029919,-0.098963,0.994641]]
2025-10-26T20:28:07.090Z,1761510487.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445852,0.885358,0.131749],[-0.892285,-0.451283,0.013053],[0.071013,-0.111738,0.991197]]
2025-10-26T20:28:07.902Z,1761510487.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441404,0.896570,0.036392],[-0.896928,-0.442034,0.011190],[0.026119,-0.027702,0.999275]]
2025-10-26T20:28:08.307Z,1761510488.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425941,0.904750,-0.001479],[-0.904667,-0.425923,-0.012950],[-0.012346,-0.004178,0.999915]]
2025-10-26T20:28:08.712Z,1761510488.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413476,0.910464,0.009666],[-0.910510,-0.413486,-0.001008],[0.003080,-0.009218,0.999953]]
2025-10-26T20:28:09.114Z,1761510489.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426246,0.903201,0.050430],[-0.904056,-0.427269,0.011098],[0.031571,-0.040861,0.998666]]
2025-10-26T20:28:09.518Z,1761510489.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444087,0.890047,0.102971],[-0.893935,-0.447903,0.016214],[0.060552,-0.084849,0.994552]]
2025-10-26T20:28:09.928Z,1761510489.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455341,0.878267,0.145988],[-0.885782,-0.463419,0.025159],[0.089750,-0.117857,0.988966]]
2025-10-26T20:28:10.333Z,1761510490.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401600,0.907495,0.123163],[-0.913967,-0.405689,0.009022],[0.058154,-0.108943,0.992346]]
2025-10-26T20:28:10.809Z,1761510490.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380204,0.922599,0.065233],[-0.924364,-0.381442,0.007231],[0.031554,-0.057550,0.997844]]
2025-10-26T20:28:11.138Z,1761510491.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413156,0.909010,0.054796],[-0.909394,-0.415006,0.027797],[0.048009,-0.038347,0.998111]]
2025-10-26T20:28:11.542Z,1761510491.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441365,0.892069,0.097004],[-0.896058,-0.443906,0.005214],[0.047712,-0.084620,0.995270]]
2025-10-26T20:28:11.946Z,1761510491.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443355,0.886386,0.133250],[-0.896151,-0.441433,-0.045271],[0.018693,-0.139484,0.990048]]
2025-10-26T20:28:12.346Z,1761510492.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425466,0.895255,0.132275],[-0.904863,-0.423136,-0.046681],[0.014179,-0.139552,0.990113]]
2025-10-26T20:28:12.784Z,1761510492.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411333,0.905137,0.107391],[-0.910535,-0.413420,-0.003088],[0.041603,-0.099053,0.994212]]
2025-10-26T20:28:13.154Z,1761510493.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414908,0.907224,0.069250],[-0.908903,-0.416764,0.014243],[0.041782,-0.057032,0.997498]]
2025-10-26T20:28:13.559Z,1761510493.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420008,0.906905,0.033417],[-0.907516,-0.419831,-0.012498],[0.002695,-0.035575,0.999363]]
2025-10-26T20:28:13.620Z,1761510493.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:28:13.962Z,1761510493.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415908,0.908765,0.034151],[-0.908716,-0.413835,-0.054559],[-0.035449,-0.053725,0.997926]]
2025-10-26T20:28:14.366Z,1761510494.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425503,0.902206,0.070503],[-0.904079,-0.420369,-0.077010],[-0.039841,-0.096508,0.994534]]
2025-10-26T20:28:14.799Z,1761510494.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444659,0.888598,0.112572],[-0.895590,-0.439109,-0.071424],[-0.014036,-0.132578,0.991073]]
2025-10-26T20:28:15.176Z,1761510495.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457803,0.878456,0.136867],[-0.889048,-0.452882,-0.067014],[0.003116,-0.152360,0.988320]]
2025-10-26T20:28:15.578Z,1761510495.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464702,0.875075,0.135265],[-0.885328,-0.461883,-0.053463],[0.015692,-0.144598,0.989366]]
2025-10-26T20:28:15.983Z,1761510495.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467983,0.873821,0.132017],[-0.881637,-0.471926,-0.001605],[0.060900,-0.117142,0.991246]]
2025-10-26T20:28:16.387Z,1761510496.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454183,0.884127,0.109711],[-0.883513,-0.462819,0.072131],[0.114549,-0.064171,0.991343]]
2025-10-26T20:28:16.823Z,1761510496.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431056,0.900647,0.055006],[-0.896311,-0.434413,0.088947],[0.104005,-0.010961,0.994516]]
2025-10-26T20:28:17.598Z,1761510497.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435228,0.900230,0.012725],[-0.900134,-0.435382,0.014189],[0.018313,-0.005279,0.999818]]
2025-10-26T20:28:18.002Z,1761510498.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437530,0.896306,0.072124],[-0.898737,-0.438477,-0.002983],[0.028951,-0.066126,0.997391]]
2025-10-26T20:28:18.408Z,1761510498.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427322,0.893670,0.136932],[-0.902270,-0.431169,-0.001728],[0.057497,-0.124288,0.990579]]
2025-10-26T20:28:18.820Z,1761510498.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425672,0.887778,0.175080],[-0.900415,-0.434762,0.015366],[0.089760,-0.151104,0.984434]]
2025-10-26T20:28:19.214Z,1761510499.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424390,0.891487,0.158569],[-0.901675,-0.432113,0.016152],[0.082919,-0.136122,0.987216]]
2025-10-26T20:28:19.618Z,1761510499.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407387,0.908419,0.093862],[-0.911671,-0.410579,0.016776],[0.053777,-0.078737,0.995444]]
2025-10-26T20:28:20.023Z,1761510500.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394334,0.918699,0.022175],[-0.917877,-0.394927,0.039169],[0.044742,-0.004908,0.998987]]
2025-10-26T20:28:20.426Z,1761510500.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389489,0.920855,-0.018015],[-0.920083,-0.388127,0.052955],[0.041771,0.037200,0.998434]]
2025-10-26T20:28:20.830Z,1761510500.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385945,0.922501,-0.006240],[-0.921216,-0.385030,0.055788],[0.049062,0.027279,0.998423]]
2025-10-26T20:28:21.234Z,1761510501.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390045,0.918763,0.061153],[-0.918374,-0.392974,0.046480],[0.066735,-0.038032,0.997046]]
2025-10-26T20:28:21.638Z,1761510501.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409855,0.899743,0.149937],[-0.909179,-0.416221,0.012408],[0.073571,-0.131234,0.988618]]
2025-10-26T20:28:22.042Z,1761510502.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414771,0.880378,0.229998],[-0.907029,-0.420177,-0.027370],[0.072544,-0.219967,0.972806]]
2025-10-26T20:28:22.448Z,1761510502.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408018,0.875801,0.257864],[-0.910301,-0.411857,-0.041551],[0.069812,-0.251687,0.965287]]
2025-10-26T20:28:22.850Z,1761510502.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409977,0.890002,0.199538],[-0.911223,-0.409229,-0.046939],[0.039881,-0.201068,0.978765]]
2025-10-26T20:28:23.254Z,1761510503.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419122,0.904641,0.077211],[-0.907826,-0.416269,-0.050712],[-0.013736,-0.091349,0.995724]]
2025-10-26T20:28:23.300Z,1761510503.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:28:23.658Z,1761510503.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424179,0.904912,-0.034733],[-0.904455,-0.425251,-0.033520],[-0.045103,0.017196,0.998834]]
2025-10-26T20:28:24.063Z,1761510504.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410261,0.908646,-0.077777],[-0.911880,-0.409915,0.021094],[-0.012715,0.079577,0.996748]]
2025-10-26T20:28:24.466Z,1761510504.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406921,0.912272,-0.046636],[-0.912556,-0.403712,0.065259],[0.040706,0.069113,0.996778]]
2025-10-26T20:28:24.870Z,1761510504.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415404,0.908121,0.052488],[-0.906229,-0.418148,0.062462],[0.078670,-0.021619,0.996666]]
2025-10-26T20:28:25.276Z,1761510505.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403970,0.902638,0.148503],[-0.911507,-0.410892,0.017948],[0.077219,-0.128112,0.988749]]
2025-10-26T20:28:25.678Z,1761510505.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394656,0.902907,0.170308],[-0.918652,-0.391378,-0.053863],[0.018022,-0.177711,0.983918]]
2025-10-26T20:28:26.083Z,1761510506.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399782,0.905997,0.139082],[-0.916326,-0.391253,-0.085251],[-0.022821,-0.161526,0.986605]]
2025-10-26T20:28:26.487Z,1761510506.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399968,0.911838,0.092618],[-0.916480,-0.396852,-0.050721],[-0.009493,-0.105169,0.994409]]
2025-10-26T20:28:26.890Z,1761510506.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406033,0.912090,0.056828],[-0.913441,-0.406941,0.004925],[0.027618,-0.049909,0.998372]]
2025-10-26T20:28:27.698Z,1761510507.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417482,0.906452,0.063664],[-0.906586,-0.420253,0.038588],[0.061733,-0.041607,0.997225]]
2025-10-26T20:28:28.102Z,1761510508.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396751,0.914239,0.082187],[-0.913528,-0.402019,0.062030],[0.089751,-0.050469,0.994685]]
2025-10-26T20:28:28.508Z,1761510508.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387261,0.918678,0.077838],[-0.918456,-0.391772,0.054341],[0.080417,-0.050447,0.995484]]
2025-10-26T20:28:28.912Z,1761510508.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389242,0.919142,0.060565],[-0.921069,-0.389162,-0.013594],[0.011075,-0.061076,0.998072]]
2025-10-26T20:28:29.315Z,1761510509.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399683,0.913396,0.077209],[-0.916078,-0.395027,-0.068959],[-0.032487,-0.098291,0.994627]]
2025-10-26T20:28:29.718Z,1761510509.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404492,0.906212,0.123150],[-0.914430,-0.402858,-0.039018],[0.014254,-0.128394,0.991621]]
2025-10-26T20:28:30.122Z,1761510510.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406595,0.902060,0.144807],[-0.910403,-0.413313,0.018425],[0.076471,-0.124341,0.989288]]
2025-10-26T20:28:30.529Z,1761510510.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406307,0.904796,0.127507],[-0.911229,-0.411559,0.016763],[0.067644,-0.109377,0.991696]]
2025-10-26T20:28:30.930Z,1761510510.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413953,0.904691,0.100878],[-0.909292,-0.416159,0.000899],[0.042794,-0.091355,0.994898]]
2025-10-26T20:28:31.335Z,1761510511.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426228,0.900525,0.085935],[-0.903735,-0.428079,0.003482],[0.039922,-0.076178,0.996295]]
2025-10-26T20:28:31.738Z,1761510511.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431520,0.897967,0.086286],[-0.899994,-0.435074,0.026852],[0.061653,-0.066070,0.995908]]
2025-10-26T20:28:32.169Z,1761510512.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432229,0.897289,0.089724],[-0.895624,-0.438747,0.073201],[0.105048,-0.048719,0.993273]]
2025-10-26T20:28:32.548Z,1761510512.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415026,0.907753,0.061143],[-0.904023,-0.419021,0.084638],[0.102451,-0.020147,0.994534]]
2025-10-26T20:28:32.950Z,1761510512.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377186,0.925978,0.017175],[-0.925057,-0.377577,0.041304],[0.044731,-0.000308,0.998999]]
2025-10-26T20:28:33.356Z,1761510513.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371142,0.928523,0.009901],[-0.928570,-0.371156,-0.000500],[0.003210,-0.009380,0.999951]]
2025-10-26T20:28:33.758Z,1761510513.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392480,0.917886,0.058696],[-0.919653,-0.390659,-0.040290],[-0.014051,-0.069793,0.997463]]
2025-10-26T20:28:34.162Z,1761510514.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397514,0.909251,0.123471],[-0.917594,-0.394149,-0.051646],[0.001707,-0.133826,0.991003]]
2025-10-26T20:28:34.568Z,1761510514.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385820,0.910007,0.151755],[-0.921825,-0.386885,-0.023656],[0.037184,-0.149018,0.988135]]
2025-10-26T20:28:34.972Z,1761510514.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391757,0.911918,0.122200],[-0.919248,-0.393548,-0.010138],[0.038846,-0.116304,0.992454]]
2025-10-26T20:28:35.374Z,1761510515.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401359,0.913411,0.067753],[-0.915880,-0.400940,-0.020272],[0.008648,-0.070190,0.997496]]
2025-10-26T20:28:35.779Z,1761510515.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382653,0.923493,0.027177],[-0.923878,-0.382317,-0.016825],[-0.005148,-0.031547,0.999489]]
2025-10-26T20:28:36.183Z,1761510516.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366978,0.930139,0.012989],[-0.930101,-0.367124,0.011526],[0.015490,-0.007851,0.999849]]
2025-10-26T20:28:36.587Z,1761510516.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376829,0.925398,0.040487],[-0.925563,-0.377899,0.022917],[0.036507,-0.028838,0.998917]]
2025-10-26T20:28:36.990Z,1761510516.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382487,0.918818,0.097352],[-0.921100,-0.387465,0.038015],[0.072649,-0.075131,0.994524]]
2025-10-26T20:28:37.800Z,1761510517.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418410,0.898133,0.135243],[-0.905033,-0.424814,0.021180],[0.076476,-0.113538,0.990586]]
2025-10-26T20:28:38.202Z,1761510518.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417762,0.903735,0.093477],[-0.908327,-0.417754,-0.020592],[0.020440,-0.093510,0.995408]]
2025-10-26T20:28:38.606Z,1761510518.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399914,0.914102,0.066983],[-0.915507,-0.401879,0.018425],[0.043762,-0.053955,0.997584]]
2025-10-26T20:28:39.010Z,1761510519.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376154,0.925312,0.048025],[-0.920906,-0.379073,0.090748],[0.102175,-0.010091,0.994715]]
2025-10-26T20:28:39.415Z,1761510519.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363018,0.931610,0.017930],[-0.926684,-0.362975,0.097495],[0.097336,0.018777,0.995074]]
2025-10-26T20:28:39.819Z,1761510519.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357785,0.933688,0.014677],[-0.931601,-0.357976,0.063023],[0.064098,0.008876,0.997904]]
2025-10-26T20:28:40.222Z,1761510520.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364847,0.929023,0.061677],[-0.930031,-0.366765,0.022924],[0.043918,-0.048997,0.997833]]
2025-10-26T20:28:40.626Z,1761510520.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384794,0.912799,0.136863],[-0.921731,-0.387797,-0.005084],[0.048434,-0.128107,0.990577]]
2025-10-26T20:28:41.031Z,1761510521.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394666,0.899362,0.188116],[-0.917127,-0.398032,-0.021180],[0.055828,-0.180885,0.981918]]
2025-10-26T20:28:41.436Z,1761510521.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376171,0.911234,0.167772],[-0.924512,-0.381143,-0.002769],[0.061421,-0.156149,0.985822]]
2025-10-26T20:28:41.838Z,1761510521.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359779,0.928532,0.091585],[-0.930274,-0.364530,0.041330],[0.071761,-0.070329,0.994939]]
2025-10-26T20:28:42.242Z,1761510522.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369719,0.928512,0.034271],[-0.927749,-0.370933,0.041113],[0.050887,-0.016595,0.998567]]
2025-10-26T20:28:42.647Z,1761510522.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389054,0.920540,0.035252],[-0.921129,-0.389255,-0.001266],[0.012557,-0.032964,0.999378]]
2025-10-26T20:28:43.052Z,1761510523.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402594,0.912145,0.076879],[-0.915344,-0.401890,-0.025106],[0.007996,-0.080478,0.996724]]
2025-10-26T20:28:43.454Z,1761510523.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408435,0.902205,0.138593],[-0.912494,-0.407421,-0.036924],[0.023153,-0.141546,0.989661]]
2025-10-26T20:28:43.858Z,1761510523.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403522,0.898017,0.175313],[-0.913592,-0.405960,-0.023365],[0.050188,-0.169593,0.984235]]
2025-10-26T20:28:44.262Z,1761510524.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394086,0.906833,0.149497],[-0.916102,-0.400651,0.015387],[0.073850,-0.130891,0.988642]]
2025-10-26T20:28:44.668Z,1761510524.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382832,0.920264,0.080957],[-0.920701,-0.387265,0.048320],[0.075818,-0.056038,0.995546]]
2025-10-26T20:28:45.070Z,1761510525.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373089,0.927518,0.022701],[-0.923544,-0.373608,0.086507],[0.088718,0.011309,0.995993]]
2025-10-26T20:28:45.474Z,1761510525.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365209,0.930861,0.010974],[-0.923665,-0.363805,0.120367],[0.116038,0.033823,0.992669]]
2025-10-26T20:28:45.879Z,1761510525.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368020,0.929256,0.032306],[-0.924821,-0.369419,0.090755],[0.096269,0.003523,0.995349]]
2025-10-26T20:28:46.283Z,1761510526.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371807,0.924725,0.081508],[-0.926750,-0.374836,0.025133],[0.053794,-0.066192,0.996356]]
2025-10-26T20:28:46.686Z,1761510526.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368748,0.917761,0.147445],[-0.927724,-0.373253,0.003122],[0.057900,-0.135637,0.989065]]
2025-10-26T20:28:47.090Z,1761510527.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352204,0.917162,0.186456],[-0.931641,-0.362600,0.023786],[0.089425,-0.165333,0.982175]]
2025-10-26T20:28:47.494Z,1761510527.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339139,0.926413,0.163533],[-0.934613,-0.351604,0.053609],[0.107163,-0.134659,0.985080]]
2025-10-26T20:28:47.900Z,1761510527.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348360,0.933710,0.082656],[-0.934079,-0.353160,0.052670],[0.078369,-0.058859,0.995185]]
2025-10-26T20:28:48.302Z,1761510528.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364900,0.931047,-0.000096],[-0.930976,-0.364871,0.012343],[0.011457,0.004594,0.999924]]
2025-10-26T20:28:48.706Z,1761510528.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377823,0.925456,-0.027965],[-0.925359,-0.378450,-0.022059],[-0.030998,0.017543,0.999366]]
2025-10-26T20:28:49.111Z,1761510529.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371548,0.928173,0.021136],[-0.928361,-0.371674,0.002215],[0.009912,-0.018799,0.999774]]
2025-10-26T20:28:49.514Z,1761510529.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341956,0.935022,0.093805],[-0.937369,-0.346449,0.036235],[0.066379,-0.075539,0.994931]]
2025-10-26T20:28:49.919Z,1761510529.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325413,0.937240,0.125253],[-0.943428,-0.330728,0.023696],[0.063633,-0.110456,0.991842]]
2025-10-26T20:28:50.322Z,1761510530.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319374,0.937412,0.138777],[-0.946184,-0.323533,0.007905],[0.052309,-0.128784,0.990292]]
2025-10-26T20:28:50.738Z,1761510530.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325563,0.935162,0.139573],[-0.942844,-0.332183,0.026436],[0.071086,-0.122989,0.989859]]
2025-10-26T20:28:51.131Z,1761510531.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333246,0.934187,0.127439],[-0.940818,-0.338327,0.019906],[0.061712,-0.113263,0.991647]]
2025-10-26T20:28:51.534Z,1761510531.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329413,0.940172,0.086970],[-0.944141,-0.328891,-0.020670],[0.009170,-0.088921,0.995997]]
2025-10-26T20:28:51.939Z,1761510531.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322107,0.945876,0.039564],[-0.946425,-0.320717,-0.037698],[-0.022969,-0.049587,0.998506]]
2025-10-26T20:28:52.342Z,1761510532.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336506,0.941508,0.018077],[-0.941412,-0.335890,-0.030356],[-0.022509,-0.027233,0.999376]]
2025-10-26T20:28:52.768Z,1761510532.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347628,0.936387,0.048316],[-0.937579,-0.347697,-0.007237],[0.010022,-0.047816,0.998806]]
2025-10-26T20:28:53.152Z,1761510533.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327195,0.939443,0.101937],[-0.943060,-0.331465,0.027743],[0.059852,-0.087055,0.994404]]
2025-10-26T20:28:53.554Z,1761510533.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314179,0.941022,0.125577],[-0.945685,-0.321845,0.045784],[0.083500,-0.104372,0.991027]]
2025-10-26T20:28:53.959Z,1761510533.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312248,0.942204,0.121464],[-0.947512,-0.318122,0.031919],[0.068715,-0.105122,0.992082]]
2025-10-26T20:28:54.362Z,1761510534.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310129,0.945428,0.099930],[-0.948897,-0.314288,0.028581],[0.058428,-0.085959,0.994584]]
2025-10-26T20:28:54.428Z,1761510534.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:28:54.807Z,1761510534.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308765,0.949925,0.048021],[-0.949766,-0.310638,0.038070],[0.051081,-0.033854,0.998121]]
2025-10-26T20:28:55.581Z,1761510535.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308333,0.944552,0.112928],[-0.951210,-0.307560,-0.024645],[0.011454,-0.115017,0.993298]]
2025-10-26T20:28:55.985Z,1761510535.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308526,0.942266,0.130177],[-0.951189,-0.306648,-0.034739],[0.007186,-0.134541,0.990882]]
2025-10-26T20:28:56.389Z,1761510536.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324969,0.937040,0.127875],[-0.945666,-0.323469,-0.032918],[0.010518,-0.131624,0.991244]]
2025-10-26T20:28:56.812Z,1761510536.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338828,0.932439,0.125511],[-0.940508,-0.339268,-0.018513],[0.025319,-0.124317,0.991920]]
2025-10-26T20:28:57.197Z,1761510537.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352725,0.927760,0.121843],[-0.934465,-0.356011,0.005611],[0.048584,-0.111879,0.992533]]
2025-10-26T20:28:57.595Z,1761510537.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355097,0.928165,0.111431],[-0.931769,-0.361048,0.038084],[0.075580,-0.090305,0.993042]]
2025-10-26T20:28:58.001Z,1761510538.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333955,0.938470,0.088023],[-0.938834,-0.339499,0.057724],[0.084056,-0.063362,0.994444]]
2025-10-26T20:28:58.403Z,1761510538.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310420,0.948218,0.067239],[-0.948113,-0.313945,0.050201],[0.068711,-0.048167,0.996473]]
2025-10-26T20:28:58.817Z,1761510538.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286007,0.956233,0.061790],[-0.956177,-0.289017,0.046850],[0.062658,-0.045683,0.996989]]
2025-10-26T20:28:59.210Z,1761510539.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287389,0.956163,0.056211],[-0.955310,-0.290385,0.055320],[0.069218,-0.037800,0.996885]]
2025-10-26T20:28:59.614Z,1761510539.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315798,0.947061,0.057860],[-0.947551,-0.317947,0.032497],[0.049173,-0.044562,0.997796]]
2025-10-26T20:29:00.020Z,1761510540.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333689,0.939521,0.077148],[-0.942281,-0.334818,0.001810],[0.027531,-0.072091,0.997018]]
2025-10-26T20:29:00.422Z,1761510540.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338090,0.936030,0.097690],[-0.940598,-0.339515,-0.002155],[0.031150,-0.092615,0.995215]]
2025-10-26T20:29:00.828Z,1761510540.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341263,0.931164,0.128350],[-0.937263,-0.347445,0.028630],[0.071254,-0.110528,0.991316]]
2025-10-26T20:29:01.230Z,1761510541.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335963,0.930767,0.144228],[-0.933614,-0.349325,0.079601],[0.124472,-0.107910,0.986338]]
2025-10-26T20:29:01.635Z,1761510541.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322386,0.940903,0.103771],[-0.935698,-0.333346,0.115544],[0.143308,-0.059849,0.987867]]
2025-10-26T20:29:02.039Z,1761510542.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299132,0.953870,0.025539],[-0.948766,-0.300173,0.098682],[0.101796,0.005289,0.994791]]
2025-10-26T20:29:02.443Z,1761510542.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267097,0.962931,-0.037715],[-0.963044,-0.265310,0.046434],[0.034707,0.048723,0.998209]]
2025-10-26T20:29:02.846Z,1761510542.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255548,0.965593,-0.048231],[-0.966640,-0.254292,0.030694],[0.017373,0.054466,0.998365]]
2025-10-26T20:29:03.250Z,1761510543.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274325,0.961089,0.032456],[-0.960394,-0.275530,0.041546],[0.048873,-0.019773,0.998609]]
2025-10-26T20:29:03.654Z,1761510543.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278365,0.949637,0.143885],[-0.958982,-0.283147,0.013480],[0.053541,-0.134231,0.989503]]
2025-10-26T20:29:04.061Z,1761510544.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257728,0.945890,0.197151],[-0.965566,-0.259628,-0.016604],[0.035480,-0.194641,0.980233]]
2025-10-26T20:29:04.462Z,1761510544.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238310,0.953730,0.183322],[-0.970414,-0.241381,-0.005711],[0.038804,-0.179259,0.983036]]
2025-10-26T20:29:04.867Z,1761510544.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246614,0.962228,0.115321],[-0.968524,-0.248862,0.005297],[0.033796,-0.110385,0.993314]]
2025-10-26T20:29:05.271Z,1761510545.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262985,0.963944,0.040622],[-0.964799,-0.262702,-0.012244],[-0.001131,-0.042412,0.999100]]
2025-10-26T20:29:05.675Z,1761510545.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263174,0.964748,0.001096],[-0.964735,-0.263164,-0.005546],[-0.005062,-0.002516,0.999984]]
2025-10-26T20:29:06.078Z,1761510546.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269789,0.962900,0.006064],[-0.962341,-0.269840,0.032964],[0.033378,0.003058,0.999438]]
2025-10-26T20:29:06.084Z,1761510546.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-26T20:29:06.482Z,1761510546.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285424,0.956953,0.052680],[-0.957556,-0.287049,0.026264],[0.040255,-0.042948,0.998266]]
2025-10-26T20:29:06.886Z,1761510546.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273548,0.955901,0.106890],[-0.961785,-0.270459,-0.042677],[-0.011886,-0.114479,0.993355]]
2025-10-26T20:29:07.694Z,1761510547.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262423,0.955545,0.134418],[-0.964924,-0.260935,-0.028889],[0.007469,-0.137285,0.990503]]
2025-10-26T20:29:08.099Z,1761510548.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298192,0.948739,0.104767],[-0.953704,-0.300640,0.008035],[0.039120,-0.097520,0.994464]]
2025-10-26T20:29:08.503Z,1761510548.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327906,0.941976,0.071829],[-0.944203,-0.329272,0.007741],[0.030943,-0.065282,0.997387]]
2025-10-26T20:29:08.908Z,1761510548.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333772,0.940544,0.063037],[-0.942440,-0.334375,-0.001042],[0.020098,-0.059756,0.998011]]
2025-10-26T20:29:09.311Z,1761510549.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327028,0.941797,0.077912],[-0.943346,-0.330237,0.032287],[0.056137,-0.062940,0.996437]]
2025-10-26T20:29:09.715Z,1761510549.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313914,0.944201,0.099710],[-0.941708,-0.323017,0.094053],[0.121013,-0.064373,0.990561]]
2025-10-26T20:29:10.133Z,1761510550.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301697,0.947682,0.104292],[-0.944483,-0.312010,0.102968],[0.130121,-0.067437,0.989202]]
2025-10-26T20:29:10.524Z,1761510550.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299048,0.950441,0.085047],[-0.952091,-0.303163,0.040195],[0.063986,-0.068953,0.995566]]
2025-10-26T20:29:10.926Z,1761510550.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313371,0.947086,0.069473],[-0.949626,-0.312773,-0.019603],[0.003163,-0.072117,0.997391]]
2025-10-26T20:29:11.330Z,1761510551.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341040,0.936504,0.081554],[-0.939989,-0.340710,-0.018364],[0.010589,-0.082923,0.996500]]
2025-10-26T20:29:11.734Z,1761510551.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350808,0.930697,0.103622],[-0.934417,-0.355181,0.026681],[0.061636,-0.087467,0.994259]]
2025-10-26T20:29:12.139Z,1761510552.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327398,0.940455,0.091407],[-0.940760,-0.333470,0.061385],[0.088211,-0.065895,0.993920]]
2025-10-26T20:29:12.542Z,1761510552.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300721,0.952158,0.054425],[-0.949741,-0.304183,0.073923],[0.086942,-0.029460,0.995778]]
2025-10-26T20:29:12.946Z,1761510552.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295493,0.954913,0.028712],[-0.952623,-0.296785,0.066547],[0.072068,-0.007688,0.997370]]
2025-10-26T20:29:13.350Z,1761510553.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303126,0.952020,0.042097],[-0.951204,-0.304948,0.047088],[0.057666,-0.025769,0.998003]]
2025-10-26T20:29:13.755Z,1761510553.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299501,0.950275,0.085297],[-0.952157,-0.303392,0.036747],[0.060798,-0.070211,0.995678]]
2025-10-26T20:29:14.158Z,1761510554.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287440,0.949886,0.122860],[-0.954226,-0.295071,0.048847],[0.082652,-0.103196,0.991221]]
2025-10-26T20:29:14.562Z,1761510554.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290294,0.948063,0.130027],[-0.952672,-0.299135,0.054172],[0.090254,-0.108147,0.990030]]
2025-10-26T20:29:14.966Z,1761510554.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299119,0.946935,0.117648],[-0.950230,-0.306854,0.053887],[0.087128,-0.095674,0.991592]]
2025-10-26T20:29:15.370Z,1761510555.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294020,0.950076,0.104438],[-0.951174,-0.301582,0.065705],[0.093921,-0.080020,0.992359]]
2025-10-26T20:29:15.775Z,1761510555.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285707,0.953925,0.091648],[-0.952175,-0.293384,0.085367],[0.108322,-0.062875,0.992126]]
2025-10-26T20:29:16.178Z,1761510556.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273118,0.958861,0.077410],[-0.956449,-0.279284,0.084883],[0.103011,-0.050855,0.993379]]
2025-10-26T20:29:16.582Z,1761510556.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253548,0.965507,0.059247],[-0.964430,-0.257049,0.061652],[0.074755,-0.041507,0.996338]]
2025-10-26T20:29:16.987Z,1761510556.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247675,0.967499,0.051023],[-0.967433,-0.249812,0.040836],[0.052255,-0.039248,0.997862]]
2025-10-26T20:29:17.393Z,1761510557.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263963,0.960983,0.082677],[-0.963647,-0.266423,0.020088],[0.041331,-0.074369,0.996374]]
2025-10-26T20:29:17.795Z,1761510557.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262746,0.956669,0.125491],[-0.964177,-0.265240,0.003292],[0.036435,-0.120131,0.992089]]
2025-10-26T20:29:18.198Z,1761510558.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244700,0.960460,0.132811],[-0.969348,-0.245444,-0.010994],[0.022038,-0.131430,0.991080]]
2025-10-26T20:29:18.603Z,1761510558.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241635,0.964978,0.102124],[-0.970301,-0.241504,-0.013839],[0.011309,-0.102435,0.994675]]
2025-10-26T20:29:18.748Z,1761510558.748 [DataOverHttps](IMPORTANT): SBD MTMSN=20251026T202917
2025-10-26T20:29:19.006Z,1761510559.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261191,0.962431,0.074198],[-0.964955,-0.262346,0.006098],[0.025334,-0.070005,0.997225]]
2025-10-26T20:29:19.411Z,1761510559.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294103,0.952206,0.082510],[-0.955348,-0.295450,0.004346],[0.028516,-0.077548,0.996581]]
2025-10-26T20:29:19.814Z,1761510559.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303347,0.945574,0.117772],[-0.952874,-0.301455,-0.033995],[0.003358,-0.122534,0.992459]]
2025-10-26T20:29:20.220Z,1761510560.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277633,0.951463,0.132807],[-0.960560,-0.272684,-0.054470],[-0.015612,-0.142692,0.989644]]
2025-10-26T20:29:20.622Z,1761510560.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272111,0.954833,0.119374],[-0.961851,-0.273537,-0.004591],[0.028270,-0.116069,0.992839]]
2025-10-26T20:29:21.026Z,1761510561.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297772,0.949335,0.100476],[-0.949467,-0.305453,0.072184],[0.099217,-0.073904,0.992318]]
2025-10-26T20:29:21.431Z,1761510561.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301353,0.950457,0.076274],[-0.948086,-0.307200,0.082226],[0.101584,-0.047535,0.993691]]
2025-10-26T20:29:21.835Z,1761510561.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261358,0.963818,0.052403],[-0.963268,-0.263909,0.049659],[0.061692,-0.037499,0.997391]]
2025-10-26T20:29:22.238Z,1761510562.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250528,0.967111,0.043961],[-0.965801,-0.252807,0.057602],[0.066821,-0.028027,0.997371]]
2025-10-26T20:29:22.642Z,1761510562.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279118,0.957958,0.066407],[-0.955864,-0.283783,0.076097],[0.091742,-0.042236,0.994887]]
2025-10-26T20:29:23.048Z,1761510563.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274094,0.955364,0.110234],[-0.959247,-0.279779,0.039619],[0.068692,-0.094882,0.993116]]
2025-10-26T20:29:23.451Z,1761510563.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249626,0.959995,0.126868],[-0.968204,-0.249652,-0.015962],[0.016350,-0.126819,0.991791]]
2025-10-26T20:29:23.854Z,1761510563.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255953,0.960241,0.111472],[-0.966648,-0.253170,-0.038684],[-0.008925,-0.117655,0.993014]]
2025-10-26T20:29:24.258Z,1761510564.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258933,0.961549,0.091529],[-0.965781,-0.259194,-0.009228],[0.014850,-0.090787,0.995760]]
2025-10-26T20:29:24.663Z,1761510564.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259086,0.963906,0.061324],[-0.964566,-0.261497,0.035107],[0.049876,-0.050055,0.997500]]
2025-10-26T20:29:25.068Z,1761510565.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272191,0.960341,0.060470],[-0.960433,-0.274995,0.044124],[0.059003,-0.046068,0.997194]]
2025-10-26T20:29:25.472Z,1761510565.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282842,0.954711,0.092342],[-0.957703,-0.286415,0.027774],[0.052964,-0.080580,0.995340]]
2025-10-26T20:29:25.874Z,1761510565.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288676,0.950892,0.111670],[-0.956852,-0.290574,0.000757],[0.033168,-0.106633,0.993745]]
2025-10-26T20:29:26.279Z,1761510566.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293729,0.949827,0.107482],[-0.955821,-0.293180,-0.021235],[0.011342,-0.108971,0.993980]]
2025-10-26T20:29:26.684Z,1761510566.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286377,0.952374,0.104750],[-0.957677,-0.287843,-0.001168],[0.029039,-0.100651,0.994498]]
2025-10-26T20:29:27.086Z,1761510567.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282705,0.953893,0.100823],[-0.956900,-0.287748,0.039279],[0.066480,-0.085373,0.994129]]
2025-10-26T20:29:27.490Z,1761510567.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287682,0.952448,0.100407],[-0.952342,-0.295589,0.075308],[0.101406,-0.073957,0.992092]]
2025-10-26T20:29:27.894Z,1761510567.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292819,0.951536,0.093998],[-0.947824,-0.301817,0.102649],[0.126044,-0.059036,0.990266]]
2025-10-26T20:29:28.300Z,1761510568.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294255,0.950891,0.096023],[-0.948498,-0.302885,0.092797],[0.117324,-0.063771,0.991044]]
2025-10-26T20:29:28.702Z,1761510568.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288338,0.951892,0.103745],[-0.955112,-0.293610,0.039430],[0.067993,-0.087719,0.993822]]
2025-10-26T20:29:29.106Z,1761510569.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294802,0.948355,0.117113],[-0.954581,-0.297822,0.008780],[0.043205,-0.109205,0.993080]]
2025-10-26T20:29:29.267Z,1761510569.267 [DataOverHttps](INFO): Received command: schedule clear;schedule resume;restart logs